In aircraft manufacturing, the vertical accuracy of connection holes is important indicator of the quality of holes making. Aircraft products have high requirements for the vertical accuracy of holes positions. When drilling and riveting are performed by an automatic robotic system, assembly errors, bumps, offsets and other adverse conditions, can affects the accuracy of manufacturing and detection, and in turn the fatigue performance of the entire structure. To solve this problem, we proposed a technology for detecting the normal-direction based on the adaptive alignment method, built a mathematical model for posture alignment, and studied the calibration method and mechanism of the detection device. Additionally, we investigated techniques for error compensation using an electronic theodolite and other devices when the adaptive method is used for detection. In verification experiments of the method, multiple sets of results demonstrated that the key technical indicators are as follows: normal accuracy <0.5°, average deviation after correction =0.0667°. This method can effectively compensate the errors affecting hole making work in automated manufacturing, and further improve the positioning accuracy and normal-direction detection accuracy of the robot.

在飞机制造中，连接孔的垂直精度是制孔质量的重要指标。飞机产品对孔位垂直精度要求较高。当自动机器人系统执行钻孔和铆接时，装配错误、碰撞、偏移和其他不利条件会影响制造和检测的准确性，进而影响整个结构的疲劳性能。针对这一问题，提出了一种基于自适应对准方法的法线方向检测技术，建立了姿态对准的数学模型，研究了检测装置的标定方法和机理。此外，我们研究了当自适应方法用于检测时使用电子经纬仪和其他设备进行误差补偿的技术。该方法的验证实验中，多组结果表明，关键技术指标为：正常精度<0.5°，校正后平均偏差=0.0667°。该方法可以有效补偿自动化制造中影响孔加工作业的误差，进一步提高机器人的定位精度和法线方向检测精度。