CN103538081A - Normal angle measuring unit - Google Patents
Normal angle measuring unit Download PDFInfo
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- CN103538081A CN103538081A CN201310493155.9A CN201310493155A CN103538081A CN 103538081 A CN103538081 A CN 103538081A CN 201310493155 A CN201310493155 A CN 201310493155A CN 103538081 A CN103538081 A CN 103538081A
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Abstract
The invention belongs to aircraft assembly automation technology and relates to a normal angle measuring unit for measuring surface normal skin workpieces in real time. The unit comprises a support plate, a universal mechanism fixing ring, a universal mechanism outer ring, a displacement sensor, a measuring contact end, a measuring plate and a reset spring. The normal angle measuring unit is exquisite in structural design, due to the fact that surface radian of skin workpieces changes along with positions, the normal adjusting unit can automatically adapt to the radian changes on the skin surfaces, deviation value between actual normal and theoretical normal can be measured in real time, deviation angle of the actual normal and the theoretical normal can be adjusted into a preset range according to the deviation value, and perforation normal precision can be guaranteed. By the surface perforation normal measuring unit using the displacement sensor for online measuring, normal deviation of cutter axes and skin surfaces can be adjusted in real time, and perforation quality of skin workpieces can be guaranteed.
Description
Technical field
The invention belongs to aircraft assembly automation technology, relate to the normal angle measuring unit that a kind of covering class curve surface of workpiece normal direction is measured in real time.
Background technology
Covering class workpiece is used in the field such as Aero-Space, hot-short in a large number, and aircraft, bullet train etc. have strict demand to aerodynamic configuration.At present, covering class workpiece adopts riveted structure more, and the hole mass defect that drilling normal direction low precision causes directly affects the security performance of aerodynamic configuration and even the Workpiece structure of covering.In robot automatic punching process, drilling equipment, according to the posture information of the drilling point in the theoretical model of covering workpiece, is fitted tightly with it and is carried out drilling by workpiece pressing surface.But because the reasons such as alignment error of workpiece cause the realistic model of workpiece and theoretical model to have certain deviation, now in surface of the work drilling, because cutter is not orthogonal to surface of the work, there is angular displacement in tool axis and surface normal, and this can cause the mass defect of drilling.
At present, the covering such as aircraft, bullet train workpiece needs the quantity of drilling very huge, adopt hand-made hole to have the outstanding problems such as quality conformance is poor, efficiency is low, along with improving constantly of Production requirement, adopting automation drilling is following inexorable trend, but because the reasons such as alignment error of workpiece cause the realistic model of workpiece and theoretical model to have certain deviation, now in surface of the work drilling, because cutter is not orthogonal to surface of the work, cause drilling mass defect.Therefore, the key technology that the normal direction deviation of tool axis and curved surface is raising automatic punching precision is measured in drilling in real time.
Summary of the invention
The object of this invention is to provide a kind of unit of measuring in real time curved surface normal angle in robot automatic punching process.Technical scheme of the present invention is, unit comprises supporting disk, omnidirectional mechanism retainer plate, omnidirectional mechanism outer ring, displacement transducer, measurement contact jaw, measurement dish, back-moving spring, measuring contact jaw and measurement dish is an integral body, on supporting disk, have groove, omnidirectional mechanism retainer plate is arranged in the groove of supporting disk and is connected with supporting disk, omnidirectional mechanism outer ring is connected with omnidirectional mechanism retainer plate, and omnidirectional mechanism outer ring rotates around omnidirectional mechanism retainer plate, measurement dish is connected on omnidirectional mechanism outer ring, and the top of measuring contact jaw contacts with measured piece; On supporting disk, have spring eye, back-moving spring is placed in the spring eye on supporting disk and contacts with measurement dish, four displacement transducers are evenly arranged on supporting disk and are placed in the below of measurement dish, evenly have four grooves on the top end face of described measurement contact jaw.
The advantage that the present invention has and beneficial effect, project organization of the present invention is exquisite, concerning covering class workpiece, because surperficial radian changes with position is different, this normal direction adjustment unit can self adaptation skin-surface radian change, and measure in real time actual normal direction and theory method between deviate, according to deviate, adjust actual normal direction and theory method in the angle of deviation to predetermined scope, guarantee the normal direction precision of drilling.Curved surface drilling normal angle measuring unit of the present invention adopts the method for displacement transducer on-line measurement can calculate in real time the normal direction angle of deviation of tool axis and skin-surface, be transferred to robot control cabinet the normal direction angle of deviation is adjusted, guarantee the drilling quality of covering workpiece.This normal direction measuring unit adopt displacement transducer on-line measurement have real-time, transmission speed fast, be easy to implement, can effectively increase work efficiency, cost-saving, and can obtain higher drilling normal direction precision, have a wide range of applications field.
Accompanying drawing explanation
Fig. 1 is structure cutaway view of the present invention;
Fig. 2 is structure top view of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is elaborated.
See Fig. 1.Unit comprises supporting disk 1, omnidirectional mechanism retainer plate 2, omnidirectional mechanism outer ring 3, displacement transducer 4, measure contact jaw 5, measurement dish 6, back-moving spring 7, measuring contact jaw 5 and measurement dish 6 is an integral body, on supporting disk 1, have groove, omnidirectional mechanism retainer plate 2 is arranged in the groove of supporting disk 1 and is connected with supporting disk 1, omnidirectional mechanism outer ring 3 is connected with omnidirectional mechanism retainer plate 2, and omnidirectional mechanism outer ring 3 is around 2 rotations of omnidirectional mechanism retainer plate, measurement dish 6 is connected on omnidirectional mechanism outer ring 3, the top of measuring contact jaw 5 contacts with measured piece, on supporting disk 1, have spring eye, back-moving spring 7 is placed in the spring eye on supporting disk 1 and contacts with measurement dish 6, four displacement transducers 4 are evenly arranged on supporting disk 1 and are placed in the below of measurement dish 6.After measuring contact jaw 5 and contacting with curved surface, when there is normal angle deviation, measurement dish 6 drive omnidirectional mechanism outer rings 3 rotate, and the reading of displacement transducer 4 changes, the reading by displacement transducer 4 calculate actual normal direction and theory method to deviate.
During use, the ring flange matching with robot model in the supporting disk 1 outer end design of normal angle measuring unit is for being connected with the 6th shaft flange dish of robot.Robot drives normal angle measuring unit to move to drilling position according to the pose of drilling point, measuring contact jaw 5 contacts with workpiece, omnidirectional mechanism outer ring 3 causes displacement transducer reading to change around 2 rotations of omnidirectional mechanism retainer plate, by gathering the reader of four displacement transducers 4, calculate normal angle deviate, pass to robot control cabinet, robot moves according to adjusted value, omnidirectional mechanism outer ring 3 changes around 2 rotations of omnidirectional mechanism retainer plate and displacement transducer 4 readings simultaneously, guarantees that normal angle deviation meets working condition requirement.
The measurement contact jaw 5 of its present normal angle measuring unit of mark sheet contacts with workpiece, and simultaneously omnidirectional mechanism outer ring 3 causes displacement transducer reading to change around 2 rotations of omnidirectional mechanism retainer plate, and adaptive method is to deviation, the deviate of perception normal angle.And the angle of deviation is passed to robot control cabinet automatically, robot guarantees that according to angle adjustment the reading of displacement transducer changes, until meet working condition requirement.Models and theory due to processing when drilling there are differences, and causes robot motion to position, hole, to locate actual normal direction and theory method to there is the angle of deviation, has a strong impact on drilling quality and production efficiency.The normal angle measuring unit of the present invention's development is by the variation of adaptive surface curvature, according to the reading of displacement transducer automatically calculate actual normal direction and theory method to the angle of deviation, robot adjusts normal direction according to the angle of deviation, guarantees that the normal direction angle of deviation in drilling process remains in a predetermined scope.
Omnidirectional mechanism of the present invention rotates flexibly, wherein on supporting disk 1, have groove, omnidirectional mechanism retainer plate 2 is arranged in the groove of supporting disk 1 and is connected with supporting disk 1, omnidirectional mechanism outer ring 3 is connected with omnidirectional mechanism retainer plate 2, and omnidirectional mechanism outer ring 3 is around 2 rotations of omnidirectional mechanism retainer plate, measurement dish 6 is connected on omnidirectional mechanism outer ring 3, and measuring contact jaw 5 and measurement dish 6 is an integral body.When measurement contact jaw 5 touches workpiece, supporting disk 1 and omnidirectional mechanism retainer plate 2 keep motionless, thereby guarantee that the position of displacement transducer 4 does not change.When the axis of normal direction measuring mechanism and the normal direction of workpiece do not overlap, because Universal adjusting mechanism outer ring 3 is connected with measurement dish 6, measurement contact jaw 5 contacts the reaction force producing with workpiece go up around 2 rotations of omnidirectional mechanism retainer plate the outer ring 3 of measurement dish 6 and omnidirectional mechanism in any direction, displacement transducer 4 readings that are arranged on normal direction guiding mechanism change, according to the reader of displacement transducer 4 calculate actual normal direction and theory method to the angle of deviation, and data are passed to robot, robot adjusts normal direction according to adjusting angle value, guarantee that the normal direction angle of deviation is in a predetermined scope.When the axis of normal direction measuring mechanism and the normal direction of workpiece overlaps or in actual normal direction and theory method in the preset range of deviation time, do not need to carry out normal direction adjustment.
The flange that normal angle measuring unit of the present invention matches by design and robot ring flange is installed on robot ring flange, and normal angle measuring unit is by coordinated the normal direction of robot to adjust with robot, for robot hole is laid a good foundation.Completion Techniques is coordinated mutually to functions such as the data acquisition of adjustment unit, analysis, execution by host computer, normal angle measuring unit, robot.The place, position, hole that robot drives drilling end effector to move to and plans by theoretical model contacts with workpiece, omnidirectional mechanism outer ring 3 causes four displacement transducer 4 readings to change around 2 rotations of omnidirectional mechanism retainer plate, host computer gathers the data of four displacement transducers 4, the actual normal direction of analytical calculation and theory method between deviate pass to robot, robot drives the motion of normal angle measuring unit to carry out the adjustment of attitude according to the normal direction angle of deviation.
Measurement contact jaw of the present invention 5 tops adopt groove structure, have improved the adaptive capacity to curved surface.Make to measure contact jaw 6 and better contact with curved surface, reduced measuring unit and Surface Method to error, greatly improved the certainty of measurement of system.
The project organization of normal angle measuring unit of the present invention is small and exquisite, for complex-curved, also can guarantee good laminating, can in very little region, contact with curved surface, has improved the adaptability of product.
Claims (2)
1. a normal angle measuring unit, it is characterized in that, unit comprises supporting disk (1), omnidirectional mechanism retainer plate (2), omnidirectional mechanism outer ring (3), displacement transducer (4), measure contact jaw (5), measurement dish (6), back-moving spring (7), measuring contact jaw (5) and measurement dish (6) is an integral body, supporting disk has groove on (1), omnidirectional mechanism retainer plate (2) is arranged in the groove of supporting disk (1) and is connected with supporting disk (1), omnidirectional mechanism outer ring (3) is connected with omnidirectional mechanism retainer plate (2), and omnidirectional mechanism outer ring (3) rotate around omnidirectional mechanism retainer plate (2), measurement dish (6) is connected on omnidirectional mechanism outer ring (3), the top of measuring contact jaw (5) contacts with measured piece, supporting disk has spring eye on (1), and back-moving spring (7) is placed in the spring eye on supporting disk (1) and contacts with measurement dish (6), and four displacement transducers (4) are evenly arranged on the below that measurement dish (6) were gone up and be placed in to supporting disk (1).
2. normal angle measuring unit according to claim 1, is characterized in that, on the top end face of described measurement contact jaw (5), evenly has four grooves.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310493155.9A CN103538081B (en) | 2013-10-21 | 2013-10-21 | Normal direction angle measurement unit |
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| CN201310493155.9A CN103538081B (en) | 2013-10-21 | 2013-10-21 | Normal direction angle measurement unit |
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| CN103538081A true CN103538081A (en) | 2014-01-29 |
| CN103538081B CN103538081B (en) | 2018-05-29 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002197A (en) * | 2014-06-13 | 2014-08-27 | 沈阳飞机工业（集团）有限公司 | Normal direction seeking device adopted in automatic hole manufacturing |
| CN105081884A (en) * | 2015-08-24 | 2015-11-25 | 成都飞机工业（集团）有限责任公司 | Normal measuring device for rotary scanning 3D molding |
| CN107020528A (en) * | 2017-04-13 | 2017-08-08 | 南京航空航天大学 | A kind of pressure foot of automatic drill-rivet end effector device of integrated normal direction centering function |
| CN109489556A (en) * | 2019-01-05 | 2019-03-19 | 中国航空制造技术研究院 | A kind of contact curved surface normal direction measuring device and method for aircraft assembly |
| CN110561443A (en) * | 2019-08-02 | 2019-12-13 | 中国航空工业集团公司北京长城航空测控技术研究所 | Auxiliary machining device for robot drilling end effector |
| CN110587615A (en) * | 2019-08-02 | 2019-12-20 | 中国航空工业集团公司北京长城航空测控技术研究所 | Accurate product feature identification method based on multi-sensor measurement |
| CN111730616A (en) * | 2020-07-06 | 2020-10-02 | 上海上飞飞机装备制造有限公司 | Automatic system hole system of movable robot |
| CN112525130A (en) * | 2020-10-23 | 2021-03-19 | 清华大学 | Contact type local curvature characteristic measuring method and system |
| CN112985262A (en) * | 2021-02-09 | 2021-06-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot curved surface polishing pre-calibration type normal measurement device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002197A (en) * | 2014-06-13 | 2014-08-27 | 沈阳飞机工业（集团）有限公司 | Normal direction seeking device adopted in automatic hole manufacturing |
| CN105081884A (en) * | 2015-08-24 | 2015-11-25 | 成都飞机工业（集团）有限责任公司 | Normal measuring device for rotary scanning 3D molding |
| CN105081884B (en) * | 2015-08-24 | 2023-08-04 | 成都飞机工业（集团）有限责任公司 | Normal measuring device for rotary scanning 3D molding |
| CN107020528A (en) * | 2017-04-13 | 2017-08-08 | 南京航空航天大学 | A kind of pressure foot of automatic drill-rivet end effector device of integrated normal direction centering function |
| CN109489556B (en) * | 2019-01-05 | 2020-09-08 | 中国航空制造技术研究院 | Contact type curved surface normal measurement device and method for airplane assembly |
| CN109489556A (en) * | 2019-01-05 | 2019-03-19 | 中国航空制造技术研究院 | A kind of contact curved surface normal direction measuring device and method for aircraft assembly |
| CN110587615A (en) * | 2019-08-02 | 2019-12-20 | 中国航空工业集团公司北京长城航空测控技术研究所 | Accurate product feature identification method based on multi-sensor measurement |
| CN110561443A (en) * | 2019-08-02 | 2019-12-13 | 中国航空工业集团公司北京长城航空测控技术研究所 | Auxiliary machining device for robot drilling end effector |
| CN111730616A (en) * | 2020-07-06 | 2020-10-02 | 上海上飞飞机装备制造有限公司 | Automatic system hole system of movable robot |
| CN111730616B (en) * | 2020-07-06 | 2020-11-24 | 上海上飞飞机装备制造有限公司 | Automatic system hole system of movable robot |
| CN112525130A (en) * | 2020-10-23 | 2021-03-19 | 清华大学 | Contact type local curvature characteristic measuring method and system |
| CN112525130B (en) * | 2020-10-23 | 2022-01-28 | 清华大学 | Contact type local curvature characteristic measuring method and system |
| CN112985262A (en) * | 2021-02-09 | 2021-06-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot curved surface polishing pre-calibration type normal measurement device and method |
| CN112985262B (en) * | 2021-02-09 | 2023-09-26 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot curved surface polishing pre-calibration type normal measurement device and method |
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