CN107560544A - One kind is used for robot hole positioning and normal direction measurement apparatus and method - Google Patents
One kind is used for robot hole positioning and normal direction measurement apparatus and method Download PDFInfo
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- 238000005553 drilling Methods 0.000 claims abstract description 50
- 230000003287 optical effect Effects 0.000 claims abstract description 7
- 239000012636 effector Substances 0.000 claims description 37
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Abstract
The present invention relates to one kind to be used for robot hole positioning and normal direction measurement apparatus, including array is photosensitive and infrared light emission module, and the array light emission module is adjustable to be made the light intensity signal of transmitting different frequency and different capacity；The light of Optical Transmit Unit is sent to measured object surface by speculum；TOF arrays are photosensitive apart from detection module, there is provided testee surface point to the range data between array sensor devices, body surface normal direction can be calculated by array distance values；Micro-adjusting mechanism is driven, by normal measure to determine the perpendicularity deviation between executing agency and drilling position, the deviation determined is fed back to the perpendicularity requirement for driving micro-adjusting mechanism to reach drilling processing axle with this.Sensing device in the present invention can be near the area of space such as edge, porous area of special body surface, with depth image processing method, there is provided the data of the more accurate and drilling positioning of strong robustness and normal direction measurement.
Description
Technical field
It is more particularly to a kind of to be used for robot hole the invention belongs to the positioning of automatic drill riveter and normal measure technical field
Positioning and normal direction measurement apparatus and method, using automatic drill riveter end effector as carrier, suitable for airframe, the aircraft wing
Normal measure in the automatic drilling of body or fuselage ring, riveting process, belong to and bore riveting manufacture field.This normal direction sensor also may be used
For other surfaces processing, processing such as deburring, grinding and buffing.
Background technology
The either assembling of aircraft components or the assembling of automobile component, is realized by riveting method.Riveting quality
Quality directly has an impact to the quality of automobile or aircraft, security performance.Automatic drill riveter end effector in automobile component or
There are the functional requirements such as drilling and counter boring in the process of aircraft components.Wherein during drilling, an important technique will
Seeking Truth end effector measures with work piece normal to a surface.
The technology of current normal measure application it is relatively conventional have two kinds：1st, laser measurement method：Measuring principle is profit
The coordinate of 3 characteristic points around drilling is measured with 3 laser range sensors, then estimation is obtained at known boring point
Tangent vector, the normal vector of boring point and its angle with drill bit central axis are calculated by cross product principle, using determining angle
The angle of binary angular adjustment method regulation drill bit makes it be overlapped with the normal of boring point.System is more complicated expensive, for machine
The edge drilling of body wallboard, prevent end effector from stably carrying out drilling at edge due to a characteristic point can be lacked.2、
Pressure foot contacts the mechanical measuring means of finished surface：It is with making after the declinate measurement of workpiece axial direction using servo-actuated pressure foot
Compensation.Shortcoming is that Mechanical Contact can cause scuffing to finished surface, reliability is low and failure rate of machinery is higher.
The content of the invention
It is an object of the invention to solve the above problems, there is provided one kind is used for robot hole positioning and normal direction measurement apparatus
And method, including edge, it can be provided in the area of space of workpiece surface for machine drilling normal measure a kind of new
, accurate optical sensor normal measure, while the exact position of pre-manufactured hole can be detected.
To achieve the above object, the technical solution adopted by the present invention is：
One kind is used for machine drilling positioning and normal direction measurement apparatus, including TOF（Time-Of-Flight, flight time）Furthest Neighbor
Line measurement sensor module, speculum, mirror drive mechanism and automatic drill riveter end effector mechanism, it is characterised in that：Institute
It is vertical with plane to be processed to state automatic drill riveter end effector mechanism, and TOF is coupled apart from normal by perpendicular rigid support
Measurement sensor module and mirror drive mechanism, mirror drive structure connection speculum；Pass through completely reflecting mirror drive mechanism
To adjust the reflection angle of speculum, its light path is set to feed track parallel to the drill bit of automatic Drilling/Riveting lathe end effector mechanism,
Modulation is launched by embedded system Digital Control light emitting diode matrixs of the TOF in normal measurement sensor module again
Light beam, be reflected in through mirror surface in plane to be measured, and Digital Control scanning camera is obtained by TOF ranging depth algorithms
Drilling positioning and the range data information of normal direction measurement, the angle calculated and position deviation are fed back into driving micro-adjusting mechanism
Meet the perpendicularity requirement of drilling, allow multi-functional automatic Drilling/Riveting end effector mechanism to complete accordingly finally by speculum is removed
The technological requirements such as drilling.
It is a kind of to be used for the method for machine drilling positioning and normal measure, and operated with above-mentioned device, its feature exists
In：Comprise the following steps：
A. by array is photosensitive and light emission module and TOF sensor module is arranged on known to coordinate and position and and automatic Drilling/Riveting
On the vertical position of machine end effector mechanism, the light path that array is photosensitive and light emission module is sent is held with automatic drill riveter end
Row mechanism auger spindle normal is vertical.
B. magnifier module be arranged on coordinate and position it is known and with array is photosensitive and light emission module is into -45 ° of position
Put.
C. photosensitive with light emission module in array, embedded system controls tranmitting data register in array optical transmitter module
Synchronizing signal, then light source is controlled with different transmission powers, different transmitting light intensity transmitting optical signal.
D. in speculum, light path is impinged upon on measured object by speculum, and TOF sensor module starts acquisition matrix model
Interior depth image is enclosed, and is sent to embedded system.
E. embedded system receives collection TOF image sensor signals, gauging surface normal orientation coefficient, carries out data
Handle and end effector mechanism is calculated and the locus of measured object and Normal Error.
F. embedded system sends instructions to the drive mechanism of end effector mechanism, and is reached accordingly by relative motion
Position.
G. automatic drill riveter end effector mechanism works, and limit switch sensor 1 receives automatic boring and riveting machine end and performs machine
Structure relative position 1, and it is sent to embedded system when limit switch sensor 1 triggers.Embedded system sends instruction, instead
The work of mirror drive mechanism is penetrated, and reaches specified location；It is relative that limit switch sensor 2 receives automatic boring and riveting machine end effector mechanism
Position 2, and it is sent to embedded system when limit switch sensor 2 triggers.
The present invention compared with prior art, has following obvious prominent substantive features and notable technological progress：
1st, advantages of the present invention：
Positioning precision is high：Drilling normal measure precision is carried out by the way of described in the system up to less than 0.5 degree, Er Qieke
Calculate pre-manufactured hole position simultaneously.
Cost is low：Sensor of the invention manufacturing cost far below the machine drilling normal measure module based on laser into
This, and robustness is high.
Orientation range is wide：Using this normal measuring method, normal survey can be carried out to any hyperboloid and edge surface area
Amount.
2nd, notable technological progress of the invention：
1. coaxial drilling（Registration）；2. TOF normal direction measurement and positionings（Strong antijamming capability）；3. completely reflecting mirror servo is driven
It is dynamic.
Brief description of the drawings
Fig. 1 is the structural representation for robot hole positioning and normal direction measurement apparatus.
Fig. 2 is Fig. 1 schematic perspective view.
Fig. 3 be in Fig. 2 TOF apart from the structural representation of normal measurement sensor module.
Embodiment
The preferred embodiments of the present invention are elaborated below in conjunction with the accompanying drawings.
Embodiment one：
Referring to Fig. 1-Fig. 3, this is used for robot hole positioning and normal direction measurement apparatus, including TOF Furthest Neighbors
Line measurement sensor module（1）, speculum（2）, mirror drive mechanism（3）With automatic drill riveter end effector mechanism
（4）, it is characterised in that：The automatic drill riveter end effector mechanism（4）With plane to be processed（5）Vertically, and by vertical
Rigid support couples TOF apart from normal measurement sensor module（1）With mirror drive mechanism（3）, mirror drive structure（3）
Connect speculum（2）；Pass through completely reflecting mirror drive mechanism（3）To adjust speculum（2）Reflection angle, make its light path parallel to
Automatic Drilling/Riveting lathe end effector mechanism（4）Drill bit feeding track, then by TOF apart from normal measurement sensor module（1）In
Embedded system Digital Control light emitting diode matrix launch the light beam of modulation, through mirror surface（2）It is reflected in be measured
Plane（5）On, Digital Control scanning camera obtains the distance number of drilling positioning and normal direction measurement by TOF ranging depth algorithms
It is believed that breath, feeds back to driving micro-adjusting mechanism to meet the requirement of the perpendicularity of drilling, finally by the angle calculated and position deviation
By removing speculum（2）Allow multi-functional automatic Drilling/Riveting end effector mechanism（4）Complete the technological requirements such as corresponding drilling.
Embodiment two：
The present embodiment and embodiment one are essentially identical, and special feature is as follows：The TOF senses apart from normal measure
Module（1）Including array is photosensitive and light emission module（1.1）, positioning and normal direction sensor assembly（1.2）, it is embedding by one
Embedded system Digital Control array is photosensitive and transmitter module（1.1）With positioning and normal direction sensor assembly（1.2）.
The array is photosensitive and light emission module（1.1）Including charge coupling device, field programmable gate array and more
Individual LED source, light-emitting diode light source driving circuit；LED light source is with concentric arrangement, and array is photosensitive and light is sent out
Penetrate module（1.1）Be arranged on coordinate, position be it is known and with automatic drill riveter end effector mechanism（4）The vertical position in drilling direction
Put makes two axle parallel virtuals coaxial light beam by prism；Launched by embedded system Digital Control light emitting diode matrix
Go out the light beam of modulation, plane to be measured is reflected in through being totally reflected minute surface（5）On.
The positioning and normal direction sensor assembly（1.2）It is connected comprising a scanning camera with embedded system, by embedding
Embedded system Digital Control scanning camera is obtained the information of drilling positioning and normal direction measurement by TOF ranging depths algorithm, there is provided
Go out testee surface point to the range data between array sensor devices, body surface normal and drilling position can be calculated, and
Its deviation is fed back into driving micro-adjusting mechanism as drive signal, it includes TOF range sensors, drive circuit, synchronous triggering
Signal, power circuit；TOF range sensors include TOF sensor and TOF sensor modulate circuit, TOF sensor modulate circuit
Input be connected with TOF sensor, TOF sensor modulate circuit output end is connected transmission range data with embedded system simultaneously
Drilling positioning and normal direction metrical information is calculated.
Embodiment three：
This is used for robot hole positioning and normal direction measurement apparatus, it is characterised in that：By the mirror drive mechanism（3）Knot
Structure is：Speculum（2）With stationary fixture connect a synchronous trigger module, synchronous trigger module include limit switch sensor and
Limit switch sensor drive circuit；Described mirror drive mechanism（3）Control driving speculum is connected with embedded system
（2）State change；When drilling positioning and normal direction measure, speculum（2）It can be stretched after driving trigger signal is connected to by -90 °
Exhibition is to -45 °；In end effector（4）When performing drilling, speculum（2）Can be contracted to after drive signal is connected to by -45 ° -
90°。
Example IV：
With reference to drilling positioning and normal direction measuring principle, signal（Fig. 1 and Fig. 2）And array is photosensitive and infrared light emission module（Figure
3）Deng accompanying drawing, to being described in detail for the sensing device of robot hole positioning and normal direction measurement.
The problem of the present embodiment exists for the research of above-mentioned robot hole normal direction localization method, there is provided one kind is used for machine
Device people's drilling positioning and the sensing device of normal direction measurement, this method are former by array photoelectric formula structurized module and TOF depth surveys
Reason is combined, and solves the problems, such as that current end effector of robot can not carry out free drilling and pre-manufactured hole positioning at edge.
Build the device of robot hole positioning and normal direction measurement：Array is photosensitive and light emission module includes CCD, LED
Light source, LED drive circuit, receiving module is triggered, for providing different capacity needed for TOF sensor, each wavelength of different frequency
Light source (being not limited only to can be by light, infrared light etc.)；LED drive circuit output end connects LED light source, LED drive circuit input
Connect embedded system；Trigger receiving module connection TOF sensor synchronous trigger circuit output end.
TOF sensor module includes TOF sensor, modulate circuit, synchronous trigger circuit.
Time difference after TOF sensor sampling triggering optical signal to testee transmitting, and luminous point is calculated in measured object
Surrounding depth parameter；Modulate circuit is connected with embedded system.Synchronous trigger circuit is photosensitive to array and photoemission module
Triggering command is provided.
Referring to Fig. 1, TOF depth transducers measuring system and array is photosensitive and light emission module takes the coordinate system O-XYZ to be
Global coordinate system.TOF depth transducers measuring system is designed as marking on robot hole end effector in mechanical structure
Accurate vertical 90 degree of directions.TOF depth transducer measuring systems, using the TOF depth transducer measuring systems demarcated, by embedding
Embedded system synchronously sends the pulse signal of modulation on array light source, and array sensitometry module obtains depth information,
The information of collection is handled to obtain corresponding range data, to obtain the angle of TOF depth transducer measuring systems and position
Put parameter.Robot hole end effector is established with being added by TOF depth transducers measuring system and optical reflection module
Work object surface normal direction perpendicularity corresponding relation, that is, establish TOF depth transducer array point coordinates and measured object surface
Depth parameter linear equation；And define the direction described by the space line equation and estimate for robot hole normal direction positioning measurement
Direction is counted, the depth capacity information error value for making to measure is less than drilling normal angles tolerance threshold parameter, to meet robot
End effector and the requirement of measured object surface normal perpendicularity.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Sequence number does not represent the quality of embodiment just to bidding documents.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
The present invention is described in detail with reference to examples detailed above for pipe, and the those of ordinary skill in the field should be understood：Still may be used
Modified or equivalent substitution with the embodiment to the present invention, and repaiied without departing from any of spirit and scope of the invention
Change or equivalent substitution, it all should cover among scope of the presently claimed invention.
Claims (6)
1. one kind is used for robot hole positioning and normal direction measurement apparatus, including TOF is apart from normal measurement sensor module（1）、
Speculum（2）, mirror drive mechanism（3）With automatic drill riveter end effector mechanism（4）, it is characterised in that：The automatic drill
Riveter end effector mechanism（4）With plane to be processed（5）Vertically, and couple TOF by perpendicular rigid support to survey apart from normal
Quantity sensor module（1）With mirror drive mechanism（3）, mirror drive structure（3）Connect speculum（2）；Pass through total reflection
Mirror drive mechanism（3）To adjust speculum（2）Reflection angle, make its light path parallel to automatic Drilling/Riveting lathe end effector mechanism
（4）Drill bit feeding track, then by TOF apart from normal measurement sensor module（1）In embedded system Digital Control hair
Light diode array launches the light beam of modulation, through mirror surface（2）It is reflected in plane to be measured（5）On, and Digital Control is swept
Retouch the range data information that camera obtains drilling positioning by TOF ranging depth algorithms and normal direction measures, the angle that will be calculated
Driving micro-adjusting mechanism is fed back to position deviation to meet the requirement of the perpendicularity of drilling, finally by removing speculum（2）Allow more
Function automatic Drilling/Riveting end effector mechanism（4）Complete the technological requirements such as corresponding drilling.
2. it is used for robot hole positioning and normal direction measurement apparatus according to claim 1, it is characterised in that：The TOF away from
From normal measure sensing module（1）Including array is photosensitive and light emission module（1.1）With positioning and normal direction sensor assembly
（1.2）, by an embedded system Digital Control array is photosensitive and transmitter module（1.1）With positioning and normal direction sensor die
Block（1.2）.
3. it is used for machine drilling positioning and normal direction measurement apparatus according to claim 2, it is characterised in that：The array sense
Light and light emission module（1.1）Including charge coupling device, field programmable gate array and multiple LED sources, light
Diode light source driving circuit；LED light source is with concentric arrangement, and array is photosensitive and light emission module（1.1）Be arranged on coordinate,
Position be it is known and with automatic drill riveter end effector mechanism（4）Light beam is made two by prism on the vertical position in drilling direction
Axle parallel virtual is coaxial；Launch the light beam of modulation by embedded system Digital Control light emitting diode matrix, through total reflection
Mirror-reflection is in plane to be measured（5）On.
4. it is used for machine drilling positioning and normal direction measurement apparatus according to claim 2, it is characterised in that：The positioning and method
To sensor assembly（1.2）It is connected comprising a scanning camera with embedded system, is swept by embedded system Digital Control
Retouch camera and drilling positioning and normal direction measurement are obtained by TOF ranging depths algorithm
Information, there is provided go out testee surface point to the range data between array sensor devices, body surface method can be calculated
Line and drilling position, and its deviation is fed back into driving micro-adjusting mechanism as drive signal, it includes TOF range sensors, driven
Dynamic circuit, synchronous triggering signal, power circuit；TOF range sensors include TOF sensor and TOF sensor modulate circuit,
The input of TOF sensor modulate circuit is connected with TOF sensor, TOF sensor modulate circuit output end and embedded system
Simultaneously drilling positioning and normal direction metrical information is calculated in connection transmission range data.
5. it is used for robot hole positioning and normal direction measurement apparatus according to claim 1, it is characterised in that：By the reflection
Mirror drive mechanism（3）Structure be：Speculum（2）A synchronous trigger module, synchronous trigger module bag are connected with stationary fixture
Include limit switch sensor and limit switch sensor drive circuit；Described mirror drive mechanism（3）With embedded system
Connection control driving speculum（2）State change；When drilling positioning and normal direction measure, speculum（2）Touched being connected to driving
- 45 ° can be extended to after signalling by -90 °；In end effector（4）When performing drilling, speculum（2）It is being connected to drive signal
After can be contracted to -90 ° by -45 °.
6. one kind is used for robot hole positioning and normal direction measuring method, it is used for robot using according to claim 1
The device of drilling positioning and normal direction measurement is operated, it is characterised in that：Including following operating procedure：
A is by array is photosensitive and light emission module（1.1）With TOF sensor module（1.2）Installed in known to coordinate and position and
With automatic drill riveter end effector mechanism（4）On vertical position, array is photosensitive and light emission module（1.1）The light path sent
With automatic drill riveter end effector mechanism（4）Drill axis is vertical；
B speculums（2）Installed in coordinate and position, it is known that and with array is photosensitive and light emission module（1.1）Into -45 ° of position
Put；
C is array is photosensitive and light emission module（1.1）In, embedded system controls array photosensitive and sent out in light emission module
Send clock sync signal, re-modulation control LED light source transmitting different capacity, the optical signal of different light intensity；
D is in speculum（2）In, light path is impinged upon on measured object by speculum, TOF sensor module（1.2）Start to gather square
Range data in the range of battle array, and embedded system is sent to, measured surface is gone out by this system-computed again by these data
Normal dimensions；
E embedded systems with the normal dimensions and pre-manufactured hole position being calculated from TOF images, carry out data processing and calculated again
Draw end effector mechanism（4）Locus and Normal Error with measured object；
F embedded systems send instructions to end effector mechanism（4）Locality drive mechanism, and reached by translating and turning to
Corresponding position；
G automatic drill riveter end effector mechanisms（4）Work, limit switch sensor 1 receive automatic boring and riveting machine end effector mechanism
（4）Relative position 1, and it is sent to embedded system when limit switch sensor 1 triggers；
H embedded systems send instruction, mirror drive mechanism（3）Work, and reach specified location；Limit switch sensor 2
Receive automatic boring and riveting machine end effector mechanism（4）Relative position 2, and be sent to when limit switch sensor 2 triggers embedded
System；Again by end effector mechanism（4）Do mechanical movement adjustment position.
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Cited By (9)
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| CN108375352A (en) * | 2018-01-31 | 2018-08-07 | 歌尔股份有限公司 | The method of adjustment of two plan-positions based on the depth of parallelism, apparatus and system |
| CN108814452A (en) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | Sweeping robot and its disorder detection method |
| CN109211104A (en) * | 2018-03-22 | 2019-01-15 | 中国航空制造技术研究院 | A kind of processing hole location normal direction on-line amending method |
| CN110514149A (en) * | 2019-10-08 | 2019-11-29 | 北航（天津武清）智能制造研究院有限公司 | Contactless surface normal measuring device, system and method and electronic equipment |
| CN110794422A (en) * | 2019-10-08 | 2020-02-14 | 歌尔股份有限公司 | Robot data acquisition system and method with TOF imaging module |
| CN110906850A (en) * | 2019-12-04 | 2020-03-24 | 昆明理工大学 | Accurate positioning device and method for inclined deep hole sensor |
| CN113172624A (en) * | 2021-04-23 | 2021-07-27 | 北京创源微致软件有限公司 | Positioning guide device and method and electronic equipment |
| CN113203369A (en) * | 2021-03-31 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Method for measuring normal verticality of robot hole making |
| CN114166252A (en) * | 2022-02-10 | 2022-03-11 | 成都飞机工业（集团）有限责任公司 | Comprehensive positioning precision testing method for industrial robot integrated system |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108375352A (en) * | 2018-01-31 | 2018-08-07 | 歌尔股份有限公司 | The method of adjustment of two plan-positions based on the depth of parallelism, apparatus and system |
| CN109211104B (en) * | 2018-03-22 | 2020-09-08 | 中国航空制造技术研究院 | Processing hole site normal online correction method |
| CN109211104A (en) * | 2018-03-22 | 2019-01-15 | 中国航空制造技术研究院 | A kind of processing hole location normal direction on-line amending method |
| CN108814452A (en) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | Sweeping robot and its disorder detection method |
| CN110514149A (en) * | 2019-10-08 | 2019-11-29 | 北航（天津武清）智能制造研究院有限公司 | Contactless surface normal measuring device, system and method and electronic equipment |
| CN110794422A (en) * | 2019-10-08 | 2020-02-14 | 歌尔股份有限公司 | Robot data acquisition system and method with TOF imaging module |
| CN110794422B (en) * | 2019-10-08 | 2022-03-29 | 歌尔光学科技有限公司 | Robot data acquisition system and method with TOF imaging module |
| CN110906850A (en) * | 2019-12-04 | 2020-03-24 | 昆明理工大学 | Accurate positioning device and method for inclined deep hole sensor |
| CN110906850B (en) * | 2019-12-04 | 2021-04-27 | 昆明理工大学 | Accurate positioning device and method for inclined deep hole sensor |
| CN113203369A (en) * | 2021-03-31 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Method for measuring normal verticality of robot hole making |
| CN113203369B (en) * | 2021-03-31 | 2022-04-08 | 成都飞机工业（集团）有限责任公司 | Method for measuring normal verticality of robot hole making |
| CN113172624A (en) * | 2021-04-23 | 2021-07-27 | 北京创源微致软件有限公司 | Positioning guide device and method and electronic equipment |
| CN113172624B (en) * | 2021-04-23 | 2024-06-21 | 北京创源微致软件有限公司 | Positioning guide device and method and electronic equipment |
| CN114166252A (en) * | 2022-02-10 | 2022-03-11 | 成都飞机工业（集团）有限责任公司 | Comprehensive positioning precision testing method for industrial robot integrated system |
| CN114166252B (en) * | 2022-02-10 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Comprehensive positioning precision testing method for industrial robot integrated system |
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Application publication date: 20180109 |