Research On Technology Of Dual Robot Cooperative Electromagnetic Riveting

Riveting is the most important connection method in aircraft assembly.Good riveting quality is an important guarantee for the long life and high reliability of aircraft structural parts.With the improvement of aircraft assembly automation level and the continuous development of China's aviation manufacturing industry towards intelligent assembly,it is particularly important to actively study new riveting process methods and implementation forms.In this paper,in-depth study of the key technologies of electromagnetic riveting under the cooperation of two robots,and the main contents are as follows:(1)The forming principle of electromagnetic riveting technology was expounded.The calculation method of the riveting force of the electromagnetic riveting gun was deduced and the relationship between the electromagnetic riveting force and the riveting gun discharge voltage was obtained.The transfer characteristic of stress wave in electromagnetic riveting and its influence on the quality of robotic riveting were analyzed.(2)The composition and work flow of the robotic assembly system for dual robots collaborative electromagnetic riveting were analyzed.The forms of realization of the electromagnetic riveting technology on the dual robots application carrier were studied,and realized the integration of the robotic riveting gun with the robot and the experimental verification was carried out.A dual robot collaborative electromagnetic riveting process.(3)The analysis model of the deformation simulation of rivets is used with electromagnetic riveting was established.The deformation characteristics of the rivets with different rivets were analyzed,and curves of the riveting force with different rivet diameters with time are obtained.The distribution of the interference of the rivet nail rod after the electromagnetic riveting is analyzed,and a method of improving the uniformity of the rivet interference was proposed.(4)A dual-robot collaborative electromagnetic riveting system is used as a testing platform to study the electromagnetic riveting of countersink rivets of different diameters.The relationship between the rivet forming force and the voltage of the riveting gun was analyzed,and obtained the amount of the rivet deformation interference under different fitting conditions,and the influence of rivet gun delay on rivet nail flushness was analyzed.