CN206113861U - Device for measuring normal vector of arbitrary point of free -form surface - Google Patents
Device for measuring normal vector of arbitrary point of free -form surface Download PDFInfo
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- CN206113861U CN206113861U CN201621128012.3U CN201621128012U CN206113861U CN 206113861 U CN206113861 U CN 206113861U CN 201621128012 U CN201621128012 U CN 201621128012U CN 206113861 U CN206113861 U CN 206113861U
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Abstract
The utility model discloses a device for measuring normal vector of arbitrary point of free -form surface, including vertical drive device, longitudinal rail, fixed frame, system hole device, vertical slip table, horizontal drive device, revolving cylinder, line laser sensor, horizontal slip table and transverse guide, the top fixedly connected with vertical drive device of fixed frame, fixedly connected with longitudinal rail in the fixed frame, sliding connection has the vertical slip table of assorted on the longitudinal rail, system hole device is installed to the bottom of vertical slip table, the output of vertical drive device and the top fixed connection of vertical slip table, the bottom fixedly connected with transverse guide of fixed frame, the bottom right side fixedly connected with horizontal drive device of fixed frame. The utility model discloses saved the complex process of surface fitting, measurement accuracy's the problem that influences is vowed to the rectangle dough sheet method that can solve present mainstream to the method when having interference factor such as crossbeam or step near awaiting measuring a little.
Description
Technical field
The utility model is related to normal direction arrow at field of optical measuring technologies, more particularly to a kind of measurement free form surface arbitrfary point
The device of amount.
Background technology
Robot automatic Drilling/Riveting Technology relies on the highly flexible of robot to become grinding for Large Aircraft Components automatic Drilling/Riveting Technology
Study carefully focus.In robot automatic Drilling/Riveting system, flexible drilling is the important step to thin-wall construction flexible drilling riveting, rivets spot hole
The perpendicularity of position directly influences wallboard riveting quality, in the coverings such as aircraft, bullet train, the application of wallboard curvature high complexity
Field, to the normal direction centering of flexible drilling very high requirement is proposed.Due to adopting riveted structure covering, drill normal direction precision more
Hole mass defect directly affects the security performance of the aerodynamic configuration and modular construction of covering caused by overproof.Aircraft skin is general very
It is thin, and with complicated curvature, the normal direction in hole changes with curved profile and changes, during drilling, the matter of Normal Error device to hole
Amount has significantly impact, and Normal Error requires to be less than 0.5, if rivet centerline hole is excessive with Skinning Surfaces normal angle, will
Rivet can be caused vertically to squeeze into covering, destroy skin-surface smoothness, and make connector in junction discontinuity.
It is conventional both at home and abroad at present to determine that arbitrarily one point method has following several to the method for vector on free form surface：
1st, manual leveling method
During hand drill, operating personnel adopt a kind of specific device（Such as revolving cup, drill bushing）It is corrected.During drilling, 3
Pin withstands on surface of the work, makes cupping apparatus perpendicular to surface of the work.Cupping apparatus are enclosed within drill bit, by spring preload power
Cupping apparatus are made to be close to surface of the work, drill bit can be extended and retracted along gathering sill, it is ensured that drilling tool is substantially vertical during drilling
In surface of the work.The deficiency of the method is the experience that leveling time length and vertical precision rely primarily on operating personnel, and efficiency is low, essence
Degree is poor.
2nd, Surface Fitting
Surface fitting is carried out by gathering the data point on curved surface to be measured, a curved surface approximate with curved surface to be measured is obtained
Piece, further according to the patch normal vector of tested point is obtained.The method calculates complicated, and workload is larger, generally requires to obtain
The coordinate of tens data points on curved surface can just obtain higher computational accuracy, due to e measurement technology, operating efficiency and
The restriction of automatic Drilling/Riveting plant machinery structure, in actual automatic Drilling/Riveting process, it is impossible to realize that skinpiston surface is a large amount of
The measurement of data point coordinates, makes the method lose the value of practical application.
3rd, rectangle dough sheet method
Curved surface is simulated using micro rectangle plane approximation, normal is determined that this is current master by 4 points of rectangle planes for constituting
The normal vector detection method of stream.The deficiency of the method is to simulate curved surface using micro rectangle plane approximation, when curved surface to be measured is
When there are the disturbing factors such as crossbeam or step during variable curvature free form surface or near tested point, measure error is necessarily had.
4th, two-dimensional curve mensuration
CN102248450B discloses " for larger radius of curvature curved surface normal vector method for quick ", in the patent text
The method of the measurement normal vector described in book is to be mutually perpendicular to plane using two to intersect with curve surface of workpiece, obtains surface points
Two coordinate curves, slight arc tangent vector centered on surface points on two coordinate curves is then detected respectively, from
And obtain the normal vector of curved surface data point.The deficiency of the method is determined using two feedback data of two laser sensors
Straight line approximate simulation curve tangent vector, then be converted into normal vector, be another kind of variation of rectangle dough sheet method, when treating
When surveying when curved surface is variable curvature free form surface or there are the disturbing factors such as crossbeam or step near tested point, necessarily have measurement and miss
Difference.
The content of the invention
The purpose of this utility model is that, in order to solve shortcoming present in prior art, and a kind of measurement for proposing is freely bent
The device of normal vector at the arbitrfary point of face.
To achieve these goals, the utility model employs following technical scheme：
A kind of device of measurement normal vector of arbitrary point of free-form surface, including longitudinal driving device, longitudinal rail, fixation
Frame, punching device, longitudinal slide unit, lateral driver device, rotary cylinder, line laser sensor, horizontal slide unit and cross slide way,
The top of the fixed frame is fixedly connected with longitudinal driving device, and longitudinal rail, institute are fixedly connected with the fixed frame
State and the longitudinal slide unit for matching is slidably connected on longitudinal rail, the bottom of the longitudinal slide unit is provided with punching device, described
The output end of longitudinal driving device is fixedly connected with the top of longitudinal slide unit, and the bottom of the fixed frame is fixedly connected with laterally
Guide rail, the bottom right side of the fixed frame is fixedly connected with lateral driver device, and on the cross slide way phase is slidably connected
The horizontal slide unit of matching, the output end of the lateral driver device is fixedly connected with the right side of horizontal slide unit, the horizontal slide unit
The rotary cylinder that is fixedly connected with of bottom, line laser sensor, the line laser are installed on the flange of the rotary cylinder
Sensor, longitudinal driving device, lateral driver device and punching device respectively with computer be electrically connected with, the fixed frame and
External robots end flange is fixedly connected.
Preferably, the fixed frame includes underframe and the hollow cuboid frame being arranged on the left of underframe upper end, institute
The bottom for stating cuboid frame is provided with the through hole passed for punching device.
Preferably, the longitudinal driving device and lateral driver device can be motor or cylinder.
Preferably, the cross section of the horizontal slide unit is similar to L-type.
The utility model has the advantages that simple structure, flexible operation, reliability height, cost performance are high.
Description of the drawings
Fig. 1 be the utility model proposes a kind of measurement normal vector of arbitrary point of free-form surface device measuring state
Structural representation.
Fig. 2 be the utility model proposes a kind of measurement normal vector of arbitrary point of free-form surface device drilling state
Structural representation.
In figure：1 longitudinal driving device, 2 longitudinal rails, 3 fixed frames, 3-1 cuboid frames, 3-2 underframe, 4 longitudinal directions are sliding
Platform, 5 lateral driver devices, 6 rotary cylinders, 7 line laser sensors, 8 measured curved surfaces, 9 laser light curtains, 10 horizontal slide units, 11
Cross slide way, 12 punching devices.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.
With reference to Fig. 1-2, a kind of device of measurement normal vector of arbitrary point of free-form surface, including it is longitudinal driving device 1, vertical
Direction guiding rail 2, fixed frame 3, punching device 12, longitudinal slide unit 4, lateral driver device 5, rotary cylinder 6, line laser sensor 7,
Horizontal slide unit 10 and cross slide way 11, the top of fixed frame 3 is fixedly connected with longitudinal driving device 1, fixed in fixed frame 3
Longitudinal rail 2 is connected with, the longitudinal slide unit 4 for matching is slidably connected on longitudinal rail 2, the bottom of longitudinal slide unit 4 is provided with
Punching device 12, the output end of longitudinal driving device 1 is fixedly connected with the top of longitudinal slide unit 4, and the bottom of fixed frame 3 is fixed
Cross slide way 11 is connected with, the bottom right side of fixed frame 3 is fixedly connected with lateral driver device 5, slides on cross slide way 11
The horizontal slide unit 10 for matching is connected with, the output end of lateral driver device 5 is fixedly connected with the right side of horizontal slide unit 10, laterally
The rotary cylinder 6 that the bottom of slide unit 10 is fixedly connected with, is provided with line laser sensor 7, line laser on the flange of rotary cylinder 6
Sensor 7, longitudinal driving device 1, lateral driver device 5 and punching device 12 are electrically connected with respectively with computer, fixed frame 3
It is fixedly connected with external robots end flange.
Fixed frame 3 includes underframe 3-2 and hollow cuboid frame 3-1 being arranged on the left of underframe upper end, cuboid
The bottom of frame 3-1 is provided with the through hole passed for punching device 12, and longitudinal driving device 1 and lateral driver device 5 can be electricity
Machine（Motor model SGM7J-01A, producer is day intrinsic safety river）Or cylinder（Cylinder model MDB1B3-2-200, producer is day
This SMC）, the cross section of horizontal slide unit 10 is similar to L-type.
Punching device model：HF100-10A-38-CKPV, producer be Switzerland IBA, rotary cylinder model：MSQA50, producer
For Japanese SMC, line laser sensor model number：LS-100CN, producer is Japan OPTEX.
During measurement, the output end elongation of lateral driver device 5 promotes horizontal slide unit 10 to stretch out, and in horizontal slide unit 10 one is installed
Individual rotary cylinder 6, rotary cylinder 6 can install a line laser by being rotated by 90 ° clockwise or counterclockwise on rotary cylinder 6
Sensor 7, the transmitting laser light curtain 9 of line laser sensor 7 is radiated on measured curved surface 8, and two are obtained on measured curved surface 8
Orthogonal curve, after systematic survey method swears that finishing and control robot completes normal direction centering, prepares drilling, lower, transverse slide unit
10 return, and longitudinal slide unit 4 is moved down, and punching device 12 reaches the point to be processed up on measured curved surface 8 and carries out drilling.
The above, only the utility model preferably specific embodiment, but protection domain of the present utility model is not
Be confined to this, any those familiar with the art in the technical scope that the utility model is disclosed, according to this practicality
New technical scheme and its utility model design in addition equivalent or change, all should cover in protection model of the present utility model
Within enclosing.
Claims (4)
1. it is a kind of measurement normal vector of arbitrary point of free-form surface device, it is characterised in that：Including longitudinal driving device, longitudinal direction
Guide rail, fixed frame, punching device, longitudinal slide unit, lateral driver device, rotary cylinder, line laser sensor, horizontal slide unit and
Cross slide way, the top of the fixed frame is fixedly connected with longitudinal driving device, is fixedly connected with the fixed frame vertical
Direction guiding rail, slidably connects the longitudinal slide unit for matching on the longitudinal rail, the bottom of the longitudinal slide unit is provided with drilling
Device, the output end of the longitudinal driving device is fixedly connected with the top of longitudinal slide unit, and the bottom of the fixed frame is fixed
Cross slide way is connected with, the bottom right side of the fixed frame is fixedly connected with lateral driver device, sliding on the cross slide way
Dynamic to be connected with the horizontal slide unit for matching, the output end of the lateral driver device is fixedly connected with the right side of horizontal slide unit, institute
The rotary cylinder that the bottom of horizontal slide unit is fixedly connected with is stated, line laser sensor is installed on the flange of the rotary cylinder,
The line laser sensor, longitudinal driving device, lateral driver device and punching device are electrically connected with respectively with computer, described
Fixed frame is fixedly connected with external robots end flange.
2. it is according to claim 1 measurement normal vector of arbitrary point of free-form surface device, it is characterised in that：It is described solid
Frame is determined including underframe and the hollow cuboid frame being arranged on the left of underframe upper end, the bottom of the cuboid frame is provided with
For the through hole that punching device is passed.
3. it is according to claim 1 measurement normal vector of arbitrary point of free-form surface device, it is characterised in that：It is described vertical
Can be motor or cylinder to driving means and lateral driver device.
4. it is according to claim 1 measurement normal vector of arbitrary point of free-form surface device, it is characterised in that：The horizontal stroke
Cross section to slide unit is similar to L-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621128012.3U CN206113861U (en) | 2016-10-17 | 2016-10-17 | Device for measuring normal vector of arbitrary point of free -form surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621128012.3U CN206113861U (en) | 2016-10-17 | 2016-10-17 | Device for measuring normal vector of arbitrary point of free -form surface |
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| CN206113861U true CN206113861U (en) | 2017-04-19 |
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| CN201621128012.3U Active CN206113861U (en) | 2016-10-17 | 2016-10-17 | Device for measuring normal vector of arbitrary point of free -form surface |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932716A (en) * | 2017-11-20 | 2018-04-20 | 陈理卉 | A kind of plate class Raw material processing relay device |
| CN107957234A (en) * | 2016-10-17 | 2018-04-24 | 中国航空工业集团公司北京航空制造工程研究所 | A kind of method and device for measuring normal vector of arbitrary point of free-form surface |
| CN111496289A (en) * | 2020-04-08 | 2020-08-07 | 清华大学 | Multifunctional integrated aviation assembly hole making system and use method thereof |
-
2016
- 2016-10-17 CN CN201621128012.3U patent/CN206113861U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107957234A (en) * | 2016-10-17 | 2018-04-24 | 中国航空工业集团公司北京航空制造工程研究所 | A kind of method and device for measuring normal vector of arbitrary point of free-form surface |
| CN107957234B (en) * | 2016-10-17 | 2023-09-29 | 中国航空制造技术研究院 | Method and device for measuring normal vector at any point of free-form surface |
| CN107932716A (en) * | 2017-11-20 | 2018-04-20 | 陈理卉 | A kind of plate class Raw material processing relay device |
| CN111496289A (en) * | 2020-04-08 | 2020-08-07 | 清华大学 | Multifunctional integrated aviation assembly hole making system and use method thereof |
| CN111496289B (en) * | 2020-04-08 | 2021-08-10 | 清华大学 | Multifunctional integrated aviation assembly hole making system and use method thereof |
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