CN105252251B - A kind of device and method for realizing aircraft heat shield and capturing and be precisely bonded automatically - Google Patents
A kind of device and method for realizing aircraft heat shield and capturing and be precisely bonded automatically Download PDFInfo
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- CN105252251B CN105252251B CN201510731096.3A CN201510731096A CN105252251B CN 105252251 B CN105252251 B CN 105252251B CN 201510731096 A CN201510731096 A CN 201510731096A CN 105252251 B CN105252251 B CN 105252251B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
Realize that crawl and the device and method being precisely bonded, device include housing module, main shaft module, normal direction leveling module, vision centering module, pressure detecting module, sucker group module to aircraft heat shield automatically the present invention relates to a kind of；Heat shield center can accurately wherein be looked for by vision centering module and treat paster regional center, heat shield is realized and be bonded with the accurate of fuselage, ensure that the positional precision of all heat shield fittings；Electrical axis, sucker center and heat shield curved surface normal direction are realized by normal direction leveling module to be precisely coincident, pressure is overlapped all the time with heat shield normal direction, and force direction is vertical with heat shield outer surface all the time when ensure that paster and adhesion detection；The power of motor axial direction is detected in real time by pressure detecting module, so as to realize that motor loads accurate closed-loop control；Flexible design and the adjustment for carrying out sucker diameter, quantity and position according to demand are realized by using sucker group module, realize different sizes, irregular shape heat shield crawl.
Description
Technical field
The invention belongs to numeric terminal field, specifically it is a kind of be applied to fly aircraft heat shield automatically crawl and
The devices and methods therefor being precisely bonded, to improve efficiency of assembling and assembling quality.
Background technology
Automatic chip mounting device has certain application in electronic product production and processing field.At present, it is conventional automatic
Changing paster apparatus includes：Mechanical system, vision system and control system.Patent CN 103152994A have invented a kind of more suction nozzles
The synchronous efficient patch head for inhaling patch, the patch head includes the vertical movement drive mechanism to move up and down and driving inhales patch module and makees horizontal line
Property motion horizontal movement drive mechanism, inhale patch module is connected with horizontal movement driving structure, makes up the use of existing chip mounter
All it is the defects of single suction nozzle inhales patch form, it is good to the chip attachment, efficiency high, interchangeability of pcb board to realize；Patent CN
103717006A has invented a kind of high-precision polaroid attaching head device, including placement head framework and multiple placement head mechanisms, solves existing
Have that the work efficiency of chip mounter is relatively low, placement accuracy, the problem of stability and reliability be not high.It is existing on automatic
The patent of crawl paster concentrates on electronic product production field, and its function is single, and the guarantee of precision relies primarily on mechanical device
Move back and forth and realize, that is, rely primarily on the repetitive positioning accuracy of transmission mechanism, lack certain flexibility and fitness.And aircraft
Heat-insulated chip size is big, various shapes, required precision height, and existing device and method thereof can not meet the precision of automatic crawl fitting
It is required that.
The content of the invention
To solve problem present in the crawl fitting of aircraft heat shield, the feature of the invention by analyzing heat shield, knot
Close robot, there is provided a kind of method for realizing aircraft heat shield and capturing and be precisely bonded automatically, using Automated condtrol mode
Realize heat shield, heat shield placement region, the point position centering for treating patch location, and normal direction leveling, heat shield flexible clamping,
The functions such as working trajectory planning, numerical control code generation.So as to realize the automatic crawl of high-speed aircraft surface heat shield and precisely
Fitting, improves the positional precision and stability of paster, so as to meet design requirement, while can reduce labor strength, real
Aircraft heat shield crawl fitting automation, integration are showed.
The technical scheme is that：
A kind of device for realizing aircraft heat shield and capturing and be precisely bonded automatically, it is characterised in that：Including housing
Module, main shaft module, normal direction leveling module, vision centering module, pressure detecting module, sucker group module；Housing module is used for
Remaining module is installed；Main shaft module includes linear electric motors, and linear electric motors realize the straight-line feed along paster axis, and provide paster
Required pressure；Normal direction leveling module includes four laser range sensors for being distributed in linear electric motors axis, normal direction
Leveling module realizes main shaft module axis parallel with heat shield normal direction to be captured and main shaft module axis and treats paster region table
Face normal direction is parallel；Vision centering module includes vision camera and supporting light source, and vision centering module realizes different shape heat shield
Center centering and treat paster regional location identify；Pressure detecting module is arranged between main shaft module and sucker group module,
Pressure detecting module is by pressure sensor monitoring and feeds back paster pressure；Sucker group module using vacuum cup realize crawl every
Backing.
Further preferred scheme, a kind of device for realizing aircraft heat shield and capturing and be precisely bonded automatically, its
It is characterised by：Four laser range sensor inward slant taper installations, make laser angle be present with linear electric motors axis.
Further preferred scheme, a kind of device for realizing aircraft heat shield and capturing and be precisely bonded automatically, its
It is characterised by：Housing module includes ring flange and peripheral frame, and ring flange one end is fixedly connected with external robots, and the other end, which is fixed, to be connected
Connect peripheral frame upper end；Vision centering module is fixedly mounted on peripheral frame side, and normal direction leveling module is arranged on peripheral frame lower end；Inside peripheral frame
Motor mounting plate is fixed with, linear electric motors are arranged on motor mounting plate, and linear electric motors axis and ring flange axis collinear.
Further preferred scheme, a kind of device for realizing aircraft heat shield and capturing and be precisely bonded automatically, its
It is characterised by：Pressure detecting module includes pressure sensor, pressure sensor both ends by installation sleeve respectively with linear electric motors
Main shaft and the connection of sucker group module.
Further preferred scheme, a kind of device for realizing aircraft heat shield and capturing and be precisely bonded automatically, its
It is characterised by：Sucker group module includes mounting bracket, sucker installing plate and vacuum cup；Under mounting bracket and pressure detecting module
Side installation sleeve connection, sucker installing plate are fixed in mounting bracket, and some vacuum cups are fixed on sucker installing plate, and in
Between position sucker axis and linear electric motors main shaft it is axially coincident.
Using said apparatus, aircraft heat shield crawl and accurate applying method automatically are realized, it is characterised in that：Including with
Lower step：
Step 1：The sensing system of four laser range sensor compositions is demarcated：Four laser range sensors
Measuring center form a rectangle plane, measure rectangle plane length and width；Vision centering module is entered with main shaft module
Rower is determined：Measure vision camera center and the relative distance of linear electric motors main-shaft axis；
Step 2：Control main shaft module is run to dead-center position, and is driven housing module to be moved to heat shield by robot and put
Put station；Vision centering module works, and measures the overall profile of heat shield, obtains heat shield central point, and calculates heat-insulated
Piece central point and the deviation at vision camera center；According to heat shield central point and the deviation at vision camera center, control machine
Device people drives the movement of housing module, makes heat shield central point and vision camera center superposition；The vision camera demarcated according to step 1
The relative distance of center and linear electric motors main-shaft axis, control machine people drive the movement of housing module, make heat shield central point with
Linear electric motors main-shaft axis overlaps；
Step 3：Normal direction leveling module work, four laser range sensors measure laser range sensor measuring center with
Heat shield distance；According to four laser range sensor measuring centers and heat shield distance, and the rectangle plane that step 1 is demarcated
Length, width, normal angles compensation rate is calculated, and pose is adjusted according to normal angles compensation rate control machine people, make straight
Line electric machine main shaft axis is parallel with heat shield surface normal；
Step 4：Linear electric motors driving sucker group module is fed along axis, and detects pressure in real time by pressure sensor
Value, when the sucker of detection reaches design requirement with heat shield contact, linear electric motors feed-disabling, sucker vacuum system opens
Dynamic, after vacuum meets to require, linear electric motors drive sucker group module to return to dead-center position；
Step 5：Robot drives housing module to be moved to aircraft and treats paster region；Vision centering module works, measurement
Go out to treat the overall profile profile in paster region, obtain treating paster region central point, and calculate and treat paster region central point with regarding
Feel the deviation of image center；According to the deviation for treating paster region central point and vision camera center, control machine people drives
Housing module moves, and makes to treat paster region central point and vision camera center superposition；The vision camera center demarcated according to step 1
With the relative distance of linear electric motors main-shaft axis, control machine people drives the movement of housing module, make to treat paster region central point with
Linear electric motors main-shaft axis overlaps；
Step 6：Normal direction leveling module work, four laser range sensors measure laser range sensor measuring center with
Treat paster region distance；According to four laser range sensor measuring centers and paster region distance is treated, and step 1 demarcation
Rectangle plane length, width, normal angles compensation rate is calculated, and position is adjusted according to normal angles compensation rate control machine people
Appearance, make linear electric motors main-shaft axis parallel with treating paster region surface normal direction；
Step 7：Linear electric motors driving sucker group module is fed along axis, and detects pressure in real time by pressure sensor
Value, when heat shield and the aircraft of detection are when paster region contact reaches design requirement, linear electric motors feed-disabling, when
After heat shield is fixed with aircraft, sucker vacuum system is closed, sucker separates with heat shield, and linear electric motors drive sucker group module
Return to dead-center position.
Beneficial effect
The present invention has the advantage that as follows：
1st, heat shield center can accurately be looked for by vision centering module and treats paster regional center, realize heat shield
Accurate with fuselage is bonded, and ensure that the positional precision of all heat shield fittings, reduces fitting accumulated error.
2nd, electrical axis, sucker center and heat shield curved surface normal direction are realized by normal direction leveling module to be precisely coincident, made
Pressure overlaps with heat shield normal direction all the time, and force direction hangs down with heat shield outer surface all the time when ensure that paster and adhesion detection
Directly.
3rd, pressure detecting module can detect the power of motor axial direction in real time, and Real-time Feedback is to control system, so as to
Realize that motor loads accurate closed-loop control, the real-time monitoring of power, reaches design requirement when realizing paster.
4th, sucker group module can carry out sucker diameter, quantity and the flexible design of position and adjustment according to demand, realize
Different sizes, irregular shape heat shield crawl, it is easy to use.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
The overall structure figure of Fig. 1 paster end effectors；
Fig. 2 paster end effector housing module diagrams；
Fig. 3 paster end effector main shaft module schematic diagrames；
Fig. 4 paster end effector normal direction leveling module diagrams；
Fig. 5 paster end effector vision centering module diagrams；
Fig. 6 paster end effector pressure detecting module diagrams；
Fig. 7 paster end effector sucker group module diagrams.
In figure：
Housing module 1；Mounting flange 1001, peripheral frame 1002, spindle motor installing plate 1003；
Main shaft module 2；
Normal direction leveling module 3；First laser distance measuring sensor 3001, second laser distance measuring sensor 3002, the 3rd laser
Distance measuring sensor 3003, the 4th laser range sensor 3004；
Vision centering module 4；Vision camera 4001, vision camera mounting bracket 4002, vision camera rebound 4003, light
Source rebound 4004, light source mounting bracket 4005, light source 4006；
Pressure detecting module 5；First branch sleeve 5001, pull pressure sensor 5002, the second branch sleeve 5003；
Sucker group module 6：Mounting bracket 6001, sucker installing plate 6002, vacuum cup 6003.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are based on orientation shown in the drawings or position relationship, are for only for ease of
Description is of the invention to be described with simplified, rather than the device or element of instruction or hint meaning must be with specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Therefore, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
As shown in figure 1, the present embodiment realizes that the device that aircraft heat shield is captured and is precisely bonded automatically includes housing mould
Block 1, main shaft module 2, normal direction leveling module 3, vision centering module 4, pressure detecting module 5, sucker group module 6.
As shown in Fig. 2 housing module 1 includes ring flange 1001 and peripheral frame 1002, the one end of ring flange 1001 and external mechanical
People is fixedly connected, and the other end is bolted to connection the upper end of peripheral frame 1002.As shown in figure 1, vision centering module 4 is fixedly mounted
In the side of peripheral frame 1002, normal direction leveling module 3 is arranged on the lower end of peripheral frame 1002；Motor mounting plate is fixed with inside peripheral frame 1002
1003, main shaft module 2 is arranged on motor mounting plate 1003, and the axis of main shaft module 2 and the axis collinear of ring flange 1001.
As shown in figure 3, main shaft module 2 is a linear electric motors, the motor mounting plate of housing module 1 is arranged on by bolt
On 1003, linear electric motors realize the straight-line feed along paster axis, and the motion along electrical axis direction is provided for sucker group module 6
And the pressure needed for paster；In order to detect paster pressure value in real time, pressure detecting module 5 is arranged on electro spindle.
Normal direction leveling module include four laser range sensors 3001 for being distributed in linear electric motors axis, 3002,
3003 and 3004, four laser range sensors 3001,3002,3003,3004 are arranged in peripheral frame 1002 by screw, are being protected
On the premise of card sucker does not block laser, four laser range sensor inward slant taper installations, make laser and linear electric motors
There is 30 ° of angle in axis, to ensure normal direction precision and meet the leveling requirements of small size heat shield.Four are utilized in the course of work
The data of individual sensor measurement judge main shaft module axis whether and main shaft module axis parallel with heat shield normal direction to be captured
It is whether parallel with treating paster region surface normal direction, and equipment is obtained by comparison of the device data system to four data and processing
Each free degree needs mobile stroke, control device adjustment pose, realizes main shaft module axis and heat shield normal direction to be captured
Parallel and main shaft module axis is parallel with treating paster region surface normal direction.
As shown in figure 5, vision centering module includes vision camera 4001 and supporting light source 4006, light source connecting plate 4,004 1
End and supporting light source 4006 are connected, and the other end is connected with the peripheral frame 1002 in housing module 1 by strip hole, are led in installation process
Crossing strip hole light source can finely tune so as to reach coaxial with vision camera camera lens up and down；The one end of L-shaped camera connecting plate 4002 and vision
Camera 4001 is connected, and one end is connected using strip hole with the peripheral frame 1002 in housing module 1 by strip hole, is led in installation process
Cross strip hole camera and L-shaped connecting plate can be along camera lens directional trim, so as to ensure heat shield and fuselage in camera lens
In optimum position.Vision centering module realizes different shape heat shield center centering and treats that paster regional location identifies.
As shown in fig. 6, pressure detecting module 5 selects the threaded pressure sensor 5002 in both ends, installed at its both ends
Sleeve 5001 and 5003 is used to be connected with linear electric motors main shaft and sucker group module, monitors feedback in real time by pressure sensor
The pressure of paster and paster process is captured, so as to realize the accurate closed-loop control of power, ensures paster quality.
As shown in fig. 7, sucker group module 6 is connected by mounting bracket 6001 with linear electric motors main shaft, middle suction ensure that
Disk axis overlap with electric machine main shaft axis；Sucker installing plate 6002 is installed in mounting bracket 6001 by bolt, is ensureing essence
Degree can meet the crawl demand of different form factor heat shields by changing different sucker installing plates simultaneously；Sucker 6003
It is installed on sucker installing plate 6002, for the direct crawl of sucker, different size can be changed according to sucker installing plate 6002
Sucker to meet actual operation requirements.
Using said apparatus, aircraft heat shield crawl and accurate applying method automatically are realized, is comprised the following steps：
Step 1：Angle drift gage calculates the physical dimension for being related to sensing system during due to normal direction leveling, so swashing to four
Ligh-ranging sensor group into sensing system demarcated：The measuring center of four laser range sensors forms a rectangle
Plane, rectangle plane length and width is accurately measured by laser tracker.During due to vision centering when vision camera center with
, it is necessary to which mobile robot, makes electric machine main shaft axis and heat shield center superposition after heat shield center superposition, to ensure centering essence
Degree to vision centering module with main shaft module, it is necessary to demarcate：Measure vision camera center and linear electric motors main-shaft axis
Relative distance.
Step 2：Control main shaft module is run to dead-center position, and is driven housing module to be moved to heat shield by robot and put
Put station；Vision centering module works, using vision system take pictures and writing function, measure the overall profile of heat shield,
Heat shield central point is obtained, and calculates the deviation of heat shield central point and vision camera center；According to heat shield central point
With the deviation at vision camera center, control machine people drives the movement of housing module, made in heat shield central point and vision camera
The heart overlaps；Because camera position and electric machine main shaft position are fixed, so the vision camera center demarcated according to step 1 and straight-line electric
The relative distance of machine main-shaft axis, control machine people drive the movement of housing module, make heat shield central point and linear electric motors main shaft
Axis overlaps.
Step 3：After the centering of heat shield position, normal direction leveling module work, four laser range sensors measure laser
Distance measuring sensor measuring center and heat shield distance；According to four laser range sensor measuring centers and heat shield distance, with
And rectangle plane length, the width of step 1 demarcation, normal angles compensation rate is calculated, and according to normal angles compensation rate control
Robot processed adjusts pose, by repeatedly measurement and pose adjustment, linear electric motors main-shaft axis is put down with heat shield surface normal
OK.
Step 4：Linear electric motors driving sucker group module is fed along axis, and detects pressure in real time by pressure sensor
Value, when the sucker of detection reaches design requirement with heat shield contact, linear electric motors feed-disabling, sucker vacuum system opens
Dynamic, after vacuum meets to require, linear electric motors drive sucker group module to return to dead-center position.
Step 5：Robot drives housing module to be moved to aircraft and treats paster region；Vision centering module works, and utilizes
Vision system take pictures and writing function, measure the overall profile profile for treating paster region, obtain treating paster region central point,
And calculate the deviation for treating paster region central point and vision camera center；Foundation treats paster region central point and vision camera
The deviation at center, control machine people drive the movement of housing module, make to treat paster region central point and vision camera center superposition；
Because camera position and electric machine main shaft position are fixed, so according to the vision camera center that step 1 is demarcated and linear electric motors main shaft
The relative distance of axis, control machine people drive the movement of housing module, make to treat paster region central point and linear electric motors spindle shaft
Line overlaps.
Step 6：After fuselage treats paster centering, normal direction leveling module work, four laser range sensors measure laser
Distance measuring sensor measuring center is with treating paster region distance；According to four laser range sensor measuring centers and treat paster region
Distance, and the rectangle plane length of step 1 demarcation, width, are calculated normal angles compensation rate, and mend according to normal angles
The amount of repaying control machine people adjusts pose, by repeatedly measurement and pose adjustment, makes linear electric motors main-shaft axis and treats paster region
Surface normal is parallel.
Step 7：Linear electric motors driving sucker group module is fed along axis, and detects pressure in real time by pressure sensor
Value, when heat shield and the aircraft of detection are when paster region contact reaches design requirement, linear electric motors feed-disabling, protect
After pressing certain time to be fixed to heat shield and aircraft, sucker vacuum system is closed, sucker separates with heat shield, linear electric motors band
Dynamic sucker group module returns to dead-center position, and automatic chip mounting is completed.
Aircraft heat shield automatic assembly technique is the important component of aircraft advanced manufacturing technology, is to realize flight
Device assembly digitalization, automation, the important guarantee of flexibility.The industrial machine that the present invention passes through advance structure design, high flexibility
Device people and advanced automatic control technology, aircraft heat shield crawl fitting is turned to automation by hand by pure, ensure fitting essence
While spending, the stability of fitting quality is improved, reduces the labor intensity of worker.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (2)
- A kind of 1. device for realizing aircraft heat shield and capturing and be precisely bonded automatically, it is characterised in that：Including housing module, master Axle module, normal direction leveling module, vision centering module, pressure detecting module, sucker group module；Housing module is used to install remaining Module；Main shaft module includes linear electric motors, and linear electric motors realize the straight-line feed along paster axis, and provide the drawing needed for paster Pressure；Normal direction leveling module includes four laser range sensors for being distributed in linear electric motors axis, four laser rangings Sensor inward slant taper is installed, and laser angle is present with linear electric motors axis；Normal direction leveling module realizes main shaft module Axis is parallel with heat shield normal direction to be captured and main shaft module axis is parallel with treating paster region surface normal direction；Vision centering mould Block includes vision camera and supporting light source, and vision centering module realizes different shape heat shield center centering and treats Chip Area Domain position identifies；Pressure detecting module is arranged between main shaft module and sucker group module, and pressure detecting module is passed by pressure Sensor monitors and feeds back paster pressure；Sucker group module realizes crawl heat shield using vacuum cup；Housing module includes ring flange and peripheral frame, and ring flange one end is fixedly connected with external robots, and the other end, which is fixedly connected, to be enclosed Frame upper end；Vision centering module is fixedly mounted on peripheral frame side, and normal direction leveling module is arranged on peripheral frame lower end；It is fixed inside peripheral frame There is motor mounting plate, linear electric motors are arranged on motor mounting plate, and linear electric motors axis and ring flange axis collinear；Pressure detecting module includes pressure sensor, pressure sensor both ends by installation sleeve respectively with linear electric motors main shaft with And sucker group module connectionSucker group module includes mounting bracket, sucker installing plate and vacuum cup；Mounting bracket on the downside of pressure detecting module with pacifying Sleeved connection, sucker installing plate are fixed in mounting bracket, and some vacuum cups are fixed on sucker installing plate, and interposition Axis and the linear electric motors main shaft for putting sucker are axially coincident.
- 2. a kind of realize aircraft heat shield crawl and the method being precisely bonded automatically using claim 1 described device, it is special Sign is：Comprise the following steps：Step 1：The sensing system of four laser range sensor compositions is demarcated：The survey of four laser range sensors Amount center forms a rectangle plane, measures rectangle plane length and width；Rower is entered to vision centering module and main shaft module It is fixed：Measure vision camera center and the relative distance of linear electric motors main-shaft axis；Step 2：Control main shaft module is run to dead-center position, and is driven housing module to be moved to heat shield by robot and placed work Position；Vision centering module works, and measures the overall profile of heat shield, obtains heat shield central point, and calculate in heat shield Heart point and the deviation at vision camera center；According to heat shield central point and the deviation at vision camera center, control machine people The movement of housing module is driven, makes heat shield central point and vision camera center superposition；The vision camera center demarcated according to step 1 With the relative distance of linear electric motors main-shaft axis, control machine people drives the movement of housing module, makes heat shield central point and straight line Electric machine main shaft axis overlaps；Step 3：Normal direction leveling module work, four laser range sensors measure laser range sensor measuring center with it is heat-insulated Piece distance；According to four laser range sensor measuring centers and heat shield distance, and the rectangle plane length that step 1 is demarcated Degree, width, normal angles compensation rate is calculated, and pose is adjusted according to normal angles compensation rate control machine people, make straight line Electric machine main shaft axis is parallel with heat shield surface normal；Step 4：Linear electric motors driving sucker group module is fed along axis, and detects pressure value in real time by pressure sensor, when When the sucker of detection reaches design requirement with heat shield contact, linear electric motors feed-disabling, sucker vacuum system starts, when Vacuum meets after requiring that linear electric motors drive sucker group module to return to dead-center position；Step 5：Robot drives housing module to be moved to aircraft and treats paster region；Vision centering module works, and measures and treats The overall profile profile in paster region, obtain treating paster region central point, and calculate and treat paster region central point and vision phase The deviation at machine center；According to the deviation for treating paster region central point and vision camera center, control machine people drives housing Module moves, and makes to treat paster region central point and vision camera center superposition；According to the vision camera center of step 1 demarcation and directly The relative distance of line electric machine main shaft axis, control machine people drive the movement of housing module, make to treat paster region central point and straight line Electric machine main shaft axis overlaps；Step 6：Normal direction leveling module works, and four laser range sensors measure laser range sensor measuring center and pasted with waiting Panel region distance；According to four laser range sensor measuring centers and paster region distance is treated, and the rectangle that step 1 is demarcated Plane length, width, normal angles compensation rate is calculated, and pose is adjusted according to normal angles compensation rate control machine people, Make linear electric motors main-shaft axis parallel with treating paster region surface normal direction；Step 7：Linear electric motors driving sucker group module is fed along axis, and detects pressure value in real time by pressure sensor, when The heat shield and aircraft of detection are when paster region contact reaches design requirement, linear electric motors feed-disabling, when heat-insulated After piece is fixed with aircraft, sucker vacuum system is closed, sucker separates with heat shield, and linear electric motors drive sucker group module to return Dead-center position.
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| CN201510731096.3A CN105252251B (en) | 2015-11-02 | 2015-11-02 | A kind of device and method for realizing aircraft heat shield and capturing and be precisely bonded automatically |
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| CN201510731096.3A CN105252251B (en) | 2015-11-02 | 2015-11-02 | A kind of device and method for realizing aircraft heat shield and capturing and be precisely bonded automatically |
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| CN105252251B true CN105252251B (en) | 2018-01-09 |
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| CN106182088B (en) * | 2016-07-05 | 2018-11-27 | 昆山华恒机器人有限公司 | Localization method, device between industrial robot and grid |
| CN108638103B (en) * | 2018-05-22 | 2020-09-18 | 航天材料及工艺研究所 | Robot end effector capable of automatically grabbing and adjusting pose and adjusting method |
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