CN206883330U - A kind of base for being used to measure automatic punching robot apex point coordinate - Google Patents
A kind of base for being used to measure automatic punching robot apex point coordinate Download PDFInfo
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- CN206883330U CN206883330U CN201720452396.2U CN201720452396U CN206883330U CN 206883330 U CN206883330 U CN 206883330U CN 201720452396 U CN201720452396 U CN 201720452396U CN 206883330 U CN206883330 U CN 206883330U
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- base
- apex point
- drill bit
- gauge head
- target mirror
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Abstract
The utility model belongs to aircraft digital manufacturing field, there is provided a kind of base for being used to measure automatic punching robot apex point coordinate.The interior diameter of the switching bushing of base is identical with bit diameter, and positioned at the inside of base body, cylindrical magnet installs one end of switching bushing by housing screw；The outer of base body has a groove, places target mirror/gauge head.In use, the bit head of automatic punching robot to be moved to some position of machining area periphery, in drill bit insertion switching bushing, apex point contacts with cylindrical magnet；Target mirror/gauge head of digitized measurement equipment is bonded with groove, the sphere centre coordinate of measurement target mirror/gauge head, by base around about 120 ° of bit, rotation is twice, measurement obtains the sphere centre coordinate of target mirror/gauge head successively, and according to three sphere centre coordinate construction circles, central coordinate of circle is drill bit apex point position.The utility model is simple in construction, measurement is accurate, easy to use, disclosure satisfy that the requirement of different bit diameters, 3 points of measurement is measurable apex point position.
Description
Technical field
The invention belongs to aircraft digital manufacturing field, there is provided one kind is using digitized measurement equipment to automatic punching machine
The device that the apex point coordinate position of people's drill bit is quickly measured.
Technical background
In aircraft part numbers assembling line, especially in automatic punching robot, apex point benchmark on part is adopted
, it is necessary to measure automatic punching robot apex point coordinate during collection, typically aligned using visual method on apex point and part
Point, line, surface, measure, but this method efficiency is low, and larger error be present.
Utility model content
The problem of existing for prior art, the present invention provide a kind of for measuring automatic punching robot apex point coordinate
Base and method.
The technical scheme is that：
A kind of base for being used to measure automatic punching robot apex point coordinate, described base can be held with robot end
Drill bit on row device is engaged, including housing screw 1, cylindrical magnet 2, switching bushing 3, drill bit 4, base body 5, target mirror/survey
First 6.The interior diameter of described switching bushing 3 is identical with bit diameter, positioned at the inside of base body 5；Described cylindrical magnet 2
Diameter is more than the overall diameter of switching bushing 3, and cylindrical magnet 2 is arranged on inside base body 5 by housing screw 1, is served as a contrast with switching
The end thereof contacts of set 3；In the described insertion switching bushing 3 of drill bit 4, the apex point of drill bit 4 contacts with cylindrical magnet 2；Described base
There is a groove outside of main body 5, for placing target mirror/gauge head 6 of digitized measurement equipment；Described groove and cylindrical magnet 2
Positioned at the same side of base body 5, the target mirror or contact type measurement equipment of 0.25 inch of laser tracker can be placedDirectly
Gauge head more than footpath.
Calibration method is sat using above-mentioned base measurement automatic punching robot apex point, comprised the following steps：
The first step, product coordinate system is established by the datum mark on processed product, fixture using digitized measurement equipment.
Second step, the bit head of automatic punching robot is moved to some position of machining area periphery.
3rd step, interior diameter and the diameter identical of drill bit 4 switching bushing 3 are selected, is put into base body 5, cylinder is installed
Magnet 2 and housing screw 1.
4th step, by the inserted base main body 5 of drill bit 4, the apex point of drill bit 4 contacts with cylindrical magnet 2.
5th step, target mirror/gauge head 6 of digitized measurement equipment is placed in the groove of base body 5, is bonded with groove；
Using the sphere centre coordinate of digitized measurement equipment measurement target mirror/gauge head 6, the central point A of target mirror/gauge head measurement is obtained, by base
About 120 ° are rotated around drill bit 4, the sphere centre coordinate of measurement target mirror/gauge head 6 obtains central point B, then base is rotated about around drill bit 4
120 °, the sphere centre coordinate of measurement target mirror/gauge head 6 obtains central point C.
6th step, the central point A, central point B and central point C that measure to obtain in the 5th step are created using measuring apparatus
Circle, by three central point construction circles, the central coordinate of circle under first product coordinate system is generated, described central coordinate of circle is drill bit
4 apex point position, as shown in Figure 8.
7th step, automatic punching robot is moved to two other position by the requirement of second step, repeat the 5th step and
The content of 6th step, sequentially generate two other central coordinate of circle.Described second step and the movement of the 7th step automatic punching robot
Three positions all in the range of the surveying of digitized measurement equipment, and three positions use maximum envelope principle, i.e. three positions
Put and contain machining area to greatest extent.
8th step, by robot perform three central coordinate of circle that equipment and the 6th step, the 7th step obtain align product, from
Dynamic drilling robot coordinate system, obtains automatic punching robot apex point coordinate.
Beneficial effects of the present invention are：Cylindrical magnet of the present invention is conveniently replaced when by apex point effect of attrition precision；It is logical
Cross more resleeve and disclosure satisfy that different bit diameters；The understructure is simple, measurement is accurate, easy to use, measures at 3 points
Measure apex point position.
Brief description of the drawings
Fig. 1 is the structure sectional view of base；
Fig. 2 is base three-dimensional axonometric drawing；
Fig. 3 is the schematic diagram of drilling robot drill bit；
Fig. 4 is switching bushing axle 3-D view；
Fig. 5 is base body three-dimensional axonometric drawing；
Fig. 6 is cylindrical magnet axle 3-D view；
Fig. 7 is housing screw axle 3-D view；
Fig. 8 is the 3 points of construction center of circle (apex point position) schematic diagrames；
In figure：1 housing screw；2 cylindrical magnets；3 switching bushings；4 drill bits；5 base bodies；Target mirror/survey of 6 measuring apparatus
Head.
Embodiment
A kind of base for being used to measure automatic punching robot apex point coordinate includes housing screw 1, cylindrical magnet 2, switching
Bushing 3, drill bit 4, base body 5, target mirror/gauge head 6.The interior diameter of described switching bushing 3 is identical with bit diameter, the bottom of positioned at
The inside of seat main body 5；The described diameter of cylindrical magnet 2 is more than the overall diameter of switching bushing 3, and cylindrical magnet 2 passes through housing screw 1
Inside base body 5, the end thereof contacts with bushing 3 of transferring；In the described insertion switching bushing 3 of drill bit 4, drill bit 4 bores
Point contacts with cylindrical magnet 2；Described base outer rim processes a groove, for placing target mirror/survey of digitized measurement equipment
First 6, can place gauge head more than the target mirror or contact type measurement equipment φ 3mm diameters of 0.25 inch of laser tracker, groove with
Cylindrical magnet 2 is located at the same side of base body 5.
Calibration method is sat using above-mentioned base measurement automatic punching robot apex point, comprised the following steps：
The first step, product coordinate system is established by the datum mark on processed product, fixture using digitized measurement equipment.
Second step, the bit head of automatic punching robot is moved to some position of machining area periphery.
3rd step, interior diameter and the diameter identical of drill bit 4 switching bushing 3 are selected, is put into base body 5, cylinder is installed
Magnet 2 and housing screw 1.
4th step, by the inserted base main body 5 of drill bit 4, the apex point of drill bit 4 contacts with cylindrical magnet 2.
5th step, target mirror/gauge head 6 of digitized measurement equipment is placed in the groove of base body 5, is bonded with groove；
Using the sphere centre coordinate of digitized measurement equipment measurement target mirror/gauge head 6, the central point A of target mirror/gauge head measurement is obtained, by base
About 120 ° are rotated around drill bit 4, the sphere centre coordinate of measurement target mirror/gauge head 6 obtains central point B, then base is rotated about around drill bit 4
120 °, the sphere centre coordinate of measurement target mirror/gauge head 6 obtains central point C.
6th step, using digitized measurement equipment according to three central point construction circles are obtained in the 5th step, generate first
Central coordinate of circle under product coordinate system, described central coordinate of circle are the apex point position of drill bit 4, as shown in Figure 8.
7th step, automatic punching robot is moved to two other position successively by the requirement of second step, repeats the 5th
The content of step and the 6th step, sequentially generates two other central coordinate of circle.Described second step and the 7th step automatic punching robot
Three mobile positions are all in the range of the surveying of digitized measurement equipment, and three positions use maximum envelope principle, i.e., and three
Contain machining area to greatest extent in individual position.
8th step, by robot perform three central coordinate of circle that equipment and the 6th step, the 7th step obtain align product, from
Dynamic drilling robot coordinate system, obtains automatic punching robot apex point coordinate.
Claims (1)
1. a kind of base for being used to measure automatic punching robot apex point coordinate, it is characterised in that described base includes compressing
Screw (1), cylindrical magnet (2), switching bushing (3), drill bit (4), base body (5), target mirror/gauge head (6)；Described switching lining
It is identical with drill bit (4) diameter to cover the interior diameter of (3), positioned at the inside of base body (5)；Described cylindrical magnet (2) diameter is big
In the overall diameter of switching bushing (3), cylindrical magnet (2) is arranged on base body (5) inside by housing screw (1), with switching
The end thereof contacts of bushing (3)；In described drill bit (4) insertion switching bushing (3), drill bit (4) apex point connects with cylindrical magnet (2)
Touch；There is a groove outside of described base body (5), for placing target mirror/gauge head (6) of digitized measurement equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720452396.2U CN206883330U (en) | 2017-04-27 | 2017-04-27 | A kind of base for being used to measure automatic punching robot apex point coordinate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720452396.2U CN206883330U (en) | 2017-04-27 | 2017-04-27 | A kind of base for being used to measure automatic punching robot apex point coordinate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206883330U true CN206883330U (en) | 2018-01-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720452396.2U Active CN206883330U (en) | 2017-04-27 | 2017-04-27 | A kind of base for being used to measure automatic punching robot apex point coordinate |
Country Status (1)
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| CN (1) | CN206883330U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956167A (en) * | 2017-04-27 | 2017-07-18 | 沈阳飞机工业（集团）有限公司 | A kind of base and method for being used to measure automatic punching robot apex point coordinate |
-
2017
- 2017-04-27 CN CN201720452396.2U patent/CN206883330U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956167A (en) * | 2017-04-27 | 2017-07-18 | 沈阳飞机工业（集团）有限公司 | A kind of base and method for being used to measure automatic punching robot apex point coordinate |
| CN106956167B (en) * | 2017-04-27 | 2023-05-12 | 沈阳飞机工业（集团）有限公司 | Base and method for measuring drill point coordinates of automatic hole making robot |
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