Method for automatically searching normal line direction of on-board cubic prism by measurement instrument

Abstract

The invention discloses a method for automatically searching the normal line direction of an on-board cubic prism by a measurement instrument. According to the method, the electrical communication between a host computer and a high precision measurement instrument and the electrical communication between the host computer and an industrial robot are respectively established, the host computer starts automatic searching on the normal line of a plane mirror, concentric circle scanning is performed by using the incident position of the high precision measurement instrument on the plane mirror asthe circle center, the host computer automatically records the current position after the high precision measurement instrument gives the plane mirror reflection light obtaining signal, and a normal precision measurement process is started. According to the present invention, the automatic searching of the normal line direction of the on-board cubic prism by the high precision measurement instrument is achieved so as to achieve the full automation of the precision measurement, and the method has the versatility and is suitable for different robots and precision measurement equipment.

Description

technical field [0001] The invention belongs to the technical field of industrial robot applications, and in particular relates to a method for cooperating a robot with a high-precision measuring instrument so as to automatically search the normal direction of a measured cubic mirror on a star before high-precision measurement. Background technique [0002] High-precision measuring instrument (photoelectric self-collimating theodolite) is a common tool for precision measurement of high-precision products such as spacecraft in the assembly process. Its basic principle is that the laser emitted by its light pipe passes through the cubic mirror of the measured plane ( The reflection of the flat mirror) returns to the light pipe of the photoelectric autocollimation theodolite, and is received by the photosensitive device to perform high-precision measurement. Therefore, it is necessary to coincide the direction of the laser beam of the light pipe with the normal direction of the ...

AI Technical Summary

Problems solved by technology

[0003] In the traditional measurement method, the adjustment of the direction of the light pipe laser beam and the normal direction of the measured cube mirror needs to be manually adjusted. A method for realizing the automatic search of the normal line of the measured cube mirror can realize the fully automatic operation of the precision measurement process, so that such work can be arranged in non-working hours such as night, thereby greatly shortening the assembly cycle of the product

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