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Device and method for drilling positioning and normal measurement of robot

A technology of robotic hole making and measuring devices, applied in measuring devices, optical devices, instruments, etc., can solve problems such as scratches, high mechanical failure rate, low reliability, etc., and achieve the effect of low cost and high robustness

Pending Publication Date: 2018-01-09
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that mechanical contact will cause scratches to the machined surface, low reliability and high mechanical failure rate

Method used

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  • Device and method for drilling positioning and normal measurement of robot
  • Device and method for drilling positioning and normal measurement of robot
  • Device and method for drilling positioning and normal measurement of robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] see Figure 1-Figure 3 , which is used for robot hole positioning and normal measurement device, including TOF distance method

[0028] A line measurement sensor module (1), a reflector (2), a reflector drive mechanism (3) and an automatic drilling and riveting machine end actuator (4), characterized in that: the automatic drilling and riveting machine end actuator (4) and The plane to be processed (5) is vertical, and the TOF distance normal measurement sensor module (1) and the mirror driving mechanism (3) are connected through a vertical rigid bracket, and the mirror driving structure (3) is connected to the mirror (2); through total reflection The mirror driving mechanism (3) is used to adjust the reflection angle of the mirror (2) so that the optical path is parallel to the drill feed track of the end actuator (4) of the automatic drilling and riveting machine tool, and then the sensor module (1) is measured by the TOF distance normal The embedded system digitally...

Embodiment 2

[0030] This embodiment is basically the same as Embodiment 1, and the special features are as follows: the TOF distance normal measurement sensor

[0031] The module (1) includes an array photosensitive and light emitting module (1.1), a positioning and normal direction sensor module (1.2), and an embedded system digitally controls the array type photosensitive and emitting module (1.1) and the positioning and normal direction sensor module (1.2 ).

[0032] The array-type photosensitive and light-emitting module (1.1) includes a charge-coupled device, a field programmable gate array, multiple light-emitting diode light sources, and a driving circuit for light-emitting diode light sources; the LED light sources are arranged concentrically, and the array-type photosensitive and light-emitting module (1.1 ) is set at a position where the coordinates and position are known and perpendicular to the hole-making direction of the end actuator of the automatic drilling and riveting mac...

Embodiment 3

[0035] This device is used for robot hole making positioning and normal direction measurement, and is characterized in that: the structure of the reflector driving mechanism (3) is: the reflector (2) is connected to a fixed fixture with a synchronous trigger module, and the synchronous trigger module includes limit position switch sensor and limit switch sensor driving circuit; the mirror drive mechanism (3) is connected with the embedded system to control the state change of the driven mirror (2); during hole positioning and normal measurement, the mirror ( 2) After receiving the driving trigger signal, it will extend from -90° to -45°; when the end effector (4) performs hole making, the mirror (2) will shrink from -45° to -90°.

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Abstract

The invention relates to a device for drilling positioning and normal measurement of a robot. The device includes an array type light sensing and infrared light transmitting module, the array light transmitting module being capable of being modulated into light intensity signals of different frequencies and different power; a reflector sends light of the light transmitting module to the surface ofa measured object; a TOF array light sensing distance detection module which provides data of distance between a measured object surface point and the array light sensing device, an object surface normal direction being capable of being calculated through an array distance numerical value; and a driving fine-adjustment mechanism which determines perpendicularity deviation between an execution mechanism and a drilling position through normal measurement and feeds back the determined deviation to the driving fine-adjustment mechanism to meet the requirement for perpendicularity of a drilling processing shaft. The sensing device can use a depth image processing method to provide data of drilling positioning and normal measurement which are relatively accurate and have high robustness in a space region of a special object surface such as in the vicinity of an edge and a porous surface.

Description

technical field [0001] The invention belongs to the technical field of automatic drilling and riveting machine positioning and normal measurement, and in particular relates to a device and method for robot hole making positioning and normal measurement. The automatic drilling and riveting machine end effector is used as a carrier, and is suitable for aircraft fuselage , automatic drilling of aircraft wing body or fuselage frame, and normal line measurement in the riveting process, belonging to the field of drilling and riveting processing. The normal sensor can also be used for other surface treatments, processing such as deburring, grinding and polishing. Background technique [0002] Whether it is the assembly of aircraft parts or the assembly of automobile parts, it is realized by riveting. The quality of riveting has a direct impact on the quality and safety performance of automobiles or aircraft. The end effector of automatic drilling and riveting machine has function...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 屠晓伟杨庆华赵明伟
Owner SHANGHAI UNIV
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