Automatic search method for the normal direction of the cube mirror on the star by the robot high-precision measuring instrument
A technology of normal direction and automatic search, applied in the direction of measuring instruments, measuring devices, instruments, etc., can solve problems such as shortening the product assembly cycle, and achieve the effect of easy engineering implementation, simple principle, and full automation
Active Publication Date: 2021-02-12
BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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[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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[0027] The present invention will be described in further detail below in conjunction with the accompanying drawings, but this is only exemplary and not intended to limit the protection scope of the present invention. Below in conjunction with accompanying drawing this patent is described further.
[0028] Such as figure 1 As shown, as a high-precision measuring instrument, the photoelectric collimator is basically aligned with the normal direction of the measured target cube mirror. big (such as figure 1 As shown in the figure below), it is impossible to measure. Since the measured target cube mirror is fixed on the measured spacecraft product, it must be actively searched for its normal direction by a high-precision measuring instrument. Only when the optical axis of the photoelectric collimator returns to the optical axis position of the photoelectric collimator through the original path of the measured target cube mirror on the measured spacecraft product, is the normal...
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The invention discloses an automatic search method for a measuring instrument on the normal direction of a cubic mirror on a star. The method respectively establishes electrical communication between a host computer, a high-precision measuring instrument and an industrial robot, and the host computer starts the automatic search for the normal line of the plane mirror. Start to scan the concentric circle with the incident position of the high-precision measuring instrument on the plane mirror as the center, until the high-precision measuring instrument gives the signal of "obtaining the reflected light from the plane mirror", the host computer automatically records the current position and starts the routine precision measurement process. The invention realizes the automatic search of the normal direction of the cubic mirror on the star by the high-precision measuring instrument, and further realizes the full automation of precision measurement and has universality, and is suitable for different robots and precision measuring 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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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