CN102768006B - Method for automatically measuring and adjusting large-curvature curve part in normal direction - Google Patents
Method for automatically measuring and adjusting large-curvature curve part in normal direction Download PDFInfo
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- CN102768006B CN102768006B CN201210273132.2A CN201210273132A CN102768006B CN 102768006 B CN102768006 B CN 102768006B CN 201210273132 A CN201210273132 A CN 201210273132A CN 102768006 B CN102768006 B CN 102768006B
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Abstract
The invention discloses a method for automatically measuring and adjusting a large-curvature curve part in the normal direction. The method includes creating a coordinate system of a tool with the large-curvature curve part and a measurement coordinate system of an industrial robot; measuring a displacement value between the industrial robot and the large-curvature curve part, and computing an included angle between the measurement coordinate system of the robot and a plane gamma consisting of measuring points; and adjusting attitude of the robot so as to enable an OXY plane of the measurement coordinate system to be parallel to the plane gamma until precision meets requirements. By the aid of the method, automatic machining and assembling quality and efficiency of the large-curvature curve part can be improved.
Description
Technical field
The invention belongs to automated manufacturing field, relate to a kind of curved surface of high curvature part normal direction and measure and self-adjusting method.
Background technology
In the automatic processing of curved surface part and assembling process, processing head needs to carry out in the normal direction of curved surface to hole or the operation such as riveted joint.Therefore curved surface part needs the normal direction adjustment carrying out curved surface before automatically processing, and processing direction of feed is overlapped with the normal direction of processing stand.The precision of normal direction adjustment has a great impact the serviceable life to crudy and product.Thus, the normal direction of efficient stable is measured method of adjustment and equipment and can be improved the quality and efficiency that curved surface part processes automatically.
At present, curved surface part normal direction measurement and adjustment is main adopts artificial vision's method and frock adjusting method.Artificial vision's monitoring, manual adjusting method, the method regulated efficiency is not high, adjustment quality is stable not; In frock adjusting method, the weight and volume that frock is larger make adjust underaction, and on normal direction adjustment precision and efficiency produce certain impact.As patent CN101957175A discloses a kind of based on 3 micro-plane normal detection methods, and apply laser displacement sensor technology and data acquisition technology, the normal vector of tested point on curved surface can be recorded by certain algorithm.Detection method computational accuracy in this patent is high, but does not relate to the method and apparatus of normal direction adjustment, has certain limitation in commercial Application.Document " aircraft target ship automatic Drilling/Riveting normal vector method of measuring " proposes to measure the method for boring riveting point place normal vector in a kind of aircraft target ship automatic Drilling/Riveting process in real time: utilize laser range sensor boring the coordinate obtaining unique point around riveting point, calculated bore riveting point place normal vector by Quadratic Surface Fitting algorithm.Patent CN100485560C relates to a kind of control method of normally riveted curved member, the trifilar suspension part bracket of employing, replaces artificial vision's normal direction and controls.Above-mentioned for the normal direction measurement method of adjustment in the processing of wallboard automatic Drilling/Riveting, normal direction adjustment is realized by changing the attitude of placing wallboard bracket, the opening character during processing of these class methods is good not, and the quality that bracket is heavier and larger volume can exert an adverse impact to the precision of adjustment and dirigibility.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides and a kind of adopt Six-DOF industrial robot to realize before curved surface of high curvature part automatically processes or assemble, to be processed some normal direction is measured and self-adjusting method.Adopt eddy current displacement sensor to measure the shift value of four points and sensor on curved surface of high curvature part (as aircraft target ship) curved surface, generate the adjustment parameter of industrial robot as calculated.Control system according to adjustment parameter change industrial robot attitude, realize Surface Method to automatic adjustment.The method can improve the quality and efficiency that curved surface of high curvature part automatically processes and assemble.
The present invention solve its technical matters adopt the process flow diagram of technical scheme as shown in Figure 1, comprise the following steps:
1) coordinate system is set up: the coordinate system of curved surface of high curvature part place frock is defined as world coordinate system, utilizes the locating piece in frock to set up the workpiece coordinate system of Six-DOF industrial robot.Measurement mechanism is arranged on industrial machine robot end, demarcates with the position relationship in the industrial machine human world.Measurement mechanism is made up of four eddy current displacement sensors, the rectangular distribution of displacement transducer.Using rectangular symmetrical center as initial point, length direction is X-direction, and Width is Y direction, and displacement sensor head direction is Z-direction, sets up right-handed Cartesian coordinate system, i.e. the surving coordinate system of industrial robot.
2) image data: mobile industrial robot, until the Z axis of surving coordinate system points to measurement point.Open displacement transducer, measure the shift value between they and large curved surface part, by PLC, the voltage signal of displacement transducer collection is transferred to control system.Magnitude of voltage is converted to shift value by control system.
3) Norma l deviation is calculated: curved surface to be measured is generally curved surface of high curvature, and namely the width of measurement range differs a more than order of magnitude with tested point place radius-of-curvature.Now, can using displacement sensor point form the normal direction of normal direction as measurement point on curved surface of plane γ.Utilize angle α, β of shift value calculating robot surving coordinate system X, Y-axis and the plane γ recorded.
4) adjusting method to: control system according to Norma l deviation α, β, according to the transformational relation between built vertical coordinate system, call the adjustment parameter of robot control system algorithm calculating robot, and adjust robot pose, make the OXY plane of surving coordinate system be parallel to plane γ.Now, the Z axis negative direction of surving coordinate system is the normal direction of measurement of curved surface point.
5) metrical error: control system gathers the magnitude of voltage of displacement transducer, again computation and measurement point normal direction and surving coordinate system OXY planar process to error.If error is in limited range, control system sends normal direction adjustment settling signal; Otherwise forward step 3 to).
The beneficial effect of this method is:
1) motion adopting industrial robot to adjust as normal direction, adds the opening character of operating space, improves the dirigibility of normal direction adjustment.
2) adopt eddy current displacement sensor to measure shift value between curved surface of high curvature part (as aircraft target ship) and sensor, non-metal barriers on tested curved surface can be eliminated on the impact of measuring.
3) by PLC by displacement transducer and industrial robot control system integrated, make the method have good soft and hardware extendability.The measurement mechanism of industrial robot end adds equipment and is connected with PLC, can expansion equipment function easily.
Accompanying drawing explanation
Fig. 1 curved surface of high curvature part normal direction measures adjustment process flow diagram automatically;
The distribution signal of Fig. 2 measuring head top offset sensor and coordinate system definition;
Measurement adjustment principle key diagram (three-dimensional plot) of Fig. 3 curved surface of high curvature normal direction;
Measurement adjustment principle key diagram (side view) of Fig. 4 curved surface of high curvature normal direction;
Measurement adjustment principle key diagram (vertical view) of Fig. 5 curved surface of high curvature normal direction.
Embodiment
The present invention automatically processes for the part with curved surface of high curvature or in assembling process, by the cooperation of eddy current displacement sensor, Six-DOF industrial robot and control system, realizes measurement and the adjustment automatically of curved surface of high curvature part normal direction.
Below in conjunction with accompanying drawing and implementation method, embodiment, describe the present invention further.
Such as: before the method being used for aircraft target ship assembling process automatic Drilling/Riveting, the automatic measurement of wallboard normal direction and adjustment.The rectangular distribution of displacement transducer on measurement mechanism, its length a=160mm, width b=110mm; Robot surving coordinate is OXYZ, as shown in Figure 2.
Concrete implementation step is as follows:
1) coordinate system is set up: the coordinate system of aircraft target ship frock is defined as world coordinate system.The position of locating piece in world coordinate system is known, according to the position relationship between its value determination robot workpiece coordinate system and world coordinate system, thus sets up the workpiece coordinate system of robot.Measurement mechanism defines the surving coordinate system OXYZ of robot, and the position relationship between surving coordinate system and displacement transducer as shown in Figure 2.Relation between above-mentioned coordinate system is determined, can mutually change.
2) image data: control system drives industrial robot to drive measurement mechanism to move, until the Z axis of surving coordinate system points to measurement point O
1, as shown in Figure 3.Start bit displacement sensor A, B, C, D obtain four magnitude of voltage U
a, U
b, U
c, U
d.By PLC in switch board, the voltage signal of displacement transducer collection is transferred to control system.Control system magnitude of voltage is multiplied by coefficient and obtains shift value AA
1, BB
1, CC
1, DD
1.
3) Norma l deviation is calculated: the surface of aircraft target ship is all generally the quadric surface that radius-of-curvature is larger.The projection A of rectangle ABCD in aircraft target ship of four sensor compositions
1b
1c
1d
1its area of opposing wall is very little, as shown in Figure 3.Thus, can by plane A
1b
1c
1d
1normal direction
as measurement point O on wallboard
1normal direction.Utilize shift value AA
1, BB
1, CC
1, DD
1with the Size calculation of rectangle ABCD go out tool coordinate system X-axis and plane γ angle α and, the angle β of tool coordinate system Y-axis and plane γ, as shown in Figure 4, Figure 5.Angle α, β computing formula is as follows:
4) adjusting method to: control system according to Norma l deviation α, β, according to step 1) set up transformational relation between coordinate system, call the adjustment parameter of robot control system algorithm calculating robot, adjustment industrial robot attitude, makes the OXY plane of surving coordinate system parallel with plane γ.Now, the Z axis negative direction of surving coordinate system is the normal direction of the measurement point of curved surface
5) metrical error: after industrial robot completes pose adjustment, control system gathers the magnitude of voltage of displacement sensing again, computation and measurement point O
1normal direction and surving coordinate system OXY plane normal direction between error.If error is in limited range, then send normal direction adjustment settling signal; Otherwise forward step 3 to).
Claims (1)
1., for the method that curved surface of high curvature part normal direction is automatically measured and adjusted, it is characterized in that comprising the steps:
1) coordinate system of curved surface of high curvature part place frock is defined as world coordinate system, utilizes the locating piece in frock to set up the workpiece coordinate system of Six-DOF industrial robot; Measurement mechanism is arranged on industrial machine robot end, demarcates with the position relationship in the industrial machine human world; Measurement mechanism is made up of four eddy current displacement sensors, the rectangular distribution of eddy current displacement sensor; Using rectangular symmetrical center as initial point, length direction is X-direction, and Width is Y direction, and eddy current displacement sensor measuring head direction is Z-direction, sets up right-handed Cartesian coordinate system, i.e. the surving coordinate system of industrial robot;
2) mobile industrial robot, until the Z axis of surving coordinate system points to measurement point; Open eddy current displacement sensor, measure the shift value between they and large curved surface part, by PLC, the voltage signal of eddy current displacement sensor collection is transferred to control system; Magnitude of voltage is converted to shift value by control system;
3) using eddy current displacement sensor measurement point form the normal direction of normal direction as measurement point on curved surface of plane γ; Utilize angle α, β of shift value calculating robot surving coordinate system X, Y-axis and the plane γ recorded;
4) control system is according to the transformational relation between angle α, β and the coordinate system set up, and adjustment robot pose, makes the OXY plane of surving coordinate system be parallel to plane γ; Now, the Z axis negative direction of surving coordinate system is the normal direction of measurement of curved surface point;
5) control system gathers the magnitude of voltage of eddy current displacement sensor, again computation and measurement point normal direction and surving coordinate system OXY planar process to error; If error is in limited range, control system sends normal direction adjustment settling signal; Otherwise forward step 3 to).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105222712A (en) * | 2015-11-02 | 2016-01-06 | 西北工业大学 | A kind of larger radius of curvature curved surface part normal direction of improvement is measured and method of adjustment |
| CN106441113B (en) * | 2016-11-17 | 2018-10-26 | 浙江大学 | The caliberating device and its scaling method of laser displacement sensor |
| CN106584206B (en) * | 2016-11-17 | 2018-10-26 | 浙江大学 | A kind of drilling normal direction modification method of automatic drill riveter |
| CN106908010B (en) * | 2017-02-05 | 2019-06-18 | 深圳市普盛旺科技有限公司 | A kind of curvature measurement method and device |
| CN107063086B (en) * | 2017-03-13 | 2019-03-12 | 浙江优迈德智能装备有限公司 | A kind of local surface normal vector based on double infrared sensors determines method |
| CN106989660B (en) * | 2017-05-24 | 2019-04-23 | 大连理工大学 | A kind of space three-dimensional information acquisition method of complexity position metal flat |
| GB2580282B (en) * | 2017-09-05 | 2022-06-01 | Univ Northwestern Polytechnical | Method and system for automatic assembly of curved surface part |
| CN107570983B (en) * | 2017-09-05 | 2019-06-14 | 西北工业大学 | A kind of method and system of curved surface part automatic assembling |
| CN109556555B (en) * | 2018-12-13 | 2021-03-23 | 西北工业大学 | Rapid detection device and detection method for wallboard manufacturing errors |
| CN110108204B (en) * | 2019-05-10 | 2021-06-15 | 苏州德创测控科技有限公司 | Method for detecting position deviation of PIN needle of connector by using lens |
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| GB9929752D0 (en) * | 1999-12-17 | 2000-02-09 | Secr Defence | Textured surface |
| CN100485560C (en) * | 2007-07-06 | 2009-05-06 | 成都飞机工业（集团）有限责任公司 | Control method for normally riveted curved member |
| CN101782379B (en) * | 2009-12-29 | 2013-02-06 | 重庆大学 | Three-dimensional combined measurement method |
| CN101957175B (en) * | 2010-09-14 | 2012-03-28 | 西安交通大学 | Three-point micro-plane-based normal detection method |
| CN102284956B (en) * | 2011-05-04 | 2013-11-20 | 南京航空航天大学 | Normal centering method of automatic drilling and riveting robot |
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