一种面向自动钻铆的机器人自动送钉系统
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摘要
现有的自动钻铆系统中90%的故障来源于送钉系统中的卡钉。为了进一步提高自动钻铆送钉系统的精度,降低故障率,提出一种基于视觉伺服的新型机器人送钉系统。该系统通过在机器人末端安装工业相机和铆钉抓取装置,以机器视觉的方式对铆钉进行质量检测和定位,并引导机器人对特定种类铆钉进行抓取和投放,从而保证了送钉质量。该系统重1.1t,占地面积1.57m~2,有效降低了自动钻铆装备中送钉系统的面积与重量。试验表明,机器人自动送钉系统对铆钉的检测精度达到0.1mm,在1min内抓送6枚以上铆钉,满足自动钻铆的性能要求。
In the existing automatic drilling and riveting system, 90% of the faults are caused by the stuck in the rivet feeding system. In order to improve the efficiency of automatic rivet feeding system and reduce failure, a new rivet feeding system based on industrial robot and visual servo was proposed. By installing industrial camera and grasping device at the end of the robot, the quality and location of rivets were detected via machine vision. Then, the robot was guided to grasp and transfer rivets of specific types. Thus, quality of rivets is ensured before delivering and the process of delivery is optimized. The system weighs 1.1 t and covers an area of 1.57 m~2, which effectively saves the area and load of the rivet feeding system in the automatic drilling and riveting system. Experimental results illustrate that the system can detect rivets with a precision of 0.1 mm and the feeding efficiency reaches six rivets per minute, which meets the performance requirements of automatic riveting and drilling system.
In the existing automatic drilling and riveting system, 90% of the faults are caused by the stuck in the rivet feeding system. In order to improve the efficiency of automatic rivet feeding system and reduce failure, a new rivet feeding system based on industrial robot and visual servo was proposed. By installing industrial camera and grasping device at the end of the robot, the quality and location of rivets were detected via machine vision. Then, the robot was guided to grasp and transfer rivets of specific types. Thus, quality of rivets is ensured before delivering and the process of delivery is optimized. The system weighs 1.1 t and covers an area of 1.57 m~2, which effectively saves the area and load of the rivet feeding system in the automatic drilling and riveting system. Experimental results illustrate that the system can detect rivets with a precision of 0.1 mm and the feeding efficiency reaches six rivets per minute, which meets the performance requirements of automatic riveting and drilling system.
引文
[1]曾远帆.基于空间相似性的工业机器人定位精度补偿技术研究[D].南京:南京航空航天大学,2017.ZENG Yuanfan.Positional error compensation technology for industrial robot based on spatial similarity[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2017.
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[13]蒋君侠,柯映林,黄奇伟,等.一种飞机壁板自动钻铆机的有头铆钉自动供钉系统:CN201610962617.0[P].2017-03-29.JIANG Junxia,KE Yinglin,HUANGQiwei,et al.An automatic head rivet supply system for aircraft panel automatic riveting machine:CN201610962617.0[P].2017-03-29.
[14]ZHANG ZY.Aflexiblenew technique for camera calibration[J].IEEETransactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[15]冯春,周文.手眼系统中摄像机标定和手眼标定的同步算法[J].机械设计与制造,2015(12):58-61.FENG Chun,ZHOU Wen.Synchronization algorithms for camera calibration and hand-eye calibration in hand-eye system[J].Mechanical Design and Manufacture,2015(12):58-61.
[16]李大伟.基于关节转角反馈的工业机器人精度补偿技术研究[D].南京:南京航空航天大学,2017.LIDawei.Research on precision compensation technology of industrial robots based on joint angular feedback[D].Nanjing:Nanjing University of Aeroautics and Astronautics,2017.
[2]费军.自动钻铆技术发展现状与应用分析[J].航空制造技术,2005,48(6):42-44.FEIJun.Development status and application analysis of automatic drilling and riveting technology[J].Aeronautical Manufacturing Technology,2005,48(6):42-44.
[3]许国康.大型飞机自动化装配技术[J].航空学报,2008,29(3):734-740.XUGuokang.Automated as sembly technology for large aircraft[J].Acta Aeronautica et Astronautica Sinica,2008,29(3):734-740.
[4]航空制造工程编写组.自动钻铆机的新型供钉系统[J].航空制造工程,1996(3):27.Aviation Manufacturing Engineering Writing Group.New nail supply system for automatic riveting machine[J].Aviation Manufacturing&Engineering,1996(3):27.
[5]TIAN W,ZHOU Z,LIAO W.Analysis and investigation of a rivet feeding tube in an aircraft automatic drilling and riveting system[J].International Journal of Advanced Manufacturing Technology,2016,82(5-8):973-983.
[6]刘宇平,杨宏毅.打造航空工业自动钻铆设备先锋[J].航空制造技术,2006,49(12):60-61.LIU Yuping,YANG Hongyi.Pioneer of aviation industry automaticriveting equipment[J].Aeronautical Manufacturing Technology,2006,49(12):60-61.
[7]李菡.基于双机器人协同的自动钻铆终端器及其自动供钉装置的设计与研究[D].杭州:浙江大学,2010.LI Han.Design and research of automatic riveting terminal and its automatic nail feeding device based on the cooperation of two robots[D].Hangzhou:Zhejiang University,2010.
[8]STANCIK B,BOAD C.Flexibility in fastener feeding[R].Society of Automotive Engineers,Inc.1999-01-3450,1999.
[9]KREJCI C.Automatic feeding of temporary fasteners in confined spaces[R].SAETechnical Paper,2010-01-1879,2010.
[10]REMLE Y D,REDIGER J,HAWORTH P,et al.Slug rivet machine installs16 rivets per minute drill-rivet-shave[R].SAETechnical Paper 2009-01-3155,2009.
[11]KREJCI C.Rivet and bolt injector with bomb baye jection doors[J].S A EInternational Journal Aerospace,2013,6(2):431-440.
[12]周振锋,田威,廖文和.面向飞机部件装配生产线的自动送钉系统研究[J].航空精密制造技术,2014,50(1):34-37.ZHOU Zhenfeng,TIAN Wei,LIAOWenhe.Research on automatic nail feeding system for aircraft component assembly line[J].Aeronautical Precision Manufacturing Technology,2014,50(1):34-37.
[13]蒋君侠,柯映林,黄奇伟,等.一种飞机壁板自动钻铆机的有头铆钉自动供钉系统:CN201610962617.0[P].2017-03-29.JIANG Junxia,KE Yinglin,HUANGQiwei,et al.An automatic head rivet supply system for aircraft panel automatic riveting machine:CN201610962617.0[P].2017-03-29.
[14]ZHANG ZY.Aflexiblenew technique for camera calibration[J].IEEETransactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[15]冯春,周文.手眼系统中摄像机标定和手眼标定的同步算法[J].机械设计与制造,2015(12):58-61.FENG Chun,ZHOU Wen.Synchronization algorithms for camera calibration and hand-eye calibration in hand-eye system[J].Mechanical Design and Manufacture,2015(12):58-61.
[16]李大伟.基于关节转角反馈的工业机器人精度补偿技术研究[D].南京:南京航空航天大学,2017.LIDawei.Research on precision compensation technology of industrial robots based on joint angular feedback[D].Nanjing:Nanjing University of Aeroautics and Astronautics,2017.