Research On Dual-robotic Automatic Drilling System

Due to its low cost,high degree of automation and wide processing range,robot automatic drilling technology has been applied more and more in the field of aviation manufacturing.In order to ensure the precise operation of the robot's automated hole making system,a corresponding coordinate system needs to be established to determine the relative positional relationship between the robot's base coordinate system and the end tool coordinate system as well as the relative position between the robot and the workpiece.However,due to the unavoidable errors in the process of establishing the coordinate system and the movement of the robot,it is often unable to meet the precision requirements of the hole positions of the aircraft parts by directly using the theoretical positions for hole making operations.Therefore,before making hole machining operations,it is necessary to compensate for the positioning error of the robot drilling system.In this paper,firstly,the development status of the robot's automated hole making technology at home and abroad is introduced.Taking the positioning accuracy problem as the research object,the research background and significance of this paper are introduced.The main research contents of this paper are given.This article involved in the dual robot automatic boring equipment,from the special positioning tooling,the expansion of the seventh axis mobile platform,industrial robots,multi-functional end-effector,off-line programming system and space measurement techniques were analyzed and introduced.According to the working principle and positioning requirements of automatic hole making system,the main components of the coordinate system and its establishment are clarified.For one of the key issues,such as robot hand-eye calibration problem,further analysis,and according to the special structure of the end-effector in this article,designed a dedicated hand-eye calibration device.Based on this,a calibration method of the dual robot base coordinate system based on the robot vision measurement system is proposed,which provides the conditions for the next two-robot collaborative work.In order to improve the absolute positioning accuracy of robot automatic hole making system,this paper uses a hole-based data correction method.According to the measured data collected in the field,the BP neural network hole location correction model was established and corrected.Through the machining area of the edge of the reference hole measurement,correction of the processing hole position information.Through the titanium,aluminum laminated hole test,the automatic hole system processing performance verification.The hole position correction,tracing point and hole making test were carried out on the craft components of the panel assembly.The experimental results show that the absolute positioning accuracy of the hole making system is within 0.5mm,the deviation of hole diameter is within 0.03mm,0.006in,to meet the requirements of aircraft components hole.