CN103538081B - Normal direction angle measurement unit - Google Patents
Normal direction angle measurement unit Download PDFInfo
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- CN103538081B CN103538081B CN201310493155.9A CN201310493155A CN103538081B CN 103538081 B CN103538081 B CN 103538081B CN 201310493155 A CN201310493155 A CN 201310493155A CN 103538081 B CN103538081 B CN 103538081B
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- normal direction
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- omnidirectional mechanism
- deviation
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Abstract
The invention belongs to aircraft assembly automation technologies, are related to the normal direction angle measurement unit that a kind of covering class curve surface of workpiece normal direction measures in real time.Unit includes support plate, omnidirectional mechanism retainer plate, omnidirectional mechanism outer ring, displacement sensor, measurement contact jaw, Measuring plate, resetting spring.Design structure of the present invention is exquisite, for covering class workpiece, it changes since surface radian is different with position, this normal direction adjustment unit can adaptively skin-surface radian variation, and the deviation between actual normal direction and theoretical normal direction is measured in real time, actual normal direction is adjusted in the theoretical normal direction angle of deviation to a predetermined scope, ensureing the normal direction precision of drilling according to deviation.Curved surface drilling normal direction measuring unit of the present invention can adjust the Norma l deviation of tool axis and skin-surface using the method for displacement sensor on-line measurement in real time, ensure the drilling quality of covering workpiece.
Description
Technical field
The invention belongs to aircraft assembly automation technologies, are related to the normal direction that a kind of covering class curve surface of workpiece normal direction measures in real time
Angle measurement unit.
Background technology
The fields such as aerospace, hot-short are largely using covering class workpiece, and aircraft, bullet train etc. are to pneumatic outer
Shape has strict demand.At present, for covering class workpiece mostly using riveted structure, hole mass defect caused by drilling normal direction low precision is direct
Influence the aerodynamic configuration of covering or even the security performance of Workpiece structure.During robot automatic punching, drilling equipment is according to illiteracy
The posture information of drilling point in the theoretical model of skin workpiece fits closely carry out drilling by workpiece pressing surface and its.But
Be caused due to installation error of workpiece etc. workpiece realistic model and theoretical model there are certain deviation, at this time in work
The drilling of part surface, since cutter is not orthogonal to workpiece surface, i.e., with surface normal there are angular displacement, this can cause to make tool axis
The mass defect in hole.
At present, the coverings workpiece such as aircraft, bullet train needs that the quantity of drilling is very huge, and there are matter using hand-made hole
The outstanding problems such as uniformity is poor, efficiency is low are measured, are following certainty using automation drilling with the continuous improvement of production requirement
Trend, but caused due to installation error of workpiece etc. workpiece realistic model and theoretical model there are certain deviation,
At this time in workpiece surface drilling, since cutter is not orthogonal to workpiece surface, drilling quality defect is caused.Therefore, drilling is surveyed in real time
The Norma l deviation of amount tool axis and curved surface is the key technology for improving automatic punching precision.
The content of the invention
The object of the present invention is to provide a kind of units for measuring curved surface normal angle in real time during robot automatic punching.
The technical scheme is that unit includes support plate, omnidirectional mechanism retainer plate, omnidirectional mechanism outer ring, displacement sensor, measurement
Contact jaw, Measuring plate, resetting spring, it is an entirety to measure contact jaw and Measuring plate, and groove, omnidirectional mechanism are provided in support plate
Retainer plate is mounted in the groove of support plate and is connected with support plate, and omnidirectional mechanism outer ring is connected with omnidirectional mechanism retainer plate, and
And omnidirectional mechanism outer ring is rotated around omnidirectional mechanism retainer plate, Measuring plate is connected on omnidirectional mechanism outer ring, measures the top of contact jaw
End is in contact with measured piece；Spring eye is provided in support plate, resetting spring is placed in the spring eye in support plate Nei and and Measuring plate
It is in contact, four displacement sensors are uniformly mounted on the lower section that Measuring plate is placed in support plate, the measurement contact jaw
Groove there are four uniformly being opened on the end face of top.
The present invention has the advantage that and advantageous effect, and design structure of the present invention is exquisite, for covering class workpiece, due to table
Face radian is different with position and changes, this normal direction adjustment unit is capable of the radian variation of adaptive skin-surface, and real-time
Deviation between the actual normal direction of measurement and theoretical normal direction adjusts actual normal direction and the theoretical normal direction angle of deviation to one according to deviation
In a predetermined scope, ensure the normal direction precision of drilling.Curved surface drilling normal direction angle measurement unit of the present invention uses displacement
The method of sensor on-line measurement can calculate the Norma l deviation angle of tool axis and skin-surface in real time, be transferred to robot control
Cabinet processed is adjusted Norma l deviation angle, ensures the drilling quality of covering workpiece.This normal direction measuring unit uses displacement sensor
On-line measurement is with real-time, transmission speed is fast, is easy to implement, and can effectively improve work efficiency, cost-effective, and can obtain
Higher drilling normal direction precision, has a wide range of applications field.
Description of the drawings
Fig. 1 is the structure sectional view of the present invention；
Fig. 2 is the structure top view of the present invention.
Specific embodiment
It elaborates below in conjunction with the accompanying drawings to the present invention.
See Fig. 1.Unit includes support plate 1, omnidirectional mechanism retainer plate 2, omnidirectional mechanism outer ring 3, displacement sensor 4, measurement
Contact jaw 5, Measuring plate 6, resetting spring 7, it is an entirety to measure contact jaw 5 and Measuring plate 6, is provided with groove in support plate 1, ten thousand
It is mounted in the groove of support plate 1 to mechanism retainer plate 2 and is connected with support plate 1, omnidirectional mechanism outer ring 3 is fixed with omnidirectional mechanism
2 connection of circle, and omnidirectional mechanism outer ring 3 is rotated around omnidirectional mechanism retainer plate 2, and Measuring plate 6 is connected on omnidirectional mechanism outer ring 3,
The top of measurement contact jaw 5 is in contact with measured piece, spring eye is provided in support plate 1, resetting spring 7 is placed in support plate 1
It is in contact in spring eye and with Measuring plate 6, four displacement sensors 4 are uniformly mounted in support plate 1 and are placed under Measuring plate 6
Side.After measuring contact jaw 5 and curved face contact, when there are during normal direction angular displacement, Measuring plate 6 drives omnidirectional mechanism outer ring 3 to revolve
Turn, the reading of displacement sensor 4 changes, and the inclined of actual normal direction and theory normal direction is calculated by the reading of displacement sensor 4
Difference.
In use, it is used in the design of 1 outer end of support plate of normal direction angle measurement unit and the ring flange that robot model matches
It is connected in the 6th shaft flange disk with robot.Robot drives normal direction angle measurement unit to move to system according to the pose of drilling point
Hole site, measurement contact jaw 5 are contacted with workpiece, and displacement sensor is caused in omnidirectional mechanism outer ring 3 around the rotation of omnidirectional mechanism retainer plate 2
Reading changes, and calculates normal angle deviation by the reading for gathering four displacement sensors 4, is transmitted to robot control
Cabinet, robot are moved according to adjusted value, while omnidirectional mechanism outer ring 3 is rotated around omnidirectional mechanism retainer plate 2 and displacement sensor 4 is read
Number changes, and ensures that normal direction angular displacement meets working condition requirement.
It is characterized in that the measurement contact jaw 5 of normal direction angle measurement unit is contacted with workpiece, while omnidirectional mechanism outer ring 3
Around the rotation of omnidirectional mechanism retainer plate 2 displacement sensor reading is caused to change, adaptive Norma l deviation perceives the inclined of normal angle
Difference.And the angle of deviation is transmitted to robot control cabinet automatically, robot is adjusted according to angle ensures that the reading of displacement sensor is sent out
Changing, until meeting working condition requirement.Models and theory in drilling due to processing has differences, and robot motion is caused to arrive
Actual normal direction seriously affects drilling quality and production efficiency with theoretical normal direction there are the angle of deviation at the position of hole.The method that the present invention develops
To angle measurement unit by the variation of adaptive surface curvature, according to the reading of displacement sensor calculate automatically actual normal direction with
The angle of deviation of theoretical normal direction, robot adjust normal direction according to the angle of deviation, ensure that the Norma l deviation angle during drilling is maintained at one
In a predetermined scope.
The omnidirectional mechanism of the present invention rotates flexibly, groove is wherein provided in support plate 1, omnidirectional mechanism retainer plate 2 is mounted on
It is connected in the groove of support plate 1 and with support plate 1, omnidirectional mechanism outer ring 3 is connected with omnidirectional mechanism retainer plate 2, and universal machine
Structure outer ring 3 is rotated around omnidirectional mechanism retainer plate 2, and Measuring plate 6 is connected on omnidirectional mechanism outer ring 3, measures contact jaw 5 and Measuring plate
6 be an entirety.When measurement contact jaw 5 touches workpiece, support plate 1 and omnidirectional mechanism retainer plate 2 remain stationary as, so as to ensure
The position of displacement sensor 4 does not change.When the axis of normal direction measuring mechanism and the misaligned normal direction of workpiece, due to universal
Adjustment mechanism outer ring 3 is connected with Measuring plate 6, and the reaction force that measurement contact jaw 5 contacts generation with workpiece makes Measuring plate 6 and universal
The outer ring 3 of mechanism rotates in any direction around omnidirectional mechanism retainer plate 2, mounted on the displacement sensor of normal direction adjustment mechanism
4 readings change, and calculate the angle of deviation of actual normal direction and theoretical normal direction according to the reading of displacement sensor 4, and by data
Robot is transmitted to, robot is according to adjusting angle angle value adjusting method to guarantee Norma l deviation angle is in a predetermined scope.Work as method
It overlaps or when in preset range of the actual normal direction with theoretical Norma l deviation, is not required to the normal direction of workpiece to the axis of measuring mechanism
Carry out normal direction adjustment.
The normal direction angle measurement unit of the present invention is installed to robot by designing the flange to match with robot ring flange
On ring flange, normal direction angle measurement unit is established by with robot the normal direction for completing robot being coordinated to adjust for robot hole
Basis.The mutually coordinated data acquisition for completing normal direction adjustment unit of host computer, normal direction angle measurement unit, robot is analyzed, held
The functions such as row.Robot drives drilling end effector to move at the hole position planned by theoretical model and is contacted with workpiece, and ten thousand
Around the rotation of omnidirectional mechanism retainer plate 2 four 4 readings of displacement sensor is caused to change to mechanism outer ring 3, host computer acquisition four
The data of a displacement sensor 4, the deviation that analysis is calculated between actual normal direction and theoretical normal direction are transmitted to robot, robot root
The adjustment of normal direction angle measurement unit movement progress posture is driven according to Norma l deviation angle.
5 top of measurement contact jaw of the present invention improves the adaptability to curved surface using groove structure.Contact measurement
End 5 preferably and curved face contact, reduces the error of measuring unit and curved surface normal direction, substantially increases the measurement accuracy of system.
The design structure of the normal direction angle measurement unit of the present invention is compact, and good fitting is also can guarantee for complex-curved,
In the region of very little and curved face contact, the adaptability of product can be improved.
Claims (2)
1. a kind of normal direction angle measurement unit, it is characterized in that, unit includes support plate（1）, omnidirectional mechanism retainer plate（2）, universal machine
Structure outer ring（3）, displacement sensor（4）, measurement contact jaw（5）, Measuring plate（6）, resetting spring（7）, measure contact jaw（5）And survey
Measure disk（6）It is an entirety, support plate（1）On be provided with groove, omnidirectional mechanism retainer plate（2）Mounted on support plate（1）Groove
Interior and and support plate（1）Connection, omnidirectional mechanism outer ring（3）With omnidirectional mechanism retainer plate（2）Connection, and omnidirectional mechanism outer ring
（3）Around omnidirectional mechanism retainer plate（2）Rotation, Measuring plate（6）It is connected to omnidirectional mechanism outer ring（3）On, measure contact jaw（5）Top
End is in contact with measured piece；Support plate（1）On be provided with spring eye, resetting spring（7）It is placed in support plate（1）On spring eye in simultaneously
With Measuring plate（6）It is in contact, four displacement sensors（4）Uniformly it is mounted on support plate（1）On be placed in Measuring plate（6）Under
Side.
2. normal direction angle measurement unit according to claim 1, it is characterized in that, the measurement contact jaw（5）Top end
Groove there are four uniformly being opened on face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310493155.9A CN103538081B (en) | 2013-10-21 | 2013-10-21 | Normal direction angle measurement unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310493155.9A CN103538081B (en) | 2013-10-21 | 2013-10-21 | Normal direction angle measurement unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103538081A CN103538081A (en) | 2014-01-29 |
| CN103538081B true CN103538081B (en) | 2018-05-29 |
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|---|---|---|---|
| CN201310493155.9A Active CN103538081B (en) | 2013-10-21 | 2013-10-21 | Normal direction angle measurement unit |
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Families Citing this family (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 |
| 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 |
| 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 |
| CN110587615B (en) * | 2019-08-02 | 2021-03-05 | 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 |
| 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 |
| CN112525130B (en) * | 2020-10-23 | 2022-01-28 | 清华大学 | Contact type local curvature characteristic measuring method and system |
| 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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| JPH06288863A (en) * | 1993-03-31 | 1994-10-18 | Copal Co Ltd | Method and apparatus for estimating lens |
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| CN103538081A (en) | 2014-01-29 |
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