CN104656655B - Gesture detection and adjustment method for eight-feet-crawling automatic drilling robot - Google Patents
Gesture detection and adjustment method for eight-feet-crawling automatic drilling robot Download PDFInfo
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- CN104656655B CN104656655B CN201410854314.8A CN201410854314A CN104656655B CN 104656655 B CN104656655 B CN 104656655B CN 201410854314 A CN201410854314 A CN 201410854314A CN 104656655 B CN104656655 B CN 104656655B
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- laser distance
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Abstract
The invention relates to a gesture detection and adjustment method for an eight-feet-crawling automatic drilling robot and belongs to the technical field of machinery. The method ensures the consistency of the position of the eight-feet-crawling automatic drilling robot during working and the set position through assembly, debugging, detection and adjustment. The method determines the size of a deviation between a workpiece spindle axis and a normal direction of a drilling position through straight-line distances around a machining position obtained by four laser sensors in front of a spindle, and can quickly and accurately adjust the spindle axis to be overlapped with the normal direction of aircraft skin by combining with the driving and feeding of servo motors on four legs.
Description
Technical field
A kind of method of automatic drilling machine people attitude detection adjustment the present invention relates to eight foot is creeped, belongs to mechanical technique neck
Domain.
Background technology
During engineering goods are manufactured, Jing often will carry out Drilling operation to product.At present, conventional boring method
It is that bore operation is carried out by man-hour manually hand-held drilling tool, manual work there are problems that a lot, be mainly reflected in following two aspects：One
Individual is that cost of labor is higher, increases very big financial burden to enterprise, and another is the specification that artificial drilling is difficult to ensure that each hole
It is unified, during bore operation, need according to operation needs, constantly mobile arm to be realizing drilling needs of each station, appearance
Easily cause manpower fatigue.
The content of the invention
The purpose of the present invention be overcome the deficiencies in the prior art in place of, there is provided a kind of eight foot is creeped automatic drilling machine people's appearance
The method of state adjustment, is coincided by the method for detection and calibration of workpieces main-shaft axis and drill hole before drilling, so as to get out symbol
Close the hole for requiring.
According to the technical scheme that the present invention is provided, the side of a kind of eight sufficient automatic drilling machine people attitude detection adjustment of creeping
Method, step is：
（1）Assembling：Automatic boring rod set is carried on climbing robot workbench, assembling obtains eight sufficient automatic drillings of creeping
Robot, arranges multiple laser distance sensors in the main shaft surrounding of automatic boring rod set；
（2）Debugging：During debugging, when making the main-shaft axis and automatic boring rod set of the eight sufficient automatic drilling machine people that creep work
Pressure angle to compress end face vertical, during debugging laser distance sensor, another pressure angle end face parallel face is returned into 0；
（3）Detection：The laser of laser distance sensor transmitting is irradiated on workpiece to be processed, if four laser distances are passed
Sensor is measured apart from equal, and the method for work spindle axis and Working position coincides, and illustrates that hole meets processing request；If four are swashed
The data that electrical distance sensor is measured are different, and hole does not just meet processing request, need by step come adjusting device to adjust
Section equipment angle is adjusted to preferable position making the eight foot automatic drilling machine people that creep；
（4）Adjustment：When the data that four laser distance sensors are measured are different, four laser distance sensors will
The distance values of detection are transferred in control system, by data processing, choose wherein three numerical value, are tried to achieve main-shaft axis and are wanted
Space law phase drift angle α at Working position, then changes the flexible leg length of the eight sufficient automatic drilling machine people that creep, until four
Laser distance sensor reading is equal.
Beneficial effects of the present invention：The Working position surrounding that the present invention is obtained by four laser sensors before main shaft
Air line distance judging work spindle axis and method at bore position mutually how many deviation, in conjunction with the servo on four lower limbs
Motor drive feeds, and quickly and accurately can be adjusted to overlap with aircraft skin normal direction by main-shaft axis.
Description of the drawings
Fig. 1 is eight sufficient automatic drilling machine people's structural representations of creeping.
Fig. 2 is 1 angular deviation schematic diagram of embodiment.
Fig. 3 is schematic diagram after embodiment 1 is adjusted.
Fig. 4 is 1 top view of embodiment.
Specific embodiment
In following examples, climbing robot workbench 1 and automatic boring rod set 2 are separately applied for a patent.
As Figure 1-4, eight foots are creeped the method for automatic drilling machine people attitude detections adjustment, and step is：
（1）Assembling：Automatic boring rod set 2 is carried on climbing robot workbench 1, assembling obtains eight sufficient automatic drills of creeping
Hole robot, arranges multiple laser distance sensors 3 in the main shaft surrounding of automatic boring rod set；
（2）Debugging：During debugging, the main-shaft axis and automatic boring rod set 2 of the eight sufficient automatic drilling machine people that creep is made to work
When pressure angle to compress end face vertical, during debugging laser distance sensor 3, another pressure angle end face parallel face is returned into 0；
（3）Detection：The laser of the transmitting of laser distance sensor 3 is irradiated on workpiece to be processed, if four laser distances
Sensor 3 is measured apart from equal, and the method for work spindle axis and Working position coincides, and illustrates that hole meets processing request；If four
The data that individual laser distance sensor 3 is measured are different, and hole does not just meet processing request, need by step 4 to set to adjust
The eight sufficient automatic drilling machine people that creep are made to be adjusted to preferable position for adjustment equipment angle is carried out；
（4）Adjustment：When the data that four laser distance sensors 3 are measured are different, four laser distance sensors 3
The distance values of detection are transferred in control system, by data processing, wherein three numerical value is chosen, try to achieve main-shaft axis and
The space law phase drift angle α at Working position is wanted, then changes the flexible leg length of the eight sufficient automatic drilling machine people that creep, until four
3 reading of individual laser distance sensor is equal.
State of this automatic drilling machine people of Fig. 2 on equipment.Without before drilling, passed by four laser distances
The distance values of the detection of sensor 1 are transferred to the control system of this equipment（Industrial computer）On.By certain data processing principle,
Take three numerical value therein.The computational methods set by industrial computer, will try to achieve main-shaft axis and want machining position
The space law phase drift angle at the place of putting has much, and the method phase drift angle for measuring is in most cases Space Angle.
Method phase drift angle α is defined as into plane angle in the present embodiment, i.e., is in one plane deflected, in the plane shown in Fig. 2
The drift angle measured is α, will be repaiied the angle [alpha] for having deflected by the length for changing the first Retractive leg 4 and the second Retractive leg 5
Just.
The process of adjustment attitude is the continuous process of a complete closed loop, in the process raised wages after calculating deflection angle
It is middle to need while the length of the first Retractive leg 4 of change and the second Retractive leg 5, ceaselessly senses in four laser distances of detection
The distance of device 3, in amendment the first Retractive leg 4 and the length of the second Retractive leg 5.Until four laser distance sensors 3
Distance values are equal, then terminate to raise wages, last as shown in figure 3, bore operation can be carried out.
Actual is not simply to adjust two legs therein in the course of the work, but is fixed with wherein one leg to adjust
Lower limb, its excess-three bar lower limb have corresponding length change.Regulation process be with above-mentioned plane simplify process as, be one completely not
Change control process.
Claims (1)
1. the method for eight sufficient automatic drilling machine people attitude detection adjustment of creeping, is characterized in that step is：
（1）Assembling：In climbing robot workbench（1）It is upper to carry automatic boring rod set（2）, assemble and obtain eight sufficient automatic drills of creeping
Hole robot, arranges multiple laser distance sensors in the main shaft surrounding of automatic boring rod set（3）；
（2）Debugging：During debugging, the main-shaft axis and automatic boring rod set of the eight sufficient automatic drilling machine people that creep are made（2）During work
Pressure angle to compress end face vertical, debug laser distance sensor（3）When, another parallel face of end face will be compressed with pressure angle
Return 0；
（3）Detection：Laser distance sensor（3）The laser of transmitting is irradiated on workpiece to be processed, if four laser distances are passed
Sensor（3）Measure apart from equal, the method for work spindle axis and Working position coincides, and illustrates that hole meets processing request；If four
Individual laser distance sensor（3）The data for measuring are different, and hole does not just meet processing request, needs by step（4）To adjust
Finishing equipment carrys out adjustment equipment angle to make the eight sufficient automatic drilling machine people that creep be adjusted to preferable position；
（4）Adjustment：When four laser distance sensors（3）When the data that measure are different, four laser distance sensors（3）
The distance values of detection are transferred in control system, by data processing, wherein three numerical value is chosen, try to achieve main-shaft axis and
The space law phase drift angle α at Working position is wanted, then changes the flexible leg length of the eight sufficient automatic drilling machine people that creep, until four
Individual laser distance sensor（3）Reading is equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410854314.8A CN104656655B (en) | 2014-12-31 | 2014-12-31 | Gesture detection and adjustment method for eight-feet-crawling automatic drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410854314.8A CN104656655B (en) | 2014-12-31 | 2014-12-31 | Gesture detection and adjustment method for eight-feet-crawling automatic drilling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104656655A CN104656655A (en) | 2015-05-27 |
| CN104656655B true CN104656655B (en) | 2017-05-03 |
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| CN201410854314.8A Active CN104656655B (en) | 2014-12-31 | 2014-12-31 | Gesture detection and adjustment method for eight-feet-crawling automatic drilling robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109894831A (en) * | 2017-12-08 | 2019-06-18 | 湖南瑞森可机器人科技有限公司 | The automatic assemble method of box panel and kludge on intelligent electric meter |
| CN110171499A (en) * | 2019-06-27 | 2019-08-27 | 北京克莱明科技有限公司 | Absorption type electromagnetism foot with floating installation |
Citations (5)
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| CN201013248Y (en) * | 2007-03-13 | 2008-01-30 | 陕西省核工业地质局工程机械研究所 | Vehicle-carrying drilling exploration platform |
| CN101804514A (en) * | 2010-03-25 | 2010-08-18 | 西北工业大学 | Laser accurate drilling method and device of fiber composite aircraft panel |
| CN202002759U (en) * | 2010-12-29 | 2011-10-05 | 中国建筑第七工程局有限公司 | Drilling tool for testing residual stress of aluminum oxide decomposing tank |
| CN102284956A (en) * | 2011-05-04 | 2011-12-21 | 南京航空航天大学 | Normal centering method of automatic drilling and riveting robot |
| CN102591347A (en) * | 2012-01-19 | 2012-07-18 | 河海大学常州校区 | Multi-leg mobile platform and attitude and height control method thereof |
-
2014
- 2014-12-31 CN CN201410854314.8A patent/CN104656655B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201013248Y (en) * | 2007-03-13 | 2008-01-30 | 陕西省核工业地质局工程机械研究所 | Vehicle-carrying drilling exploration platform |
| CN101804514A (en) * | 2010-03-25 | 2010-08-18 | 西北工业大学 | Laser accurate drilling method and device of fiber composite aircraft panel |
| CN202002759U (en) * | 2010-12-29 | 2011-10-05 | 中国建筑第七工程局有限公司 | Drilling tool for testing residual stress of aluminum oxide decomposing tank |
| CN102284956A (en) * | 2011-05-04 | 2011-12-21 | 南京航空航天大学 | Normal centering method of automatic drilling and riveting robot |
| CN102591347A (en) * | 2012-01-19 | 2012-07-18 | 河海大学常州校区 | Multi-leg mobile platform and attitude and height control method thereof |
Non-Patent Citations (1)
| Title |
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| 基于机器人的飞行部件自动制孔末端执行器设计;张杰 等;《制造业自动化》;20130830;第35卷(第8期);第15页第1.1节，图2 * |
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