Device and method for drilling positioning and normal measurement of robot

A technology of robotic hole making and measuring devices, applied in measuring devices, optical devices, instruments, etc., can solve problems such as scratches, high mechanical failure rate, low reliability, etc., and achieve the effect of low cost and high robustness

Pending Publication Date: 2018-01-09
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that mechanical contact will cause scratches to t

Method used

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  • Device and method for drilling positioning and normal measurement of robot
  • Device and method for drilling positioning and normal measurement of robot
  • Device and method for drilling positioning and normal measurement of robot

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0026] Example 1:

[0027] see Figure 1-Figure 3 , this is used for robot hole making positioning and normal measurement device, including TOF distance method

[0028] A line measurement sensor module (1), a mirror (2), a mirror driving mechanism (3), and an automatic drilling and riveting machine end effector (4), characterized in that: the automatic drilling and riveting machine end effector (4) is connected with The plane to be processed (5) is vertical, and the TOF distance normal measurement sensor module (1) and the mirror driving mechanism (3) are connected through a vertical rigid bracket, and the mirror driving structure (3) is connected to the mirror (2); through total reflection The mirror drive mechanism (3) is used to adjust the reflection angle of the reflector (2), so that its optical path is parallel to the drill feed trajectory of the end effector (4) of the automatic drilling and riveting machine tool, and then the TOF distance normal line is used to measur...

Example Embodiment

[0029] Embodiment 2:

[0030] This embodiment is basically the same as the first embodiment, and the special features are as follows: the TOF distance normal measurement sensor

[0031] The module (1) includes an array photosensitive and light emission module (1.1), a positioning and normal sensor module (1.2), and an embedded system digitally controls the array photosensitive and emission module (1.1) and the positioning and normal sensor module (1.2 ).

[0032] The array-type photosensitive and light-emitting module (1.1) includes a charge-coupled device, a field programmable gate array, a plurality of light-emitting diode light sources, and a light-emitting diode light source drive circuit; the LED light sources are arranged concentrically, and the array-type photosensitive and light-emitting module (1.1) ) is set at a position where the coordinates and positions are known and perpendicular to the hole-making direction of the end effector (4) of the automatic drilling and ...

Example Embodiment

[0034] Embodiment three:

[0035] The device for positioning and normal direction measurement for robot hole making is characterized in that: the structure of the mirror driving mechanism (3) is as follows: the mirror (2) is connected with the fixing fixture to a synchronous trigger module, and the synchronous trigger module includes a limit A position switch sensor and a limit switch sensor drive circuit; the mirror drive mechanism (3) is connected with the embedded system to control the state change of the drive mirror (2); during hole positioning and normal measurement, the mirror ( 2) After receiving the drive trigger signal, it will extend from -90° to -45°; when the end effector (4) performs hole making, the mirror (2) will shrink from -45° to -45° after receiving the drive signal. -90°.

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PUM

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Abstract

The invention relates to a device for robot hole making positioning and normal direction measurement, comprising an array photosensitive and infrared light emitting module, the array light emitting module can be adjusted to emit light intensity signals of different frequencies and different powers; The light from the emitting unit is sent to the surface of the measured object; the TOF array photosensitive distance detection module provides the distance data between the surface point of the measured object and the array photosensitive device, and the normal direction of the object surface can be calculated from the array distance value; the fine-tuning mechanism is driven , through normal measurement to determine the verticality deviation between the actuator and the hole-making position, and feed back the determined deviation to the drive fine-tuning mechanism to meet the verticality requirements of the hole-making machining axis. The sensing device in the present invention can provide more accurate and robust hole-making positioning and normal measurement data in the spatial area of ​​the surface of a special object, such as the edge and the vicinity of the porous surface, by using the depth image processing method.

Description

technical field [0001] The invention belongs to the technical field of automatic drilling and riveting machine positioning and normal measurement, and in particular relates to a device and method for robot hole making positioning and normal measurement. The automatic drilling and riveting machine end effector is used as a carrier, and is suitable for aircraft fuselage , automatic drilling of aircraft wing body or fuselage frame, and normal line measurement in the riveting process, belonging to the field of drilling and riveting processing. The normal sensor can also be used for other surface treatments, processing such as deburring, grinding and polishing. Background technique [0002] Whether it is the assembly of aircraft parts or the assembly of automobile parts, it is realized by riveting. The quality of riveting has a direct impact on the quality and safety performance of automobiles or aircraft. The end effector of automatic drilling and riveting machine has function...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 屠晓伟杨庆华赵明伟
Owner SHANGHAI UNIV
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