| 航天器紧固件机器人自动安装系统 |
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| 引用本文： | 孙溪淼.航天器紧固件机器人自动安装系统[J].兵工自动化,2019,38(3). |
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| 作者姓名： | 孙溪淼 |
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| 作者单位： | 1. 北京市八一学校，北京 100080；2. 北京控制工程研究所，北京 100094 |
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| 摘 要： | 针对航天器上螺纹连接紧固件的自动化安装需求，设计一套紧固件机器人自动安装系统。介绍了紧固件
机器人系统各部分的构成及设计原理，采用工业机器人带动紧固件到安装位置，通过压缩空气吹气将螺钉输送至安
装位置，利用气动滑台实现螺钉的压紧，使用电动扭力枪实现螺钉的拧紧，并通过紧固件安装实验进行验证。实验
结果表明，该系统达到了航天器紧固件安装的力矩控制的精度要求。
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| 关 键 词： | 紧固件 末端执行器 自动安装 工业机器人 |
| 收稿时间： | 2018/11/21 0:00:00 |
| 修稿时间： | 2018/12/26 0:00:00 |
Automatic Installation Robot for Faster on Spacecraft |
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| Abstract: | For the automatic installation requirements of spacecraft fasteners, a set of fastener automatic installation
system used by robot was developed. This paper introduces the composition and design principle of automatic installation
robot for faster. The industrial robot was used to drive the fastener to the installation position, the screw is picked and
automatically blow to the installation position by blowing air, a pneumatic sliding table is used to press the screw at the
installation position, an electric torque gun is used to tighten the screw, automatic installation experiment was carried out.
The test results show that the tightening torque was controlled within the range and meets the accuracy requirements for
spacecraft fastener installation. |
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| Keywords: | faster end effectors automatic installation industrial robot |
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