| Under the conditions of large parts,high assembly accuracy and medium batch,such as the assembly of aircraft and CRH parts,due to the narrow assembly space,the detection device can not measure the assembly point,which leads to the failure of automatic and intelligent assembly.In view of this situation,this paper proposes a prototype scheme of six degree of freedom(6-DOF)high-precision intelligent assembly equipment,which uses indirect measurement method to realize the detection of assembly points.According to this scheme,an intelligent assembly demonstration platform is designed,and the control system model is developed.The feasibility of integrated control function is verified through experiments.The main research contents are as follows:(1)This paper proposes an indirect measurement method,which converts the measurement target into the preset fixture(such as the hexahedron fixture of the experimental prototype)through the special laser 6-DOF sensor designed for the assembly object,and realizes the 6-DOF measurement by using the laser 6-DOF sensor to measure the fixture.(2)A 6-DOF pose measurement scheme is designed.The measurement principle is that six laser ranging sensors are arranged according to certain rules to measure the displacement of the fixture,and the 6-DOF coordinate value is solved by geometric conversion to realize pose measurement.(3)Based on the above detection principle,an intelligent assembly process method combining intelligent pose adjustment with numerical control pose adjustment is proposed to meet the assembly requirements of the above conditions.(4)Based on the above ideas,an intelligent assembly demonstration platform is designed,including detection module,assembly equipment and intelligent assembly control system.(5)The VCB intelligent assembly prototype is used for assembly test to verify the functions of laser 6-DOF sensor and intelligent assembly control system,and the feasibility of detection method and intelligent assembly process method. |
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