WO2019047393A1 - 一种曲面零件自动装配的方法及系统 - Google Patents
一种曲面零件自动装配的方法及系统 Download PDFInfo
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- WO2019047393A1 WO2019047393A1 PCT/CN2017/114445 CN2017114445W WO2019047393A1 WO 2019047393 A1 WO2019047393 A1 WO 2019047393A1 CN 2017114445 W CN2017114445 W CN 2017114445W WO 2019047393 A1 WO2019047393 A1 WO 2019047393A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49764—Method of mechanical manufacture with testing or indicating
- Y10T29/49769—Using optical instrument [excludes mere human eyeballing]
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- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49764—Method of mechanical manufacture with testing or indicating
- Y10T29/49771—Quantitative measuring or gauging
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49764—Method of mechanical manufacture with testing or indicating
- Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
- Y10T29/4978—Assisting assembly or disassembly
Definitions
- the invention relates to the field of digital assembly technology, and in particular to a method and a system for automatically assembling a curved surface part.
- the end effector In the automatic assembly process of curved parts, the end effector needs to perform holes, patches and pins in the normal direction of the curved parts. Therefore, the end effector needs to adjust the end effector posture before assembling the curved parts, so that the end The normal of the actuator coincides with the normal of the assembly point of the curved part, and the accuracy of the normal alignment of the end effector with the surface of the curved part assembly has a great influence on the assembly quality of the curved part and the assembly connection life.
- most of the methods and procedures for adjusting the end effector attitude generally use four sensors to adjust the normal of the end effector. Once one of the four sensors does not read, causing the program to report an error, the end effector will not be able to continue working.
- the object of the present invention is to provide a method and system for automatically assembling curved parts, which can improve the quality of automatic assembly of curved parts.
- the present invention provides the following solutions:
- a method for automatically assembling a curved surface part comprising:
- an origin of the space coordinate system is the center point
- an XY plane of the space coordinate system is the sensor plane
- the axis is a line perpendicular to the XY plane and intersecting the first unit normal vector of the origin
- the end effector is adjusted according to the rotation angle such that the adjusted third unit normal vector of the end effector and the second unit normal vector are coincident.
- the acquiring coordinates of three measurement points of the surface of the curved surface part in the space coordinate system includes:
- the first right-angled triangle is a sensor plane formed by three vertices for three sensors; the center point is located in the oblique side of the first right-angled triangle Point, the three sensors are a first sensor, a second sensor and a third sensor;
- coordinates of the fourth sensing point according to coordinates of the first sensor, the second sensor, and the third sensor; coordinates of the fourth sensing point are The fourth sensing point is located at a right angle vertex of the second right triangle; the second right triangle has the same shape as the first right triangle and the oblique side coincides, the second right triangle and the first right triangle Combining a rectangle;
- the measurement point includes a first measurement point, a second measurement point, and a third measurement point;
- the distance from the first sensor to the first measurement point is 1 a ;
- the distance from the second sensor to the second measurement point is l b ;
- the distance from the third sensor to the third measurement point is l c ;
- the acquiring coordinates of three measurement points of the surface of the curved surface part in the space coordinate system further includes:
- the rectangle is a sensor plane formed by four of the four vertices; the four sensors are a first sensor, a second sensor, a third sensor, and a fourth a sensor; the fourth sensing point is configured to be the fourth sensor;
- the measurement point includes a first measurement point, a second measurement point, and a third measurement point;
- the distance from the first sensor to the first measurement point is 1 a ;
- the distance from the second sensor to the second measurement point is l b ;
- the distance from the third sensor to the third measurement point is l c ;
- the determining, according to the coordinates of the measurement point, a surface expression of the surface of the curved part in the space coordinate system specifically:
- the fourth measuring point is the corresponding to the fourth sensing point a measuring point on the surface of the curved part;
- the calculating, according to the first unit normal vector and the second unit normal vector, the rotation angle of the end effector specifically includes:
- ⁇ represents a first rotation angle
- ⁇ represents a second rotation angle
- the determining, by the third unit normal vector and the second unit normal vector that are parallel to each other, determining a relationship between the third unit normal vector and the second unit normal vector specifically:
- the acquiring the coordinates of the third unit normal vector includes:
- the invention also provides a system for automatic assembly of curved parts, the system comprising:
- a central point acquisition module for obtaining a center point of an end face of the end effector
- a sensor plane acquisition module configured to acquire a sensor plane of at least three sensors distributed at the end effector
- a spatial coordinate system establishing module configured to establish a spatial coordinate system according to the central point and the sensor plane; an origin of the spatial coordinate system is the central point, and an XY plane of the spatial coordinate system is the sensor plane
- the Z axis of the spatial coordinate system is a straight line perpendicular to the XY plane and intersecting the first unit normal vector of the origin;
- a measuring point acquiring module configured to acquire coordinates of three measuring points of a surface of the curved part in the space coordinate system; the measuring point is a surface of the curved part when the sensor collects information along the Z-axis direction Intersection point
- a surface expression determining module configured to determine a surface expression of the surface of the curved part in the space coordinate system according to coordinates of the measuring point;
- a second unit normal vector calculation module configured to calculate a second unit normal vector of the surface of the curved part according to the surface expression
- a rotation angle calculation module configured to calculate a rotation angle of the end effector according to the first unit normal vector and the second unit normal vector
- an adjustment module configured to adjust the end effector according to the rotation angle, so that the adjusted third unit normal vector of the end effector and the second unit normal vector are coincident.
- the measuring point acquiring module includes:
- a right angle edge acquiring unit for acquiring right angle sides L 1 , L 2 of the first right triangle;
- the first right angle triangle is a sensor plane formed by three vertices for the three sensors;
- the center point is located at the a midpoint of a hypotenuse of the triangular triangle, the three sensors being a first sensor, a second sensor, and a third sensor;
- a sensor coordinate acquiring unit that acquires coordinates of the sensor according to the space coordinate system; wherein coordinates of the first sensor are The coordinates of the second sensor are The coordinates of the third sensor are
- a fourth sensing point coordinate acquiring unit configured to acquire coordinates of the fourth sensing point according to coordinates of the first sensor, the second sensor, and the third sensor; coordinates of the fourth sensing point for The fourth sensing point is located at a right angle vertex of the second right triangle; the second right triangle has the same shape as the first right triangle and the oblique side coincides, the second right triangle and the first right triangle Combining a rectangle;
- the sensor is sent to the measuring point distance acquiring unit, and is configured to acquire a distance from the first sensor, the second sensor, and the third sensor to the measuring point, wherein the measuring point includes a first measuring point, a second measurement point and a third measurement point; a distance from the first sensor to the first measurement point is 1 a ; a distance from the second sensor to the second measurement point is 1 b ; The distance from the sensor to the third measuring point is l c ;
- a measurement point coordinate calculation unit configured to calculate coordinates of the first measurement point, the second measurement point, and the third measurement point according to the space coordinate system and the distances l a , l b , l c Wherein the coordinates of the first measurement point, the second measurement point, and the third measurement point are respectively as well as
- the surface expression determining module specifically includes:
- a fourth sensing point to a fourth measuring point distance calculating unit configured to calculate a distance l d from the fourth sensing point to the fourth measuring point according to the distances l a , l b , l c ;
- the four measurement points are measurement points on the surface of the curved part corresponding to the fourth sensing point;
- a fourth measurement point coordinate calculation unit configured to calculate coordinates of the fourth measurement point according to the space coordinate system and the distance l d ;
- a surface expression determining unit configured to determine, according to coordinates of the first measurement point, the second measurement point, the third measurement point, and the fourth measurement point, the surface of the curved part in the space coordinate
- the surface expression in the system; the surface expression is:
- the present invention provides a method and system for automatically assembling a curved surface part, first obtaining a center point of an end surface of an end effector and at least three sensors in the a sensor plane distributed by the end effector, and establishing a spatial coordinate system according to the center point and the sensor plane; an origin of the spatial coordinate system is the center point, and an XY plane of the space coordinate system is the sensor a plane in which the Z axis of the spatial coordinate system is a line perpendicular to the XY plane and intersecting the first unit normal vector of the origin; secondly, three measurement points of the surface of the curved part in the space coordinate system are acquired The measurement point is an intersection with the surface of the curved part when the sensor collects information along the Z-axis direction; and determining the surface of the curved part in the spatial coordinate system according to coordinates of the measurement point a curved surface expression; further determining a second unit normal vector of the surface of the surface of the
- FIG. 1 is a schematic flow chart of a method for automatically assembling a curved surface part according to an embodiment of the present invention
- FIG. 2 is a schematic view of a conventional hole making application
- FIG. 3 is a schematic diagram of measurement of an end effector according to an embodiment of the present invention.
- FIG. 4 is a schematic diagram of a laser displacement sensor system and a space coordinate system according to an embodiment of the present invention
- FIG. 5 is a schematic view showing the working principle of a laser displacement sensor according to an embodiment of the present invention.
- FIG. 6 is a schematic plan view of an end effector ZOX according to an embodiment of the present invention.
- FIG. 7 is a schematic plan view of an end effector ZOY according to an embodiment of the present invention.
- FIG. 8 is a schematic structural view of an automatic assembly system for curved parts according to an embodiment of the present invention.
- the object of the present invention is to provide a method and system for automatically assembling curved parts, which can improve the quality of automatic assembly of curved parts.
- the end effector In the automatic machining and assembly process of the surface of the curved part, the end effector needs to perform the operations such as hole making, patching and pinning in the normal direction of the surface of the curved part. Therefore, the end effector posture needs to be adjusted before the surface of the curved part is automatically machined, so that the machining direction of the end effector coincides with the assembly point in the surface of the curved part.
- the accuracy of the machining direction and the normal coincidence of the assembly point has a great influence on the machining quality and the assembly connection life. Therefore, by improving the accuracy of the machining direction and the normal coincidence of the assembly points, the quality and efficiency of the automatic machining of the curved parts can be improved.
- the surface normal measurement of existing curved parts is mainly based on sensor measurement and then based on The spatial geometry algorithm performs normal leveling.
- the following problems generally exist: the angular deviations ⁇ and ⁇ respectively correspond to the rotation axes of X and Y in one measurement process.
- the two axes in the coordinate system have changed.
- the ⁇ angle at the second adjustment corresponds to the Y' axis, but the existing method still adjusts the ⁇ angle according to the Y axis, so that there is a deviation in the adjustment of the end effector posture, resulting in the end effector machining direction and the curved part Assembly points cannot overlap, reducing the quality and efficiency of automatic assembly of curved parts; and the complexity of the surface structure of the surface parts (holes, bosses, grooves, etc.) causes one of the four sensors in the end effector to be absent The readings, in turn, make it impossible for the automation equipment to continue working.
- the present invention provides a method for automatically adjusting the machining direction of the end effector before the robot is automatically assembled, and the sensor is used to measure the distance of the end effector from the four measurement points on the curved surface of the curved part, and based on any three The point measurement point distance adjusts the machining direction of the end effector, so that the machining direction of the end effector and the assembly point in the surface of the curved part are normalized to ensure assembly efficiency and quality.
- FIG. 1 is a schematic flow chart of a method for automatically assembling a curved surface part according to an embodiment of the present invention. As shown in FIG. 1 , the automatic assembly method for a curved surface part provided by the present invention specifically includes the following steps:
- Step 101 Acquire a center point of the end face of the end effector.
- Step 102 Acquire a sensor plane of at least three sensors distributed at the end effector.
- Step 103 Establish a spatial coordinate system according to the center point and the sensor plane.
- the origin of the space coordinate system is the center point
- the XY plane of the space coordinate system is the sensor plane
- the Z axis of the space coordinate system is perpendicular to the XY plane and intersects at the origin A line in which a unit normal vector is located.
- Step 104 Acquire coordinates of three measurement points of the surface of the curved surface part in the space coordinate system; the measurement point is an intersection with the surface of the curved surface part when the sensor collects information along the Z-axis direction.
- Step 105 Determine a surface expression of the surface of the curved part in the space coordinate system according to coordinates of the measurement point.
- Step 106 Calculate a second unit normal vector of the surface of the curved part according to the surface expression.
- Step 107 Calculate according to the first unit normal vector and the second unit normal vector The angle of rotation of the end effector.
- Step 108 Adjust the end effector according to the rotation angle, so that the adjusted third unit normal vector of the end effector and the second unit normal vector are coincident.
- step 104 includes:
- the first right-angled triangle is a sensor plane formed by three vertices for three sensors; the center point is located in the oblique side of the first right-angled triangle Point, the three sensors are a first sensor, a second sensor and a third sensor;
- coordinates of the fourth sensing point according to coordinates of the first sensor, the second sensor, and the third sensor; coordinates of the fourth sensing point in the space coordinate system are The fourth sensing point is located at a right angle vertex of the second right triangle; the second right triangle has the same shape as the first right triangle and the oblique side coincides, the second right triangle and the first right triangle Combine a rectangle.
- the measurement point includes a first measurement point, a second measurement point, and a third measurement point;
- the distance from the first sensor to the first measurement point is 1 a ;
- the distance from the second sensor to the second measurement point is l b ;
- the distance from the third sensor to the third measurement point is l c .
- Step 104 further includes:
- the rectangle is a sensor plane formed by four of the four vertices; the four sensors are a first sensor, a second sensor, a third sensor, and a fourth a sensor; the fourth sensing point is configured to be the fourth sensor.
- the measurement point includes a first measurement point, a second measurement point, and a third measurement point;
- the distance from the first sensor to the first measurement point is 1 a ;
- the distance from the second sensor to the second measurement point is l b ;
- the distance from the third sensor to the third measurement point is l c .
- Step 105 specifically includes:
- the fourth measuring point is the corresponding to the fourth sensing point The measurement point on the surface of the curved part.
- Step 107 specifically includes:
- Step 1071 Determine, according to the third unit normal vector and the second unit normal vector, that the third unit normal vector is parallel to the second unit normal vector.
- Step 1072 Determine a relational expression between the third unit normal vector and the second unit normal vector according to the third unit normal vector and the second unit normal vector that are parallel to each other. The relationship is:
- ⁇ represents a first rotation angle
- ⁇ represents a second rotation angle
- the first rotation angle and the second rotation angle are calculated according to the relationship.
- the first rotation angle and the second rotation angle are respectively:
- step 1072 specifically includes:
- the second unit normal vector is:
- Obtaining the coordinates of the third unit normal vector Specifically include:
- FIG. 2 is a schematic view of a conventional hole making application.
- the robot automatic hole making system is shown in FIG. 2 and includes a robot 201, an end effector 202, and a curved part 203.
- the end effector 202 is mounted with four laser displacement sensors A, B, C, and D to form a laser displacement sensor system.
- FIG. 3 is a schematic diagram of measurement of an end effector according to an embodiment of the present invention.
- the end effector 202 reaches a pre-set spatial position driven by the robot 201.
- the laser displacement sensor is turned on to measure the end effector and the curved part.
- the distance between the surfaces of the 203 calculates the spatial coordinate system ⁇ of the surface of the end effector 202 and its normal vector p, and the plane of the surface working point of the curved surface part 203 relative to the space
- the normal vector n of the coordinate system calculates the normal vector n of the coordinate system , and then the normalization algorithm based on the space vector.
- the rotation becomes p′′ by two rotations in the space coordinate system ,, when p′′ When n is parallel, the end effector processing direction leveling work is completed.
- the first step laser displacement sensor system calibration and space coordinate system ⁇ establishment.
- the measurement centers of the four laser displacement sensors form a rectangular plane.
- the laser interferometer accurately measures the center distance of the laser displacement sensor, calibrates the rectangular length and width, and establishes a space coordinate system and a laser displacement sensor at the center of the laser displacement sensor system.
- the normal vector p that makes up the plane.
- the second step collecting data.
- the laser displacement sensor is turned on, and the distance data between the laser displacement sensor and the surface wall of the curved part is collected at a certain pulse frequency.
- the voltage signal collected by the laser displacement sensor is transmitted to the control system through the PLC, and the control system converts the voltage value into a displacement value, thereby obtaining the distance between the four laser displacement sensors and the surface wall of the curved part l a , l b , l c , l d .
- the third step is to calculate the analytical equation of the plane ⁇ in the surface coordinate system of the surface part of the surface part and its normal vector n.
- the area consisting of three illumination points on the surface of the curved part of the laser displacement sensor system approximates a local plane, which is recorded as the plane ⁇ of the surface working point of the surface part.
- the plane of the surface working point of the surface part is calculated in the space coordinate system. Parse the expression and the normal vector n of the plane ⁇ where the surface part of the surface part is working.
- the fourth step the spatial rotation angle ⁇ and ⁇ are determined.
- the vector p is rotated around the first axis (X-axis) of the tool coordinate system (the spatial coordinate system ⁇ ), and then the obtained vector is wound around the tool coordinate system at this time (the spatial coordinate system ⁇ ).
- the second axis (Y' axis) is rotated by ⁇ such that the vector p is rotated to the p" position, and finally p" is parallel to n, and the equations are solved to obtain angles ⁇ and ⁇ .
- Step 5 Robot attitude adjustment.
- the robot is adjusted according to the angle obtained above so that the machining direction of the end effector coincides with the normal surface of the curved part.
- the invention is used for the hole making process of a part with a large radius of curvature surface, and the machining direction of the end effector and the surface of the curved part are normalized by the cooperation of the laser displacement sensor, the robot and the control system.
- the embodiments of the present invention are further described in detail below with reference to FIG. 4-7, the implementation method, and the implementation examples.
- This method is used before the automatic hole making in the assembly process of the aircraft siding.
- the specific implementation steps are as follows:
- FIG. 4 is a schematic diagram of a laser displacement sensor system and a space coordinate system according to an embodiment of the present invention.
- the center of the laser displacement sensor on the end effector is distributed at four corners of the rectangle, and the rectangle is accurately measured by a laser interferometer.
- the length and width, the calibration value is recorded as the length L 1 , the width L 2 , the center of the rectangle is taken as the coordinate origin, and the space coordinate system is established by taking the plane of the rectangle as the XY plane, and the plane of the rectangle is obtained and the coordinate system is obtained.
- the laser displacement sensor is turned on, and the distance data between the laser displacement sensor and the wall plate is acquired at a certain pulse frequency.
- the laser displacement sensor A is out of range due to the existence of holes in the wall plate, and the laser displacement sensors B, C, and D acquire four voltage values U Bx1 , U Cx1 , U Dx1 , and the voltage collected by the laser displacement sensor through the control system.
- the values are converted to corresponding displacement values l b , l c and l d .
- FIG. 5 is a schematic diagram of the working principle of the laser displacement sensor according to the embodiment of the present invention.
- the unit vectors k and m are translated to the same starting point as the auxiliary vector r such that r ⁇ k and r are the same as the end point of m, thus changing the m-k rotation to the rotation of r-k; then, r is wrapped around k Rotate ⁇ to get r', and r and r' are parallelograms of adjacent two sides (shaded part in the figure).
- the area is
- 2 ⁇ sin ⁇ , which is multiplied by vector fork: r ⁇ r′
- steps 1)-4) the normal vector of the wall surface is n, and the plane normal vector of the end effector is p. It is assumed that the vector p is rotated around the first axis of the tool coordinate system (space coordinate system ⁇ ) and then wound. After the second axis rotates ⁇ , p′′ is obtained. If p′′
- FIG. 6 is a schematic plan view of an end effector ZOX according to an embodiment of the present invention.
- FIG. 7 is a schematic plan view of an end effector ZOY according to an embodiment of the present invention.
- the surface normal measurement and precise adjustment algorithm of the large curvature part based on the three-point measurement eliminates the model error caused by the inaccuracy of the mathematical model in the original algorithm, at least in the case where the three sensors work normally, through the analytic geometry
- the method finds the angle of the end effector relative to the surface of the part, as well as the leveling steps and angles to achieve a theoretical absolute vertical.
- FIG. 8 is a schematic structural diagram of a decryption system according to an embodiment of the present invention. As shown in Figure 8, the system includes:
- the central point acquisition module 801 is configured to acquire a center point of the end face of the end effector.
- the sensor plane acquisition module 802 is configured to acquire sensor planes of at least three sensors distributed at the end effector.
- a space coordinate system establishing module 803 configured to establish a space coordinate system according to the center point and the sensor plane; an origin of the space coordinate system is the center point, and an XY plane of the space coordinate system is the sensor In the plane, the Z-axis of the spatial coordinate system is a straight line perpendicular to the XY plane and intersecting the first unit normal vector of the origin.
- a measurement point acquisition module 804 configured to acquire coordinates of three measurement points of a surface of the curved surface part in the space coordinate system; the measurement point is a surface of the curved surface part when the sensor collects information along the Z-axis direction The intersection.
- the surface expression determining module 805 is configured to determine a surface expression of the curved part surface in the space coordinate system according to coordinates of the measurement point.
- the second unit normal vector calculation module 806 is configured to calculate a second unit normal vector of the surface of the curved part according to the surface expression.
- the rotation angle calculation module 807 is configured to calculate a rotation angle of the end effector according to the first unit normal vector and the second unit normal vector.
- the adjusting module 808 is configured to adjust the end effector according to the rotation angle, so that the adjusted third unit normal vector of the end effector and the second unit normal vector are coincident.
- the measurement point acquisition module 804 includes:
- a right angle edge acquiring unit for acquiring right angle sides L 1 , L 2 of the first right triangle;
- the first right angle triangle is a sensor plane formed by three vertices for the three sensors;
- the center point is located at the At the midpoint of the hypotenuse of the triangular triangle, the three sensors are the first sensor, the second sensor, and the third sensor, respectively.
- a sensor coordinate acquiring unit that acquires coordinates of the sensor according to the space coordinate system; wherein coordinates of the first sensor are The coordinates of the second sensor are The coordinates of the third sensor are
- a fourth sensing point coordinate acquiring unit configured to acquire coordinates of the fourth sensing point according to coordinates of the first sensor, the second sensor, and the third sensor;
- the coordinates in the spatial coordinate system are
- the fourth sensing point is located at a right angle vertex of the second right triangle;
- the second right triangle has the same shape as the first right triangle and the oblique side coincides, the second right triangle and the first right triangle Combine a rectangle.
- the sensor is sent to the measuring point distance acquiring unit, and is configured to acquire a distance from the first sensor, the second sensor, and the third sensor to the measuring point, wherein the measuring point includes a first measuring point, a second measurement point and a third measurement point; a distance from the first sensor to the first measurement point is 1 a ; a distance from the second sensor to the second measurement point is 1 b ; The distance from the sensor to the third measurement point is l c .
- a measurement point coordinate calculation unit configured to calculate coordinates of the first measurement point, the second measurement point, and the third measurement point according to the space coordinate system and the distances l a , l b , l c Wherein the coordinates of the first measurement point, the second measurement point, and the third measurement point are respectively as well as
- the measurement point acquisition module 804 further includes:
- a rectangular length and width acquisition unit for acquiring a length L 1 and a width L 2 of the rectangle;
- the rectangle is a sensor plane formed by four of the four vertices;
- the four sensors are respectively a first sensor and a second a sensor, a third sensor, and a fourth sensor;
- the fourth sensing point is configured to be the fourth sensor.
- a sensor coordinate acquiring unit configured to acquire coordinates of the sensor according to the space coordinate system; wherein coordinates of the first sensor are The coordinates of the second sensor are The coordinates of the third sensor are The coordinates of the fourth sensing point are
- the sensor is sent to the measuring point distance acquiring unit, and is configured to acquire a distance from the first sensor, the second sensor, and the third sensor to the measuring point, wherein the measuring point includes a first measuring point, a second measurement point and a third measurement point; a distance from the first sensor to the first measurement point is 1 a ; a distance from the second sensor to the second measurement point is 1 b ; The distance from the sensor to the third measurement point is l c .
- a measurement point coordinate calculation unit configured to calculate coordinates of the first measurement point, the second measurement point, and the third measurement point according to the space coordinate system and the distances l a , l b , l c Wherein the coordinates of the first measurement point, the second measurement point, and the third measurement point are respectively as well as
- the surface expression determining module 805 specifically includes:
- a fourth sensing point to a fourth measuring point distance calculating unit configured to calculate a distance l d from the fourth sensing point to the fourth measuring point according to the distances l a , l b , l c ;
- the four measurement points are measurement points on the surface of the curved part corresponding to the fourth sensing point.
- a fourth measurement point coordinate calculation unit configured to calculate coordinates of the fourth measurement point according to the space coordinate system and the distance l d ; the coordinates of the fourth measurement point are
- a surface expression determining unit configured to determine, according to coordinates of the first measurement point, the second measurement point, the third measurement point, and the fourth measurement point, the surface of the curved part in the space coordinate
- the surface expression in the system; the surface expression is:
- the rotation angle calculation module 807 specifically includes:
- a parallel relationship determining unit configured to determine, according to the third unit normal vector and the second unit normal vector, that the third unit normal vector is parallel to the second unit normal vector.
- a relation determining unit configured to determine a relationship between the third unit normal vector and the second unit normal vector according to the third unit normal vector and the second unit normal vector that are parallel to each other;
- ⁇ represents the first rotation angle
- ⁇ represents the second rotation angle
- the relationship determining unit specifically includes:
- the normal vector p′ is rotated around the unit vector Y′ by a normal vector p′′; the normal vector p " is the third unit normal vector; the coordinate of the normal vector p" in the spatial coordinate system is
- Determining the third unit according to coordinates of the second unit normal vector, coordinates of the third unit normal vector, and the third unit normal vector and the second unit normal vector that are parallel to each other The relationship between the normal vector and the second unit normal vector.
- a rotation angle calculation unit configured to calculate the first rotation angle and the second rotation angle according to the relationship; the first rotation angle and the second rotation angle are:
- the system provided by the present invention only the coordinates of the three measuring points on the surface of the curved surface part in the space coordinate system can be obtained, and the posture adjustment of the end effector can be completed, which solves four problems that must be used in the prior art.
- the sensor can complete the defect of the end effector posture adjustment work and improve the quality of the automatic assembly of the curved part.
Abstract
Description
Claims (10)
- 一种曲面零件自动装配的方法,其特征在于,所述方法包括:获取末端执行器执行端面的中心点;获取至少三个传感器在所述末端执行器分布的传感器平面;根据所述中心点和所述传感器平面,建立空间坐标系;所述空间坐标系的原点为所述中心点,所述空间坐标系的XY平面为所述传感器平面,所述空间坐标系的Z轴为垂直于所述XY平面且相交于所述原点的第一单位法向量所在的直线;获取所述空间坐标系中的曲面零件表面的三个测量点的坐标;所述测量点为所述传感器沿所述Z轴方向采集信息时与所述曲面零件表面的交点;根据所述测量点的坐标,确定所述曲线零件表面在所述空间坐标系中的曲面表达式;根据所述曲面表达式,计算所述曲线零件表面的第二单位法向量;根据所述第一单位法向量和所述第二单位法向量,计算所述末端执行器的旋转角度;根据所述旋转角度,调整所述末端执行器,使调整后所述末端执行器的第三单位法向量和所述第二单位法向量重合。
- 根据权利要求1所述的方法,其特征在于,所述获取所述空间坐标系中的曲面零件表面的三个测量点的坐标,包括:获取第一直角三角形的直角边L1、L2;所述第一直角三角形为三个顶点为三个所述传感器构成的传感器平面;所述中心点位于所述第一直角三角形斜边的中点,三个所述传感器分别为第一传感器、第二传感器以及 第三传感器;根据所述第一传感器、所述第二传感器以及所述第三传感器的坐标,获取第四传感点的坐标;所述第四传感点的坐标为所述第四传感点位于第二直角三角形的直角顶点;所述第二直角三角形与所述第一直角三角形的形状相同且斜边重合,所述第二直角三角形与所述第一直角三角形组合成一长方形;获取所述第一传感器、所述第二传感器、所述第三传感器分别到所述测量点的距离;其中,所述测量点包括第一测量点、第二测量点以及第三测量点;所述第一传感器到所述第一测量点的距离为la;所述第二传感器到所述第二测量点的距离为lb;所述第三传感器到所述第三测量点的距离为lc;
- 根据权利要求2所述的方法,其特征在于,所述获取所述空间坐标系中的曲面零件表面的三个测量点的坐标,进一步包括:获取长方形的长L1和宽L2;所述长方形为四个顶点为四个所述传感器构成的传感器平面;四个所述传感器分别为第一传感器、第二传感器、 第三传感器以及第四传感器;所述第四传感点设置所述第四传感器;获取所述第一传感器、所述第二传感器、所述第三传感器分别到所述测量点的距离;其中,所述测量点包括第一测量点、第二测量点以及第三测量点;所述第一传感器到所述第一测量点的距离为la;所述第二传感器到所述第二测量点的距离为lb;所述第三传感器到所述第三测量点的距离为lc;
- 根据权利要求6所述的方法,其特征在于,所述获取所述第三单位法向量的坐标,具体包括:根据p×p′=|p|2·sinθ·X (5),计算所述第一单位法向量绕着所述空间坐标系中X轴旋转θ角度后得到的法向量p′;所述法向量p′为p′=(0,-sinθ,cosθ);其中,所述第一单位法向量为p=(0,0,1);所述X为在X轴上的单位向量X=(1,0,0);根据所述法向量p′,计算垂直于所述法向量p′的单位向量Y′;所述单位向量Y′为Y′=(0,cosθ,sinθ);
- 一种曲面零件自动装配的系统,其特征在于,所述系统包括:中心点获取模块,用于获取末端执行器执行端面的中心点;传感器平面获取模块,用于获取至少三个传感器在所述末端执行器分布的传感器平面;空间坐标系建立模块,用于根据所述中心点和所述传感器平面,建立空间坐标系;所述空间坐标系的原点为所述中心点,所述空间坐标系的XY平面为所述传感器平面,所述空间坐标系的Z轴为垂直于所述XY平面且相交于所述原点的第一单位法向量所在的直线;测量点获取模块,用于获取所述空间坐标系中的曲面零件表面的三个测量点的坐标;所述测量点为所述传感器沿所述Z轴方向采集信息时与所述曲面零件表面的交点;曲面表达式确定模块,用于根据所述测量点的坐标,确定所述曲线零件表面在所述空间坐标系中的曲面表达式;第二单位法向量计算模块,用于根据所述曲面表达式,计算所述曲线零件表面的第二单位法向量;旋转角度计算模块,用于根据所述第一单位法向量和所述第二单位法向量,计算所述末端执行器的旋转角度;调整模块,用于根据所述旋转角度,调整所述末端执行器,使调整后所述末端执行器的第三单位法向量和所述第二单位法向量重合。
- 根据权利要求8所述的系统,其特征在于,所述测量点获取模块,包括:直角边获取单元,用于获取第一直角三角形的直角边L1、L2;所述第一直角三角形为三个顶点为三个所述传感器构成的传感器平面;所述中 心点位于所述第一直角三角形斜边的中点,三个所述传感器分别为第一传感器、第二传感器以及第三传感器;第四传感点坐标获取单元,用于根据所述第一传感器、所述第二传感器以及所述第三传感器的坐标,获取第四传感点的坐标;所述第四传感点的坐标为所述第四传感点位于第二直角三角形的直角顶点;所述第二直角三角形与所述第一直角三角形的形状相同且斜边重合,所述第二直角三角形与所述第一直角三角形组合成一长方形;传感器发到测量点距离获取单元,用于获取所述第一传感器、所述第二传感器、所述第三传感器分别到所述测量点的距离;其中,所述测量点包括第一测量点、第二测量点以及第三测量点;所述第一传感器到所述第一测量点的距离为la;所述第二传感器到所述第二测量点的距离为lb;所述第三传感器到所述第三测量点的距离为lc;
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