CN104816307B - The four-point method of the accurate drilling of industrial robot is to leveling method - Google Patents
The four-point method of the accurate drilling of industrial robot is to leveling method Download PDFInfo
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Abstract
The present invention proposes the normal direction leveling method of the accurate drilling of a kind of industrial robot, four laser distance sensors are utilized to set up zero layer coordinate system, according in the course of processing four laser distance sensors in the actual spot position of finished surface, determine the actual angle of finished surface and tool axis, and angle is passed to industrial robot, adjust industrial robot until the vertical angle of finished surface and tool axis meets the requirements by repeatedly circulating；Simultaneously, in normal direction leveling by the origin calibration of industrial robot tool coordinates system in the pressure nose plane with retracted mode along tool axis positive direction distance on the parallel plane of l, this plane is tool coordinates system initial point with the intersection point of tool axis, to ensure that drilling adds man-hour, the coordinate origin of tool coordinates system is on spare part surface, for treating drilling position so that treat that the locus coordinate of drilling will not be affected by normal direction leveling procedure.
Description
Technical field
The present invention relates to industrial robot calibration technique field, be the normal direction leveling method of a kind of punching system, specially one
Plant the normal direction leveling method of the accurate drilling of industrial robot.
Background technology
At present, the drilling of industrial robot automatization is gradually applied in the manufacture such as aircraft, automobile field.Automatic punching
During, during drilling precision is heavily dependent on drilling, the vertical precision of tool axis opposite piece.From
Theoretically, the normal direction information at drilling position, but adding due to parts can be obtained during drilling according to pure mathematics model
The factors such as work error, rigging error, deformation, the exact shape often leading to drilling position has certain with theoretical profile
Deviation, if determine the normal direction at drilling position still according to pure mathematics model, can cause drilling mass defect.
Some equipment existing is for realizing normal direction levelling function, the highest to the installation requirement of sensor, it is very difficult to reach requirement；With
Time, also there are a set of troublesome scaling method and complicated calibration tool；Algorithm is to sensor self and scaling method mistake
Divide and rely on.
Summary of the invention
For solving the problem that prior art exists, the present invention proposes the normal direction leveling of the accurate drilling of a kind of industrial robot
Method.
The technical scheme is that
The normal direction leveling method of the described accurate drilling of a kind of industrial robot, it is characterised in that: comprise the following steps:
Step 1: arrange four laser distance sensors A, B, C, D around industrial robot drilling cutter, and
Utilizing and demarcate disk, demarcated four laser distance sensors by following steps, described demarcation disk is by dish body
Forming with center-pole, center-pole and dish body ensure that perpendicularity is 90 ± 0.05 °:
Step 1.1: industrial robot drilling cutter is kept vertical state, and by center-pole clamping at industrial robot
On the handle of a knife of drilling cutter；
Step 1.2: adjust four laser distance sensors, is that laser spots is all beaten in demarcation disk card by it；
Step 1.3: industrial robot drilling cutter electro spindle axially movable, drives and demarcates disk axially-movable, sees
Examine four laser distance sensors laser spots movement locus in card；Adjust four laser distance sensors, make four
Individual laser distance sensor laser spots movement locus in card is parallel to each other, and any three laser distance sensors
Laser spots movement locus not conllinear in card；
Step 1.4: four laser distance sensor optical axises of survey calculation and the angle demarcating disk card respectively
Step 2: axially adjustable industrial robot drilling cutter electro spindle, makes demarcation disk card and simulation work surface weight
Close；Described simulation work surface refers to along electro spindle direction of feed, and is in retraction shape in industrial robot drilling cutter
The pressure nose plan range of state is the plane of l；When l is drilling, treats drilling spare part plane and be in the pressure of retracted mode
The distance of power nose plane；Measure the range reading s of lower four laser distance sensors of current stateA, sB, sC, sD；
Step 3: set up the zero layer coordinate system being connected with industrial robot drilling cutter in disk card demarcating
ObXbYbZb, and obtain four laser distance sensors laser spots in card in zero layer coordinate system ObXbYbZbIn
Coordinate figure (xA, yA), (xB, yB), (xC, yC), (xD, yD)；Zero layer coordinate origin is chosen as any one
Individual laser distance sensor laser spots in card, and with the movement locus of this laser spots as ObYbAxle；ObXbAxle
It is in card, and ObXbIt is perpendicular to ObYbAxle；ObYbAxle positive direction and tool coordinates system OtXtYtZtOtYt
Axle positive direction angle is acute angle, ObXbAxle positive direction and tool coordinates system OtXtYtZtOtXtAxle positive direction angle is sharp
Angle；ObZbAxle positive direction is by ObYbAxle positive direction and ObXbAxle positive direction determines according to the right-hand rule；
Described tool coordinates system OtXtYtZtIt is connected with industrial robot drilling cutter tips, tool coordinates system in this step
OtXtYtZtInitial point is on simulation work surface, OtXtAxle and OtYtAxle is being simulated on work surface, electro spindle direction of feed
For OtZtAxle positive direction, industrial robot flange coordinate system OFXFYFZFOFXFAxle positive direction is on simulation work surface
Be projected as OtXtAxle positive direction, OFYFAxle positive direction simulation work surface on be projected as OtYtAxle positive direction；
Step 4: remove demarcation disk, and mobile industrial robot, makes tool coordinates system OtXtYtZtInitial point is in be treated
Drilling spare part treat drilling position；
Step 5: laser spots A', B', C', D' are beaten and treating drilling spare part surface by four laser distance sensors,
Obtain the measurement distance value s of four laser distance sensorsA', sB', sC', sD’；According to sA', sB', sC', sD',
Step 1 obtainsAnd the s that step 2 obtainsA, sB, sC, sD, be calculated laser spots A',
B', C', D' are in zero layer coordinate system ObXbYbZbCoordinate figure；
Step 6: by laser spots A', B', C', D' in zero layer coordinate system ObXbYbZbCoordinate figure be calculated four
Individual plane A'B'C', the normal vector of A'B'D', A'C'D', B'C'D', take four planes A'B'C', A'B'D',
The meansigma methods of A'C'D', B'C'D' normal vector is for treating drilling spare part surface normal n1；
Step 7: according to normal vector n1 in zero layer coordinate system ObXbYbZbIn coordinate, obtain normal vector n1 and ObZb
The angle α of axle1If, α1In the range of ± 0.2 °, then normal direction leveling terminates, otherwise according to normal vector n1 at zero layer coordinate
It is ObXbYbZbIn coordinate, obtain zero layer coordinate system ObXbYbZbRotate to ObZbAxle overlaps with normal vector n1
Time, ObXbAnglec of rotation γ of axle and ObYbAnglec of rotation β of axle；According to angle γ and angle beta mobile industrial machine
People, makes the O of tool coordinates systemtXtAxle anglec of rotation γ, OtYtAxle anglec of rotation β, and return step 5.
Beneficial effect
This method the most too relies on Installation posture and the scaling method of normal direction sensor.Installation position to normal direction sensor
Put Gesture to be easier to realize；Scaling method and the instrument of normal direction sensor are simple, and verification method is simple.Should
Violating the law applied range, normal direction leveling method is suitable for multiple spare part surface, adapts to wider while ensureing precision
General application scenario.
Accompanying drawing explanation
Accompanying drawing 1 is robot end tool coordinates system schematic diagram；
Accompanying drawing 2 is normal direction transducer calibration and normal direction leveling checking schematic diagram；
Accompanying drawing 3 is normal direction leveling processed and applied schematic diagram；
Wherein: 1. cylinder；2. normal direction laser distance sensor；3. pressure nose；4. robot end's tool coordinates system；
5. simulation work surface；6. lead screw guide rails；7. handle of a knife；8. electro spindle；9. treat drilling spare part surface normal；10.
Treat drilling spare part surface；11. normal direction laser distance sensor laser beams；12. normal direction laser distance sensor laser spots；
13. demarcate disk；14. zero layer coordinate systems；15. luminous point movement locus.
Detailed description of the invention
Below in conjunction with specific embodiment the present invention described:
The present embodiment belongs to industrial robot calibration technique field, and the method utilizes four laser distance sensors to set up zero
Areal coordinate system, according in the course of processing four laser distance sensors in the actual spot position of finished surface, determines
Finished surface and the actual angle of tool axis, and angle is passed to industrial robot, by repeatedly circulating adjustment industry
Robot is until the vertical angle of finished surface and tool axis meets the requirements；Meanwhile, by industrial machine in normal direction leveling
The origin calibration of device people's instrument coordinate system in the pressure nose plane with retracted mode along tool axis positive direction distance for l's
On parallel plane, this plane is tool coordinates system initial point, to ensure that drilling adds man-hour, work with the intersection point of tool axis
The coordinate origin of tool coordinate system is on spare part surface, for treating drilling position so that treat the locus coordinate of drilling not
Can be affected by normal direction leveling procedure.
In the present embodiment concrete steps of method are given below:
Step 1: referring to the drawings 1 and accompanying drawing 2, arranges four laser distances sensings around industrial robot drilling cutter
Device A, B, C, D, four laser distance sensors are used for detecting cutter and treating the normal angles of drilling spare part, institute
With needs, four laser distance sensors are demarcated.The present invention utilizes demarcation disk, by following steps to four
Laser distance sensor is demarcated, and described demarcation disk is made up of dish body and center-pole, and center-pole and dish body ensure to hang down
Straight degree is 90 ± 0.05 °.
Step 1.1: industrial robot drilling cutter is kept vertical state, it is to avoid gravity factor affects calibration result,
By center-pole clamping on the handle of a knife of industrial robot drilling cutter；
Step 1.2: adjust four laser distance sensors, is that laser spots is all beaten in demarcation disk card by it；
Step 1.3: industrial robot drilling cutter electro spindle axially movable, drives and demarcates disk axially-movable, make
Four laser distance sensors and demarcation disk relative motion, observe four laser distance sensors laser in card
Point movement locus；Adjust four laser distance sensors, make four laser distance sensors laser spots fortune in card
Dynamic track is parallel to each other, and the laser spots movement locus not conllinear that any three laser distance sensors are in card；
Step 1.4: four laser distance sensor optical axises of survey calculation and the angle demarcating disk card respectively Survey calculation laser distance sensor optical axis and the angle demarcating disk card can be by following mistakes
Cheng Jinhang: moving electro spindle with 5mm for motor unit, the range reading of recording laser range sensor is poor, and record is many
Group data take range difference meansigma methods, then obtain laser distance sensor optical axis by triangle relation and demarcate disk card
Angle.
Step 2: axially adjustable industrial robot drilling cutter electro spindle, makes demarcation disk card and simulation work surface weight
Close；Described simulation work surface refers to along electro spindle direction of feed, and is in retraction shape in industrial robot drilling cutter
The pressure nose plan range of state is the plane of l；When l is drilling, treats drilling spare part plane and be in the pressure of retracted mode
The distance of power nose plane；Measure the range reading s of lower four laser distance sensors of current stateA, sB, sC, sD。
Step 3: set up the zero layer coordinate system being connected with industrial robot drilling cutter in disk card demarcating
ObXbYbZb, and obtain four laser distance sensors laser spots in card in zero layer coordinate system ObXbYbZbIn
Coordinate figure (xA, yA), (xB, yB), (xC, yC), (xD, yD)；Zero layer coordinate origin is chosen as any one
Individual laser distance sensor laser spots in card, and with the movement locus of this laser spots as ObYbAxle；ObXbAxle
It is in card, and ObXbIt is perpendicular to ObYbAxle；ObYbAxle positive direction and tool coordinates system OtXtYtZtOtYt
Axle positive direction angle is acute angle, ObXbAxle positive direction and tool coordinates system OtXtYtZtOtXtAxle positive direction angle is sharp
Angle；ObZbAxle positive direction is by ObYbAxle positive direction and ObXbAxle positive direction determines according to the right-hand rule；
Described tool coordinates system OtXtYtZtIt is connected with industrial robot drilling cutter tips, tool coordinates system in this step
OtXtYtZtInitial point is on simulation work surface, OtXtAxle and OtYtAxle is being simulated on work surface, electro spindle direction of feed
For OtZtAxle positive direction, industrial robot flange coordinate system OFXFYFZFOFXFAxle positive direction is on simulation work surface
Be projected as OtXtAxle positive direction, OFYFAxle positive direction simulation work surface on be projected as OtYtAxle positive direction.
Zero layer coordinate system axle each with tool coordinates system is the most parallel, owing to ensure that demarcation disk dish body and its center-pole
Angle at 90 ± 0.05 °, it can be ensured that the O of zero layer coordinate systembZbAxle and the O of tool coordinates systemtZtThe deflection of axle
Angle is in ± 0.05 °.
Step 4: remove demarcation disk, and mobile industrial robot, makes tool coordinates system OtXtYtZtInitial point is in be treated
Drilling spare part treat drilling position.
Step 5: laser spots A', B', C', D' are beaten and treating drilling spare part surface by four laser distance sensors,
Obtain the measurement distance value s of four laser distance sensorsA', sB', sC', sD’；According to sA', sB', sC', sD',
Step 1 obtainsAnd the s that step 2 obtainsA, sB, sC, sD, be calculated laser spots A',
B', C', D' are in zero layer coordinate system ObXbYbZbCoordinate figure.
Step 6: due to four laser spots not conllinear, thus four laser spots may be constructed four planes A'B'C',
A'B'D', A'C'D', B'C'D', in each plane, by 3 two lines multiplication crosses constituted, obtain plane
Normal vector: laser spots A', B', C', D' are in zero layer coordinate system ObXbYbZbCoordinate figure be calculated four planes
The normal vector of A'B'C', A'B'D', A'C'D', B'C'D', take four planes A'B'C', A'B'D', A'C'D',
The meansigma methods of B'C'D' normal vector is for treating drilling spare part surface normal n1.
Step 7: according to normal vector n1 in zero layer coordinate system ObXbYbZbIn coordinate, obtain normal vector n1 and ObZb
The angle α of axle1If, α1In the range of ± 0.2 °, then normal direction leveling terminates, otherwise according to normal vector n1 at zero layer coordinate
It is ObXbYbZbIn coordinate, obtain zero layer coordinate system ObXbYbZbRotate to ObZbAxle overlaps with normal vector n1
Time, ObXbAnglec of rotation γ of axle and ObYbAnglec of rotation β of axle；Anglec of rotation γ, β is real-time by industrial computer
Robot is passed in communication, according to angle γ and angle beta mobile industrial robot, makes the O of tool coordinates systemtXtAxle rotates
Angle γ, OtYtAxle anglec of rotation β, and return step 5.
Actually back in after step 5, industrial computer re-reads the reading of normal direction laser distance sensor, again counts
Algorithm vector n 1 and ObZbThe angle α of axle1If, angle α1In the range of ± 0.2 °, then normal direction leveling completes, otherwise,
Again repeat above procedure, until angle α1Meet the requirements.
Referring to the drawings 1 and accompanying drawing 2, owing to the zero layer coordinate system demarcated is the most parallel with the coordinate axes of tool coordinates system,
There is small angle theta, the i.e. O of tool coordinates systemtZtAxle rotates θ in the direction of the clock, just with the O of zero layer coordinate systembZb
Parallel, so drift angle γ, β of being detected by zero layer coordinate system, do not affected by angle theta, by drift angle γ, β
Pass to robot, make the O of tool coordinates system respectivelytXtAxle anglec of rotation γ, OtYtAxle anglec of rotation β, just can make work
The O of tool coordinate systemtZtAxle is parallel with the normal vector treating drilling spare part surface.Meanwhile, final detection result is by inspection
Survey the O of normal vector n1 and zero layer coordinate systembZbThe angle α of axle1Carry out, and the O of zero layer coordinate systembZbAxle and instrument
The O of coordinate systemtZtDeflection angle in ± 0.05 °, so, final tool axis and treat the vertical of drilling spare part surface
Result can ensure that.When normal direction leveling, the O of throw coordinate systemtXtAxle and OtYtAxle, it is ensured that tool coordinates
The initial point of system is constant, and owing to the initial point of tool coordinates system is being treated on drilling spare part surface, and initial point is the position treating drilling
Put so that treat that the locus coordinate of drilling will not be affected by normal direction leveling.
Claims (1)
1. the normal direction leveling method of the accurate drilling of industrial robot, it is characterised in that: comprise the following steps:
Step 1: arrange four laser distance sensors A, B, C, D around industrial robot drilling cutter, and
Utilizing and demarcate disk, demarcated four laser distance sensors by following steps, described demarcation disk is by dish body
Forming with center-pole, center-pole and dish body ensure that perpendicularity is 90 ± 0.05 °:
Step 1.1: industrial robot drilling cutter is kept vertical state, and by center-pole clamping at industrial robot
On the handle of a knife of drilling cutter；
Step 1.2: adjust four laser distance sensors, is that laser spots is all beaten in demarcation disk card by it；
Step 1.3: industrial robot drilling cutter electro spindle axially movable, drives and demarcates disk axially-movable, sees
Examine four laser distance sensors laser spots movement locus in card；Adjust four laser distance sensors, make four
Individual laser distance sensor laser spots movement locus in card is parallel to each other, and any three laser distance sensors
Laser spots movement locus not conllinear in card；
Step 1.4: four laser distance sensor optical axises of survey calculation and the angle demarcating disk card respectively
Step 2: axially adjustable industrial robot drilling cutter electro spindle, makes demarcation disk card and simulation work surface weight
Close；Described simulation work surface refers to along electro spindle direction of feed, and is in retraction shape in industrial robot drilling cutter
The pressure nose plan range of state is the plane of l；When l is drilling, treats drilling spare part plane and be in the pressure of retracted mode
The distance of power nose plane；Measure the range reading s of lower four laser distance sensors of current stateA, sB, sC, sD；
Step 3: set up the zero layer coordinate system being connected with industrial robot drilling cutter in disk card demarcating
ObXbYbZb, and obtain four laser distance sensors laser spots in card in zero layer coordinate system ObXbYbZbIn
Coordinate figure (xA, yA), (xB, yB), (xC, yC), (xD, yD)；Zero layer coordinate origin is chosen as any one
Individual laser distance sensor laser spots in card, and with the movement locus of this laser spots as ObYbAxle；ObXbAxle
It is in card, and ObXbIt is perpendicular to ObYbAxle；ObYbAxle positive direction and tool coordinates system OtXtYtZtOtYt
Axle positive direction angle is acute angle, ObXbAxle positive direction and tool coordinates system OtXtYtZtOtXtAxle positive direction angle is sharp
Angle；ObZbAxle positive direction is by ObYbAxle positive direction and ObXbAxle positive direction determines according to the right-hand rule；
Described tool coordinates system OtXtYtZtIt is connected with industrial robot drilling cutter tips, tool coordinates system in this step
OtXtYtZtInitial point is on simulation work surface, OtXtAxle and OtYtAxle is being simulated on work surface, electro spindle direction of feed
For OtZtAxle positive direction, industrial robot flange coordinate system OFXFYFZFOFXFAxle positive direction is on simulation work surface
Be projected as OtXtAxle positive direction, OFYFAxle positive direction simulation work surface on be projected as OtYtAxle positive direction；
Step 4: remove demarcation disk, and mobile industrial robot, makes tool coordinates system OtXtYtZtInitial point is in be treated
Drilling spare part treat drilling position；
Step 5: laser spots A', B', C', D' are beaten and treating drilling spare part surface by four laser distance sensors,
Obtain the measurement distance value s of four laser distance sensorsA', sB', sC', sD’；According to sA', sB', sC', sD',
Step 1 obtainsAnd the s that step 2 obtainsA, sB, sC, sD, be calculated laser spots A',
B', C', D' are in zero layer coordinate system ObXbYbZbCoordinate figure；
Step 6: by laser spots A', B', C', D' in zero layer coordinate system ObXbYbZbCoordinate figure be calculated four
Individual plane A'B'C', the normal vector of A'B'D', A'C'D', B'C'D', take four planes A'B'C', A'B'D',
The meansigma methods of A'C'D', B'C'D' normal vector is for treating drilling spare part surface normal n1；
Step 7: according to normal vector n1 in zero layer coordinate system ObXbYbZbIn coordinate, obtain normal vector n1 and ObZb
The angle α of axle1If, α1In the range of ± 0.2 °, then normal direction leveling terminates, otherwise according to normal vector n1 at zero layer coordinate
It is ObXbYbZbIn coordinate, obtain zero layer coordinate system ObXbYbZbRotate to ObZbAxle overlaps with normal vector n1
Time, ObXbAnglec of rotation γ of axle and ObYbAnglec of rotation β of axle；According to angle γ and angle beta mobile industrial machine
People, makes the O of tool coordinates systemtXtAxle anglec of rotation γ, OtYtAxle anglec of rotation β, and return step 5.
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| CN107121061B (en) * | 2017-03-15 | 2018-07-13 | 大连理工大学 | A kind of drilling point law vector method for solving based on elliptic cone constraint |
| 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 |
| GB2580282B (en) * | 2017-09-05 | 2022-06-01 | Univ Northwestern Polytechnical | Method and system for automatic assembly of curved surface part |
| CN108205290B (en) * | 2018-02-06 | 2023-05-26 | 华侨大学 | Workpiece leveling device based on laser displacement sensor |
| CN108917604B (en) * | 2018-07-12 | 2020-07-17 | 上海航天设备制造总厂有限公司 | Normal measuring device and calibration method thereof |
| CN109794938B (en) * | 2019-02-01 | 2021-08-06 | 南京航空航天大学 | Robot hole-making error compensation device and method suitable for curved surface structure |
| CN111438689B (en) * | 2020-03-19 | 2021-09-21 | 智美康民(珠海)健康科技有限公司 | Tool head pose adjusting method and device and readable storage medium |
| CN111452047B (en) * | 2020-04-03 | 2023-07-21 | 精诚工科汽车系统有限公司 | Correction method for robot tool deviation, robot control device and system |
| CN111664813B (en) * | 2020-05-15 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Free surface arbitrary hole normal vector measuring device and method and compensation method |
| CN114076577A (en) * | 2020-08-20 | 2022-02-22 | 中国商用飞机有限责任公司 | Hole-making verticality measuring method, device, equipment and storage medium |
| CN111964589B (en) * | 2020-08-20 | 2022-03-22 | 南京航空航天大学 | Laser displacement sensor calibration device and calibration method for normal detection |
| CN114397914A (en) * | 2021-10-10 | 2022-04-26 | 中国人民解放军空军工程大学航空机务士官学校 | Four-point support type ferrograph leveling method |
| CN116796576B (en) * | 2023-08-24 | 2023-12-08 | 成都飞机工业（集团）有限责任公司 | Group hole machining process planning method |
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