Scanning measurement robot detection method allowing precision to be irrelevant to robot

A technology for measuring robots and detection methods, applied to measuring devices, instruments, optical devices, etc., to achieve the effects of improving automation, high-precision curved surface detection, and improving reliability

Active Publication Date: 2014-04-30
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to provide a scanning measurement robot detection method whose precision has nothing to do with the robot, so

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  • Scanning measurement robot detection method allowing precision to be irrelevant to robot
  • Scanning measurement robot detection method allowing precision to be irrelevant to robot

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Embodiment Construction

[0039] Such as figure 1 shown. In the present invention, the scanning measurement robot whose accuracy has nothing to do with the robot includes a general industrial robot 1, a flange plate 2, a scanning probe 3, a measurement mark 4 on the scanning probe, an optical tracking system 5, a fixture 6 with a cone socket 7, and The workpiece 8 to be measured, the laser tracker 9 , the light plane 10 of the line scanning probe clamped on the fixture 6 , and the scanning probe 3 are fixed on the robot through the flange 2 .

[0040] Flowchart such as figure 2 The application steps of the scanning measurement robot of the present invention shown include:

[0041]S1. Use the virtual assembly method in the CAD software to locate the workpiece CAD model on the special fixture CAD model. In order to use the scanning measurement path based on CAD model planning, the relative positions of the workpiece model and the industrial robot model in the virtual environment must be unified with ...

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Abstract

The invention discloses a scanning measurement robot detection method allowing precision to be irrelevant to a robot. According to the scanning measurement robot detection method allowing the precision to be irrelevant to the robot, hardware of the scanning measurement robot is composed of a universal industrial robot, a scanning probe and an optical tracking system; firstly, a workpiece CAD model and a special fixture CAD model are virtually assembled in CAD software; secondly, a scanning measurement path is planned automatically; thirdly, in a real environment, the three-dimensional spatial position of a fixture relative to the industrial robot is measured; fourthly, in an industrial robot simulation software, according to measurement results of the third step, the fixture CAD model, the workpiece CAD model and the position of the scanning measurement path planned in the second step are adjusted; fifthly, blocking and collision analysis is conducted on the measurement path; if blocking or collision exists, the position of the fixture and the position of a workpiece in the real environment are adjusted, the steps are repeated until no blocking or collision exists, and otherwise an industrial robot motion program is generated; seventhly, the workpiece is detected. According to the scanning measurement robot detection method, the scanning measurement robot can be directly used for on-site production.

Description

technical field [0001] The invention relates to the technical field of complex curved surface detection and robot off-line programming, in particular to a scanning measurement robot detection method whose precision is independent of the robot. Background technique [0002] In modern product design, complex curved surfaces are widely used, especially in the design of aircraft, ships, automobiles, high-speed trains and other products. With the development of manufacturing technology, the manufacturing precision of products is getting higher and higher, and the detection of complex curved surfaces has become particularly important. Traditional complex surface detection generally uses coordinate measuring machines, but neither the measurement efficiency nor the sampling density can meet the requirements of modern manufacturing. In recent years, some 3D optical scanning instruments have emerged. At present, it is necessary to manually hold / manipulate such instruments to detect c...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 李维诗肖海军于连栋夏豪杰李浩
Owner HEFEI UNIV OF TECH
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