With the development of industrial robots from time to time. However, some problems are exposed, such as low level of automation in the work process, long production preparation time and lack of flexibility of the robot body, can only complete some work, resulting in lower utilization of equipment. Therefore, industrial robots to be more intelligent to meet the requirements of the field of aviation manufacturing, for which the robot needs to have the following seven core technologies.
The accuracy of robot end is affected by robot stiffness, load, tool wear, mechanical gap and thermal effect. In addition to using high-precision measuring instruments, the establishment of positioning error model and compensation algorithm is also an important means to improve the positioning accuracy. Therefore, it is necessary to identify the parameters according to the joint stiffness, position error and temperature caused by the robot, obtain the error model or error matrix, and then provide the servo correction of the position of the end effector by the precision compensation algorithm.
The repetitive positioning accuracy of industrial robots is high, but the absolute positioning accuracy is low, so it can not meet the requirement of absolute positioning accuracy of aerospace digital devices. Therefore, it is necessary to use high precision measuring device to guide the robot end actuator to realize the servo control of the trajectory. At present, a large range of measurement mainly using laser tracker and iGPS, etc., local measurement of monocular vision, binocular vision, hand-eye vision, laser ranging sensors have their own strengths, some special places, the sound, force sensor Also useful.
Due to the particularity of the structure of the aviation products, the conservative industrial-grade 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 special non-standard robots will be more and more, which means that There will be specific tasks for the robot body structure of innovative products, expand the scope of application of the robot.
Robot is the carrier of automation technology, no matter what kind of work, and ultimately can only rely on the robot end strictly in accordance with the scheduled trajectory movement to complete the operation, so the results of the track planning directly affect the robot's work efficiency and efficiency, and track planning efficiency and automation level It directly affects the production preparation time. In order to improve the intelligent level of the robot, image recognition, speech recognition, speech synthesis, natural language understanding and other technologies will be widely used to increase and improve the human-computer interaction. In addition, with the large data, the development of cloud computing technology, intelligent robot will provide more new ideas.
As the industrial robot is a non-linear, multi-variable control object, combined with the location, force, torque, visual and other information feedback, supple control, force mixing control, visual servo control and other methods have been a lot of applications and research, , High precision, heavy load operation requirements, the robot's control method will continue to be the focus of the study.
Based on the model definition (ModelbasedDefinitMBD as the core of the digital process design and product manufacturing mode, the three-dimensional design of the number of models were derived from the three-dimensional process number, tooling modulus and test number of the robot operation planning and offline programming basis, so Based on the three-dimensional digital model of job planning, based on the lightweight model of assembly process visualization, based on MBD digital detection and
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