Method and device for measuring normal vector of free surface at any point

Abstract

The invention discloses a device for measuring the normal vector of a free surface at any point, including a longitudinal driving device, a longitudinal guide rail, a fixed frame, a hole making device, a longitudinal slide table, a transverse driving device, a rotating cylinder, a linear laser sensor, a transverse slide table and a transverse guide rail. The top end of the fixed frame is fixedly connected with the longitudinal driving device. The longitudinal guide rail is fixedly connected inside the fixed frame. The longitudinal guide rail is connected in a sliding manner with the matching longitudinal slide table. The hole making device is installed at the bottom end of the longitudinal slide table. The output end of the longitudinal driving device is fixedly connected with the top endof the longitudinal slide table. The bottom end of the fixed frame is fixedly connected with the transverse guide rail. The right side of the bottom end of the fixed frame is fixedly connected with the transverse driving device. The complex process of surface fitting is omitted. The problem that the precision of measurement of the normal vector will be affected when there is an interference factorsuch as a crossbeam or a step near a point to be measured for the mainstream rectangular surface patch method at present can be solved.

Description

technical field [0001] The invention relates to the technical field of optical measurement, in particular to a method and a device for measuring a normal vector at an arbitrary point on a free-form surface. Background technique [0002] Relying on the high flexibility of robots, robotic automatic drilling and riveting technology has become a research hotspot in the automatic drilling and riveting technology of large aircraft parts. In the robot automatic drilling and riveting system, flexible hole making is an important link for flexible drilling and riveting of thin-walled structures. The verticality of the hole position of the riveting point directly affects the riveting quality of the panel. Highly complex application fields have put forward high requirements for the normal alignment of flexible drilling. Since the skin mostly adopts a riveted structure, the hole quality defect caused by the out-of-tolerance normal precision of the drilling directly affects the aerodynam...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that the straight line determined by the two feedback data of two laser sensors is used to approximate the tangential vector of the simulated curve, and then converted into a normal vector, which is another transformation form of the rectangular patch method. When the curvature of the free-form surface, or when there are interference factors such as beams or steps near the point to be measured, there will inevitably be measurement errors

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