Aero-engine power turbine rotor robot assembly method based on compliance control
By adopting a robot assembly method with flexible force control during the assembly process of aero engine, the variable impedance controller is used to adjust the impedance parameters to achieve accurate force tracking, the problem of insufficient contact force control during automatic assembly is solved, and assembly stability and accuracy are improved.
CN119689843APending Publication Date: 2025-03-25CHINA HANGFA SOUTH IND CO LTD +1
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Patent Information
- Application Number
- CN202411551970.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-01
- Publication Date
- 2025-03-25
AI Technical Summary
Technical Problem
In the automatic assembly process of aircraft engines, the contact force is not well controlled, and the surface damage of the parts is easily caused.
Method used
The robot assembly method based on flexible force control is adopted to collect data through a six-dimensional force/torque sensor. After filtering, the variable impedance controller is used to adjust the impedance parameters to generate a flexible position trajectory to achieve accurate force tracking and avoid damage caused by excessive contact force.
Benefits of technology
It effectively improves the stability and accuracy of the assembly of aircraft engine power turbine rotors, reduces the product's unqualification rate, and improves assembly efficiency and production safety.
✦ Generated by Eureka AI based on patent content.
Abstract
The invention discloses an aero-engine power turbine rotor robot assembly method based on compliant force control, which uses a variable impedance parameter algorithm in the assembly process of an aero-engine, and can adjust impedance parameters and ensure boundaries by using real-time force errors and bounded functions. And the generated compliant position trajectory can adapt to the change of environmental parameters, so that accurate force tracking is realized. According to the method, the assembling stability and precision of the aero-engine power turbine rotor are effectively improved, the assembling efficiency of the aero-engine power turbine rotor is improved, and the problem that when an aero-engine is assembled, due to the fact that contact force is not well controlled, the surfaces of parts are prone to being damaged is solved.
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