机器人自动换刀系统刀夹受力及排布

机器人制孔系统因其低成本、高效率、高柔性的优势，在飞机壁板装配中得到了广泛应用。机器人自动换刀系统作为飞机壁板机器人制孔系统的重要组成部分，极大地影响着制孔的效率和柔性。本文对机器人自动换刀系统进行分析，着重对刀夹稳定夹持力、换刀过程刀夹阻力和盘式刀库刀夹双环排布进行了深入研究。通过分析刀夹结构和夹紧原理，计算稳定夹持力；通过构建换刀过程中刀具轮廓与刀夹轮廓的几何位置关系，结合受力分析，计算换刀过程刀夹阻力；通过简化刀夹组件轮廓及惯量计算，分别对4种刀夹双环排布方案进行分析研究，以圆形刀盘上的总惯量最小为目标，得到了最优的刀夹排布方式。最后根据实际工程需求，给出了容量为24把刀具的盘式刀库设计实例。

Force analysis and layout of cutter assemblies in robotic automatic tool changing system

Due to its advantages of low cost, high efficiency and high flexibility, the robotic drilling system has been widely used in aircraft panel assembly. As an important part of the robotic drilling system for aircraft panel, the robotic automatic tool changing system greatly affects the efficiency and the flexibility of drilling. In this paper, the robotic automatic tool changing system is analyzed, focusing on the steady clamping force, the resistance during the process of tool changing, and the double-loop layout of cutter clamp assemblies of the disc-type cutter library. The steady clamping force of the cutter is calculated by analyzing the structure of two finger clips and the clamping principle. The theoretical resistance of the tool changing period is calculated by establishing the geometric relationship between the cutter profile and the clamp profile of the tool changing period and adopting the force analysis. Through simplifying the outline of the cutter assembly and the inertia calculation, researching into four double-loop layout plans, and aiming at minimizing the total inertia of circular cutterhead, the optimal layout plan of cutter clamp assemblies is obtained. Finally, following the project requirements, a design example of the disc-type cutter library with 24 cutters is given.