面向跨品类产品的可重构柔性装配技术研究
Research on Reconfigurable and Flexible Assembly Technology for Cross-category Products
胡松 1徐赵博 1肖磊才 1冯平法 1曾龙1
作者信息
- 1. 清华大学深圳国际研究生院 深圳 518055
- 折叠
摘要
随着社会逐步进入产品个性化时代,自动化专机装配方式,适应能力差、难以改造重用.通过有向图和集合表达对装配作业及装配线的数学模型进行分析,提出基于装配工序优先关系图的产品完整装配工艺数学模型表达.基于上述分析,设计一种可重构柔性装配系统,包含具备快速更换接口的装配单元、装配工夹具库以及几种集成化和一体化的装配工具和装配夹具.之后,根据可重构的需求搭建适合的控制系统架构,确立主控机与机械臂之间基于1O通信的控制权交互协议.最后,进行可重构装配单元仿真优化及样机制造,并以梭阀和减压阀为实例进行样机的装配试验.通过样机试验,验证所提出的可重构柔性装配技术在可重构装配概念、数学模型、设计方案、机械结构以及控制系统各方面的可行性,对于可重构柔性装配技术的应用具有重要意义.
Abstract
As the society gradually enters the era of product personalization,the automated dedicated assembly method,which is poorly adaptable and difficult to transform and reuse.The mathematical model of assembly operation and assembly line is analyzed by directed graph and set representation,and the mathematical model representation of complete product assembly process based on the priority relationship diagram of assembly process is proposed.Based on the above analysis,a reconfigurable flexible assembly system is designed,which contains assembly units with quick-change interfaces,a library of assembly tools and fixtures,and several integrated assembly tools and assembly fixtures.After that,a suitable control system architecture is built according to the reconfigurable requirements,and a control right interaction protocol based on IO communication between the master controller and the robotic arm is established.Finally,the reconfigurable assembly unit simulation optimization and prototype manufacturing are carried out,and the prototype assembly experiments are conducted with shuttle valve and relief valve as examples.Through the prototype experiments,the feasibility of the proposed reconfigurable flexible assembly technology in terms of reconfigurable assembly concept,mathematical model,design scheme,mechanical structure,and control system is verified.
关键词
可重构装配/柔性装配/快换技术/自动化装配Key words
reconfigurable assembly system/flexible assembly system/quick change technology/assembly automation引用本文复制引用
基金项目
深圳市科创委高等院校稳定支持重点项目(WDZC20200821140447001)
出版年
2024
NETL
NSTL
万方数据