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Hole-making normal direction alignment method, hole-making end effector and hole-making robot
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An end effector and robot technology, applied in the field of hole machining, can solve the problems of low hole making accuracy and deviation of actual position, etc.
Active Publication Date: 2022-05-06
杭州飞钛航空智能装备有限公司
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Problems solved by technology
[0006] The purpose of the present invention is to provide a method for correcting the normal direction of hole making, a hole making end effector and a hole making robot, so as to solve the problem of deviation of the actual position of the processed hole and the accuracy of hole making existing in the prior art to a certain extent. low technical issues
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Embodiment 1
[0040] The invention provides a method for correcting the normal direction of hole making, comprising:
[0041] Establishing a fixed tool coordinate system with the tool tip of the tool 20 as the origin, and obtaining the first pose matrix of the fixed tool coordinate system under the robot base coordinate system;
[0042] Measure the distance between the tool tip and the machining point;
[0043] Obtain the transformation matrix of the translation distance of the fixed tool coordinate system according to the distance;
[0044] According to the first pose matrix and the transformation matrix, the second pose matrix of the dynamic tool coordinate system with the processing point as the origin under the robot base coordinate system is obtained;
[0045] Measure the deviation angle between the current posture of the tool 20 and the normal direction of the current machining position of the workpiece;
[0046] Adjust the posture of the tool 20 in the dynamic tool coordinate syste...
Embodiment 2
[0050] As shown in the picture Image 6 As shown, the embodiment of the present invention provides a hole-making end effector, which is used to realize the hole-making normal direction alignment method in the first embodiment, including: a substrate 10, a tool 20, a bracket 90, a driving part of the tool 20, and a distance measuring element And a plurality of laser displacement sensors 50; the bracket 90 is connected with the substrate 10, the cutter 20 driver is fixed on the bracket 90, the cutter 20 driver is connected with the cutter 20, the distance measuring element is connected with the substrate 10, and the distance measuring element is used to detect the cutter The distance between the tool tip of 20 and the processing point of the workpiece, laser displacement sensors 50 are provided on both sides of the tool 20, and multiple laser displacement sensors 50 are used to measure the normal direction between the axial direction of the tool 20 and the current processing posi...
Embodiment 3
[0074] An embodiment of the present invention also provides a hole-making robot, including a controller and the hole-making end effector in any one of the technical solutions in Embodiment 2, where the hole-making end effector is connected to the controller in communication. Therefore, the hole-making robot has all the beneficial technical effects of the hole-making end effector, which will not be repeated here.
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Abstract
The invention relates to the technical field of hole processing, in particular to a hole-making normal direction alignment method, a hole-making end effector and a hole-making robot. The method for correcting the hole-making normal direction includes: establishing a fixed tool coordinate system with the tool tip as the origin, and obtaining the first pose matrix of the fixed tool coordinate system under the robot base coordinate system; measuring the tool tip and The distance between the processing points; according to the distance, obtain the transformation matrix of the fixed tool coordinate system to translate the distance along the feed direction of the tool; obtain the processing point as the origin according to the first pose matrix and the transformation matrix The second pose matrix of the dynamic tool coordinate system under the robot base coordinate system; measure the deviation angle between the current posture of the tool and the normal direction of the current processing position of the workpiece; adjust the Describe the attitude of the tool.
Description
technical field [0001] The invention relates to the technical field of hole processing, in particular to a hole-making normal direction alignment method, a hole-making end effector and a hole-making robot. Background technique [0002] In the manufacturing process of aviation products, due to the particularity of aviation products, the connection methods are mostly rivet riveting or bolt screw connection, and then the riveting operation is performed after the rivet is made with a spot-faced hole or the bolt is made with a hole-faced spot and then screwed. Operation. The control of spot facing accuracy is an important technical indicator of the quality of aircraft wall plate hole making, and it is directly related to the assembly quality and performance indicators of the aircraft. [0003] In the actual hole-making process, the hole-making robot is equipped with a hole-making tool (TOOL) to process the workpiece, and the position and posture of the tool in space are describe...
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Application Information
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