With the continuous development of industrial robot technology, robots are gradually being applied in the field of aerospace manufacturing, but some problems have also been exposed, such as low automation in the work process, long production preparation time and insufficient flexibility of the robot body, which can only accomplish certain tasks. , resulting in lower equipment utilization. Therefore, industrial robots must be more intelligent to meet the requirements of aerospace manufacturing, for which the robot needs to have the following core technologies.
End precision compensation technique
The accuracy of the robot end is affected by various factors such as the stiffness of the robot, the load, the tool wear, the mechanical clearance and the thermal effect. In addition to the use of high-precision measuring instruments, the establishment of the positioning error model and the compensation algorithm are also important means to improve the positioning accuracy. Therefore, it is necessary to perform parameter identification according to the joint stiffness, position error, temperature-induced deformation of the robot, etc., to obtain an error model or an error matrix, and then provide servo correction for the positioning of the end effector by the accuracy compensation algorithm.
High precision measurement and positioning technology
Industrial robots have high repetitive positioning accuracy but low absolute positioning accuracy, which is unable to meet the absolute positioning accuracy requirements of aerospace digital installation. Therefore, high-precision measuring devices are required to guide the robot end actuators to realize the servo control of the motion trajectory. At present, large-scale measurement mainly uses laser tracker and iGPS, etc. In the local measurement, monocular vision, binocular vision, hand-eye vision, laser ranging sensor, etc. have their own advantages. In some special occasions, acoustic sense and force sense Sensors are also useful.
Innovative design of robot body structure
Due to the special structure of aviation products, traditional factory-level industrial robots can not meet the strict requirements of production. With the application of robot technology in the field of aviation manufacturing, the demand for dedicated non-standard robots will increase, which means There will be innovative products for robotic body structures for specific tasks, expanding the range of applications for robots.
Intelligent planning technology
Robot is the carrier of automation technology. No matter which kind of work, the robot can only rely on the end of the robot to complete the operation according to the predetermined trajectory. Therefore, the result of trajectory planning directly affects the working efficiency and efficiency of the robot, and the efficiency and automation of the trajectory planning. It directly affects the production preparation time. In order to improve the intelligence of robots, technologies such as image recognition, speech recognition, speech synthesis, and natural language understanding are also widely used to increase and improve human-computer interaction. In addition, with the development of big data and cloud computing technology, more new ideas will be provided for robot intelligence.
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