Improved large curvature radius curved surface part normal measuring and adjusting method

Abstract

The invention provides an improved large curvature radius curved surface part normal measuring and adjusting method. Four sensors are changed to taper inwardly for installation, thereby reducing the laser measuring area on a wallboard; displacement sensors measure distances among four points on the wallboard, and the deviation angle of a tool coordinate system relative to the detection area plane of the wallboard is calculated; and then the rear end of a driving robot rotates for a corresponding angle relative to the origin of the tool coordinate system, thereby meeting precision requirements through iterative adjustment. In the method, angular errors of two shafts are adjusted successively; after the angular error adjustment of a first shaft, the coordinate system of a sensor system changes relative to the corresponding position of a wallboard plane; before the angular error adjustment of a second shaft, range finding information is collected again, and the error between the second shaft and the plane is calculated and adjusted according to updated range finding information. The method of the invention can improve large curvature radius curved surface part automatic processing and assembling precision and quality.

Description

technical field [0001] The invention belongs to the field of advanced digital assembly, and in particular relates to an improved method for measuring and adjusting the normal direction of curved surface parts with large curvature radius. It is used to automatically identify and calculate the normal information of the assembly area during the intelligent assembly (patch, hole making) process of the robot and its end effector, and adjust the robot pose accordingly according to the calculation results in order to meet the normal accuracy requirements. Provide precision guarantee for further assembly. Background technique [0002] During the automatic processing and assembly of curved surface parts, the end effector needs to perform operations such as hole making or patching in the normal direction of the curved surface. Therefore, the normal direction of the curved surface needs to be adjusted before the automatic processing of the curved surface parts, so that the processing ...

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Problems solved by technology

[0004] In order to solve the problem of the existing method that the normal measurement range is too large due to sensor installation requirements or terminal design problems, resulting in low precision, the present invention provides an improved normal measurement and adjustment method for large curvature radius curved surface parts, using displacement sensors Measure the distance of four points on the surface of the wall panel, calculate the normal error, and generate the adjustment parameters of the robot. The control system changes the posture of the robot according to the parameters to realize the automatic adjustment of the normal direction of the surface, thereby improving the accuracy of automatic processing and assembly of large curvature surface parts and quality

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