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Press pin control method and system of automatic robot hole-making equipment

The technology of a control method and control system is applied in the field of presser foot control method and system of robot automatic hole making equipment, which can solve the problems such as no public presser foot control method, shorten the process cycle, ensure the quality of hole making, and realize soft touch Effect

Inactive Publication Date: 2015-01-21
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this patent document does not disclose the control method of the presser foot. In order to avoid the excessive impact of the presser foot on the workpiece, it is necessary to optimize the control of the presser foot.

Method used

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  • Press pin control method and system of automatic robot hole-making equipment
  • Press pin control method and system of automatic robot hole-making equipment
  • Press pin control method and system of automatic robot hole-making equipment

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Embodiment Construction

[0042] Below in conjunction with each accompanying drawing, the present invention is described in detail.

[0043] A presser foot control method for robot automatic hole making equipment, comprising the following steps:

[0044] 1) Measure the position of the presser foot, the distance between the presser foot and the workpiece, set the command position, and obtain the deviation of the current position of the presser foot relative to the command position. There is a gap between the command position and the working position, and the gap is small:

[0045]The position of the presser foot is X, which is measured by the absolute grating; the distance between the presser foot and the workpiece is D, which is measured by the laser ranging sensor; the command position is X d , the deviation of the current position of the presser foot relative to the command position is e(t), e(t)=X d +λD-X, where λ is the feedback gain coefficient, and λ is 25 in this embodiment.

[0046] 2) Accord...

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Abstract

The invention discloses a press pin control method and system of automatic robot hole-making equipment. The press pin control method includes the following steps that (1) the position of a press pin and the distance between the press pin and a workpiece are measured, an instruction position is set, and the difference from the current position of the press pin to the instruction position is obtained; (2) the press pin is controlled to move to the instruction position through a sliding mode variable structure control method according to the difference; (3) the press pin is controlled to move until the press pin makes contact with the workpiece, and certain pressing force is kept; (4) a hole is made in the workpiece, and the press pin is controlled to retreat after the hole is made. The process that the press pin extends out and presses the workpiece is divided two stages, one stage is that an air cylinder pushes the press pin to rapidly reach the surface of the workpiece without collision, and the other stage is that the press pin has certain pressing force on the workpiece through rapid pressurization of the air cylinder. Thus, rapid positioning of the press pin is realized, soft contact between the press pin and the workpiece is realized, and unevenness, caused by large impact, of the surface of the workpiece and further influences on machining quality and appearance are avoided.

Description

technical field [0001] The invention belongs to the technical field of aircraft digital assembly, and in particular relates to a presser foot control method and system for robot automatic hole-making equipment. Background technique [0002] Robot automatic hole making system has been widely researched and applied in foreign aviation manufacturing industry because of its high efficiency, flexibility and low cost. As the core equipment of robot hole-making process, the end effector is the key to realize the flexibility of hole-making process and reduce the cost in high-precision hole processing. The presser foot is an important part of the end effector. The reasonable use of the presser foot can eliminate the gap between the laminated material bonding surface and suppress the generation of burrs on the bonding surface. At the same time, it can increase the dynamic stiffness of the hole making system, so that the system more stable. The control of the presser foot requires a ...

Claims

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Application Information

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IPC IPC(8): B23Q3/08
CPCB23Q3/08
Inventor 方强潘泽民李江雄柯映林
Owner ZHEJIANG UNIV
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