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浙江大学学报(工学版)
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
    
Robotic automatic drilling system
BI Yun-bo1, LI Yong-chao1, GU Jin-wei1, GUO Ying-jie1, WEN Li-bo2, WANG Shao-bin2, HUANG Hong2
1. Department of Mechanical Engineering, Zhejinag University, Hangzhou 310027, China; 2. Shanxi Aircraft Industry(Group) Corporation LTD., Hanzhong 723213, China
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Abstract  

A robotic automatic drilling system which integrates the technology of laser measurement, computer control, off-line programming and robotics is established in order to realize automatic flexible drilling with high efficiency and good quality in the field of aircraft assembly. In drilling process, the normal vector of the aircraft surface can be obtained through the 3D model, but there is deviation between the 3D model and the real surface of part. To improve the holes’quality, a surface-normal adjustment system based on four laser displacement sensors is developed. The sensor’origin point position and laser direction are obtained by calibration. Then with the measured values of laser displacement sensors, the surface-normal vector is calculated. The attitude of the robot is changed to make sure the drilling direction is close to the surface-normal direction. The drilling test results show that the system can increase the drilling efficiency and assembly quality of the aircraft components immensely. The efficiency of drilling can achieve 6 holes per minute, and the surface-normal accuracy is better than 0.5°.

Published: 01 August 2014
CLC:  TP 24  
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Cite this article:

BI Yun-bo, LI Yong-chao, GU Jin-wei, GUO Ying-jie, WEN Li-bo, WANG Shao-bin, HUANG Hong. Robotic automatic drilling system. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2014, 48(8): 1427-1433.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2014.08.012     OR     http://www.zjujournals.com/eng/Y2014/V48/I8/1427


机器人自动化制孔系统

为了实现飞机装配中高质量、高效率的自动化柔性制孔,架构一套集成激光测量技术、计算机控制技术、离线编程技术和机器人技术的自动化制孔系统.在自动化制孔过程中,孔位法向向量可以根据产品模型直接获取,但是飞机部件的实际外形和理论外形存在一定的偏差.为了减少制孔偏差,提出一种基于4个激光位移传感器的法向偏差修正技术.通过标定获得激光位移传感器的零点位置和激光方向,再根据传感器的测量值计算得到加工表面的实际法矢方向,通过调整机器人姿态实现孔位法向偏差的修正.试验结果表明,该系统的制孔效率为6 孔/min,法向精度优于0.5°,大幅提高飞机部件的制孔效率和装配质量.

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