A method and device for correcting the normal direction of robot drilling and riveting based on laser scanning

A technology of laser scanning and robotics, which is applied in the direction of using optical devices, measuring devices, instruments, etc., can solve the problems of low calculation efficiency, long data collection time and multiple calculations, and achieve the effect of high alignment accuracy

Active Publication Date: 2021-08-03
CHENGDU AIRCRAFT INDUSTRY GROUP
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Problems solved by technology

[0004] Aiming at the problems of low calculation efficiency in the prior art, long data acquisition time and multiple calculations, the present invention proposes a method and device for correcting the normal direction of robot drilling and riveting based on laser scanning, using a laser distance sensor in a mechanical rotation mode S1 and laser distance sensor S2 scan and measure the skin surface to obtain two sets of cross measurement point data, and calculate the processing normal angle deviation on the skin surface according to the scan measurement point data

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  • A method and device for correcting the normal direction of robot drilling and riveting based on laser scanning
  • A method and device for correcting the normal direction of robot drilling and riveting based on laser scanning
  • A method and device for correcting the normal direction of robot drilling and riveting based on laser scanning

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Embodiment 1

[0049] This embodiment proposes a method for correcting the normal direction of robot drilling and riveting based on laser scanning, and sets mutually perpendicular laser distance sensors S1 2 and laser distance sensors S2 5, and obtains by rotating the laser distance sensors S1 2 and laser distance sensors S2 5 Two sets of cross scanning measurement point data, and calculate the normal angle deviation of processing on the skin surface according to the scanning measurement point data , the specific calculation steps are as follows:

[0050] (1) First set the laser distance sensors S1 2 and laser distance sensors S2 5 perpendicular to each other, and then calibrate the laser distance sensors S1 2 and laser distance sensors S2 5. The specific calibration steps include:

[0051] Step S1. establishes the TCP coordinate system, sets the coordinates of the laser distance sensor S1 2 and the laser distance sensor S2 5 under the TCP coordinate system as , wherein the subscript i=1,...

Embodiment 2

[0080] The present invention also proposes a laser scanning-based robot drilling and riveting normal alignment device, which is used for robot drilling and riveting normal alignment, such as figure 1 As shown, including installation base 1, laser distance sensor S1 2, first sensor mounting plate 3, servo motor B1 4, laser distance sensor S2 5, servo motor B2 6, second sensor mounting plate 7, compression head 8;

[0081] The mounting base 1 is a square flat plate, and the compression head 8 is vertically installed in the center of one side of the mounting base 1, and the same side of the mounting base 1 as the compression head 8 is vertically fixedly connected to the first fixing plate, and the first fixing plate A circular hole is arranged in the center, and the side of the first fixed plate closest to the edge of the installation base 1 is fixedly connected with the servo motor B14, and the main shaft of the servo motor B14 passes through the circular hole of the first fixed ...

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Abstract

The present invention proposes a method and device for correcting the normal direction of robot drilling and riveting based on laser scanning. The laser distance sensor S1 and the laser distance sensor S2 are used to scan and measure the surface of the skin through mechanical rotation, and two sets of crossings are obtained. Measure the point data, and then select the 10 measurement point data closest to the intersection point in the two sets of measurement point data to approximate the calculation of the tangent vector at the drilling riveting point, and according to the cross product of the tangent vectors of the two scanning curves Calculate the machining normal angle deviation δ on the skin surface. Through the above operations, the present invention realizes fast, efficient and accurate alignment of the normal direction of robot drilling and riveting.

Description

technical field [0001] The invention belongs to the field of precision control of robot drilling and riveting, and in particular relates to a method and device for correcting the normal direction of robot drilling and riveting based on laser scanning. Background technique [0002] With the continuous development of intelligent manufacturing, robotic automatic drilling and riveting systems have been widely used and researched abroad, such as EI Company, GE Company, etc. have developed relatively mature systems. In China, with the continuous deepening of research in colleges and universities and scientific research institutes, robot automatic drilling and riveting technology has also been developed by leaps and bounds. For example, Nanjing University of Aeronautics and Astronautics and Northwestern Polytechnical University have developed related systems. With the continuous promotion and application of robotic automatic drilling and riveting systems, how to ensure processing q...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/27
CPCG01B11/27
Inventor 隋少春陈强曾德标雷沛石章虎孙海龙云鑫孟华林
Owner CHENGDU AIRCRAFT INDUSTRY GROUP
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