With the continuous development of industrial robots, industrial robots are gradually applied in the field of aviation manufacturing, but some problems have also been exposed, such as the low degree of automation in the working process, the long preparation time and the lack of flexibility of the robot body, which can only accomplish some Work, resulting in lower equipment utilization. Therefore, to be more intelligent industrial robots to meet the requirements of the aviation manufacturing field, for which robots need to have the following core technologies.
High-precision measurement and positioning technology
Intelligent industrial robots with high repeatability but low absolute positioning accuracy can not meet the requirements of the absolute positioning accuracy for digital installation of aerospace. Therefore, high precision measuring devices are needed to guide the robot end effector to realize the servo control of the locus of motion. At present, the large-scale measurement mainly uses the laser tracker and iGPS and so on. The local measurement includes monocular vision, binocular vision, hand-eye vision and laser ranging sensors. In some special occasions, the acoustics, Sensors are also useful.
End precision compensation technology
Robot end accuracy is affected by many factors such as robot stiffness, load, tool wear, mechanical clearance and thermal effects. Besides using high-precision measuring instruments, establishing positioning error model and compensation algorithm are also important means to improve the positioning accuracy. Therefore, it is necessary to identify the parameters according to the joint stiffness, position error and temperature-induced deformation of the robot to obtain the error model or the error matrix, and then provide the servo correction for the positioning of the end effector by the accuracy compensation algorithm.
Innovative design of robot body structure
Due to the particularity of the structure of aviation products itself, the traditional factory-level industrial robots can not meet the strict production requirements. With the application of robotics in the field of aviation manufacturing, there will be more and more specialized non-standard robots, which means There will be innovative robotic body-specific products tailored to specific tasks to expand the range of applications for robots.
Intelligent planning technology
The robot is the carrier of automation technology. No matter what kind of work, the robot can finish the work only by the end of the robot in strict accordance with the predetermined trajectory. Therefore, the result of the trajectory planning directly affects the working efficiency and efficiency of the robot. The efficiency and automation of the trajectory planning It will directly affect the production preparation time. In order to enhance the intelligence of robots, technologies such as image recognition, speech recognition, speech synthesis and natural language understanding will also be widely used to increase and improve man-machine interaction. In addition, with the development of big data and cloud computing technologies, more new ideas will be provided for robot intelligent.
Robot control technology
Because industrial robot is a nonlinear and multivariable control object, a great deal of application and research have been made in the fields of information feedback such as position, force, moment and vision, compliant control, force-position hybrid control and visual servo control, Speed, high precision, heavy load operation requirements, robot control methods will still be the focus of research.
Digital Manufacturing System Support Technology
Among the manufacturing processes of aircraft, the number of tooling frames is large, the size is large and the types are a big expense. One of the trends in the future is to change tooling patterns by moving various dynamic modules to adapt to different types and sizes of parts. Intelligent industrial robots can increase the flexibility of the production line to some extent, greatly reducing production costs.