| More and more attention has been paid to riveting technology as one of the key technologies for aircraft assembly.How to change the current situation of low riveting rate,low riveting quality,low automatic drilling riveting level and limited application of large automatic drilling and riveting technology in our existing aircraft manufacturing enterprises is a major task faced by enterprises and researchers.Machine vision detection method is used to obtain the position of riveting hole.Firstly,the edge detection,active contour model,threshold segmentation are compared and analyzed.And the improved region growing method is proposed to detect riveting holes.Then binocular vision positioning method is used to obtain the position and attitude of multiple riveting holes.To correct deviations caused by the deformation of the panel during continuous riveting process,monocular vision with cross line structure light is used to calculate the offset of the riveting position and posture.Combined with these two kinds of positioning methods,the on-line detection of riveting holes and adjustment of the position and attitude of the actuator are implemented.Finally,the controller is designed for automatic riveting.Industrial computer with CoDeSys software,input and output module,servo motor and solenoid valve are installed and debugged.OPC server is used to set up the communication between detection system and controller.The application scope of machine vision inspection method is analyzed experimentally to demonstrate the good application prospect of machine vision detection method in fuselage panel riveting.The motion control system based on CoDeSys has different robot models and can be adjusted according to the actual mechanical parameters.Bus communication between the machine vision inspection equipment and the motion control system is established.The machine vision guided robot has integrated functions and practical application value. |
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