【作者】 费少华；

【导师】 刘刚； 方强；

【作者基本信息】 浙江大学 ， 机械制造及其自动化， 2012， 硕士

【摘要】 机器人自动制孔系统作为柔性加工设备,灵活性高,且成本低,既适用大批量生产,又能快速适应产品更换,适应小批量或研制阶段的装配生产,因此在国外航空制造领域已经得到广泛的应用,并开始显现效益。而国内机器人自动制孔系统在航空领域的应用几乎为空白,主要依靠引进国外自动钻铆机实现自动制孔功能。在此背景下,浙江大学飞机数字化装配项目组自主研制开发一套基于飞机壁板制孔的机器人自动制孔系统,本文对制孔终端执行器的控制系统进行设计研究。第一章阐述论文研究的背景和意义,总结飞机装配中自动制孔系统的国内外发展现状,在阐述机器人及其终端执行器在飞机装配中应用技术的基础上,提出论文的研究内容。第二章首先阐述飞机壁板制孔工艺和要求,然后提出基于终端执行器的机器人自动制孔系统,对制孔系统每个组成部分的结构、功能和特点作了详细的介绍,最后分析机器人自动制孔系统的制孔工艺流程及其特点。第三章首先介绍终端执行器进给系统的控制原理,根据控制系统设计要求提出基于SynqNet总线技术的控制系统,并详细介绍系统中的硬件组成。然后根据进给系统的传动原理提出进给轴的全闭环控制方式,并设计交流伺服控制系统中电流环、速度环和位置环的PID控制器。最后介绍主轴电机的控制系统。由于制孔过程中工件的变形和振动使得锪窝深度难以控制,第四章首先提出基于压脚位置实时补偿的进给轴闭环控制系统,将制孔过程中的压脚位移等效于工件的变形量,并实时补偿到进给深度。同时设计低通滤波器,抑制压脚的高频振动对位置控制的干扰,以获得精确的锪窝深度和良好的表面质量。最后介绍该控制系统在MechaWare软件中的实现过程。为了验证终端执行器控制系统的可行性以及对锪窝深度的控制效果,第五章针对不同加工表面、不同压紧力、不同规格刀具,设置多组实验。根据对实验结果的分析得到,经过压脚位置实时补偿的终端执行器进给系统能够将锪窝深度误差控制在0.02mm以内,并且使加工孔的圆度、表面光洁度以及加工效率等相比较手工制孔有了大大的改善。第六章对全文的研究工作进行总结,并对进一步研究的内容进行展望。更多还原

【Abstract】 As flexible manufacture equipment, robot drilling system is widely used abroad and begin to achieve benefits, due to its high flexibility and low cost. It is not only applied to mass production, but also can quickly adapt to products upgrading and fit small batch production or the development stage of the assembly production. However, robot drilling system is few used at home. The performance of automatic drilling is mainly achieved by the introduction of automatic drilling and riveting machines abroad. Against this background, the project group of Aircraft Digital Assembly in Zhe Jiang University has developed a robot drilling system based on the drilling of aircraft panels. This paper presents the design and research of robot drilling end effector control system.The first chapter presents the research background and meaning of this paper firstly. And then the recent development of automatic drilling system in aircraft digital assembly is summarized both at home and abroad. At last, the research contents are presented based on the introduction of the apppplication of robot drilling system and its end effector in aircraft assembly.In the second, firstly, the drilling process and requirements of aircraft panels are presented. And then the robot drilling system is introduced based on the drilling of end effector, each constituent’s structure, function and characteristics of the system are introduced in detail. Finally, the drilling process and characteristics of robot drilling system are analysed.In the third chapter, the feeding system’s control principles of the end effector are introduced at first. The control system based on SynqNet is presented from the design requirements of the control system. And the hardware constituents of the system are introduced in detail at the same time. Then the full closed loop control way of the feeding shaft is chose according to the transmit principle of the feeding system. And also the PID controller of the current loop velocity loop and position loop in AC servo control system are both designed. Finally, the control system of the spindle motor is introduced. It is a great challenge to ensure the countersink depth of robot drilling due to the deformation and vibration of the workppiece during the drilling process. The fourth chapter presents the feeding shafif’s full closed loop control system, based on the pressure foot’s real-time position compensation of the end effector. The displacement of the pressure foot is equal to the deformation of the workppiece during the drilling process and added to the countersink depth on real time. A lowpass filter is designed to restrain the interference to position control caused by pressure foot’s high frequency vibration. Thereby ensure the countersink depth and achieve high hole quality. At last, the implementation process of the control system in MechaWare is introduced.In order to prove the feasibility of the end effector’s control system and check the control effect of the countersink depth, couples of experiments are set up in the fifth chapter in allusion to different drilling, surface pressure force and different specification of cut tools. According to the analysis of experimental results, the end effector’s feeding system with real-time position compensation of the pressure foot can make the hole quality very accurate, with the countersink depth variation at 0.02 mm in the worst case. Compared to hand-drilling, the roundness, roughness and drilling efficiency of the hole has been greatly improved.The research work is summarized and the further studies are prospeted in the sixth chapter.更多还原