| The level of aircraft manufacturing not only reflects the level of industrial development of acountry, is also a manifestation of the comprehensive national strength. The deepening of China’slarge aircraft development strategy as well as the demand for modern aircraft manufacturing makesthe traditional manual drilling and riveting processing facing the challenges of upgrading. There is anurgent need for a more efficient, high quality automated processing scheme.With the advances in mechanical and electrical technology, control technology and computertechnology, it has become a tendency that automatic drilling and riveting technology will replace thetraditional manual drilling and riveting technology soon. Aircraft flexible assembly technology Basedon the robot is one of the most advanced technologies to realize the automation of drilling. It has ahigh flexibility and low cost and has attracted more and more attention of the major aircraftmanufacturers. Aircraft flexible assembly technology based on the robot consists of robot calibration,accuracy compensation technology, off-line programming technology and integrated controltechnology, among which the integrated control technology of robotics flexible assembly is one of thekey technologies and relates to the control of robot and end effector, track seventh axis control andsystem control such as normal detection, depth inspection, the control of numerous sensors and othertypes of hardware, finally according to the off-line programming instruction of the robot to meet therequirements of the drilling and riveting function of aircraft assembly.This thesis is based on the project of aircraft winglet parts off-line programming and controlsoftware development of**aircraft company, takes the integrated control technology of automaticdrilling of robot assembly as the core. The paper focus on the multi-sensors, multi-agents, multi-taskssystem coordinated control, and other key technologies, the main research contents of the thesisinclude the following aspects:(1) Design the automatic drilling system of the flexible assembly. On the basis of the analysis ofthe control system, the process of the control system was planned, the design of the hardwareconfiguration and the software system architecture was realized, the control scheme of the seventhaxis orbit, end effector and laser tracker was designed.(2) Research on the control technology of End Effector system. The networked controllingscheme of the combination of the TwinCAT soft PLC and EtherCAT fieldbus was designed tocomplete the tasks of the flexible assembly control system. (3) Industrial robot control technology coupling the seventh axis as a sub-station is proposed.The external automation control technology of the robot was presented. The principle of sub-stationcontrol and the local full closed-loop control technology was used to achieving high-precisionpositioning of the seventh axis of the robot and meeting the accuracy requirements of the assembly oflarge wings.(4) Via the study of the control technology, the control software of the automated drilling systemwas developed. The complete software process planning of the control system, the precisioncompensation package, motion control and other core modules were developed. Through thepreliminary application of laboratory and users’, the automatic drilling system was basically met theneeds of the automatic drilling demand, and achieved the anticipated target. |
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