1 Introduction
Due to the rapid development of robotics in recent years, combined with its advantages of reduced investment, high degree of automation, stable performance, and good accessibility, it is gaining more and more applications in the aviation manufacturing process. The new aircraft represented by B787, A340, A380, F-22, F-35, etc., use a large number of robots in their manufacturing process for automated assembly (such as painting, drilling and riveting, welding, etc.) and performance testing and testing. Greatly improve the efficiency and quality of aircraft production. According to foreign statistics, robots are used to drill aircraft parts, and a single robot can complete high-quality holes for 1 million fasteners per year [1]. The use of robots for automated drilling and riveting of aircraft structural parts can improve the quality of hole making and riveting, thereby improving the flexibility and automation of aircraft manufacturing equipment, ensuring the service life of the aircraft and ultimately improving the overall level of aircraft manufacturing.
The use of robots for automatic manufacturing of aircraft structural parts is still immature in the field of aviation manufacturing in China. Especially for robotic automatic hole making application research and hole simulation. Therefore, research on robotic automatic hole making technology, especially hole making simulation technology is very important.
2. Automatic hole making process design
The robot hole making process design is mainly based on the DELMIA-FASTIP robot hole making program. The robot hole making software is mainly composed of DELMIARoboticsV5 (WL2+OLP), FasTIP, PIK (BA-OLPS) or equivalent software; using DELMIAoboticsV5 (WL2 robot simulation + OLP robot offline programming) The main purpose of the software is to establish the positional relationship of the entire work unit space, including robotic automatic machining system, positioning tooling, product parts, geometric coordinate tooling, and can define the robot's tasks, simulation and collision analysis. Develop a drilling offline programming solution using FasTIP software. The PIK (BA-OLPS) off-line programming system customization software and the CAD model of the robot unit (simplified CGR model) are used to perform the overall motion process simulation analysis.
Based on the functions of the above application software, in the CatiaV5 environment, a digital model is established for the robot, the process simulation environment is established by DEPMIA's DPM, and the DELMIAIGRIP module is used to plan, simulate and off-line the hole making process. Through the part digital model to extract the point information, the FASTIP software automatically creates the processing sequence of the point, supplements the intermediate point, creates the robot path information and machining program according to the processing requirements, optimizes the robot path, and then performs the robot motion simulation. Add robot-constrained semaphores and other semaphores to perform collision-related collision checks. After the complete machining process, the robot offline program is generated and the offline program is converted into the robot format code, and the offline programming simulation and post processing of the robot are performed. The robot simulation process is shown in Figure 1.
3. Automatic hole making process simulation
The simulation of the robot automatic hole making process was carried out based on the 3DPLM solution shared by Dassault Systèmes. Among them, CATIA provides product design solutions, and DELMIA provides process and resource solutions. Using process-centric technology to deliver end-to-end solutions for critical processes, enabling users to leverage digital products and resource models to complete process design and verification of products before they are put into production.
Creation of simulation environment
During the assembly simulation process, DELIMA's DPE (Digital Assembly Process Design Process) and DPM (Digital Process Verification and Assembly Process Simulation) modules are used. The former is a platform for product resource planning and application, using the digital prototype or EBOM data generated in the initial stage of product design for product analysis and process definition, formulation of total process design plan, process route formulation, time analysis, workshop facility layout and logistics simulation. DPM is the environment for planning and verifying the application details. Both share data through the PPRHub database. Here, the DELMIADPM module is used to establish the MRP simulation layout scheme, as shown in Figure 2. Based on DELMIA, the robot six-axis robot arm and end effector are integrated to form a complete robot simulation model, which can be directly called as a task robot in DELMIA.
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