中文摘要：

针对飞机自动化装配中对机器人自动钻铆系统设备的控制要求,设计一套以工业机器人为载体,基于Beckhoff控制系统的自动钻铆设备。该控制系统以现场总线的方式,将工业机器人、扩展地轨、多功能末端执行器、刀库以及其他附属设备通过Beckhoff的核心控制软件联系在一起,实现对加工现场的实时控制。并通过一系列的精度补偿措施在多个环节对误差进行修正补偿以提高精度。试验表明,该套系统可达到末端制孔定位精度±0.5mm,垂直精度±0.3°,孔径精度H8,锪窝深度精度±0.01mm。

英文摘要：

For the control of aircraft automatic assembly of robot automatic drilling and riveting system, an auto-matic drilling and riveting equipment used an industrial robot as the carrier and based on Beckhoff control system is de-signed. The control system brings the industrial robot, extended foor rail, multifunctional end effector, tool magazine and other ancillary equipment together through the core of Beckhoff control software based on feldbus mode, which can realize the real-time control of the machining site. And through a series of precision compensation measures in many aspects of the error to improve the accuracy of compensation, experiments show that the system can produce any hole with a positioning precision within ±0.5mm, a perpendicular accuracy within 0.3°, a diameter tolerance of H8, a countersink depth tolerance of ±0.01mm.