Automatic overlap method of workpiece coordinate system with double manipulators for non-destructive testing
A technology of automatic coincidence and manipulators, which is applied to measuring devices, material analysis using sound waves/ultrasonic waves/infrasonic waves, instruments, etc., can solve problems such as heavy workload, high difficulty, and low precision
Active Publication Date: 2016-09-14
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0005] In order to overcome the shortcomings of the existing methods for determining the coincidence of the workpiece coordinate systems of dual manipulators, such as heavy workload, high difficulty, and low precision, the present invention proposes a simple and convenient method for automatically overlapping the workpiece coordinate systems of dual manipulators
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[0047] The specific embodiment of the present invention is described in detail below:
[0048] 1. For a fixed-position dual-manipulator detection system, control the movement of the two manipulators sequentially, align the vertices of the two manipulators at any three points that are not collinear in space, and record the coordinates of these three points in the base coordinate system of the two manipulators. coordinate value.
[0049] 2. Calculate the coordinates of the fourth point through formulas (1) and (2), calculate the coordinate transformation relationship of the two manipulator base coordinate systems according to formula (7), and derive R rm and P osm .
[0050] 3. When detecting the workpiece, teach the active manipulator to the three points specified on the workpiece coordinate system, and record the coordinate values of these three points in the active manipulator base coordinate system.
[0051] 4. According to the coordinates of these three points, determi...
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The invention provides an automatic workpiece coordinate system superposition method for two manipulators for nondestructive detection. The method is applied to a double-manipulator detection system and comprises the steps of before a workpiece is detected, respectively aligning the tops of the two manipulators at any three points, which are not positioned on a same line, in a space by a demonstration mode, and calculating a coordinate transformation relation of base coordinate systems of the two manipulators according to a set method; when the workpiece is detected and workpiece coordinate systems of the two manipulators are required to be determined, only demonstrating one of the manipulators and determining three points of the workpiece coordinate system to obtain the workpiece coordinate system of the manipulator; and directly calculating the workpiece coordinate system of the other manipulator according to the coordinate transformation relation between the two manipulators and the coordinates of the three points, and superposing the workpiece coordinate systems of the two manipulators. When different types of workpieces are detected, only the step for determining the workpiece coordinate system of one of the manipulators is repeated, so that the time for determining the workpiece coordinate systems is greatly shortened.
Description
1. Technical field [0001] The invention relates to the field of ultrasonic nondestructive testing and the application field of industrial robots, in particular to a nondestructive testing system with double manipulators. A method is proposed to ensure that the coordinate systems of the two manipulators coincide with each other without teaching the tops of the two manipulators to reach the same point on the workpiece. 2. Background technology [0002] The non-destructive testing of complex curved surface parts made of composite materials has always been a difficult problem in the field of ultrasonic non-destructive testing due to the need for two sensors to move synchronously. Conventional detection methods are difficult to complete the detection task of curved surface. Due to its good flexibility and high degree of integration, the manipulator can realize complex scanning movements, and has gradually been promoted and applied in the field of non-destructive testing. When u...
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IPC IPC(8): G01N29/26
Inventor 徐春广卢宗兴孟凡武郝娟李信良邹志刚
Owner BEIJING INSTITUTE OF TECHNOLOGYGY