大型复杂构件机器人制孔技术研究进展

董松; 郑侃; 孟丹; 廖文和; 孙连军

doi:10.7527/S1000-6893.2022.27133

航空学报 >

2022 , Vol. 43 >Issue 5: 627133 - 627133

DOI: https://doi.org/10.7527/S1000-6893.2022.27133

机器人先进制造与装配技术专栏

大型复杂构件机器人制孔技术研究进展

董松 ,
郑侃 ,
孟丹 ,
廖文和 ,
孙连军

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南京理工大学机械工程学院, 南京 210094

收稿日期: 2022-03-09

修回日期: 2022-03-18

网络出版日期: 2022-04-12

基金资助

国家自然科学基金（52075265）

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Robotic drilling of large complex components: A review

DONG Song ,
ZHENG Kan ,
MENG Dan ,
LIAO Wenhe ,
SUN Lianjun

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School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

Received date: 2022-03-09

Revised date: 2022-03-18

Online published: 2022-04-12

Supported by

National Natural Science Foundation of China (52075265)

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摘要

航空装备大型复杂构件制造和装配中需要钻削数十万个机械连接孔，因而制孔效率和加工质量是保证飞行器使用性能和可靠性的关键。机器人制孔具有高柔性、高质量一致性以及高法向精度等优势，近年来采用机器人对飞机部件进行制孔在航空制造企业备受青睐。然而由于工业机器人的弱刚性以及叠层结构材料的难加工性，机器人钻削系统容易产生加工不稳定现象，严重制约了钻削质量和效率的进一步提高。目前，国内外学者在机器人制孔装备、制孔系统精度控制与机器人制孔稳定性等方面开展了理论与实验研究，并取得了诸多成果，但机器人钻削稳定性和加工质量控制研究的深度和广度仍存在较大的提升空间。为此，从机器人制孔末端执行器设计技术、机器人制孔定位精度控制技术、机器人制孔工艺过程控制技术以及机器人制孔装备研制四个方面对国内外文献进行总结和凝练，旨在为大型复杂构件机器人制孔技术的进一步研究提供指导。

关键词： 机器人制孔; 大型复杂构件; 末端执行器; 定位精度; 工艺过程控制

本文引用格式

董松 , 郑侃 , 孟丹 , 廖文和 , 孙连军 . 大型复杂构件机器人制孔技术研究进展[J]. 航空学报, 2022 , 43(5) : 627133 -627133 . DOI: 10.7527/S1000-6893.2022.27133

Abstract

Hundreds of thousands of mechanical connection holes need to be drilled in the manufacturing and assembly of large and complex components of aerospace equipment, and thus hole-making efficiency and processing quality are the key to ensure the performance and reliability of an aircraft. For Drilling holes with robot has the advantages of high flexibility, high quality consistency and high normal accuracy, the use of robots to make holes for aircraft components has become popular in aerospace manufacturing companies in recent years. However, due to the weak rigidity of industrial robots and the difficult processing of stacked structure material, robotic drilling systems are prone to processing instability, which seriously restricts the further improvement of drilling quality and efficiency. At present, domestic and foreign scholars have carried out theoretical and experimental research on robotic machining equipment, hole-making system accuracy control and robotic hole-making stability, which have achieved many results, but the depth and breadth of research on robotic drilling stability and machining quality control still have a large room for improvement. To this end, this paper summarizes and condenses the domestic and international literature from four aspects:robotic hole-making end-effector design technology, robotic hole-making positioning accuracy control technology, robotic hole-making process control technology, and robotic hole-making equipment development, with the aim of providing guidance for further research on robotic hole-making technology for large and complex components.

Key words： robotic drilling; large and complex components; end effector; positioning accuracy; process control

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