面向跨品类产品的可重构柔性装配技术研究

doi:10.3901/JME.2024.06.069

机械工程学报 ›› 2024, Vol. 60 ›› Issue (6): 69-81.doi: 10.3901/JME.2024.06.069

• 特邀专栏：数据-知识混合驱动的智能制造系统 • 上一篇下一篇

扫码分享

面向跨品类产品的可重构柔性装配技术研究

胡松, 徐赵博, 肖磊才, 冯平法, 曾龙

清华大学深圳国际研究生院深圳 518055

收稿日期:2023-10-30 修回日期:2024-01-05 出版日期:2024-03-20 发布日期:2024-06-07
通讯作者: 曾龙，男，1982年出生，副教授，硕士研究生导师。主要研究方向为智能CAD/CAM。E-mail：zenglong@sz.tsinghua.edu.cn
作者简介:胡松，男，1995年出生。主要研究方向为柔性装配。E-mail：hus21@mails.tsinghua.edu.cn;徐赵博，男，1995年出生。主要研究方向为柔性装配语言。E-mail：xzb19950628@163.com;肖磊才，男，1998年出生。主要研究方向为柔性装配语言。E-mail：xlc19@mails.tsinghua.edu.cn;冯平法，男，1966年出生，教授，博士研究生导师。主要研究方向为智能制造系统。E-mail：feng.pingfa@sz.tsinghua.edu.cn
基金资助:
深圳市科创委高等院校稳定支持重点资助项目(WDZC20200821140447001)。

Research on Reconfigurable and Flexible Assembly Technology for Cross-category Products

HU Song, XU Zhaobo, XIAO Leicai, FENG Pingfa, ZENG Long

Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055

Received:2023-10-30 Revised:2024-01-05 Online:2024-03-20 Published:2024-06-07

摘要/Abstract

摘要： 随着社会逐步进入产品个性化时代，自动化专机装配方式，适应能力差、难以改造重用。通过有向图和集合表达对装配作业及装配线的数学模型进行分析，提出基于装配工序优先关系图的产品完整装配工艺数学模型表达。基于上述分析，设计一种可重构柔性装配系统，包含具备快速更换接口的装配单元、装配工夹具库以及几种集成化和一体化的装配工具和装配夹具。之后，根据可重构的需求搭建适合的控制系统架构，确立主控机与机械臂之间基于IO通信的控制权交互协议。最后，进行可重构装配单元仿真优化及样机制造，并以梭阀和减压阀为实例进行样机的装配试验。通过样机试验，验证所提出的可重构柔性装配技术在可重构装配概念、数学模型、设计方案、机械结构以及控制系统各方面的可行性，对于可重构柔性装配技术的应用具有重要意义。

关键词: 可重构装配, 柔性装配, 快换技术, 自动化装配

Abstract: As the society gradually enters the era of product personalization, the automated dedicated assembly method, which is poorly adaptable and difficult to transform and reuse. The mathematical model of assembly operation and assembly line is analyzed by directed graph and set representation, and the mathematical model representation of complete product assembly process based on the priority relationship diagram of assembly process is proposed. Based on the above analysis, a reconfigurable flexible assembly system is designed, which contains assembly units with quick-change interfaces, a library of assembly tools and fixtures, and several integrated assembly tools and assembly fixtures. After that, a suitable control system architecture is built according to the reconfigurable requirements, and a control right interaction protocol based on IO communication between the master controller and the robotic arm is established. Finally, the reconfigurable assembly unit simulation optimization and prototype manufacturing are carried out, and the prototype assembly experiments are conducted with shuttle valve and relief valve as examples. Through the prototype experiments, the feasibility of the proposed reconfigurable flexible assembly technology in terms of reconfigurable assembly concept, mathematical model, design scheme, mechanical structure, and control system is verified.

Key words: reconfigurable assembly system, flexible assembly system, quick change technology, assembly automation

中图分类号:

TH165

胡松, 徐赵博, 肖磊才, 冯平法, 曾龙. 面向跨品类产品的可重构柔性装配技术研究[J]. 机械工程学报, 2024, 60(6): 69-81.

HU Song, XU Zhaobo, XIAO Leicai, FENG Pingfa, ZENG Long. Research on Reconfigurable and Flexible Assembly Technology for Cross-category Products[J]. Journal of Mechanical Engineering, 2024, 60(6): 69-81.

参考文献

[1] BOOTHROYD G，DEWHURST P，KNIGHT W A. Product design for manufacture and assembly[M]. Florida：CRC press，2010.
[2] GYULAI D，KÁDÁR B，MONOSTORI L. Scheduling and operator control in reconfigurable assembly systems[J]. Procedia CIRP，2017，63：459-464.
[3] BARBOSA M，SILVA F，PIMENTEL C，et al. A novel concept of CNC machining center automatic feeder- sciencedirect[J]. Procedia Manufacturing，2018，17：952-959.
[4] ELMARAGHY H，ELMARAGHY W. Smart adaptable assembly systems[J]. Procedia CIRP，2016，44：4-13.
[5] JEFFERSON T G，CROSSLEY R，SMITH A，et al. Design of a reconfigurable assembly cell for multiple aerostructures[R]. SAE，2016-01-2105，2016.
[6] BI Z M ，LANG S Y T ，SHEN W ，et al. Reconfigurable manufacturing systems：The state of the art[J]. International Journal of Production Research，2008，46(4)：967-992.
[7] FELDMANN K，SLAMA S. Highly flexible assembly-scope and justification[J]. CIRP Annals，2001，50(2)：489-498.
[8] ALGEDDAWY T，ELMARAGHY H. Design of single assembly line for the delayed differentiation of product variants[J]. Flexible services and manufacturing journal，2010，22(3)：163-182.
[9] KASHKOUSH M，ELMARAGHY H. Product family formation for reconfigurable assembly systems[J]. Procedia Cirp，2014，17：302-307.
[10] 邵明，谢存禧. 可重组柔性装配系统发展现状与系统实例[J]. 机械设计与研究，1999(3)：68-70. SHAO Ming，XIE Cunxi. Status of development of reorganizable flexible assembly systems and system examples [J]. Mechanical Design and Research，1999(3)：68-70.
[11] EDMONDSON N F，REDFORD A H. Simulation of a generic flexible assembly system[J]. International Journal of Computer Integrated Manufacturing，2003，16(3)：157-172.
[12] KIM H J，LEE J H. Robot task sequencing for a flexible assembly system with 3D printers[C]//20174th International Conference on Control，Decision and Information Technologies (CoDIT). IEEE，2017：1-5.
[13] 许仰曾. 液压螺纹插装阀的发展及优缺点[J]. 流体传动与控制，2010(6)：1-5. XU Yangzeng. Development and advantages and disadvantages of hydraulic threaded cartridge valves[J]. Fluid Drive and Control，2010(6)：1-5.
[14] HWANG R K，KATAYAMA H，GEN M. U-shaped assembly line balancing problem with genetic algorithm[J]. International Journal of Production Research，2008，46(16)：4637-4649.
[15] SEQUEIRA M A，BASSON A H. Case study of a fixture-based reconfigurable assembly system[C]//2009 IEEE International Symposium on Assembly and Manufacturing. IEEE，2009：387-392.
[16] ROSATI G，FACCIO M，BARBAZZA L，et al. Hybrid flexible assembly systems (H-FAS)：Bridging the gap between traditional and fully flexible assembly systems[J]. The International Journal of Advanced Manufacturing Technology，2015，81(5)：1289-1301.
[17] MATT D T. Design of a scalable assembly system for product variety：A case study[J]. Assembly Automation，2013，33(2)：117-126.
[18] KRÜGER J，NICKOLAY B，HEYER P，et al. Image based 3D surveillance for flexible man-robot- cooperation[J]. CIRP Annals，2005，54(1)：19-22.
[19] CHAUDHARI N，SHINDE V B. Recent trends in robotic end of arm tooling (gripper)[J]. International Journal of Mechanical Engineering and Robotics Research，2014，3(2)：171.
[20] MICHALOS G，KOUSI N，MAKRIS S，et al. Performance assessment of production systems with mobile robots[J]. Procedia CIRP，2016，41：195-200.
[21] 陈晓麒，高松. 一种机器人配套工具库：中国，CN209140926U[P]. 2019-07-23. CHEN Xiaoqi，GAO Song. A robot supporting tool library：China，CN209140926U [P]. 2019-07-23.
[22] 李智阿，陈勇，王薏群. 虚拟装配工具库的开发[J]. 时代汽车，2018(7)：8-10. LI Zhi’a.，CHEN Yong.，WANG Yiqun. Development of virtual assembly tool library[J]. Times Automotive，2018(7)：8-10.
[23] 湖州职业技术学院. 一种紧固件自动装配机器人的可移动工具库：中国，CN201810948424.9[P]. 2019-01-18. Huzhou Vocational Technology College. A movable tool library for a fastener automatic assembly robot：China,CN201810948424.9[P]. 2019-01-18.
[24] GUO Q G，ZHANG T S，RUAN J W，et al. The research of tool coding and tool assembling technology based on flexible manufacturing system (FMS)[J]. Modern Machinery，2007，6：66-67，74.
[25] 李映月. 基于特征编码的数控刀具管理系统的研究与设计[D]. 重庆：重庆大学，2018. LI Yingyue. Research and design of feature coding-based CNC tool management system[D]. Chongqing：Chongqing University，2018.
[26] XIAO Leicai，JING Xinghui，ZENG Long，et al. A flexible control system for reconfigurable assembly lines[C]//Journal of Physics： Conference Series. IOP Publishing，2021：012001.
[27] BANGSOW S. Tecnomatix plant simulation[M]. New York：Springer International Publishing，2020.
[28] SHI Fengyuan，WANG Shuo，ZENG Long，et al. "The balancing problem for a reconfigurable flexible assemble line,"[C]//20216th International Conference on Automation，Control and Robotics Engineering (CACRE)，2021： 392-397.

面向跨品类产品的可重构柔性装配技术研究

Research on Reconfigurable and Flexible Assembly Technology for Cross-category Products

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 3

编辑推荐

Metrics

本文评价

[1]	王俊玖, 刘金玉, 侯秀娟, 齐振国, 李志敏, 刘涛. 列车车体柔性装配精度预测的力学-数据混合建模方法[J]. 机械工程学报, 2024, 60(6): 177-186.
[2]	杨艳芳, 杨秒, 舒亮, 吴自然, 陈定方. 考虑工序刚性约束的自动化装配生产线多目标优化研究[J]. 机械工程学报, 2020, 56(7): 181-192.
[3]	彭商贤;郭东;张平. 柔性装配系统设计中若干问题的研究[J]. , 1997, 33(6): 26-32.