摘要
针对直升机升力系统自动倾斜器、主桨毂与主减速器手工装配带来的质量不稳定、效率低等问题,分析了产品结构特点、地面自动组立装配顺序及其难点和关键技术,设计了基于视觉测量、位姿计算、装配路径规划、并联机构调姿和力位混合控制的地面自动组立总体方案,开展了关键特征区边缘精确识别与抗冗余匹配、空间相对位姿精确检测、实测数据驱动的装配姿态仿真与路径规划、多自由度调姿机构位姿误差分析与精度补偿和多维力感知的柔顺插合装配控制等关键技术,实现了AC313直升机升力系统自动倾斜器、主桨毂与主减速器的地面自动组立。自动倾斜器与主减速器主轴装配间隙不大于0.02 mm,主桨毂与主减速器主轴外齿啮合间隙不大于0.04 mm,提升了装配质量和效率。
Aiming at the problems of unstable quality and low efficiency caused by the manual assembly of the helicopter lifting system,the structural characteristics of the swash-plate,the main propeller hub and the main reducer were analyzed to plan the ground automatic assembly sequence,its difficulties and key technologies were analyzed.The overall scheme of ground automatic assembly was designed based on visual measurement,pose calculation,assembly path planning,parallel mechanism and force-position hybrid control.The technology of accurate edge identification and anti-redundancy matching of key feature areas,accurate detection of relative pose in space,assembly attitude simulation and path planning technology based on measured data,position and attitude error analysis and accuracy compensation technology of multi-degree-of-freedom attitude adjustment mechanism and multi-dimensional force perception compliant fit assembly control are carried out to realize the automatic assembly of the helicopter lifting system.As a result of application on AC313,the assembly gap between the swash-plate and the main reducer main shaft is less than 0.02 mm,and the meshing gap between the main propeller hub and the main reducer shaft is less than 0.04 mm,which improves the assembly quality and effectiveness.
作者
卜泳
杜兆才
李泷杲
郑璐晗
陈龙
BU Yong;DU Zhaocai;LI Longgao;ZHENG Luhan;CHEN Long(China Academy of Aeronautical Manufacturing Technology,Beijing 100024;Nanjing University of Aeronautics and Astronautics,Nanjing 210016)
出处
《现代制造技术与装备》
2022年第5期75-81,共7页
Modern Manufacturing Technology and Equipment
关键词
直升机升力系统
地面自动组立
并联机构
视觉测量
力位混合控制
helicopter lifting system
ground automatic assembly
parallel
visual measurement
hybrid force-position control
