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

A technology of normal direction and automatic search, applied in measuring instruments, measuring devices, instruments, etc., can solve problems such as shortening the product assembly cycle, and achieve the effect of easy engineering implementation, full automation, and simple principle

Active Publication Date: 2018-02-23
BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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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 nor

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

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[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings, but this is only exemplary and is not intended to limit the protection scope of the present invention in any way. The patent will be further explained below in conjunction with the drawings.

[0028] Such as figure 1 As shown, the photoelectric collimator as a high-precision measuring instrument is basically aligned with the normal direction of the plane mirror as a prerequisite for measurement. When the optical axis of the photoelectric collimator and the plane mirror normal direction error is too large (such as figure 1 As shown in the figure below), measurement cannot be performed. Since the plane mirror is fixed on the spacecraft product under test, the high-precision measuring instrument must actively find its normal direction. Only when the optical axis of the photoelectric collimator passes the original path of the plane mirror on the tested spacecraft prod...

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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 ...

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Application Information

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IPC IPC(8): G01C15/00
CPCG01C15/00
Inventor 易旺民董悫刘浩淼陶力阮国伟段晨旭张禹杭隆昌宇任春珍孟凡伟胡瑞钦孟少华张立建
Owner BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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