数字化装配工装工作状态监测评估及适应性控制技术

Monitoring and evaluation of working condition and adaptive control technology for digital assembly tooling

针对航空航天产品数字化装配工装定检周期难以确定、装配作业状态动态变化、人工误操作等因素引起的产品装配超差及装配周期难以保障等问题,为提升装配工装几何量、物理量感知及预测能力,以及保障装配质量的能力,对工装的工作状态感知/监测/评估及装配定位适应性控制技术进行研究。具体地,在工装作业前的定检与针对性维护、工装作业时的状态实时监控分析与稳定性评价、工装使用过程中的力位与多轴协调控制、产品装配超差的降低等方面,开展数字化装配工装测量传感规划、工装应变及精度预测、工装服役状态描述及稳定性评估、现场定位适应性控制等问题研究,并解析装配工装宏微观作业状态评估、面向装配精度保障的多末端精度协调等关键技术。最后以航空弱刚性壁板试验件的多点柔性装配为例,分析面向产品精准装配的工装定位精度保障、以及基于实际工况状态的工装适应性装配及壁板外形装配效果,为装配质量的精确与主动控制奠定工装基础。

The difficulty of determining regular inspection cycle of digital assembly tooling,dynamic change of assem⁃bly condition,and workers’misoperation,would lead to the out of tolerance for assembly,and cause the difficulty to guarantee assembly cycle.To improve the ability to perceive and predict the geometric and physical quantities of as⁃sembly tooling,and enhance the ability to guarantee assembly quality,the research on assembly tooling working con⁃dition perception/monitoring/evaluation and adaptive control technologies of assembly positioning are carried out in this paper.As for regular inspection and targeted maintenance before tooling operations,real time monitoring analysis and stability assessment of tooling operation,coordinated control of force position and multi axis in the process of tooling operation,and reduction on out of assembly tolerance,etc,key research on sensing planning for digital assembly tooling measurement,tooling strain and accuracy prediction,tooling service condition description and stability assess⁃ment,and site positioning adaptive control were carried out.Then the key technologies of macro and micro locating job condition assessment on assembly tooling,and multi-effectors’deviation coordination for the assembly accuracy guarantee is proposed.Finally,the multi-point flexible assembly of aviation weak rigid panel test component is taken as example to present the tooling’s positioning precision guarantee for product assembly,the tooling’s adaptive ad⁃justment based on the practical working condition,and the panel’s assembly shape,which laid the tooling foundation for the precision and active control in assembly quality.