Automatic Assembly Of Aircraft Pipe Based On Laser Vision Sense

Digitization manufacture technology has the advantage of high accuracy,automation and productivity. Therefore, the production mode based on digitizationmanufacture gradually develops aircraft manufacturing. The assembly-welding ofairplane-tubes is the most important during the whole process of aircraft manufacturing.However, airplane-tubes are still produced by traditional rigid fixtures and manualGTAW in China of low productivity and unstable reliability.In this paper, laser-based vision of all aspects of automated assembly of aircraftconduit ia studied in depth.It a step forward for the development of aircraft conduitflexible automation of welding technology.Firstly, a platform for automated welding assembly has been builted, including tworobots, laser sensors, and some welding fixtures.The corresponding software has beendeveloped for the various parts of the platform,such as HP20D welding robot remotecontrol system which ia based on VC++development language and laser sensorsfeaturepoint coordinates extraction and processing algorithm development which is based on C#language.Assembly according to needs, the positional relationship of the componentsfor the corresponding has been demarcated, including the relationship of the positionbetween the two robots and the relationship of the sensor image coordinate system andthe robot tool coordinate system.Secondly, determine algorithms and adjust control strategies deviation detection.First,collect interfacefringe information from three different irradiation positions andeliminate the angle of the axis of the conduit and the flange axis line segment deviationby the rotation of the two mutually orthogonal directions, so that make the two axesparallel to each other;Then move the sensor horizontally through so that make thesensor through their axis, move the corresponding flanges to make the two axis coincideswith each other, finally adjust the height direction of the deviation and complete theassembly.Finally, do some assembly tests according to the designed deviation detectionstrategies and control strategies.The test results are in line with expectations.Flange andpipe interfaces axis rotation angle is less than1°. Displacement deviation is less than0.5mm.