Integrated Control System of Robot Automatic Drilling and Riveting Technology

ZHANG Jin; TIAN Wei; ZHOU Min; TIAN Linshan

doi:10.16080/j.issn1671-833x.2017.09.038

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Integrated Control System of Robot Automatic Drilling and Riveting Technology

更新时间：2026-04-17

- Integrated Control System of Robot Automatic Drilling and Riveting Technology
- Aeronautical Manufacturing Technology Vol. 60, Issue 9, Pages: 38-42(2017)
- 作者机构：
  
  南京航空航天大学机电学院,南京,210016
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2017.09.038
  CLC：
- Published：2017
- 稿件说明：
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张　晋，田　威，周　敏，田林山. 机器人自动钻铆系统集成控制技术*[J]. 航空制造技术, 2017, 60(9): 38-42.

ZHANG Jin, TIAN Wei, ZHOU Min, TIAN Linshan. Integrated Control System of Robot Automatic Drilling and Riveting Technology. Aeronautical Manufacturing Technology, 2017, 60(9): 38-42.
张　晋，田　威，周　敏，田林山. 机器人自动钻铆系统集成控制技术*[J]. 航空制造技术, 2017, 60(9): 38-42. DOI： 10.16080/j.issn1671-833x.2017.09.038.

ZHANG Jin, TIAN Wei, ZHOU Min, TIAN Linshan. Integrated Control System of Robot Automatic Drilling and Riveting Technology. Aeronautical Manufacturing Technology, 2017, 60(9): 38-42. DOI： 10.16080/j.issn1671-833x.2017.09.038.

摘要

针对飞机自动化装配中对机器人自动钻铆系统设备的控制要求，设计一套以工业机器人为载体，基于 Beckhoff 控制系统的自动钻铆设备。该控制系统以现场总线的方式，将工业机器人、扩展地轨、多功能末端执行器、刀库以及其他附属设备通过Beckhoff 的核心控制软件联系在一起，实现对加工现场的实时控制。并通过一系列的精度补偿措施在多个环节对误差进行修正补偿以提高精度。试验表明，该套系统可达到末端制孔定位精度± 0.5mm，垂直精度± 0.3°，孔径精度H8，锪窝深度精度± 0.01mm。

Abstract

For the control of aircraft automatic assembly of robot automatic drilling and riveting system

an automatic drilling and riveting equipment used an industrial robot as the carrier and based on Beckhoff control system is designed. The control system brings the industrial robot

extended floor rail

multifunctional end effector

tool magazine and other ancillary equipment together through the core of Beckhoff control software based on fieldbus mode

which can realize the real-time control of the machining site. And through a series of precision compensation measures in many aspects of the error to improve the accuracy of compensation

experiments show that the system can produce any hole with a positioning precision within ±0.5mm

a perpendicular accuracy within 0.3°

a diameter tolerance of H8

a countersink depth tolerance of ±0.01mm.

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Related Institution

Nanjing University of Aeronautics and Astronautics

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四川省航空智能制造装备工程技术研究中心

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