Three-Axis Electromechanical Drive of the Robotic Complex for Monitoring Shells and Their Assembly

Abstract

Problem statement: The big rotational shells are the basic parts in aerospace engineering, nuclear industry, oil and gas engineering, as well as in other areas of technology. The rotational shells can be large (up to 10 m in diameter) and are made of metal sheet on roll bending machines. Then, from these parts, the assembly of hull products is carried out. Main problem of technological process is the operative and accurate measurement of their geometric parameters in the process of their manufacture. The second problem is the complexity and difficulty of assembly and installation operations in the manufacture of products. These problems have a negative influence on the quality, technical and operational characteristics and the cost price of the products. To solve these problems it is convenient to use robotic complexes with machine vision system which should determine the position of the controlled robot relative to the detail, measure the geometrical parameters of the workpiece and to arrange the relative positions of parts for the assembly of the product. The main blocks of the robotic complex are the robot’s machine vision system, which controls a three-axis electromechanical drive, which is a smart electromechanical system (SEMS). SEMS should move the video camera in three coordinates to ensure the measurement of the geometric parameters of the part with minimal error. After processing the measurement results, the SEMS must perform the movement of the parts to the assembly position based on the optimal arrangement of the parts. Purpose of work: Development algorithms and technical implementation of SEMS of a robotic complex for controlling geometric parameters of large rotational shells and assembly of hull products with improved technical and operational characteristics and with lower cost. Results: The SEMS parameters were reviewed and analyzed. The design and algorithm of operation of the SEMS of the robotic complex are developed. The possibility of obtaining the required accuracy and speed of the developed robotic complex is analyzed. The software for control of SEMS was developed and a laboratory sample of the robot was manufactured, the tests of which were confirmed by the results of theoretical studies. Practical meaning: The developed robotic complex with SEMS is intended for automation of technological processes in various industries that produce the large-sized cylindrical products, as well as for joining cylindrical elements of aerospace systems.