CN114486517B - Follow-up loading device and method based on industrial robot system - Google Patents

Follow-up loading device and method based on industrial robot system Download PDF

Info

Publication number
CN114486517B
CN114486517B CN202111624010.9A CN202111624010A CN114486517B CN 114486517 B CN114486517 B CN 114486517B CN 202111624010 A CN202111624010 A CN 202111624010A CN 114486517 B CN114486517 B CN 114486517B
Authority
CN
China
Prior art keywords
loading
distance
loading end
end effector
follow
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111624010.9A
Other languages
Chinese (zh)
Other versions
CN114486517A (en
Inventor
张明华
崔静静
郭强
贺喜鹏
张玉如
李明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Great Wall Aviation Measurement And Control Technology Research Institute Co ltd
Beijing Ruisai Chang Cheng Aeronautical M & C Technology Co ltd
China Aviation Industry Corp of Beijing Institute of Measurement and Control Technology
Original Assignee
Beijing Great Wall Aviation Measurement And Control Technology Research Institute Co ltd
Beijing Ruisai Chang Cheng Aeronautical M & C Technology Co ltd
China Aviation Industry Corp of Beijing Institute of Measurement and Control Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Great Wall Aviation Measurement And Control Technology Research Institute Co ltd, Beijing Ruisai Chang Cheng Aeronautical M & C Technology Co ltd, China Aviation Industry Corp of Beijing Institute of Measurement and Control Technology filed Critical Beijing Great Wall Aviation Measurement And Control Technology Research Institute Co ltd
Priority to CN202111624010.9A priority Critical patent/CN114486517B/en
Publication of CN114486517A publication Critical patent/CN114486517A/en
Application granted granted Critical
Publication of CN114486517B publication Critical patent/CN114486517B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0001—Type of application of the stress
    • G01N2203/0003—Steady
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0014—Type of force applied
    • G01N2203/0016—Tensile or compressive
    • G01N2203/0019—Compressive
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0058—Kind of property studied
    • G01N2203/0069—Fatigue, creep, strain-stress relations or elastic constants
    • G01N2203/0075—Strain-stress relations or elastic constants
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/06—Indicating or recording means; Sensing means
    • G01N2203/067—Parameter measured for estimating the property
    • G01N2203/0676—Force, weight, load, energy, speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/06—Indicating or recording means; Sensing means
    • G01N2203/067—Parameter measured for estimating the property
    • G01N2203/0682—Spatial dimension, e.g. length, area, angle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a follow-up loading device and method based on an industrial robot system, wherein the follow-up loading device at least comprises a control end, a follow-up loading end effector and a normal measuring sensor; the servo loading end effector is arranged on the industrial robot system; the normal measurement sensor is used for acquiring distance information between the loading end and the loaded point; the control end is used for: calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point; based on the normal deviation value of the loaded point, the industrial robot system is controlled to adjust the loading direction of the follow-up loading end effector so as to enable the loading direction to coincide with the normal direction of the loaded point, and the problems that the loaded point is not perpendicular to the chord plane of the airfoil, the loading direction changes, the larger the deformation is, and the larger the angle deviation of the load is are solved.

Description

Follow-up loading device and method based on industrial robot system
Technical Field
The invention relates to the technical field of test and test, in particular to a follow-up loading device and method based on an industrial robot system.
Background
The unmanned aerial vehicle with high long voyage is widely applied to the future military field and civil field, and the unmanned aerial vehicle occupies the first aircraft in the aspects of investigation and collection and has the striking function, and high-altitude long voyage large load capacity is required, so that the unmanned aerial vehicle wing is required to have a quite large aspect ratio, but the deformation of the wing is aggravated due to the fact that the composite material is used in a large amount of unmanned aerial vehicles. The surface of the wing is mainly acted by pneumatic load in the flight process, and the load direction is always the normal direction of the surface of the wing, so that the loading condition of the wing is better simulated in the structural strength test of the wing, and the most accurate method is that the loading direction can be adjusted and changed along with the deformation of the wing, so that the purpose of always keeping the loading direction perpendicular to the chord plane of the wing is achieved.
According to the requirements of static tests required for developing important parts of an aircraft, which are proposed by national army standards, the wing test is the most effective, reliable and direct way for obtaining the mechanical system of the wing. The wing test needs to simplify the load (pneumatic load, inertial load and concentrated load) born by the aircraft during flight into concentrated loads with limited quantity, and then loads at all stages are realized by combining loading points in multiple stages through a loading system. However, the main problems in the wing static test exist at present: because the deformation of the wing is very large, the test data often has certain deviation from the theoretical calculation, and the larger the deformation is, the more obvious the deviation is. Through researches, the main reason of the loading error is that the loading point is not perpendicular to the chord plane of the airfoil due to large deformation, the loading direction changes, and the larger the deformation is, the larger the angle deviation of the load is. Therefore, it is necessary to ensure load application accuracy in the event of large deformation of the wing.
Disclosure of Invention
The invention aims to provide a follow-up loading device and method based on an industrial robot system, which ensure load application accuracy.
In order to achieve the above object, the present invention provides the following solutions:
the servo loading device based on the industrial robot system at least comprises a control end, a servo loading end effector and a normal measuring sensor;
the servo loading end effector is installed on the industrial robot system;
the normal measurement sensor comprises a first set of ranging sensors and a second set of ranging sensors; the first set of ranging sensors and the second set of ranging sensors comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the connection line between the two ranging sensors in the first set of ranging sensors and the connection line between the two ranging sensors in the second set of ranging sensors are in a vertical relationship;
the normal measurement sensor is used for acquiring distance information between the loading end and a loaded point; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
the control end is used for:
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is for adjusting a loading direction of the slave loading end effector such that the loading direction coincides with a normal to the loaded point.
Optionally, the industrial robot system at least comprises a robot body and a robot control cabinet for controlling the movement of the robot body;
the follow-up loading end effector is arranged on the robot body through a flange plate;
the control end is used for sending the normal deviation value of the loaded point to the robot control cabinet;
the robot control cabinet is used for adjusting the movement direction of the robot body based on the normal deviation value of the loaded point, and further adjusting the loading direction of the follow-up loading end effector so that the loading direction coincides with the normal direction of the loaded point.
Optionally, in the aspect of calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point, the control end is further configured to:
calculating a rotation angle about an X-axis on the slave-loading end effector based on the first distance and the second distance; the first distance is the distance between the loading end collected by one distance sensor in the first group of distance measuring sensors and the loaded point, and the second distance is the distance between the loading end collected by the other distance sensor in the first group of distance measuring sensors and the loaded point;
calculating a rotation angle around a Y axis on the servo loading end effector based on the third distance and the fourth distance; the third distance is the distance between the loading end collected by one distance sensor in the second group of distance measuring sensors and the loaded point, and the fourth distance is the distance between the loading end collected by the other distance sensor in the second group of distance measuring sensors and the loaded point;
the normal deviation value of the loaded point comprises a rotation angle around an X axis on the servo loading end effector and a rotation angle around a Y axis on the servo loading end effector.
Optionally, the control end is further configured to:
controlling the follow-up loading end effector to output loading force matched with a loading mode;
the loading mode is a constant loading force mode or a loading curve mode.
Optionally, the follow-up loading end effector at least comprises a mounting flange, an electric cylinder, a buffer guide mechanism and a loading end; a pulling pressure sensor is arranged in the loading end;
the mounting flange is arranged on one side of the electric cylinder; the mounting flange is used for connecting with the flange plate; the flange plate is used for connecting the follow-up loading end effector and the industrial robot system;
the loading end is connected with an output shaft of the electric cylinder through the buffer guide mechanism;
the tension pressure sensor is used for acquiring a loading load of the loading end acting on the loaded point;
the control end is used for controlling the electric cylinder to work according to the obtained loading load so that the loading end outputs loading force matched with a loading mode.
Optionally, the slave loading end effector is connected to the loaded workpiece by an articulation.
Optionally, the method further comprises:
the ball hinge mechanism is arranged on the loading end of the follow-up loading end effector and used for connecting the loaded workpiece and the follow-up loading end effector.
Optionally, the method further comprises:
and the movable support system is used for moving the control end, the follow-up loading end effector, the normal measurement sensor and the industrial robot system to a specified position.
A random loading method applied to a servo loading device based on an industrial robot system, wherein the servo loading device at least comprises a servo loading end effector and a normal measurement sensor, and the servo loading end effector is installed on the industrial robot system; the normal measurement sensor comprises a first set of ranging sensors and a second set of ranging sensors; the first set of ranging sensors and the second set of ranging sensors comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the connection line between the two ranging sensors in the first set of ranging sensors and the connection line between the two ranging sensors in the second set of ranging sensors are in a vertical relationship;
the random loading method comprises the following steps:
acquiring distance information between the loading end and a loaded point acquired by the normal measurement sensor; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is for adjusting a loading direction of the slave loading end effector such that the loading direction coincides with a normal to the loaded point.
Optionally, the calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point specifically includes:
calculating a rotation angle about an X-axis on the slave-loading end effector based on the first distance and the second distance; the first distance is the distance between the loading end collected by one distance sensor in the first group of distance measuring sensors and the loaded point, and the second distance is the distance between the loading end collected by the other distance sensor in the first group of distance measuring sensors and the loaded point;
calculating a rotation angle around a Y axis on the servo loading end effector based on the third distance and the fourth distance; the third distance is the distance between the loading end collected by one distance sensor in the second group of distance measuring sensors and the loaded point, and the fourth distance is the distance between the loading end collected by the other distance sensor in the second group of distance measuring sensors and the loaded point;
the normal deviation value of the loaded point comprises a rotation angle around an X axis on the servo loading end effector and a rotation angle around a Y axis on the servo loading end effector.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a follow-up loading device and method based on an industrial robot system; according to the invention, the loading direction of the follow-up loading end effector is adjusted through the information acquired by the plurality of ranging sensors, so that the loading direction can be adjusted and changed along with the deformation of the loaded workpiece, namely the wing, and the loading direction is always kept perpendicular to the chord plane of the wing, and the problems that the loaded point is not perpendicular to the chord plane of the wing, the loading direction is changed, the deformation is larger, and the angle deviation of the load is larger due to large deformation are solved. In addition, the invention fully utilizes the flexible and convenient characteristics of the industrial robot system, adjusts the loading direction of the servo loading end effector in real time, and realizes the servo loading of the airfoil under the condition of large deformation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a servo loading device based on an industrial robot system;
FIG. 2 is an overall flow chart of a servo loading method based on an industrial robot system of the present invention;
FIG. 3 is a schematic view of the structure of a servo-loaded end effector of the present invention;
FIG. 4 is a schematic view of the mounting location of the normal measurement sensor of the present invention;
FIG. 5 is a schematic illustration of the normal measurement sensor measurement principle of the servo-loaded end effector of the present invention;
fig. 6 is a flow chart of a follow-up loading method based on an industrial robot system.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to increase the load application accuracy of the wing under the condition of large deformation, the invention provides a follow-up loading device and method based on an industrial robot system, which fully utilize the flexible and convenient characteristics of the industrial robot system, adjust the loading direction of the loading device in real time, ensure the load application accuracy and realize the follow-up loading of the wing surface under the condition of large deformation.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The invention provides a follow-up loading device and method based on an industrial robot system, wherein a follow-up loading end effector is arranged on a robot body through a flange plate and is connected with a loaded workpiece (refer to wings and other types) through hinging, a ranging sensor (namely a laser ranging sensor) arranged on the follow-up loading end effector measures at the moment, a normal deviation value of a loaded point is calculated, and then the normal deviation value is fed back to the industrial robot system, the industrial robot system adjusts the loading direction of the follow-up loading end effector according to the normal deviation value of the loaded point, and meanwhile the follow-up loading end effector provides loading load along the normal loading, so that the follow-up loading based on the industrial robot system is realized.
Example 1
Referring to fig. 1, the industrial robot system-based servo loading device provided in this embodiment includes at least a control end 4, a servo loading end effector 3, and a normal measurement sensor.
The servo-loaded end effector 3 is mounted on an industrial robot system.
The normal measurement sensor comprises a first group of ranging sensors and a second group of ranging sensors; the first set of ranging sensors and the second set of ranging sensors each include two ranging sensors symmetrically distributed on the loading end of the follow-up loading end effector 3, and the connection between the two ranging sensors in the first set of ranging sensors and the connection between the two ranging sensors in the second set of ranging sensors are in a vertical relationship.
The normal measurement sensor is used for acquiring distance information between the loading end and the loaded point; the loaded point is any point in the loading area; the loading region is a region in the workpiece 6 to be loaded.
The control terminal 4 is used for:
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to perform a first operation based on the normal deviation value of the loaded point; the first operation is for adjusting a loading direction of the slave loading end effector such that the loading direction coincides with a normal to the loaded point.
As a preferred embodiment, the industrial robot system provided in this embodiment includes at least a robot body 1 and a robot control cabinet 2.
The robot control cabinet 2 is used for controlling the movement of the robot body 1.
The follow-up loading end effector 3 is arranged on a six-axis flange of the robot body 1 through the flange, so that synchronous movement of the follow-up loading end effector 3 and the robot body 1 is realized.
The control end 4 is used for sending the normal deviation value of the loaded point to the robot control cabinet.
The robot control cabinet 2 is used for adjusting the movement direction of the robot body based on the normal deviation value of the loaded point, and further adjusting the loading direction of the follow-up loading end effector so that the loading direction coincides with the normal direction of the loaded point.
As a preferred embodiment, the control terminal 4 is also configured to: controlling the follow-up loading end effector to output loading force matched with a loading mode; the loading mode is a constant loading force mode or a loading curve mode.
Further, referring to fig. 3 and 4, the follower loading end effector 3 includes at least a mounting flange 7, an electric cylinder 8, a buffer guide 10, and a loading end; a tension and pressure sensor 9 is arranged in the loading end.
The mounting flange 7 is arranged on one side of the electric cylinder 8; the mounting flange 7 is used for connecting with a flange plate; the flange is used to connect the slave loading end effector 3 to the industrial robot system.
The loading end is connected with the output shaft of the electric cylinder 8 through a buffer guide mechanism 10.
The normal distance measuring sensor 11 is arranged on the side of the loading end.
The pull pressure sensor 9 is used to acquire the loading load applied by the loading end at the loaded point.
The control end 4 is used for controlling the electric cylinder to work according to the obtained loading load so that the loading end outputs loading force matched with the loading mode.
When the electric cylinder 8 is started, the pressurizing action is completed, the tension pressure sensor 9 measures the loading load acted on the loaded point by the loading end in real time, the loading load is fed back to the control end 4, and then the control end 4 controls the electric cylinder 8 to work so as to keep the corresponding loading load.
Still further, the slave loading end effector 3 is connected to the loaded workpiece 6 by an articulation.
Specifically, the loading device according to the present embodiment further includes a ball hinge mechanism 12, which is mounted on the loading end of the slave loading end effector 3, and is used for connecting the loaded workpiece and the slave loading end effector.
The spherical hinge mechanism 12 realizes the connection between the loaded workpiece 6 and the follow-up loading end effector 3, and the spherical hinge mechanism 12 can flexibly rotate to compensate the angle deviation between the loaded workpiece 6 and the loading end, so that the loading end of the follow-up loading end effector 3 is always attached to the surface of the loaded workpiece 6.
Because the placement position and the loaded area of the loaded workpiece 6 are different, in order to increase the application range of the embodiment, a mobile support system is added.
As a preferred embodiment, the servo loading device according to this embodiment further includes: the support system 5 is moved.
And the movable support system 5 is used for moving the control end, the follow-up loading end effector, the normal measuring sensor and the industrial robot system to a specified position. The designated location is the location of the loaded workpiece.
The presence or absence of the mobile support system 5 is not directly related to the implementation of the present embodiment, only as an operation of the industrial robot system based follow-up loading device. The mobile support system 5 may also be a rail or be implemented by moving the loaded workpiece based on the fact that the slave loading device of the industrial robot system is fixed to the ground.
The control end 4 is responsible for coordinating the coordination control of the industrial robot system, the normal measurement sensor 11, the electric cylinder 8 and the like, so that the follow-up loading based on the industrial robot system is realized.
Referring to fig. 5, the normal ranging sensor 11 is composed of two pairs of laser ranging sensors 13, each pair of laser ranging sensors 13 includes two laser ranging sensors symmetrically distributed on the loading end of the slave loading end effector 3, and the connection line between the two laser ranging sensors in the first pair of laser ranging sensors is in a perpendicular relationship with the connection line between the two laser ranging sensors in the second pair of laser ranging sensors.
Principle of loading direction adjustment of a servo-loaded end effector:
the distance between the end effector and the loaded workpiece is measured by means of 2 pairs (4) of laser ranging sensors symmetrically distributed on the end effector, wherein the central connecting line of one pair of laser ranging sensors is marked as an X-axis direction, and the central connecting line of the other pair of laser ranging sensors is marked as a Y-axis direction.
Taking a pair of laser ranging sensors as an example, the distance acquired by the two laser ranging sensors is L 1 、L 2 If the installation distance of the two laser ranging sensors is W, the rotation angle of the end effector to be loaded in a follow-up manner around the X axis is α, and the calculation formula is α= (L) 1 -L 2 )/W。
Similarly, the rotation angle on the slave-loading end effector about the Y-axis is calculated.
That is, in the aspect of calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point, the control end 4 is further configured to:
calculating a rotation angle about an X-axis on the slave-loading end effector based on the first distance and the second distance; the first distance is the distance between the loading end collected by one distance sensor in the first group of distance measuring sensors and the loaded point, and the second distance is the distance between the loading end collected by the other distance sensor in the first group of distance measuring sensors and the loaded point.
Calculating a rotation angle around a Y axis on the servo loading end effector based on the third distance and the fourth distance; the third distance is the distance between the loading end collected by one distance sensor in the second group of distance measuring sensors and the loaded point, and the fourth distance is the distance between the loading end collected by the other distance sensor in the second group of distance measuring sensors and the loaded point.
The normal deviation value of the loaded point comprises a rotation angle around an X axis on the servo loading end effector and a rotation angle around a Y axis on the servo loading end effector.
And transmitting the calculated two rotation angles to an industrial robot system, and adjusting the normal direction of the follow-up loading end effector by the industrial robot system according to the normal direction deviation value.
Example two
According to the follow-up loading method based on the industrial robot system, the normal deviation value of the loaded point is calculated through data measured by the normal measuring sensor 11 and is transmitted to the robot control cabinet 2 through the control end 4, the robot control cabinet 2 controls the robot body 1 and the follow-up loading end effector 3 to adjust the gesture according to the normal deviation value, meanwhile, the electric cylinder 8 on the follow-up loading end effector 3 adjusts the loading force output by the electric cylinder 8 according to the force measured by the pulling pressure sensor 9 in real time, and the loading force is kept constant.
Referring to fig. 2, the follow-up loading method specifically includes the following steps:
step 1: the movable supporting system drives the robot body, the robot control cabinet, the control end and the like to be conveyed to a station of a workpiece to be loaded. The mobile support system may be moved to a station where the workpiece is to be loaded, either automatically or manually.
Step 2: the industrial robot system moves to a loaded point of a workpiece to be loaded, and the workpiece to be loaded is connected with the follow-up loading end effector through the ball hinge mechanism.
Step 3: the normal measuring sensor measures the distance between the loading point area of the workpiece to be loaded and the follow-up loading end effector in real time, and calculates the normal deviation value of the loaded point based on the distance.
Step 4: and the industrial robot system adjusts the gesture according to the normal deviation value of the loaded point, so that the normal coincidence of the follow-up loading direction and the loaded point is ensured.
Step 5: the electric cylinder of the follow-up loading end effector is started to load, the follow-up loading end effector can load according to constant loading force or loading curve, and the electric cylinder adjusts the loading force output by the electric cylinder according to the force measured by the tension pressure sensor in real time, so that the loading force is matched with the curve or the loading force is constant. Meanwhile, the normal measurement sensor measures the distance between the follow-up loading end effector and the loaded point in real time, calculates the normal deviation value of the loaded point based on the distance, and feeds back the normal deviation value to the industrial robot system, and the industrial robot system adjusts the pose according to the normal deviation value of the loaded point to ensure that the follow-up loading direction coincides with the normal direction of the loaded point, so that the loading direction can be always vertical to the loaded workpiece.
Step 6: after loading is completed, the follow-up loading end effector is unloaded, the follow-up loading end effector is separated from the loaded workpiece, and the industrial robot system moves to a safe point.
Principle of loading direction adjustment of a servo-loaded end effector:
the distance between the follow-up loading end effector and the loaded workpiece is measured respectively through 2 pairs (4) of laser ranging sensors symmetrically distributed on the follow-up loading end effector, distance information is transmitted to a control end, the control end calculates a normal deviation value, then data is transmitted to an industrial robot system, and the industrial robot system adjusts the loading direction of the follow-up loading end effector according to the normal deviation value, so that the loading direction is vertical. Meanwhile, in order to ensure the normal measurement installation accuracy, the installation seats of the sensors are milled by adopting aluminum alloy materials and are subjected to effective treatment, so that the overall strength is ensured.
Example III
The embodiment provides a random loading method applied to a follow-up loading device based on an industrial robot system, wherein the follow-up loading device at least comprises a follow-up loading end effector and a normal measurement sensor, and the follow-up loading end effector is arranged on the industrial robot system; the normal measurement sensor comprises a first set of ranging sensors and a second set of ranging sensors; the first set of ranging sensors and the second set of ranging sensors comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the connection line between the two ranging sensors in the first set of ranging sensors and the connection line between the two ranging sensors in the second set of ranging sensors are in a vertical relationship;
as shown in fig. 6, the random loading method includes:
step 100: distance information between the loading end and the loaded point acquired by the normal measuring sensor is taken; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
step 200: calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
step 300: controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is for adjusting a loading direction of the slave loading end effector such that the loading direction coincides with a normal to the loaded point.
The step 200 specifically includes:
calculating a rotation angle about an X-axis on the slave-loading end effector based on the first distance and the second distance; the first distance is the distance between the loading end collected by one distance sensor in the first group of distance measuring sensors and the loaded point, and the second distance is the distance between the loading end collected by the other distance sensor in the first group of distance measuring sensors and the loaded point.
Calculating a rotation angle around a Y axis on the servo loading end effector based on the third distance and the fourth distance; the third distance is the distance between the loading end collected by one distance sensor in the second group of distance measuring sensors and the loaded point, and the fourth distance is the distance between the loading end collected by the other distance sensor in the second group of distance measuring sensors and the loaded point.
The normal deviation value of the loaded point comprises a rotation angle around an X axis on the servo loading end effector and a rotation angle around a Y axis on the servo loading end effector.
According to the follow-up loading method based on the industrial robot system, the follow-up loading end effector is installed on the robot body through the flange plate and is connected with a workpiece to be loaded (refer to wings and other types) through hinging, at the moment, a distance measuring sensor installed on the follow-up loading end effector measures the distance between a loading end and the workpiece to be loaded, a normal deviation value of a loaded point is calculated based on the distance information, the normal deviation value is fed back to the industrial robot system, the industrial robot system adjusts the loading direction of the follow-up loading end effector according to the normal deviation value of the loaded point, and meanwhile the follow-up loading end effector provides loading loads along normal loading, so that follow-up loading based on the industrial robot system is achieved. The method ensures that the loading direction can be adjusted and changed along with the deformation of the wing, and always keeps the loading direction perpendicular to the chord plane of the wing, thereby solving the problems that the loading point is not perpendicular to the chord plane of the wing caused by large deformation, the loading direction is changed, the larger the deformation is, and the larger the angle deviation of the load is.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (8)

1. The follow-up loading device based on the industrial robot system is characterized by at least comprising a control end, a follow-up loading end effector and a normal measurement sensor;
the servo loading end effector is installed on the industrial robot system;
the normal measurement sensor comprises a first set of ranging sensors and a second set of ranging sensors; the first set of ranging sensors and the second set of ranging sensors comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the connection line between the two ranging sensors in the first set of ranging sensors and the connection line between the two ranging sensors in the second set of ranging sensors are in a vertical relationship;
the normal measurement sensor is used for acquiring distance information between the loading end and a loaded point; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
the control end is used for:
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is used for adjusting the loading direction of the follow-up loading end effector so that the loading direction coincides with the normal direction of the loaded point;
in the aspect of calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point, the control end is further configured to:
calculating a rotation angle about an X-axis on the slave-loading end effector based on the first distance and the second distance; the first distance is the distance between the loading end collected by one distance sensor in the first group of distance measuring sensors and the loaded point, and the second distance is the distance between the loading end collected by the other distance sensor in the first group of distance measuring sensors and the loaded point;
calculating a rotation angle around a Y axis on the servo loading end effector based on the third distance and the fourth distance; the third distance is the distance between the loading end collected by one distance sensor in the second group of distance measuring sensors and the loaded point, and the fourth distance is the distance between the loading end collected by the other distance sensor in the second group of distance measuring sensors and the loaded point;
the normal deviation value of the loaded point comprises a rotation angle around an X axis on the servo loading end effector and a rotation angle around a Y axis on the servo loading end effector.
2. The industrial robot system-based servo loading device of claim 1, wherein the industrial robot system comprises at least a robot body and a robot control cabinet for controlling the movement of the robot body;
the follow-up loading end effector is arranged on the robot body through a flange plate;
the control end is used for sending the normal deviation value of the loaded point to the robot control cabinet;
the robot control cabinet is used for adjusting the movement direction of the robot body based on the normal deviation value of the loaded point, and further adjusting the loading direction of the follow-up loading end effector so that the loading direction coincides with the normal direction of the loaded point.
3. The industrial robot system-based servo loading device of claim 1, wherein the control end is further configured to:
controlling the follow-up loading end effector to output loading force matched with a loading mode;
the loading mode is a constant loading force mode or a loading curve mode.
4. The industrial robot system-based servo loading device of claim 1, wherein the servo loading end effector comprises at least a mounting flange, an electric cylinder, a buffer guide mechanism, and a loading end; a pulling pressure sensor is arranged in the loading end;
the mounting flange is arranged on one side of the electric cylinder; the mounting flange is used for connecting with the flange plate; the flange plate is used for connecting the follow-up loading end effector and the industrial robot system;
the loading end is connected with an output shaft of the electric cylinder through the buffer guide mechanism;
the tension pressure sensor is used for acquiring a loading load of the loading end acting on the loaded point;
the control end is used for controlling the electric cylinder to work according to the obtained loading load so that the loading end outputs loading force matched with a loading mode.
5. The industrial robot-based slave loading device of claim 1, wherein the slave loading end effector is connected to the loaded workpiece by an articulation.
6. The industrial robot-based servo loading device of claim 1, further comprising:
the ball hinge mechanism is arranged on the loading end of the follow-up loading end effector and used for connecting the loaded workpiece and the follow-up loading end effector.
7. The industrial robot-based servo loading device of claim 1, further comprising:
and the movable support system is used for moving the control end, the follow-up loading end effector, the normal measurement sensor and the industrial robot system to a specified position.
8. The random loading method applied to the follow-up loading device based on the industrial robot system is characterized in that the follow-up loading device at least comprises a follow-up loading end effector and a normal measurement sensor, and the follow-up loading end effector is installed on the industrial robot system; the normal measurement sensor comprises a first set of ranging sensors and a second set of ranging sensors; the first set of ranging sensors and the second set of ranging sensors comprise two ranging sensors which are symmetrically distributed on the loading end of the follow-up loading end effector, and the connection line between the two ranging sensors in the first set of ranging sensors and the connection line between the two ranging sensors in the second set of ranging sensors are in a vertical relationship;
the random loading method comprises the following steps:
acquiring distance information between the loading end and a loaded point acquired by the normal measurement sensor; the loaded point is any point in the loading area; the loading area is an area in the loaded workpiece;
calculating a normal deviation value of the loaded point based on the distance information between the loading end and the loaded point;
controlling the industrial robot system to execute a first operation based on the normal deviation value of the loaded point; the first operation is used for adjusting the loading direction of the follow-up loading end effector so that the loading direction coincides with the normal direction of the loaded point;
the calculating the normal deviation value of the loaded point based on the distance information between the loading end and the loaded point specifically includes:
calculating a rotation angle about an X-axis on the slave-loading end effector based on the first distance and the second distance; the first distance is the distance between the loading end collected by one distance sensor in the first group of distance measuring sensors and the loaded point, and the second distance is the distance between the loading end collected by the other distance sensor in the first group of distance measuring sensors and the loaded point;
calculating a rotation angle around a Y axis on the servo loading end effector based on the third distance and the fourth distance; the third distance is the distance between the loading end collected by one distance sensor in the second group of distance measuring sensors and the loaded point, and the fourth distance is the distance between the loading end collected by the other distance sensor in the second group of distance measuring sensors and the loaded point;
the normal deviation value of the loaded point comprises a rotation angle around an X axis on the servo loading end effector and a rotation angle around a Y axis on the servo loading end effector.
CN202111624010.9A 2021-12-28 2021-12-28 Follow-up loading device and method based on industrial robot system Active CN114486517B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111624010.9A CN114486517B (en) 2021-12-28 2021-12-28 Follow-up loading device and method based on industrial robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111624010.9A CN114486517B (en) 2021-12-28 2021-12-28 Follow-up loading device and method based on industrial robot system

Publications (2)

Publication Number Publication Date
CN114486517A CN114486517A (en) 2022-05-13
CN114486517B true CN114486517B (en) 2023-06-30

Family

ID=81495234

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111624010.9A Active CN114486517B (en) 2021-12-28 2021-12-28 Follow-up loading device and method based on industrial robot system

Country Status (1)

Country Link
CN (1) CN114486517B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115014746A (en) * 2022-07-08 2022-09-06 大连理工大学 Wing follow-up deformation loading device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202083541U (en) * 2011-01-05 2011-12-21 哈尔滨飞机工业集团有限责任公司 Follow-up loading structure for airplane flap test
CN104697761A (en) * 2013-12-06 2015-06-10 中国飞机强度研究所 Follow-up loading method of movable airfoil

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103018028B (en) * 2012-12-10 2015-07-01 沈阳中之杰流体控制系统有限公司 Follow-up loading system
CN104048874B (en) * 2014-06-24 2016-06-01 西北工业大学 A kind of load following loading system for aircraft flap reliability test
CN106596029A (en) * 2016-11-30 2017-04-26 中国航空工业集团公司沈阳飞机设计研究所 Wing pneumatic load follow-up loading device
CN107662713B (en) * 2017-09-01 2021-04-20 西北工业大学 Follow-up loading device for large-deformation wing static test
US20210283780A1 (en) * 2020-03-12 2021-09-16 Leidos Security & Automation Limited Baggage and parcel loading end effectors, system, and methods of use
KR102235042B1 (en) * 2020-06-16 2021-03-31 에스케이씨솔믹스 주식회사 Method and apparatus for measuring displacement of end effector

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202083541U (en) * 2011-01-05 2011-12-21 哈尔滨飞机工业集团有限责任公司 Follow-up loading structure for airplane flap test
CN104697761A (en) * 2013-12-06 2015-06-10 中国飞机强度研究所 Follow-up loading method of movable airfoil

Also Published As

Publication number Publication date
CN114486517A (en) 2022-05-13

Similar Documents

Publication Publication Date Title
JP5535370B2 (en) Factory flight
CN114486517B (en) Follow-up loading device and method based on industrial robot system
CN214558930U (en) Posture adjusting equipment for butt joint of cylinders based on high-precision measurement technology
CN111017256B (en) Pneumatic lift resistance test device with controllable and adjustable aircraft model pitch angle
US8688408B2 (en) Flight in factory
CN103979106A (en) Rotor-type unmanned aerial vehicle automatically adjusting gravity center and adjustment method
JP6207003B2 (en) Aircraft system and aircraft control method
CN109264024A (en) Aircraft steering engine dynamic performance integrated test platform
CN102514724A (en) Method for adjusting poses of airplane components based on 3-2-1 following locator
CN107450579A (en) A kind of quadrotor balanced operation control method for carrying mechanical arm
US10323999B2 (en) Variable load and load vector application system
EP3851385A1 (en) Method and system for testing performance of flight control surface systems
US7287628B2 (en) High performance device for balancing a force
CN112407345A (en) Space manipulator suspends microgravity analogue means in midair
CN105923168A (en) Rotorcraft flight simulating platform applied to airborne cradle head testing
CN114509251B (en) Follow-up loading device for movable airfoil surface of aircraft
CN110667886B (en) Control system for measuring control surface of fixed wing unmanned aerial vehicle
CN114878197A (en) Ground test method for verifying space low-impact emission and reliable adhesion
CN109131932B (en) Airplane attitude adjusting device and drop test system
CN116424861A (en) Conveying clamp, system and workpiece conveying method
WO2021258310A1 (en) Test device, test method and flight test system
CN106802226B (en) position error compensation method caused by length change of tail strut of decoupling six-degree-of-freedom mechanism
CN110823431B (en) Hinge moment measuring method of movable control surface driven by return connecting rod
CN112362231B (en) In-situ loading calibration system and method for three-component force measuring device
CN111843419B (en) Microgravity assembly system and method based on cooperative robot and wearable equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant