CN108544434A - A kind of automatic punching system Experimental Calibration integral work table and scaling method - Google Patents
A kind of automatic punching system Experimental Calibration integral work table and scaling method Download PDFInfo
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- CN108544434A CN108544434A CN201810111340.XA CN201810111340A CN108544434A CN 108544434 A CN108544434 A CN 108544434A CN 201810111340 A CN201810111340 A CN 201810111340A CN 108544434 A CN108544434 A CN 108544434A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
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- Machine Tool Sensing Apparatuses (AREA)
- Drilling And Boring (AREA)
Abstract
A kind of integral work table of automatic punching system Experimental Calibration disclosed by the invention, including column frame, it is divided into upper layer and lower layer, upper layer is divided into two pieces by partition board, side is provided with vision camera demarcating module, including the centering test plate (panel) being fixed between column frame side wall and partition board, and centering test plate (panel) surface is fixed with locating pin, the partition board other side is provided with normal direction transducer calibration module, includes the dressing plate in the groove on column frame madial wall and partition board；Column frame lower region is provided with drill process tentative module.The invention also discloses a kind of scaling methods of automatic punching system experiment, the vision camera axis and drilling tool axis distance in automatic punching system are demarcated first, then, normal direction sensor and the pressure foot front end face distance in automatic punching system are demarcated, finally in the drilling of drilling test plate (panel) and is measured.The present invention solves the calibrating function that the prior art does not have measuring system, the problem of cannot achieve systematic error compensation.
Description
Technical field
The invention belongs to advanced digitlization Flexible Manufacture and technical field of automation, are related to a kind of automatic punching system experiment
Demarcate integral work table and scaling method.
Background technology
Industrial robot, numerically-controlled machine tool etc. are that the automatic punching technology of platform is the advanced automation of one kind, digitlization system
Technology is made, aircraft is assembled and other need the industrial circle of a large amount of drillings to have great significance.In order to realize automatic punching
Digitlization, flexibility and the intelligence of system, automatic punching system are generally equipped with normal direction sensor and vision camera measuring system.
Normal direction sensor is used for measuring the normal direction of working curved surface, and vision camera measures and identify the locating pin on working curved surface, is automatic
Punching system provides location information.But due to manufacture and rigging error presence, normal direction sensor mounting plane error, depending on
Feel the error between the axis and drilling tool axis of camera, is all a part for automatic punching system error, directly affects
Drilling position and normal direction precision.But the above error is difficult to be reduced by manufacture and adjustment method, therefore, it is necessary to normal direction
Sensor and vision camera are demarcated, its error is input in automatic punching system, carry out error compensation, are reduced with this
Systematic error improves drilling precision.
Patent (Publication No. CN102756138B, publication date are on March 12nd, 2014, application No. is
201210269215.4, the applying date is August in 2012 1) disclose a kind of there is normal direction adjustment and regard for aircraft target ship
Feel that the high-precision drilling end effector of centering function, the device make the positional precision in hole, dimensional accuracy can be very good to meet
Design requirement, while drilling process is not in askew hole, inclined hole, drilling regional temperature keeps normal working temperature and chip removal is just
Often.(Publication No. CN103990829B publication date is on March 8th, 2017 to patent, application No. is 201410230601.1, is applied
Day is on May 29th, 2014) a kind of aircraft assembly drilling end effector combined with industrial machinery arm is disclosed, with method
To measurement and vision-based detection module, drilling verticality and drilling efficiency can be significantly improved.The above automatic punching device can
It realizes that the high-precision of aircraft curvature panel assembles drilling, but does not refer to matched drill process experimental rig and survey
The caliberating device and method for measuring module, cannot achieve the compensation of systematic error.
Invention content
The object of the present invention is to provide a kind of automatic punching system Experimental Calibration integral work tables to solve the prior art
The calibrating function for not having measuring system, the problem of cannot achieve systematic error compensation.
It is a further object of the present invention to provide a kind of scaling methods of automatic punching system experiment.
The technical solution adopted in the present invention is a kind of integral work table of automatic punching system Experimental Calibration, including
Column frame, column frame are divided into upper layer and lower layer, and the affixed partition board in upper layer centre, partition board side is provided with vision camera mark
Cover half block, vision camera demarcating module include centering test plate (panel), and centering test plate (panel) is fixed in column by the bolt clamp assembly
Between frame side wall and partition board, the inclined lateral location in centering test plate (panel) surface is fixed with locating pin, and the partition board other side is provided with normal direction biography
Sensor demarcating module, normal direction transducer calibration module include dressing plate, dressing plate be mounted on column frame madial wall with
In groove on partition board, dressing plate is also fixed by spring supporting component；Column frame lower layer is provided with drill process examination
Test module.
Other features of the present invention also reside in,
Drill process tentative module includes drilling test plate (panel), and drilling test plate (panel) is fixed on column frame by bolt clamp assembly
Between two side, the position of the inclined side in surface of drilling test plate (panel) is further fixed on locating pin.
It is connected on the angle of four, column frame surface and measures target ball seat.
Column base of frame is fixed on by foundation bolt on ground.
Another technical solution of the present invention is a kind of one using such as a kind of above-mentioned automatic punching system Experimental Calibration
The scaling method for changing workbench, specifically operates in accordance with the following steps：
Step 1. demarcates vision camera axis and drilling cutter in automatic punching system by vision camera demarcating module
Axial line distance, and will be in distance update to the automatic control system of industrial robot；
After the completion of step 2. step 1, the normal direction demarcated in automatic punching system by normal direction transducer calibration module senses
Device and pressure foot front end face distance, and will be in distance update to the automatic control system of industrial robot；
Step 3. updates the default of industrial robot control system in conjunction with the result that the step 1 and the step 2 are demarcated
After data, drilling on the drilling test plate (panel) in the drill process tentative module finally measures position, normal direction, the hole of institute's drilling
Diameter precision, confirms whether the situation of the cutter of automatic punching system and parameter obtained by calibrating meet drilling required precision.
The specific operation process of step 1 is as follows：
Step 1.1 moves the drilling end effector in automatic punching system, keeps the vision camera calibration mold in the block
Locating pin appears in the vision camera central region in automatic punching system, and records present coordinate values (x1,y1,z1)；
Step 1.2 ensures that the posture of the drilling end effector in automatic punching system and position are constant, industrial robot
Drilling axis feeding is controlled, then the drilling on the drilling test plate (panel) of vision camera demarcating module is moved drilling end effector, made
The hole obtained appears in vision camera central region, and records present coordinate values (x2,y2,z2)；
Deviation (Δ x on step 1.3 calculating X, Y-direction1=| x2-x1|,Δy1=| y2-y1|), i.e. automatic punching system
In vision camera axis and the distance between drilling tool axis, by the control system of distance update to industrial robot
In, for correcting the systematic error of the vision camera in industrial robot control system.
The specific operation process of step 2 is as follows：
Step 2.1 passes through the control system of industrial robot according to the initial theory coordinate at normal direction sensor assembly center
Drilling end effector in control automatic punching system is moved to the position, and control pressure foot is fed forward, before making pressure foot
End face is compressed with normal direction transducer calibration mould dressing plate in the block；
After step 2.2 measures normal direction sensor at a distance from normal direction transducer calibration mould dressing plate in the block, pressure foot
It retracts, and repeats compress, measure, retract repeatedly, record the distance measured every time, and calculate the average value of the distance, this is put down
In mean value update to the control system of industrial robot, it is for correct the normal direction sensor in industrial robot control system
System error.
The specific operation process of step 3 is as follows：
Step 3.1 combine step 1 demarcate deviation and step 2 demarcate normal direction sensor and dressing plate between away from
From according to the initial theory coordinate of the locating pin in drilling tentative module, by industrial robot movement automatic punching system
Drilling end effector, adjust repeatedly, the locating pin in drill process tentative module made to appear in vision camera central region,
Record the locating pin coordinate (x in current drill process tentative module0,y0,z0) and ensure the posture of drilling end effector not
Become；
Step 3.2 industrial robot reads the hole bit number in control system, with the positioning in drill process tentative module
On the basis of nail, it is biased calculating, i.e., poor according to the drilling interval of set-up of control system, the coordinate of required drilling position should be in drilling
Coordinate (the x of engineer testing mould locating pin in the block0,y0,z0) on plus required drilling interval it is poor, record needed for drilling
The position coordinates (x, y, z) of position simultaneously mobile drilling end effector makes the drilling bit alignment coordinate in automatic punching system,
The measurement and adjustment that normal direction is realized by normal direction sensor, make the error of perpendicularity reach within ± 0.2 °；
Step 3.3 keep drilling end effector it is motionless, set technological parameter, industrial robot control drilling main shaft into
It gives, completes drill process experiment, then, the position of manual measurement and the drilling of detection institute, normal direction, aperture precision confirm automatic system
Whether cutter and technological parameter obtained by calibrating in the system of hole meet drilling required precision, if measuring the aperture of institute's drilling not
It meets the requirements, illustrates that tool wear replaces cutter；If the position of measurement institute drilling, normal direction precision are unsatisfactory for requiring, repeat
Steps 1 and 2 and 3 continue to demarcate, until the position of institute's drilling, normal direction precision are met the requirements.
The invention has the advantages that a kind of automatic punching system Experimental Calibration integral work table and scaling method, solution
The prior art of having determined does not have the calibrating function of measuring system, the problem of cannot achieve systematic error compensation.Vision camera is demarcated
Module has locating pin and drilling region, and the vision centering and drilling function carried by drilling end effector realizes system
The automatic measurement of the rigging error of spot facing cutter and vision camera and calibration, significantly improve the positional precision of drilling, and are not required to
Extras are wanted, convenient and efficient, the assembly of normal direction sensor can be realized in the normal direction sensor carried by drilling end effector
The automatic measurement of error and calibration, normal direction sensor assembly can be adjusted adaptively, realize dressing plate and pressure foot front end
Face fits closely, it is ensured that measures the accuracy with nominal data, significantly improves the normal direction precision of drilling.
Description of the drawings
Fig. 1 be the present invention a kind of automatic punching system Experimental Calibration integral work table and scaling method in integrated chemical industry
Make the structural schematic diagram of platform；
Fig. 2 be the present invention a kind of automatic punching system Experimental Calibration integral work table and scaling method in integrated chemical industry
Make the partial structurtes signal of the vision camera demarcating module, normal direction transducer calibration module and drill process tentative module in platform
Figure；
Fig. 3 be the present invention a kind of automatic punching system Experimental Calibration integral work table and scaling method in bolt clamp
The structural schematic diagram of component；
Fig. 4 be the present invention a kind of automatic punching system Experimental Calibration integral work table and scaling method in spring supporting
The structural schematic diagram of component；
Fig. 5 be the present invention a kind of automatic punching system Experimental Calibration integral work table and scaling method in demarcate one
Change workbench and coordinates automatic punching system end effector schematic diagram；
Fig. 6 be the present invention a kind of automatic punching system Experimental Calibration integral work table and scaling method in scaling method
Flow chart.
In figure, 1. vision camera demarcating modules, 2. normal direction transducer calibration modules, 3. drill process tentative modules, 4. is vertical
Pillar frame, 5. measure target ball seat, 6. bolt clamp assemblies, 7. spring supporting components, 8. centering test plate (panel)s, 9. locating pins, 10. marks
Quasi- tablet, 11. drilling test plate (panel)s, 12. angle iron brackets, 13. drilling positions, 14. pressure foots, 15. connecting flanges, 16. drilling main shafts,
17. normal direction sensor, 18. vision cameras.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of integral work table of automatic punching system Experimental Calibration of the present invention, structural schematic diagram such as 1 and Fig. 2 institutes
Show, including column frame 4, column frame 4 divides for upper layer and lower layer, and an affixed partition board among upper layer, partition board side, which is equipped with, to be regarded
Feel camera calibration module 1, vision camera demarcating module 1 include by bolt clamp assembly 6 be fixed in 4 side wall of column frame with
Centering test plate (panel) 8 between partition board, the inclined lateral location in 8 surface of centering test plate (panel) are fixed with locating pin 9, and the partition board other side is provided with normal direction
Transducer calibration module 2, normal direction transducer calibration module 2 include corresponding on partition board mounted on 4 madial wall of column frame
Groove in dressing plate 10, dressing plate 10 also pass through spring supporting component 7 fix；4 lower layer of column frame is provided with
Drill process tentative module 3.
Drill process tentative module 3 includes the system being fixed on by bolt clamp assembly 6 between 4 two side of column frame
The position of hole test plate (panel) 11, the inclined side in surface of drilling test plate (panel) 11 is fixed with locating pin 9.
It is connected on the angle of four, 4 surface of column frame and measures target ball seat 5.
4 bottom of column frame is fixed on by foundation bolt on ground.
As shown in figure 3, bolt clamp assembly 6 includes angle iron bracket 12, the one side of angle iron bracket 12 is provided with screw hole, screw hole
In by screw-thread fit have T-bolt, be fastened on column frame 4 by T-bolt, another side is provided with screw hole,
The required workpiece supported is screwed by wing bolt.
As shown in figure 4, spring supporting component 7 includes angle iron bracket 12,12 one side of angle iron bracket is welded with iron prop, iron prop
On be socketed with spring, the free end of spring is welded with rectangle iron plate, and the another side of angle iron bracket 12 is provided with screw hole, passes through bolt
Dressing plate 10 is connected on column frame 4.
The integral work table of a kind of automatic punching system Experimental Calibration of the present invention, for the aircraft wall of industrial robot
Plate high precision punching device demarcates the normal direction sensor and vision camera of the punching device, and carries out drill process examination
It tests.Wherein, hole site precision is ± 0.1mm, and spacing 20mm, the error of perpendicularity is within ± 0.5 °, and the requirement in aperture is Ф 4
+ 0.08mm, a kind of integral work table of automatic punching system Experimental Calibration of the invention and is connected on industrial robot
The drilling end effector of automatic punching system is used cooperatively, as shown in figure 5, the drilling end effector of automatic punching system
Drilling main shaft connects industrial robot, and vision camera 18, normal direction sensor 17 and pressure foot are equipped in drilling end effector
14 equal components.
The present invention's is a kind of using a kind of mark of the integral work table of automatic punching system Experimental Calibration as described above
Determine method, key step as shown in Figure 6, specifically operates in accordance with the following steps：
Step 1. demarcates vision camera axis and drilling cutter in automatic punching system by vision camera demarcating module 1
Axial line distance, and will be in distance update to the automatic control system of industrial robot；
After the completion of step 2. step 1, the normal direction demarcated in automatic punching system by normal direction transducer calibration module 2 senses
Device and pressure foot front end face distance, and will be in distance update to the automatic control system of industrial robot；
After the result that step 3. combines step 1 and step 2 to demarcate updates the preset data of industrial robot control system,
11 drilling of drilling test plate (panel) in drill process tentative module 3, the position of last manual measurement institute drilling, normal direction, aperture precision, really
Whether the situation and parameter obtained by calibrating for recognizing the cutter of automatic punching system meet drilling required precision.
The specific operation process of step 1 is as follows：
Step 1.1 moves the drilling end effector in automatic punching system, makes the positioning in vision camera demarcating module 1
Nail 9 appears in the vision camera central region in automatic punching system, and site error control records current sit in ± 0.02mm
Scale value (x1,y1,z1)；
Step 1.2 ensures that the posture of the drilling end effector in automatic punching system and position are constant, industrial robot
Drilling axis feeding is controlled, then the execution of drilling end is moved in the drilling on the drilling test plate (panel) 11 of vision camera demarcating module 1
Device makes the hole obtained appear in vision camera central region, and records present coordinate values (x2,y2,z2)；
Deviation (Δ x on step 1.3 calculating X, Y-direction1=| x2-x1|,Δy1=| y2-y1|), i.e. automatic punching system
In vision camera axis and the distance between drilling tool axis, by the control system of distance update to industrial robot
In, for correcting the systematic error of the vision camera in industrial robot control system.
The specific operation process of step 2 is as follows：
Step 2.1 passes through the control system of industrial robot according to the initial theory coordinate at normal direction sensor assembly center
Drilling end effector in control automatic punching system is moved to the position, and control pressure foot is fed forward, before making pressure foot
End face is compressed with the dressing plate 10 in normal direction transducer calibration module 2；
Step 2.2 measures normal direction sensor at a distance from the dressing plate 10 in normal direction transducer calibration module 2, then presses
Power foot is retracted, and is repeated compress, measure, be retracted repeatedly, records the distance measured every time, and calculate the average value of the distance, will
In average value update to the control system of industrial robot, for correcting the normal direction sensor in industrial robot control system
Systematic error.
The specific operation process of step 3 is as follows：
Step 3.1 is put down in conjunction with the normal direction sensor that the deviation and the step 2 that the step 1 is demarcated are demarcated with the standard
The distance between plate (10) passes through industrial robot to transport according to the initial theory coordinate of the locating pin 9 in drilling tentative module 3
Drilling end effector in dynamic automatic punching system, adjusts, the locating pin 9 in drill process tentative module 1 is made to occur repeatedly
In vision camera central region, the 9 coordinate (x of locating pin in current drill process tentative module 1 is recorded0,y0,z0) and ensure to make
The posture of bore end actuator is constant；
Step 3.2 industrial robot reads the hole bit number N in control system, with determining in drill process tentative module 1
On the basis of position nail 9, it is biased calculating, i.e., poor according to the drilling interval of set-up of control system, the coordinate of required drilling position should be
Coordinate (the x of locating pin (9) in the drill process tentative module (1)0,y0,z0) on add required drilling interval
Difference records the position coordinates (x, y, z) of required drilling position and mobile drilling end effector, makes the drilling in automatic punching system
Then the bit alignment coordinate is realized the measurement and adjustment of normal direction by normal direction sensor, the error of perpendicularity is made to reach ± 0.2 °
Within；
Step 3.3 keeps drilling end effector motionless, sets technological parameter, industrial robot controls axis feeding, complete
It is tested at drill process, then, the position of manual measurement and the drilling of detection institute, normal direction, aperture precision confirm automatic punching system
In cutter and technological parameter obtained by calibrating whether meet drilling required precision, if the aperture for measuring institute drilling is unsatisfactory for wanting
It asks, illustrates that tool wear replaces cutter；If the position of measurement institute drilling, normal direction precision are unsatisfactory for requiring, repeatedly steps 1 and 2
Continue to demarcate with 3, until the position of institute's drilling, normal direction precision are met the requirements.
The integral work table and scaling method of a kind of automatic punching system Experimental Calibration of the present invention, in vision camera mark
In fixed, vision camera demarcating module has locating pin and drilling region, the vision centering that is carried by drilling end effector and
Drilling function, you can automatic measurement and the calibration for realizing the rigging error of drilling cutter and vision camera significantly improve drilling
Positional precision, and do not need extras, it is convenient and efficient；In normal direction transducer calibration, pass through drilling end effector
Included normal direction sensor can be realized automatic measurement and the calibration of normal direction sensor rigging error, and normal direction sensor assembly can be with
Adaptive adjustment realizes fitting closely for dressing plate and pressure foot front end face, it is ensured that it is accurate with nominal data to measure
Property, significantly improve the normal direction precision of drilling；In drill process experiment, drill process tentative module has locating pin and drilling
The accuracy of vision camera and normal direction transducer calibration data, drill process ginseng may be implemented in test area, drill process experiment
Whether aperture precision meets the requirements caused by several rational verifications, and verification cutting tool choice and its abrasion, significantly improves
Aperture precision；The present invention, which realizes, only needs once-through operation that vision camera, the automatic measurement of normal direction sensor, calibration can be completed
And data update, and the verification for realizing nominal data, technological parameter and cutter is tested by drill process, really realize mark
It is fixed integrated with experiment, labor intensity can be significantly reduced, drilling efficiency is improved.
Claims (8)
1. a kind of integral work table of automatic punching system Experimental Calibration, which is characterized in that including column frame (4), institute
It states column frame (4) and is divided into upper layer and lower layer, the affixed partition board in upper layer centre, the partition board side is provided with vision camera calibration
Module (1), the vision camera demarcating module (1) include centering test plate (panel) (8), and the centering test plate (panel) (8) passes through the bolt clip
Tight component (6) is fixed between column frame (4) side wall and the partition board, the inclined side in centering test plate (panel) (8) surface
Position is fixed with locating pin (9), and the partition board other side is provided with normal direction transducer calibration module (2), the normal direction sensor
Demarcating module (2) includes dressing plate (10), and the dressing plate (10) is mounted on column frame (4) madial wall and institute
It states in the groove on partition board, the dressing plate (10) is also fixed by spring supporting component (7)；The column frame (4)
Lower layer is provided with drill process tentative module (3).
2. a kind of integral work table of automatic punching system Experimental Calibration as described in claim 1, which is characterized in that described
Drill process tentative module (3) includes drilling test plate (panel) (11), and the drilling test plate (panel) (11) is solid by the bolt clamp assembly (6)
It is scheduled between column frame (4) two side, the position of the inclined side in surface of the drilling test plate (panel) (11), which is further fixed on, determines
Position nail (9).
3. a kind of integral work table of automatic punching system Experimental Calibration as described in claim 1, which is characterized in that described
It is connected on the angle of column frame (4) four, surface and measures target ball seat (5).
4. a kind of integral work table of automatic punching system Experimental Calibration as described in claim 1, which is characterized in that described
Column frame (4) bottom is fixed on by foundation bolt on ground.
5. a kind of a kind of integration work of automatic punching system Experimental Calibration using as described in any one of claim 1-4
The scaling method of platform, which is characterized in that specifically operate in accordance with the following steps：
Step 1. demarcates vision camera axis and drilling cutter shaft in automatic punching system by vision camera demarcating module (1)
Linear distance, and will be in distance update to the automatic control system of industrial robot；
After the completion of step 2. step 1, the normal direction sensor in automatic punching system is demarcated by normal direction transducer calibration module (2)
With pressure foot front end face distance, and by distance update in the automatic control system of industrial robot；
Step 3. updates the preset data of industrial robot control system in conjunction with the result that the step 1 and the step 2 are demarcated
Afterwards, drilling on the drilling test plate (panel) (11) in the drill process tentative module (3), finally measure the position of institute drilling, normal direction,
Aperture precision, confirms whether the situation of the cutter of automatic punching system and parameter obtained by calibrating meet drilling required precision.
6. a kind of scaling method of automatic punching system experiment as claimed in claim 5, which is characterized in that the step 1
Specific operation process is as follows：
Step 1.1 moves the drilling end effector in automatic punching system, makes to determine in the vision camera demarcating module (1)
Position nail (9) appears in the vision camera central region in automatic punching system, and records present coordinate values (x1,y1,z1)；
Step 1.2 ensures that the posture of the drilling end effector in automatic punching system and position are constant, industrial robot control
Drilling axis feeding, the drilling on the drilling test plate (panel) (11) of the vision camera demarcating module (1), then moves drilling end and holds
Row device makes the hole obtained appear in vision camera central region, and records present coordinate values (x2,y2,z2)；
Deviation (Δ x on step 1.3 calculating X, Y-direction1=| x2-x1|,Δy1=| y2-y1|), i.e., in automatic punching system
The distance between vision camera axis and drilling tool axis are used in distance update to the control system of industrial robot
To correct the systematic error of the vision camera in industrial robot control system.
7. a kind of scaling method of automatic punching system experiment as claimed in claim 5, which is characterized in that the step 2
Specific operation process is as follows：
Step 2.1 is controlled according to the initial theory coordinate at normal direction sensor assembly center by the control system of industrial robot
Drilling end effector in automatic punching system is moved to the position, and control pressure foot is fed forward, makes pressure foot front end face
It is compressed with the dressing plate (10) in the normal direction transducer calibration module (2)；
Step 2.2 measure the dressing plate (10) in normal direction sensor and the normal direction transducer calibration module (2) away from
From rear, pressure foot is retracted, and is repeated compress, measure, be retracted repeatedly, records the distance measured every time, and calculate the flat of the distance
Mean value updates the average value into the control system of industrial robot, for correcting the method in industrial robot control system
To the systematic error of sensor.
8. a kind of scaling method of automatic punching system experiment as claimed in claim 5, which is characterized in that the step 3
Specific operation process is as follows：
Normal direction sensor and the dressing plate for the deviation and the step 2 calibration that step 3.1 is demarcated in conjunction with the step 1
The distance between (10), according to the initial theory coordinate of the locating pin (9) in the drilling tentative module (3), pass through work
Industry robot moves the drilling end effector in automatic punching system, adjusts repeatedly, makes the drill process tentative module (1)
In locating pin (9) appear in vision camera central region, record the locating pin in presently described drill process tentative module (1)
(9) coordinate (x0,y0,z0) and ensure that the posture of drilling end effector is constant；
Step 3.2 industrial robot reads the hole bit number in control system, with determining in the drill process tentative module (1)
On the basis of position nail (9), it is biased calculating, i.e., poor according to the drilling interval of set-up of control system, the coordinate of required drilling position is answered
Coordinate (the x of locating pin (9) in the drill process tentative module (1)0,y0,z0) on add required drilling interval
Difference records the position coordinates (x, y, z) of required drilling position and mobile drilling end effector, makes the drilling in automatic punching system
The bit alignment coordinate is realized the measurement and adjustment of normal direction by normal direction sensor, the error of perpendicularity is made to reach within ± 0.2 °；
Step 3.3 keeps drilling end effector motionless, sets technological parameter, industrial robot controls drilling axis feeding, complete
It is tested at drill process, then, the position of manual measurement and the drilling of detection institute, normal direction, aperture precision confirm automatic punching system
In cutter and technological parameter obtained by calibrating whether meet drilling required precision, if the aperture for measuring institute drilling is unsatisfactory for wanting
It asks, illustrates that tool wear replaces cutter；If the position of measurement institute drilling, normal direction precision are unsatisfactory for requiring, repeatedly steps 1 and 2
Continue to demarcate with 3, until the position of institute's drilling, normal direction precision are met the requirements.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110587615A (en) * | 2019-08-02 | 2019-12-20 | 中国航空工业集团公司北京长城航空测控技术研究所 | Accurate product feature identification method based on multi-sensor measurement |
| CN111360289A (en) * | 2020-04-15 | 2020-07-03 | 成都飞机工业（集团）有限责任公司 | Part hole site local correction device and system hole lathe |
| CN111664813A (en) * | 2020-05-15 | 2020-09-15 | 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 |
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