Research On Precision Improvement Technology Of Robot Hole-making System Based On Vision Inspection

With the advantages of high flexibility and high automation,robotic automatic hole making system has gradually become the main processing method in the field of hole making.In the face of the high precision requirements of large aircraft wall plate connection holes in the aviation industry,the effects of poor robot stiffness and joint motion errors have been revealed one by one.In this paper,a set of highprecision drilling end-effector is developed for automatic hole making by robots in the aerospace field,and a corresponding error compensation algorithm is proposed for the position and attitude errors of joint holes,and a new error compensation method based on cross structured light is proposed.In this paper,an error compensation equivalent experimental platform is built to analyze the error compensation accuracy,variation law and influencing factors,and finally the secondary compensation accuracy and robot motion trajectory are verified and predicted in Process Simulate.The research mainly includes the following aspects:First,the overall design of the robotic automatic hole-making system was carried out,the general layout structure of the system was elaborated,the functional and structural design of each component unit was carried out based on the performance index of the end-effector,and the software development of the upper computer control system was completed by combining the construction of the hardware platform and functional requirements.Based on the virtual workstation of robotic automatic hole making created in the Process Simulate platform,the simulation and virtual debugging of the hole making process were initially explored.Secondly,the principle of hole-making position error compensation algorithm is described.The calibration principle and position detection method of structured light are studied,and the improved RANSAC(RANdom SAmple Consensus)algorithm is proposed to compensate the hole position error,and its compensation accuracy and robustness are initially verified by means of numerical simulation and simulation analysis.The experiments on the parameters and position calibration of industrial camera and cross laser were carried out.Then,the robot end attitude correction method is proposed.The laser displacement sensor calibration method and the principle of connecting hole normal detection are described,and the method of cross structured light detection of surface normal vector is proposed.The error optimization model of laser displacement sensor angle detection is established,the error optimization theory and the process of target pose angle decomposition are analyzed,and the laser displacement sensor parameter calibration experiment is carried out.Finally,an equivalent experimental platform for error compensation is built,an equivalent verification experimental scheme is proposed,the position error and attitude error verification experiments are planned,the error results are compared,the error compensation accuracy,variation law and influencing factors are summarized,and the secondary compensation of hole position error is carried out in combination with the virtual robot machining system,the robot motion trajectory is analyzed and predicted,the rationality of the experimental scheme is verified,and the debugging efficiency is improved.