Drill bit position and posture optimizing method for robot drilling

A technology of robots and drills, which is applied to drilling/drilling equipment, parts of boring machines/drilling machines, manipulators, etc., and can solve problems such as installation errors, calibration errors between workpieces and robot coordinate systems, and low absolute precision of robots.

Active Publication Date: 2019-08-16
TSINGHUA UNIV +1
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to solve the shortcomings of the off-line planning of the drill bit pose in robot drilling, which is limited by modeling errors, workpiece deformation, ins

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  • Drill bit position and posture optimizing method for robot drilling
  • Drill bit position and posture optimizing method for robot drilling
  • Drill bit position and posture optimizing method for robot drilling

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Embodiment Construction

[0038] The present invention proposes a method for optimizing the pose of a drill bit in robot drilling. The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. The following examples serve to illustrate the present invention, but do not limit the scope of the present invention.

[0039] The present invention proposes a method for optimizing the drill bit pose in robot drilling, comprising the following steps:

[0040] 1) Build a robot drilling system based on fringe projection method and visual servo control;

[0041] The structure of the robot drilling system based on fringe projection method and visual servo control in the embodiment of the present invention is as follows: figure 1 As shown, the system includes: a six-degree-of-freedom industrial robot (hereinafter referred to as a robot) base 1, a robot end effector 2, a fixed base 3, a drilling device 4, a projector 5, a camera 6 and a comput...

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Abstract

The invention provides a drill bit position and posture optimizing method for robot drilling and belongs to the field of drill bit position and posture optimization and adjustment in robot drilling operation. The method comprises the following steps: firstly, building a robot drilling system based on a fringe projection method and visual servo control, performing system parameter calibration and performing off-line planning of robot drilling operation to obtain a series of route points; secondly, at each route point, calculating a phase diagram of the drill bit under the expected position andposture of the route point, and designing visual feature and deducing an interaction matrix and a visual servo control law; finally, optimizing the drill bit position and posture of each route point subjected to off-line planning by the visual servo control law until the visual servo convergence of each route point is completed to improve the perpendicularity of the axis of the drill bit and the section of a to-be-drilled point, so that the drilling quality and the surface flatness are improved. By the drill bit position and posture optimizing method for robot drilling, the advantages of highmeasuring precision of a fringe projection outline measuring method and high visual servo control precision are combined, and the position and posture of the drill bit in the actual robot drilling operation can be optimized effectively.

Description

technical field [0001] The invention belongs to the field of optimizing and adjusting the pose of a drill bit in robot drilling, and in particular relates to a method for optimizing the pose of a drill bit in robot drilling. Background technique [0002] Drilling refers to the means of machining holes in solid materials. Drilling is mainly used to process holes for rivet, screw and nut connections, so the quality and surface flatness of the holes are crucial to the stability of the connection. Traditional drilling mainly relies on the drilling machine to ensure the quality and surface flatness of the hole, while the drilling machine needs to clamp the workpiece and cannot handle the drilling problem of complex curved surfaces. In order to solve these problems, robotic drilling technology came into being. However, robot drilling technology is limited by the shortcomings of modeling errors in offline planning, workpiece deformation, installation errors, calibration errors be...

Claims

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Application Information

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IPC IPC(8): B23B47/00B25J11/00
CPCB23B47/00B25J11/005
Inventor 徐静陈喆饶刚于海斌陈恳吴丹
Owner TSINGHUA UNIV
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