轻型自主爬行制孔系统集成控制技术-航空制造技术.PDFVIP

研究论文 RESEARCH 轻型自主爬行制孔系统集成控制技术 * 吴　朋， 田　威， 廖文和， 向　勇 （南京航空航天大学机电学院，南京 210016） [ 摘要 ] 针对机身筒段大部件的装配需求，设计了由自主多足移动机构与多功能末端执行器两大功能模块组成的轻 型自主爬行制孔系统。基于集成控制的总体需求，设计了上下位机分层控制体系。利用 Microsoft Visual Studio 平台 开发了上位机集成控制软件，用以规划整个钻铆系统的加工任务，监测现场加工任务的执行情况。利用德国倍福软 PLC 技术实现对整个系统终端硬件的实时控制。在明确了集成控制的总体方案后，设计了基于工业网络的硬件组态 和基于多软件平台的软件组态。最后，在不同倾斜角度的曲面工装上进行了机器人的行走和钻孔试验。试验结果表 明轻型自主爬行制孔系统结构设计合理，集成控制系统性能稳定，能够稳定实现行走和钻孔功能，制孔质量满足要求。 关键词：机身筒段；自主多足移动机构；多功能末端执行器；集成控制；硬件组态；软件组态 Integrated Control Technology of Lightweight Auto-Crawling Drilling System WU Peng, TIAN Wei, LIAO Wenhe, XIANG Yong (College of Mechanical and Electronic Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China) [ABSTRACT] For the assembly requirements of the large parts of barrel section of the fuselage, the lightweight auto- crawling drilling system with two function modules composed of autonomous multi-leg mobile mechanism and multi- functional end effector is designed. Based on the overall requirements of integrated control, the upper-lower computer hier- archical control system is designed. And integrated control software of the host compute by using Microsoft Visual Studio platform for planning tasks throughout the drilling and riveting system is developed , monitoring the implementation of on- site machining task. Using software PLC technology of Beckhoff to realize real time control of terminal hardware of the entire system. the hardware configuration based on industrial network and software configuration based on multi-software platform are designed after making clear the overall scheme of integrated control. Finally, the robot’s walking and drilling experiments are carried out on the surface tooling with different inclined angles. Experimental results show that the struc- ture design of the lightwe