CN116540598A - Intelligent drilling and riveting integrated management and control system for double robots of complex parts of airplane - Google Patents
Intelligent drilling and riveting integrated management and control system for double robots of complex parts of airplane Download PDFInfo
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Abstract
The invention discloses an intelligent drilling and riveting integrated management and control system for double robots of complex components of an airplane, which comprises a master control system and a plurality of subsystems, wherein the master control system comprises an NC master control module, a measuring unit module, a system management module, a robot control module, an end effector module and a tool management module; the NC master control module is used for realizing NC file processing, analysis and operation, and importing and executing the generated NC numerical control codes; the measuring unit module is used for realizing state monitoring and function debugging of all measuring modules of the system; the robot control module is used for controlling the Kuka robot and the internal parallel robot; the end effector module is used for controlling three end effectors of hammer riveting, pull riveting and top riveting; the tool management module is used for controlling and monitoring the digital tool system. The invention can realize hardware and software integration of the intelligent drilling and riveting system and realize intelligent drilling and riveting of the robot.
Description
Technical Field
The invention belongs to the technical field of intelligent drilling and riveting systems of airplanes, and particularly relates to an intelligent drilling and riveting integrated management and control system of double robots of complex parts of an airplane.
Background
The connection quality of the structural parts of the aircraft greatly influences the accuracy and the service life of the aerodynamic shape of the aircraft, and the connection quality is difficult to meet the requirement of a novel aircraft on high performance, so that the connection quality becomes a weak link of the aircraft manufacturing industry in China. Riveting is a main connection mode, and a robot hole making and riveting technology and an intelligent control system are adopted, so that the method is an effective technical approach for improving the assembly quality of the aircraft.
Aiming at the requirements of high quality and high efficiency of airplane products in China and the urgent requirements of intelligent drilling and riveting systems in airplane development and production, aiming at the problems of high quality and high efficiency of special-shaped heterogeneous complex parts, key development of multifunctional end effectors, narrow space drilling and riveting robots, double-robot drilling and riveting equipment and digital assembly tools of the complex parts of the airplanes is required to realize breaking through key technologies of structural optimization and integration of the multifunctional end effectors, integrated control of the intelligent drilling and riveting systems of the robots and the like, and the intelligent drilling and riveting systems of the robots are formed. Finally, the cooperative, efficient and accurate drilling and riveting of the double robots are realized, so that the development capability of the intelligent drilling and riveting system of the double robots for complex parts of the aircraft is formed, and the assembly quality and efficiency of the aircraft are improved.
Therefore, the invention provides an intelligent drilling and riveting system based on hole-making countersink, hammer riveting, blind rivet riveting and stress wave riveting. The invention relates to a narrow space drilling and riveting robot based on the requirement of aircraft narrow space drilling and riveting; double-robot drilling and riveting equipment development based on double-robot drilling and riveting cooperative control technology; according to the characteristics of the special-shaped complex parts of the aircraft, developing a digital assembly tool; and (3) researching an information integration technology, developing integrated control software, realizing system integrated control and finishing the integration of the intelligent drilling and riveting system of the robot.
Disclosure of Invention
The invention aims to provide an intelligent double-robot drilling and riveting integrated management and control system for complex parts of an airplane, and aims to realize intelligent drilling and riveting. According to the invention, through the requirement on the drilling and riveting precision of the special-shaped curved surface in the assembly of the aircraft component, the intelligent drilling and riveting unit design, the offline programming of the robot and the drilling and riveting process test optimization are carried out, the intelligent drilling and riveting specification of the robot is formed, and the application demonstration is carried out.
The invention is realized mainly by the following technical scheme:
the intelligent drilling and riveting integrated management and control system for the complex parts of the aircraft comprises a total control system and a plurality of subsystems which are interacted with each other, wherein the total control system comprises an NC total control module, a measuring unit module, a system management module, a robot control module, an end effector module and a tool management module; the NC master control module is used for realizing NC file processing, analysis and operation, and importing and executing the generated NC numerical control codes; the measuring unit module is used for realizing state monitoring and function debugging of all measuring modules of the system; the robot control module is used for controlling the Kuka robot and the internal parallel robot; the end effector module is used for controlling three end effectors of hammer riveting, pull riveting and top riveting; the tool management module is used for controlling and monitoring the digital tool system.
In order to better realize the invention, the master control system further comprises a master control system upper computer and a master control system lower computer, and the subsystems comprise a digital tool system, a double-robot drilling and riveting system and auxiliary equipment; the upper computer of the master control system interacts with the lower computer of the master control system through ADS communication or OPC communication, and the lower computer of the master control system interacts with the digital tool system, the double-robot drilling and riveting system and auxiliary equipment through TCP/IP; the double-robot drilling and riveting system comprises a hole-making robot system and a parallel robot system; the master control system upper computer comprises an NC master control module, a measuring unit module and a system management module, and the master control system lower computer comprises a PLC, and a robot control module, an end effector module and a tool management module which are respectively connected with the PLC.
In order to better realize the invention, the digital tooling system further comprises a driving system, wherein the driving system respectively comprises a motor horizontal unit, a motor rotating unit and a motor upright post returning unit, and the motor horizontal unit, the motor rotating unit and the motor upright post returning unit are respectively provided with a position feedback unit.
In order to better realize the invention, the master control system lower computer further comprises a photographing system, an I/O module, a driving system and an industrial robot which are connected with the PLC, wherein the photographing system is connected with the PLC through a TCP interface, and the I/O module, the driving system and the industrial robot are respectively connected with the PLC through industrial buses; the camera system includes a positioning reference unit; the I/O module comprises a pressure foot unit, a normal measuring unit, a riveting unit, a nail feeding system and a nail feeding station; the driving system comprises a hole-making countersink unit and a station conversion unit.
In order to better realize the invention, the NC master control module further comprises an NC file generation unit, a coordinate conversion unit, an accuracy supplementing unit, a coordinate correction unit, a file analysis unit and an NC execution management unit which are sequentially connected from front to back; the NC file generation unit is used for acquiring and predicting reasoning to obtain an NC file based on process knowledge, the coordinate conversion unit is used for converting coordinates of a machining point in the NC numerical control code into coordinate values under a robot coordinate system, the coordinate correction unit is used for carrying out coordinate correction according to a local reference to form an executable NC file, the file analysis unit is used for loading the converted NC file into a system and guiding the NC file into the NC linear management unit, and the NC execution management unit is used for issuing NC instructions, receiving execution feedback results and carrying out data transmission by taking an ADS server as an intermediate management transmission layer.
In order to better realize the invention, further, the execution command contained in the NC file is any one or more of KUKA robot moving to a designated position, internal parallel robot moving to a designated position, hole making, hammer riveting, stress wave riveting, process parameter setting, reference detection, quality evaluation and tool movement.
In order to better realize the invention, the measuring unit module further comprises a normal alignment module, a reference detection module, a state monitoring module and a quality evaluation module; the normal alignment module is used for calculating an angle error between the current main shaft direction and the normal direction of the product skin surface, judging whether the normal direction is vertical or not according to the fact that the robot reaches a given position, if not, calling a normal leveling algorithm to correct, and outputting a variable which is the robot coordinate after gesture adjustment correction; the reference detection module is used for processing the input camera scanning pixel data through a reference detection algorithm and outputting reference coordinates under a robot coordinate system; the state monitoring module is used for monitoring any one or more process parameters of the spindle rotating speed, the feeding speed, the pressing force, the cutter position and the cutter breakage detection result when the robot makes holes and displaying the process parameters in a waveform chart form in real time; the quality evaluation module is used for detecting after hole making is completed, detecting whether any one or more process parameters of the aperture, the hole edge distance, the countersink depth, the perpendicularity and the flush degree are qualified or not, and displaying the aperture detection, the countersink depth detection, the perpendicularity measurement, the rivet flush degree and the surface roughness in a graph.
In order to better implement the invention, further, the robot control module comprises a Kuka robot control unit and an internal parallel robot control unit; the Kuka robot control unit is used for realizing any one or more of releasing a robot, retracting the robot, starting an external automatic device, putting back and grabbing a hammer riveting end effector, putting back and grabbing a rivet pulling end effector, safety confirmation of the robot, stopping movement of the robot, resetting the robot and feedback of the state of the robot for the Kuka robot; the internal parallel robot control unit is used for realizing any one or more of starting the robot, disconnecting the robot, starting the robot to run, stopping the movement, resetting and moving the designated position of the robot.
In order to better realize the invention, the end effector module further comprises a hammer riveting end effector, a pull riveting end effector and a top riveting end effector, wherein the hammer riveting end effector, the pull riveting end effector and the top riveting end effector are respectively used for realizing state monitoring, processing technology debugging and single-point equipment function debugging; and any one or more of the hammer riveting end effector, the pull riveting end effector and the top riveting end effector are integrated to obtain an external hammer riveting unit and an internal top riveting unit.
In order to better implement the present invention, further, the system management module includes any one or more of a user management unit, a device status monitoring unit, an NC code specification unit, a system log unit, and an alarm information unit.
According to the structural characteristics of the aircraft product and the requirements on drilling and riveting functions and performances, the end effector needs to have the functions of hole making, riveting, bolt mounting, reference detection, normal measurement and the like, and has the advantages of high integration level, complex structure and high precision requirement. On the other hand, the structure, weight and size of the end effector directly influence the dynamic and static characteristics of the robot, further influence the precision and stability of the system, and the structure and layout of the functional units are reasonably designed and optimized on the premise of ensuring the requirements of functions, precision and the like, so that the end effector is miniaturized and light.
The beneficial effects of the invention are as follows:
the invention comprises a plurality of hardware systems, each set of system is provided with an independent control system, the integrated control of a digital measurement system and a field monitoring system is realized in the drilling and riveting process, a complete and reliable control system is formed, and finally, high-quality and high-efficiency drilling and riveting is realized. The invention establishes a data integration interface to realize the integration of the geometric data and the technological parameter data of the product and the control system; a measurement data interface is established, and real-time feedback control of double-robot drilling and riveting equipment and assembly tools is realized; an integrated control interface is established, and technologies such as real-time detection of drilling and riveting precision, comprehensive evaluation of drilling and riveting quality, real-time mapping and control of drilling and riveting system states and the like are adopted to realize cooperative movement and operation among an industrial robot, a narrow space drilling and riveting robot, a multifunctional end effector and an assembly tool.
Aiming at the drilling and riveting process flow of special-shaped and heterogeneous components and the intelligent drilling and riveting characteristics, the information integration technology is researched, information interaction variables between each subsystem and an integrated control system are defined, and a control framework of system information interaction is constructed; the characteristics of each subsystem are researched, the characteristics of multi-system integrated control are combined, a control strategy suitable for intelligent drilling and riveting of a robot is provided, a control structure of the system is designed, integrated control software is developed, and an integrated control system is developed. Finally, hardware and software integration of the intelligent drilling and riveting system of the robot is realized, and the intelligent drilling and riveting system of the robot is formed.
Drawings
FIG. 1 is a schematic view of a mid-fuselage assembly system;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a control schematic block diagram of a multi-function end effector;
FIG. 4 is a single cycle workflow diagram of a multi-function end effector for drilling and riveting;
FIG. 5 is a schematic block diagram of a hammer rivet, top rivet development technique route;
FIG. 6 is a schematic block diagram of a blind rivet riveting development technology route;
FIG. 7 is a schematic block diagram of a stress wave rivet development technique route;
FIG. 8 is a flow chart of robot cooperative control;
FIG. 9 is a schematic block diagram of a technical path for design of a narrow space drilling and riveting robot configuration;
FIG. 10 is a schematic diagram of a digital tooling system;
FIG. 11 is a topology of the present invention;
fig. 12 is a control schematic of the present invention.
Wherein: 1-an internal guide rail platform; 3-rotating and positioning the tool; 4-rear fuselage sections; 5-a transfer station; 6-zero point positioning system; 7-an external rail platform; 8-an external robot slipway; 9-an external robot; 10-end effector; 11-moving the upright.
Detailed Description
Example 1:
the intelligent double-robot drilling and riveting integrated management and control system for the complex parts of the aircraft comprises a master control system upper computer and a master control system lower computer as shown in fig. 2 and 11, wherein a plurality of subsystems comprise a digital tool system, a double-robot drilling and riveting system and auxiliary equipment; the upper computer of the master control system interacts with the lower computer of the master control system through ADS communication or OPC communication, and the lower computer of the master control system interacts with the digital tool system, the double-robot drilling and riveting system and auxiliary equipment through TCP/IP; the double-robot drilling and riveting system comprises a hole-making robot system and a parallel robot system; the master control system upper computer comprises an NC master control module, a measuring unit module and a system management module, and the master control system lower computer comprises a PLC, a robot control module, an end effector 10 module and a tool management module which are respectively connected with the PLC.
And the NC master control module is respectively connected with the measurement unit module and the system management module. The NC master control module is used for realizing NC file processing, analysis and operation, and importing and executing the generated NC numerical control codes; the measuring unit module is used for realizing state monitoring and function debugging of all measuring modules of the system; the robot control module is used for controlling the Kuka robot and the internal parallel robot; the end effector 10 module is used for controlling three end effectors 10, namely hammer riveting, pull riveting and top riveting; the tool management module is used for controlling and monitoring the digital tool system.
Preferably, the NC master control module includes an NC file generating unit, a coordinate converting unit, an accuracy supplementing unit, a coordinate correcting unit, a file analyzing unit, and an NC execution management unit, which are sequentially connected from front to back; the NC file generation unit is used for acquiring and predicting reasoning to obtain an NC file based on process knowledge, the coordinate conversion unit is used for converting coordinates of a machining point in the NC numerical control code into coordinate values under a robot coordinate system, the coordinate correction unit is used for carrying out coordinate correction according to a local reference to form an executable NC file, the file analysis unit is used for loading the converted NC file into a system and guiding the NC file into the NC linear management unit, and the NC execution management unit is used for issuing NC instructions, receiving execution feedback results and carrying out data transmission by taking an ADS server as an intermediate management transmission layer.
Preferably, the NC file includes an execution command that is any one or more of KUKA robot movement to a specified position, internal parallel robot movement to a specified position, hole making, hammer riveting, stress wave riveting, process parameter setting, reference detection, quality assessment, and tooling movement.
Preferably, the measuring unit module comprises a normal alignment module, a reference detection module, a state monitoring module and a quality evaluation module; the normal alignment module is used for calculating an angle error between the current main shaft direction and the normal direction of the product skin surface, judging whether the normal direction is vertical or not according to the fact that the robot reaches a given position, if not, calling a normal leveling algorithm to correct, and outputting a variable which is the robot coordinate after gesture adjustment correction; the reference detection module is used for processing the input camera scanning pixel data through a reference detection algorithm and outputting reference coordinates under a robot coordinate system; the state monitoring module is used for monitoring any one or more process parameters of the spindle rotating speed, the feeding speed, the pressing force, the cutter position and the cutter breakage detection result when the robot makes holes and displaying the process parameters in a waveform chart form in real time; the quality evaluation module is used for detecting after hole making is completed, detecting whether any one or more process parameters of the aperture, the hole edge distance, the countersink depth, the perpendicularity and the flush degree are qualified or not, and displaying the aperture detection, the countersink depth detection, the perpendicularity measurement, the rivet flush degree and the surface roughness in a graph.
Preferably, the robot control module includes a Kuka robot control unit and an internal parallel robot control unit; the Kuka robot control unit is used for realizing any one or more of releasing a robot, retracting the robot, starting an external automatic machine, putting back and grabbing the hammer riveting end effector 10, putting back and grabbing the rivet riveting end effector 10, safety confirmation of the robot, stopping movement of the robot, resetting the robot and feedback of the state of the robot for the Kuka robot; the internal parallel robot control unit is used for realizing any one or more of starting the robot, disconnecting the robot, starting the robot to run, stopping the movement, resetting and moving the designated position of the robot.
Preferably, the end effector 10 module comprises a hammer riveting end effector 10, a rivet pulling end effector 10 and a top riveting end effector 10, wherein the hammer riveting end effector 10, the rivet pulling end effector 10 and the top riveting end effector 10 are respectively used for realizing state monitoring, processing technology debugging and single-point equipment function debugging; any one or more of the hammer riveting end effector 10, the pull riveting end effector 10 and the top riveting end effector 10 are integrated to obtain an external hammer riveting unit and an internal top riveting unit.
Preferably, the system management module includes any one or more of a user management unit, a device status monitoring unit, an NC code specification unit, a system log unit, and an alarm information unit.
Preferably, the digital tooling system comprises a driving system, wherein the driving system comprises a motor horizontal unit, a motor rotating unit and a motor upright post returning unit respectively, and the motor horizontal unit, the motor rotating unit and the motor upright post returning unit are respectively provided with a position feedback unit.
Preferably, as shown in fig. 3 and 12, the master control system lower computer further comprises a photographing system, an I/O module, a driving system and an industrial robot, wherein the photographing system, the I/O module, the driving system and the industrial robot are connected with the PLC through a TCP interface, and the I/O module, the driving system and the industrial robot are respectively connected with the PLC through industrial buses; the camera system includes a positioning reference unit; the I/O module comprises a pressure foot unit, a normal measuring unit, a riveting unit, a nail feeding system and a nail feeding station; the driving system comprises a hole-making countersink unit and a station conversion unit.
The invention comprises a plurality of hardware systems, each set of system is provided with an independent control system, the integrated control of a digital measurement system and a field monitoring system is realized in the drilling and riveting process, a complete and reliable control system is formed, and finally, high-quality and high-efficiency drilling and riveting is realized. The invention establishes a data integration interface to realize the integration of the geometric data and the technological parameter data of the product and the control system; a measurement data interface is established, and real-time feedback control of double-robot drilling and riveting equipment and assembly tools is realized; an integrated control interface is established, and technologies such as real-time detection of drilling and riveting precision, comprehensive evaluation of drilling and riveting quality, real-time mapping and control of drilling and riveting system states and the like are adopted to realize cooperative movement and operation among an industrial robot, a narrow space drilling and riveting robot, a multifunctional end effector 10 and an assembly tool.
Example 2:
an integrated management and control system for intelligent drilling and riveting of complex parts of an airplane is used as an overall planning station of the intelligent drilling and riveting system of the robot, is mainly responsible for task planning, processing execution and on-site monitoring of the whole automatic drilling and riveting processing system, integrates multiple functions of logic control ideas, algorithms, databases, log systems and the like, and realizes unified and efficient management of the automatic drilling and riveting system. The invention mainly comprises an NC master control module, a robot control module, an end effector 10 module, a measuring unit module, a system management module and a tool management module.
Preferably, as shown in fig. 2, the NC master module is a module for implementing NC file processing, parsing and running, and is mainly responsible for importing and executing NC numerical control codes generated by offline programming software. The coordinate conversion is performed, and the coordinate of the processing point in the NC numerical control code generated by the off-line programming software is the coordinate value under the coordinate system of the airplane and can be converted into the coordinate value under the coordinate system of the robot to drive the robot to move; and the file analysis is to load the converted NC numerical control code into a software system.
In the loading process, executing grammar detection of NC numerical control codes, ensuring that the running codes are legal codes and ensuring that the system runs stably; grammar detection and display mechanism: carrying out grammar checking and displaying on the numerical control codes in the interface, carrying out highlighting after finding errors, and adopting different display mechanisms aiming at the running state, the annotation codes and the main control codes; the system provides 2 modes of operation, one single step operation and one continuous operation. Single step running means running NC instruction one line at a time, and continuous running means running continuously from the current line until the instruction code, breakpoint or last line is run to stop running; adding and deleting break points to the NC codes, interrupting operation when the program moves to the break points, and continuing operation after deleting the break points; controlling the NC code program to start starting operation; stopping the running NC program is applicable only to the continuous motion mode; resetting NC codes to an initial state, and pointing a current running line to a first line; the real-time status information of the key components such as the external robot 9 coordinate values, the internal robot coordinate values, the reference hole scanning results, the quality evaluation results, the spindle rotation speed on the end effector 10, the tool position, etc. is monitored.
Preferably, the robot control module is used for controlling the Kuka robot and the internal parallel robot. Wherein the control of the Kuka robot includes releasing the robot, retracting the robot, turning on the external robot, placing back and grasping the hammer rivet end effector 10, placing back and grasping the rivet end effector 10, robot safety confirmation, robot motion stop, robot reset, robot state feedback, etc. The control of the parallel robot comprises starting the robot, disconnecting the robot, starting the robot to run, stopping the movement, resetting, moving the designated position of the robot, and the like.
Preferably, the end effector 10 module is configured to control three end effectors 10, i.e., hammer rivet, blind rivet, and top rivet. Each end effector 10 includes functions including condition monitoring, machining process tuning, and single point equipment function tuning. As shown in fig. 5, the hammer riveting end effector 10 selects a pneumatic reverse riveting mode according to the characteristics of poor product openness of the barrel section of the aircraft, complex internal structure frame, small internal robot bearing and the like, namely, the riveting power source is compressed air, the rivet gun hammers the rivet head from the outer surface of the aircraft, the rivet rod is propped against the inside of the aircraft component by a jacking iron, and the riveting is completed through multiple hammering. And acquiring product fastener information of the riveting area, carrying out a riveting process test, and determining riveting process parameters. According to the riveting process parameters and the back riveting process characteristics, the riveting gun parameters and the top iron mass are determined, and the on-line detection of the riveting mass is realized by using sensors such as an intelligent camera, a displacement sensor, a force sensor and the like. And finally, integrating all the components, and developing an external hammer riveting unit and an internal top riveting unit.
As shown in fig. 6, the blind rivet riveting unit performs a rivet extraction and installation function from the outer surface of the aircraft, and selects a pneumatic riveter suitable for the integration of the robotic end effector 10 according to product size and fastener information. As shown in fig. 7, the stress wave riveting unit comprises a stress wave riveting power head, a linear feeding mechanism and a mounting buffer mechanism, wherein the stress wave riveting power head is mounted on the linear feeding mechanism through the mounting buffer mechanism, and the linear feeding mechanism drives the riveter to linearly move to compress the rivet, so that riveting is completed. The installation buffer mechanism is provided with a guide stress wave riveting power head and is used for buffering the recoil of the riveting.
Preferably, the measurement unit module is used for realizing state monitoring and function debugging of all measurement modules of the system, and comprises a normal alignment module, a reference detection module, a state monitoring module and a quality evaluation module. Each monitoring module contains real-time data of each measuring sensor and the result after processing operation. The input variables of the normal alignment module are the angle errors between the current main shaft direction and the normal direction of the product skin surface are calculated according to the data of 4 sensors read from the PLC, and whether the normal direction is vertical is judged by a judging method, namely that the robot reaches a given position. If the robot is not vertical, a normal leveling algorithm is called for correction, and the output variable is the robot coordinate after the posture adjustment correction; the reference detection module is used for researching the input camera scanning pixel data through a reference detection algorithm and outputting reference coordinates under a robot coordinate system; the state monitoring module is mainly used for monitoring various process parameters during the hole making of the robot, and comprises the following steps: spindle rotational speed, feed speed. The pressing force, the cutter position and the cutter breakage detection result are displayed in a waveform diagram form in real time; the quality evaluation module detects whether the technological parameters such as aperture, hole edge distance, countersink depth, perpendicularity, flushness and the like are qualified after the hole making is finished, and meanwhile, aperture detection, countersink depth detection, perpendicularity measurement, rivet flushness and surface roughness are displayed in a graph.
Preferably, the system management module comprises functions of user management, equipment state monitoring, NC code specification, system log, alarm information and the like.
Preferably, the tool management module is a module for realizing the control and monitoring of the whole system digital chemical industry, and comprises a mobile positioning platform of an internal robot, a rotary tool and a control and monitoring of a zero point positioning device. As shown in fig. 10, the assembly fixture and the ground auxiliary system mainly comprise a shape-preserving fixture, an assembly frame, a rotating fixture, an AGV and a zero point positioning system 6. The tool adopts a movable conformal tool and is locked by a zero point positioning system 6. Firstly, the conformal tooling is fixed in an assembly type frame through a zero point positioning system 6, and the product completes the preassembly of a main beam, a frame structure and part of skin in the assembly type frame unit; then, the AGV is taken out of the frame, transported to the automatic drilling and riveting station of the robot, falls on a zero point positioning system 6, slides into a rotating tool through a pulley assembly and is positioned by a combined pin structure; and finally, the movable frame assembly is moved out of the working area by the AGV transfer trolley, and the automatic drilling and riveting robot performs drilling and riveting work after being in place.
The control unit hardware mainly comprises hardware such as an upper controller, a lower controller, a remote control module, a servo motor, an ultrasonic sensor, a circuit breaker, a relay and the like. The upper controller is the core of the whole AGV transport vehicle control system and is responsible for loading management software of the whole control system, running system programs, coordinating the running of other functional units of the management system and the like. Hardware indexes such as speed and capacity of the upper controller directly influence the performance of the whole AGV transport vehicle control system. In view of the real-time requirements of the AGV control system, the processing speed of the selected controller should be fast enough, and the controller must also have rich external equipment interfaces. Through comparing multiple design schemes and referring to relevant design experience at home and abroad and comprehensively considering requirements and factors of various aspects, the designed AGV transport vehicle adopts the CX50 series embedded industrial personal computers with multiple functions as an upper controller. Receiving digital quantity and analog quantity signals sent by a remote control module, a visual sensor and a radar sensing device, calling a corresponding software module, and outputting two signals after operation: one is a steering and rotational speed signal which is transmitted to a servo drive to adjust the reverse direction and speed of operation of the servo motor; the other is a start-stop signal which is transmitted to a servo driver to drive the servo motor to start, stop and the like.
Example 3:
an intelligent drilling and riveting integrated management and control system for double robots of complex parts of an airplane, wherein the overall framework architecture of the system is described: a process parameter prediction method based on a neural network model is provided on the basis of a process knowledge base technical route of a process test and expert experience, and a prediction reasoning mechanism of the process parameters is established. The design of the drilling and riveting process parameter knowledge system is based on Visual Studio and Oracle secondary development of drilling and riveting process parameter knowledge base system software, three functions of data management, process knowledge acquisition and prediction reasoning are realized, and the test result verifies the consistency of the prediction result and the true value. And integrating the developed drilling and riveting process parameter knowledge base system with the intelligent drilling and riveting system of the robot, outputting the obtained drilling and riveting process parameter number to offline programming software, generating an NC file, and providing scientific and reasonable process parameters and NC processing files for automatic drilling and riveting processing of the robot.
As shown in fig. 2, the NC file generated by the offline programming software converts the point location under the plane coordinate system into the coordinate value under the robot coordinate system through coordinate conversion, and performs coordinate correction according to the local reference under the effect of precision compensation to form an executable NC processing file, and after analyzing the file, the NC performs management finally. The NC file contains execution commands of: the KUKA robot moves to a designated position; the internal parallel robot moves to a designated position; hole making, hammer riveting and stress wave riveting; setting process parameters; detecting a reference; and (5) quality evaluation and tool movement. The ADS server is used as an intermediate management transmission layer and transmits NC instructions issued by NC execution management to each execution unit in the form of data. And after each unit finishes the appointed action, feeding back an execution result to the NC for executing management.
As shown in fig. 1, the middle fuselage assembly system combined with the present embodiment includes: the device comprises an inner guide rail platform 1, an inner robot, a rotary positioning tool 2, a rear body part 4, a transfer station 5, a zero point positioning system 6, an outer guide rail platform 7, an outer robot 9 sliding table 8, an outer robot 9, an end effector 10 and a movable upright 11. Wherein, the external robot 9 is installed on the external guide rail platform 7 and can move along the Y direction; the fixed upright post and the movable upright post 11 are used for installing and supporting the inner guide rail platform 1, the inner robot is installed on the inner guide rail platform 1 and can move along the Y direction, and the movable upright post 11 can move along the X direction; the rear fuselage section 4 is placed horizontally and positioned by a conformal tooling, which is positioned by a zero point positioning system 6.
The second embodiment is as follows: as shown in fig. 3, the control system structure frame is built according to the principle design and the working characteristics of the multifunctional end effector 10, and the control flow is combed. The industrial numerical control system CNC is adopted, the EtherCAT/ProfiNet bus is connected with each shaft servo driver to realize real-time control of multi-shaft motion, the real-time control comprises main shaft hole making, countersink control, station conversion control and the like, the distributed I/O module is used for realizing normal detection and adjustment, nail feeding system, riveting unit parameter and the like, and the industrial personal computer is used for realizing reference accurate positioning of the photographic system based on TCP protocol. As shown in fig. 4, the entire hole making process of the single cycle of the robotic drill-rivet end effector 10 includes: reference detection, normal alignment and subsequent Kong Huowo making, hole forming detection, pin inserting, riveting and zeroing.
And a third specific embodiment: as shown in fig. 8, the control manner of the robot cooperative control module is: the external robot 9 moves to a designated position according to an offline program, after the posture adjustment is completed, the position posture of the parallel robot is resolved, the parallel robot moving platform is driven to move to a proper position, the posture information of the parallel robot is transmitted, the parallel robot controller completes inverse solution operation, and each axis is driven to reach the designated position and the posture adjustment is completed.
The flow is as follows:
(1) Initializing an integrated control system;
(2) According to the off-line program, the industrial robot moves to a designated position to perform normal measurement and posture adjustment;
(3) Driving a feed shaft to form holes to obtain hole position information;
(4) The end effector 10 switches stations and moves to the riveting position;
(5) The control system 'robot cooperative control module' calculates the theoretical position of the parallel robot;
(6) Driving a parallel robot moving platform motor to move to X0, and simultaneously sending an instruction to request the parallel robot to move to a designated position;
(6) After the parallel robot control system moves to a designated position, feeding back to the integrated control system, photographing and positioning again, and driving a parallel robot moving platform motor to perform secondary positioning and deviation correction by the control system according to an imaging result;
(7) And (5) feeding nails and riveting.
(8) Repeating the steps (2) - (7) until the technological process is completed.
The specific embodiment IV is as follows: as shown in fig. 9, the parallel guide 6-HTRT type and 6-SPS type (Stewart platform) are selected, and the performance indexes to be compared are the working space size, the bearing capacity strength and the difficulty of solving the position inverse solution, and the final configuration is determined by comprehensively considering the working space size, the bearing capacity strength and the difficulty. The total force applied by the rods of the 6-SPS structure is directly provided by the rods, while the force applied by the rods of the parallel guide path 6-HTRT parallel mechanism is partially provided by the guide rail bracket and partially provided by the driving device, namely the driving device only needs to provide one component force of the force applied by the rods.
The 6-PTRT parallel robot has the following characteristics:
(1) The input quantity is the motion displacement of the moving pair along the axis direction of the guide rail, the pose of the moving platform is only related to the differential combination of 6 input quantities, the calculation work of solving in the aspects of kinematics and dynamics is reduced, and modeling and analysis are easier;
(2) The driving force required by the driving element is reduced, and the resultant force formed by the driving force, the branch counter force and the like acts on the branched connecting rod;
(3) The position of the driving element is not limited by the branched chain, so that the problem that interference possibly exists in the motion process is solved;
(4) The working space has good translational property in the movement direction of the moving pair, and is suitable for working environments with small working environments and more external interference conditions and working environments needing to be lifted to avoid obstacles.
Fifth embodiment: as shown in FIG. 11, the information integration mainly realizes the data interaction between each subsystem of the intelligent drilling and riveting system and the master control system. The master control system can transmit motion execution instructions to each execution unit, and each execution unit feeds back state values to the master control system through components such as sensors. The main implementation mode is that the upper computer and the lower computer of the master control system realize information interaction through ADS communication or OPC communication; and information interaction is realized between the lower computer of the master control system and each subsystem through TCP/IP.
Specific embodiment six: as shown in fig. 12, for the drilling and riveting process flow of the special-shaped and heterogeneous components and the intelligent drilling and riveting characteristics, researching an information integration technology, defining information interaction variables between each subsystem and an integrated control system, and constructing a control framework of system information interaction; the characteristics of each subsystem are researched, the characteristics of multi-system integrated control are combined, a control strategy suitable for intelligent drilling and riveting of a robot is provided, a control structure of the system is designed, integrated control software is developed, and an integrated control system is developed. Finally, hardware/software integration of the intelligent drilling and riveting system of the robot is realized, and the intelligent drilling and riveting system of the robot is formed.
The digital integrated control of the robot drilling and riveting is realized by comprehensively adopting the technologies of computer integrated control, robot control, multi-axis numerical control, servo drive, process monitoring, sensing measurement and the like, meeting the process requirements of the digital drilling and riveting, having standardized integrated interfaces with other control systems and software systems, realizing information real-time acquisition and on-line control through a field bus technology, and adopting protocols such as TCP/IP and the like to communicate with an upper computer or other peripheral equipment by a CNC control system. The control system of the robot drilling and riveting system adopts a mature industrial numerical control system and an EtherCAT bus control mode thereof, the industrial personal computer coordinates the robot, a driving system, field distributed IO, corresponding algorithm calculation, logic safety control and the like, the vision positioning system mainly has the function of positioning a reference hole, and the normal adjustment system can automatically adjust the verticality of the end effector 10 and the like. The end effector 10 robot and the top riveting robot adopt a master and slave cooperative control mode, and a specified communication mode is selected. The servo drive system realizes the motion control of the end effector 10, the feed shaft, the main shaft and the external shaft.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.
Claims (10)
1. The intelligent drilling and riveting integrated management and control system for the complex parts of the aircraft is characterized by comprising a main control system and a plurality of subsystems which are mutually interacted, wherein the main control system comprises an NC main control module, a measuring unit module, a system management module, a robot control module, an end effector module and a tool management module; the NC master control module is used for realizing NC file processing, analysis and operation, and importing and executing the generated NC numerical control codes; the measuring unit module is used for realizing state monitoring and function debugging of all measuring modules of the system; the robot control module is used for controlling the Kuka robot and the internal parallel robot; the end effector module is used for controlling three end effectors of hammer riveting, pull riveting and top riveting; the tool management module is used for controlling and monitoring the digital tool system.
2. The intelligent double-robot drilling and riveting integrated management and control system for the complex parts of the airplane according to claim 1 is characterized in that the master control system comprises a master control system upper computer and a master control system lower computer, and the subsystems comprise a digital tool system, a double-robot drilling and riveting system and auxiliary equipment; the upper computer of the master control system interacts with the lower computer of the master control system through ADS communication or OPC communication, and the lower computer of the master control system interacts with the digital tool system, the double-robot drilling and riveting system and auxiliary equipment through TCP/IP; the double-robot drilling and riveting system comprises a hole-making robot system and a parallel robot system; the master control system upper computer comprises an NC master control module, a measuring unit module and a system management module, and the master control system lower computer comprises a PLC, and a robot control module, an end effector module and a tool management module which are respectively connected with the PLC.
3. The intelligent drilling and riveting integrated management and control system for the complex parts of the airplane by the double robots is characterized in that the digital tooling system comprises a driving system, the driving system comprises a motor horizontal unit, a motor rotating unit and a motor upright post returning unit, and the motor horizontal unit, the motor rotating unit and the motor upright post returning unit are respectively provided with a position feedback unit.
4. The intelligent drilling and riveting integrated management and control system for the double robots of the complex parts of the airplane according to claim 2, wherein the master control system lower computer further comprises a photographing system, an I/O module, a driving system and an industrial robot which are connected with the PLC, wherein the photographing system is connected with the PLC through a TCP interface, and the I/O module, the driving system and the industrial robot are respectively connected with the PLC through industrial buses; the camera system includes a positioning reference unit; the I/O module comprises a pressure foot unit, a normal measuring unit, a riveting unit, a nail feeding system and a nail feeding station; the driving system comprises a hole-making countersink unit and a station conversion unit.
5. The intelligent drilling and riveting integrated management and control system for the double robots of the complex parts of the airplane according to any one of claims 1 to 4, wherein the NC master control module comprises an NC file generation unit, a coordinate conversion unit, an accuracy supplementing unit, a coordinate correction unit, a file analysis unit and an NC execution management unit which are sequentially connected from front to back; the NC file generation unit is used for acquiring and predicting reasoning to obtain an NC file based on process knowledge, the coordinate conversion unit is used for converting coordinates of a machining point in the NC numerical control code into coordinate values under a robot coordinate system, the coordinate correction unit is used for carrying out coordinate correction according to a local reference to form an executable NC file, the file analysis unit is used for loading the converted NC file into a system and guiding the NC file into the NC linear management unit, and the NC execution management unit is used for issuing NC instructions, receiving execution feedback results and carrying out data transmission by taking an ADS server as an intermediate management transmission layer.
6. The intelligent integrated management and control system for double robots of complex parts of an aircraft according to claim 5, wherein the NC file contains execution commands of any one or more of KUKA robots moving to specified positions, internal parallel robots moving to specified positions, hole making, hammer riveting, stress wave riveting, process parameter setting, reference detection, quality assessment and tooling movement.
7. The intelligent drilling and riveting integrated management and control system for the complex parts of the airplane by the double robots according to any one of claims 1-4, wherein the measuring unit module comprises a normal alignment module, a reference detection module, a state monitoring module and a quality evaluation module; the normal alignment module is used for calculating an angle error between the current main shaft direction and the normal direction of the product skin surface, judging whether the normal direction is vertical or not according to the fact that the robot reaches a given position, if not, calling a normal leveling algorithm to correct, and outputting a variable which is the robot coordinate after gesture adjustment correction; the reference detection module is used for processing the input camera scanning pixel data through a reference detection algorithm and outputting reference coordinates under a robot coordinate system; the state monitoring module is used for monitoring any one or more process parameters of the spindle rotating speed, the feeding speed, the pressing force, the cutter position and the cutter breakage detection result when the robot makes holes and displaying the process parameters in a waveform chart form in real time; the quality evaluation module is used for detecting after hole making is completed, detecting whether any one or more process parameters of the aperture, the hole edge distance, the countersink depth, the perpendicularity and the flush degree are qualified or not, and displaying the aperture detection, the countersink depth detection, the perpendicularity measurement, the rivet flush degree and the surface roughness in a graph.
8. The intelligent drilling and riveting integrated management and control system for double robots of complex components of an aircraft according to any one of claims 1-4, wherein the robot control module comprises a Kuka robot control unit and an internal parallel robot control unit; the Kuka robot control unit is used for realizing any one or more of releasing a robot, retracting the robot, starting an external automatic device, putting back and grabbing a hammer riveting end effector, putting back and grabbing a rivet pulling end effector, safety confirmation of the robot, stopping movement of the robot, resetting the robot and feedback of the state of the robot for the Kuka robot; the internal parallel robot control unit is used for realizing any one or more of starting the robot, disconnecting the robot, starting the robot to run, stopping the movement, resetting and moving the designated position of the robot.
9. The integrated management and control system for double-robot intelligent drilling and riveting of complex parts of an aircraft according to any one of claims 1-4, wherein the end effector module comprises a hammer riveting end effector, a pull riveting end effector and a top riveting end effector, and the hammer riveting end effector, the pull riveting end effector and the top riveting end effector are respectively used for realizing state monitoring, processing technology debugging and single-point equipment function debugging; and any one or more of the hammer riveting end effector, the pull riveting end effector and the top riveting end effector are integrated to obtain an external hammer riveting unit and an internal top riveting unit.
10. The intelligent integrated management and control system for double robots of complex components of aircraft according to any one of claims 1-4, wherein the system management module comprises any one or more of a user management unit, a device status monitoring unit, an NC code specification unit, a system log unit, and an alarm information unit.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116909205A (en) * | 2023-08-23 | 2023-10-20 | 东莞市新佰人机器人科技有限责任公司 | Visual programming method and system for robot |
| CN117282909A (en) * | 2023-11-22 | 2023-12-26 | 成都航空职业技术学院 | Intelligent riveting control system and intelligent riveting method based on man-machine cooperation |
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- 2023-04-21 CN CN202310431242.5A patent/CN116540598A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116909205A (en) * | 2023-08-23 | 2023-10-20 | 东莞市新佰人机器人科技有限责任公司 | Visual programming method and system for robot |
| CN117282909A (en) * | 2023-11-22 | 2023-12-26 | 成都航空职业技术学院 | Intelligent riveting control system and intelligent riveting method based on man-machine cooperation |
| CN117282909B (en) * | 2023-11-22 | 2024-02-09 | 成都航空职业技术学院 | Intelligent riveting control system and intelligent riveting method based on man-machine cooperation |
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