轻型自主爬行制孔系统集成控制技术

摘要

针对机身筒段大部件的装配需求,设计了由自主多足移动机构与多功能末端执行器两大功能模块组成的轻型自主爬行制孔系统.基于集成控制的总体需求,设计了上下位机分层控制体系.利用Microsoft Visual Studio平台开发了上位机集成控制软件,用以规划整个钻铆系统的加工任务,监测现场加工任务的执行情况.利用德国倍福软PLC技术实现对整个系统终端硬件的实时控制.在明确了集成控制的总体方案后,设计了基于工业网络的硬件组态和基于多软件平台的软件组态.最后,在不同倾斜角度的曲面工装上进行了机器人的行走和钻孔试验.试验结果表明轻型自主爬行制孔系统结构设计合理,集成控制系统性能稳定,能够稳定实现行走和钻孔功能,制孔质量满足要求.%For the assembly requirements of the large parts of barrel section of the fuselage,the lightweight autocrawling drilling system with two function modules composed of autonomous multi-leg mobile mechanism and multifunctional end effector is designed.Based on the overall requirements of integrated control,the upper-lower computer hierarchical control system is designed.And integrated control software of the host compute by using Microsoft Visual Studio platform for planning tasks throughout the drilling and riveting system is developed,monitoring the implementation of onsite machining task.Using software PLC technology of Beckhoff to realize real time control of terminal hardware of the entire system,the hardware configuration based on industrial network and software configuration based on multi-software platform are designed after making clear the overall scheme of integrated control.Finally,the robot's walking and drilling experiments are carried out on the surface tooling with different inclined angles.Experimental results show that the structure design of the lightweight auto-crawling drilling system is reasonable,the performance of the integrated control system is stable,the system can achieve the function of walking and drilling,and the quality of holes meets the requirements.