Research On Robot Based Automatic Rivet Assem-Bly Technology For Compartment Panel

With the changes of Made in China 2025 and the international situation in recent years,the manufacturing industry at home and abroad has become more and more competitive.In recent years,the enterprises’ requirements for cost and quality have been increasing,requiring them to carry out industrial transformation and upgrading.For a certain type of helicopter isolation cabin plate production in the isolation cabin plate assembly rivet quantity,long work cycle,high intensity,long process flow,large footprint and other problems,combined with the host computer technology,industrial robot technology and servo control technology to build a double industrial robot collaborative assembly titanium alloy rivet automatic drilling and riveting system,to carry out robot control,electronic control system design and programming and other technology research,this paper is mainly The main research contents of this paper are as follows:(1)Based on the demand analysis of automatic drilling and riveting of titanium alloy rivets in the isolation hatch,the automatic drilling and riveting system of titanium alloy rivets based on the collaborative assembly of dual industrial robots is constructed.The system mainly consists of the isolation hatch,the main drilling and riveting robot,the slave drilling and riveting robot,the main electric riveting mechanism,the slave electric riveting mechanism,the clamping and transfer mechanism and the rivet supply mechanism.The robot vision is used to process the contour information of the isolation hatch,guide the master and slave drilling and riveting robots to make the holes,collect the detail information of the isolation hatch,and guide the master and slave drilling and riveting robots to thread the nails and electromagnetic riveting.(2)Based on the process analysis of automatic rivet assembly,the kinematic analysis of the master-slave collaborative 6-DOF drilling and riveting robot is carried out,and the robot motion trajectory planning study is carried out.Based on Matlab’s Robotice Tool toolbox,we built a robot simulation system for automatic drilling and riveting of titanium alloy rivets,and conducted a study on automatic hole making,trajectory simulation of electromagnetic riveting,nail threading trajectory and strategy simulation of rivets on isolation cabin plates.Build a robot automatic assembly riveting experimental platform to carry out experimental research on automatic rivet threading.(3)Using the upper and lower computer control system,a control system based on the collaborative control of the IPC,motion control cards and industrial robots was constructed,and the system control circuit design and component selection were completed.The upper computer is responsible for workflow planning,visual information processing and control algorithm design,and communicates with CCD and master and slave drilling and riveting robots through Profinet and PC-SDK protocols;the master and slave drilling and riveting robots carry out hole making,nail threading and electromagnetic riveting with toolboxes;the motion control card communicates with the upper computer through PCI interface and is responsible for cylinder and servo motor control.(4)The nail threading process of the automatic drilling and riveting system requires high accuracy for threading,so the titanium rivet threading operation is carried out with lower accuracy by using the oblique threading strategy,and the design of the key point control algorithm is completed to guide the TCP movement at the end of the master drilling and riveting robot with the key point.(5)Based on the winform component in C#language,the robot automatic drilling and riveting control program,human-machine interaction interface writing and system algorithm and logic control are designed.The robot program realizes the rivet assembly trajectory control,and the motion control card program realizes the control of servo system and cylinder,etc.