面向多品种零件结构的机器人自动夹持定位技术

Robot-dependent automatic gripping and positioning technology for multiple part structures

针对航空航天复合材料回转体舱段内零件种类多、数量多和装配效率低等问题,提出了面向多品种零件结构的机器人自动夹持定位技术。该技术基于零件装配特征识别方法、零件柔性夹持末端以及零件位置姿态精确调整技术,可对支架类零件进行机器人自动抓取和高精度快速定位。对某典型产品装配的零件定位尺寸进行测量,结果显示零件轴向和周向定位偏差均在公差允许范围内,表明面向多品种零件结构的机器人自动夹持定位技术可为复合材料回转体舱段的数字化定位、装配和制造提供新的工艺技术手段和装备。

Aiming at the problems of multiple types and numbers of parts in aerospace compartments and low assembly efficiency,an automatic gripping and positioning technology for multi-species part structures is proposed.The technology is based on the part assembly feature recognition method,part flexible clamping end and part position attitude accurate adjustment technology,which can be used for automatic robot gripping and high-precision fast positioning of bracket parts.By measuring the part positioning dimensions of a typical product assembly,the results show that the axial and circumferential positioning deviations of the parts are within the tolerance range,indicating that the automatic clamping and positioning technology for the part can provide new technological means and equipment for the digital positioning,assembly and manufacturing of composite rotary body segments.