摘要
介绍了一种利用低成本、低精度的机器人和标准的钻孔工具、先进的VR技术相结合的方法,实现飞机装配线钻孔过程自动化。飞机装配线上需要钻孔的零件主要包括机翼上下壁板、前后梁、肋骨、机身蒙皮等。传统的飞机零件钻孔过程通常由人员执行,而设计的解决方案可以去除人工操作,提高系统的灵活性。同时,它也适用于现有的装配线,因为它只需要对装配线进行最小的更改,并且对市场上几乎所有可用的机械手都有效。为此提出了设计方案,使低成本的标准工业机械手满足钻孔任务的要求。进一步来说,采用了一种带有商用钻削末端执行器和力传感器的标准手臂机械手。并在一个真实的装置上对设计的架构的有效性进行了测试。与此同时,在飞机装配的工艺设计中运用了VR设计,实现了在设计阶段用VR环境测试飞机进行人与设备“物理”交互。
This paper introduces a method that uses low-cost,low-precision robots,standard drilling tools,and advanced VR technology to automate the drilling process of aircraft assembly lines.The parts that need to be drilled on the aircraft assembly line mainly include upper and lower wing panels,front and rear beams,ribs,fuselage skin,etc.The traditional drilling process of aircraft parts is usually performed by personnel,and the designed solution can eliminate manual operations and improve the flexibility of the system.At the same time,it is also applicable to existing assembly lines,because it only requires minimal changes to the assembly line and is effective for almost all robots available on the market.For this reason,a design scheme was proposed to enable low-cost standard industrial manipulators to meet the requirements of drilling tasks.Further,a standard arm manipulator with a commercial drilling end effector and force sensor is used.And the effectiveness of the designed architecture was tested on a real device.At the same time,VR design was used in the process design of the aircraft assembly,and the"physical"interaction between the human and the equipment was achieved by testing the aircraft in the VR environment at the design stage.
作者
陈龑斌
林伟
霍玥玥
Chen Yanbin;Lin Wei;Huo Yueyue(Aviation Industry Xi'an Aircraft Industry(Group)Co.,Ltd.,Xi'an 710089,China)
出处
《粘接》
CAS
2021年第1期192-196,共5页
Adhesion
关键词
自动化钻孔
新型自动化
力控制
VR设计
automatic drilling
new type automation
force control
VR design
