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J4  2013, Vol. 47 Issue (2): 201-208    DOI: 10.3785/j.issn.1008-973X.2013.02.002
机械工程     
工业机器人自动钻孔及锪窝一体化加工
董辉跃, 曹国顺, 曲巍崴, 柯映林
浙江大学 机械工程学系,浙江杭州 310027
Processing research of industry robots drilling and
countersinking automaticly
DONG Hui-yue, CAO Guo-shun, QU Wei-wei, KE Ying-lin
Department of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
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摘要:

为了提高工业机器人制孔的位姿精度,控制锪窝深度误差,利用激光跟踪仪跟踪机器人位姿,获得位姿偏差,并对机器人位姿偏差进行补偿,提高机器人制孔的位姿精度;利用光栅尺构成闭环控制系统,将制孔过程中机器人与工件变形引起的误差补偿到制孔刀具的进刀位置,从而保证埋头螺栓孔的锪窝深度.采用该跟踪、补偿系统在平面试验件和曲面试验件上进行了工业机器人制孔位置精度和锪窝深度补偿加工试验.结果表明,机器人的位置精度和角度精度达到0.05 mm和0.05°,锪窝深度误差控制在0.03 mm以内.

Abstract:

 To improve Pose accuracy and control countersinking error when using industry robot to machining hole, pose of robot was tracked by laser tracker, deviation was got and was used to compensate robot pose. Grating ruler was used to construct a close loop control system, and the system was used to measure feeding position error of tool. Error of the tool final feeding distance caused by deformation of the robot and workpiece was compensated. As a result, the accuracy of countersink depth of bolt hole was met. Pose accuracy and countersink depth experiments were done on planer and surface workpiece. It was shown that error of pose are 0.05 mm and 0.05°respectively, and error of countersink depth is 0.03 mm.

出版日期: 2013-02-01
:  TH 62  
基金资助:

中央高校基本科研业务费专项资金资助(2011FZA4002).

通讯作者: 曲巍崴,女,讲师.     E-mail: qwwww@163.com
作者简介: 董辉跃(1974—),男,副教授,从事机加工材料加工工艺研究.E-mail: donghuiyue@zju.edu.cn
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引用本文:

董辉跃, 曹国顺, 曲巍崴, 柯映林. 工业机器人自动钻孔及锪窝一体化加工[J]. J4, 2013, 47(2): 201-208.

DONG Hui-yue, CAO Guo-shun, QU Wei-wei, KE Ying-lin. Processing research of industry robots drilling and
countersinking automaticly. J4, 2013, 47(2): 201-208.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2013.02.002        http://www.zjujournals.com/eng/CN/Y2013/V47/I2/201

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