轻型自主移动制孔机器人基准检测技术研究
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摘要
针对大飞机机身大部件的装配需求,设计了一套柔性好、效率高、自动化程度高的轻型自主移动制孔机器人,并根据制孔机器人自身的结构特点,提出一套机器人视觉检测系统的手眼标定方案。在此基础上,提出了基于基准孔建立局部坐标系和空间坐标系转换的基准检测算法。实验表明:该技术能够实现机器人高精度制孔的精确定位,满足大飞机机身制孔位置精度要求。
To meet the assembly requirements of large aircraft fuselage parts,this paper designs the lightweight auto-crawling drilling robot with high flexibility,high efficiency and high automation. According to its structural characteristics,a hand-eye calibration scheme of the robot vision detection system is proposed. On this basis,a benchmark detection algorithm based on the reference hole is established for the local coordinate system and the spatial coordinate system conversion. The experimental results show that the technology can be used to realize the precise positioning of the robot with high precision and it meets the requirements of the position accuracy of the large aircraft fuselage.
To meet the assembly requirements of large aircraft fuselage parts,this paper designs the lightweight auto-crawling drilling robot with high flexibility,high efficiency and high automation. According to its structural characteristics,a hand-eye calibration scheme of the robot vision detection system is proposed. On this basis,a benchmark detection algorithm based on the reference hole is established for the local coordinate system and the spatial coordinate system conversion. The experimental results show that the technology can be used to realize the precise positioning of the robot with high precision and it meets the requirements of the position accuracy of the large aircraft fuselage.
引文
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[10]徐晶,曾远帆,周炜.机器人自动钻孔系统的坐标系建立方法[J].航空精密制造技术,2014(3):13-16.
[2]吴朋,田威,廖文和,等.轻型自主爬行制孔系统集成控制技术[J].航空制造技术,2017(6):68-72.
[3]甘露,姚艳彬,魏超.爬行机器人制孔系统在飞机装配中的应用研究[J].航空制造技术,2013(20):80-82.
[4]Russell De Vlieg,Kevin Sitton,Ed Feikert,et al.ONCE(One Sided Cell End Effector)Robotic Drilling System[J]. SAE Aerospace Automated Fastening Conference and Exhibition,2003(1):26-29.
[5]Beno5t Marguet.Crawler Robots for Drilling and Fastener Installation:An Innovative Breakthrough in Aerospace Automation[J].SAE International,2008(1):22-32.
[6]黄大兴,王珉,陈文亮,等.飞机装配自主移动式自动制孔系统机构设计[J].南京航空航天大学学报,2012(S1):23-26.
[7]黄大兴.面向飞机装配的自主移动机构关键技术研究[D].南京:南京航空航天大学,2012.
[8]张丹,段锦,顾玲嘉,等.基于图像的模拟相机标定方法的研究[J].红外与激光工程,2007(z1):561-565.
[9]张旋,田威.自主移动钻铆机器人的基准检测与修正方法[J].机械与电子,2015(12):76-80.
[10]徐晶,曾远帆,周炜.机器人自动钻孔系统的坐标系建立方法[J].航空精密制造技术,2014(3):13-16.