Robot hole-making error compensation device suitable for curved surface structures and method thereof

Abstract

The invention discloses a robot hole-making error compensation device suitable for curved surface structures and a method thereof, and belongs to the field of robot hole-making. The robot hole-makingerror compensation device suitable for the curved surface structures comprises an industrial camera, four laser ranging sensors, a cutter, a specific calibration plate, a rigid detachable connecting shaft and a plurality of clamps. The industrial camera is fixedly connected to the tail end of a robot at a certain angle, and the four laser ranging sensors are distributed at the periphery of the cutter. The method of the robot hole-making error compensation device suitable for the curved surface structures comprises the steps that homography transformation is adopted to represent the hand-eye relationship; a three-dimensional error matrix is established by a robot theoretical driving coordinate corresponding to a reference hole and an actual driving coordinate, and a driving coordinate of ato-be-drilled hole in the neighborhood of the reference hole is recalculated through the three-dimensional error matrix to complete the positioning error compensation of the to-be-drilled hole. The homography matrix between a camera image plane and a hole-making working plane to represent the hand-eye relationship is used for on-line detection, the robot hole-making error compensation device suitable for the curved surface structures and the method thereof are simpler and easier to operate, and the calculation of reference hole error is established in a three-dimensional space, so the robot hole-making error compensation device suitable for the curved surface structures and the method thereof are more suitable for curved surface hole making.

Description

technical field [0001] The invention belongs to the field of robot hole making, and relates to a hole making error compensation method, in particular to a robot hole making error compensation method suitable for curved surface structures. Background technique [0002] In recent years, the use of industrial robots instead of manual drilling has become an important development trend of aviation manufacturing technology. However, industrial robots have the problem of high repetitive positioning accuracy and low absolute positioning accuracy, which makes it difficult for the positioning accuracy of robots to meet the accuracy requirements of aviation drilling. In addition, since the NC program for robot hole making is usually based on the computer-aided design model (CAD model for short) of the part to be holed, and there is a manufacturing deviation between the CAD model and the actual workpiece, there will also be a position alignment deviation between the workpiece and the ro...

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Problems solved by technology

[0004] The purpose of the present invention is to propose a robot hole-making error compensation method suitable for curved surface structures, so as to solve the problem that the quality of robot hole-making is difficult to meet the requirements of aviation hole-making

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