CN208020142U - A kind of integral work table of automatic punching system Experimental Calibration - Google Patents

Abstract

The utility model discloses an integrated workbench for test calibration of an automatic hole-making system, which includes a column-type frame, which is divided into upper and lower layers. A partition is fixed in the middle of the upper layer, and a visual camera is provided on one side of the partition for calibration. Module, the normal sensor calibration module is installed on the other side of the partition, and the hole-making process test module is installed on the lower layer of the column frame. The utility model discloses an integrated workbench for test calibration of an automatic hole-making system, which solves the problem that the prior art does not have the calibration function of a measurement system and cannot realize system error compensation. By designing the visual camera calibration module and the normal sensor calibration module, the accuracy of the measurement and calibration data is ensured, and the normal accuracy of the hole is significantly improved.

Description

An integrated workbench for test calibration of automatic hole making system

technical field

The utility model belongs to the technical field of advanced digital flexible processing and automation, and relates to an integrated workbench for test calibration of an automatic hole-making system.

Background technique

The automatic hole-making technology based on industrial robots and CNC machine tools is an advanced automation and digital manufacturing technology, which is of great significance to aircraft assembly and other industrial fields that require a large number of holes. In order to realize the digitalization, flexibility and intelligence of the automatic hole making system, the automatic hole making system is generally equipped with a normal sensor and a visual camera measurement system. The normal sensor is used to measure the normal direction of the working surface, and the vision camera measures and recognizes the positioning nails on the working surface to provide positioning information for the automatic hole making system. However, due to the existence of manufacturing and assembly errors, the installation plane error of the normal sensor, and the error between the axis of the visual camera and the axis of the hole-making tool are all part of the error of the automatic hole-making system, which directly affects the hole-making position and normal direction. precision. However, the above errors are difficult to reduce through manufacturing and debugging methods. Therefore, it is necessary to calibrate the normal sensor and visual camera, input the errors into the automatic hole making system, and perform error compensation to reduce system errors and improve Hole making precision.

The patent (application number is 201210269215.4, application date is August 1, 2012, publication number is CN102756138B, publication date is March 12, 2014) discloses a normal adjustment and visual alignment for aircraft wall panels. Functional high-precision hole-making end effector, this device makes the position accuracy and dimensional accuracy of the hole meet the design requirements well, and at the same time, there will be no crooked holes or inclined holes in the hole-making process, and the temperature in the hole-making area will remain at normal working temperature and Chip removal is normal. The patent (the application number is 201410230601.1, the application date is May 29, 2014, and the publication number is CN103990829B and the publication date is March 8, 2017) discloses an aircraft assembly hole-making end effector combined with an industrial mechanical arm. With normal measurement and visual inspection modules, it can significantly improve the verticality and efficiency of hole making. The above-mentioned automatic hole-making devices can realize the high-precision assembly and hole-making of aircraft curved wall panels, but there is no mention of the matching hole-making process test device and the calibration device and method of the measurement module, which cannot realize the compensation of the system error.

Utility model content

The purpose of the utility model is to provide an integrated workbench for automatic hole making system test calibration, which solves the problem that the prior art does not have the calibration function of the measurement system and cannot realize system error compensation.

The technical scheme adopted by the utility model is an integrated workbench for automatic hole-making system test calibration, including a column frame, which is divided into upper and lower layers, and a partition is fixed in the middle of the upper layer, and one side of the partition is A visual camera calibration module is installed, a normal sensor calibration module is installed on the other side of the partition, and a hole-making process test module is installed on the lower layer of the column frame.

Other features of the present utility model are also that,

The visual camera calibration module includes an alignment test plate, which is fixed between the side wall of the column frame and the partition through a bolt clamping assembly, and a positioning nail is fixed on the side of the surface of the alignment test plate.

The bolt clamping assembly includes an angle iron bracket. There is a screw hole on one side of the angle iron bracket. T-bolts are fitted in the screw holes through threads, and are fixed on the column frame through T-bolt connections. There are screw holes on the other side. , Tighten the workpiece to be supported by butterfly bolts.

The hole-making process test module includes a hole-making test plate. The hole-making test plate is fixed between the two side walls of the column frame through a bolt clamping assembly. The surface of the hole-making test plate is also fixed with positioning nails at the side of the surface.

The normal direction sensor calibration module includes a standard flat plate, which is installed in the groove on the inner wall of the column type frame and the partition plate, and the standard flat plate is also fixed by a spring support assembly.

The spring support assembly includes an angle iron bracket. An iron column is welded on one side of the angle iron bracket. A spring is sleeved on the iron column. A rectangular iron plate is welded on the free end of the spring. A screw hole is opened on the other side of the angle iron bracket. Attach standard slabs to post-style frames.

The four corners of the surface of the column type frame are fixedly connected with measuring target ball seats.

The bottom of the column frame is fixed on the foundation by anchor bolts.

The beneficial effect of the utility model is that an integrated workbench for automatic hole-making system test calibration solves the problem that the prior art does not have the calibration function of the measurement system and cannot realize system error compensation. The visual camera calibration module has positioning nails and a hole-making area. Through the visual alignment and hole-making functions of the hole-making end effector, the automatic measurement and calibration of the assembly error of the hole-making tool and the visual camera is realized, which significantly improves the hole-making process. The position accuracy is high, and no additional equipment is required, which is convenient and fast. The automatic measurement and calibration of the assembly error of the normal sensor can be realized through the normal sensor of the hole-making end effector. The normal sensor module can be adaptively adjusted to realize The close fit between the standard plate and the front end of the pressure foot ensures the accuracy of the measurement and calibration data, and significantly improves the normal accuracy of the hole making.

Description of drawings

Fig. 1 is a schematic structural view of an integrated workbench for test calibration of an automatic hole-making system of the present invention;

Fig. 2 is a partial structural schematic diagram of the visual camera calibration module, the normal sensor calibration module and the hole-making process test module in the integrated workbench for automatic hole-making system test calibration of the utility model;

Fig. 3 is a schematic structural view of the bolt clamping assembly in the integrated workbench for test calibration of an automatic hole-making system of the present invention;

Fig. 4 is a structural schematic diagram of a spring support assembly in an integrated workbench for test calibration of an automatic drilling system of the present invention;

Fig. 5 is a schematic diagram of an integrated workbench for test calibration of an automatic drilling system of the present invention and an end effector of the automatic drilling system.

In the figure, 1. Visual camera calibration module, 2. Normal sensor calibration module, 3. Hole making process test module, 4. Column frame, 5. Measuring target ball seat, 6. Bolt clamping assembly, 7. Spring support Components, 8. Alignment test plate, 9. Positioning nail, 10. Standard plate, 11. Hole test plate, 12. Angle iron bracket, 13. Hole position, 14. Pressure foot, 15. Connecting flange, 16 . Hole making spindle, 17. Normal sensor, 18. Vision camera.

Detailed ways

The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

An integrated workbench for automatic hole-making system test calibration of the utility model, the structural schematic diagram is shown in Figure 1 and Figure 2, including a column frame 4, the column frame 4 is divided into upper and lower layers, and a partition is fixed in the middle of the upper layer One side of the partition is provided with a visual camera calibration module 1, the other side of the partition is provided with a normal sensor calibration module 2, and the lower layer of the column frame 4 is provided with a hole-making process test module.

The visual camera calibration module 1 includes an alignment test plate 8, which is fixed between the side wall of the column frame 4 and the partition through the bolt clamping assembly 6, and the position of the alignment test plate 8 on the side is still fixed. There are positioning nails 9 .

As shown in Figure 3, the bolt clamping assembly 6 includes an angle iron bracket 12. There is a screw hole on one side of the angle iron bracket 12, and a T-bolt is threaded in the screw hole, and is fixed on the column frame through the T-bolt connection. 4, the other side has a screw hole, and the workpiece to be supported is tightened by a butterfly bolt.

The normal sensor calibration module 2 includes a standard flat plate 10, which is installed in the groove on the inner wall of the column frame 4 and the partition plate, and the standard flat plate 10 is also fixed by the spring support assembly 7.

As shown in Figure 4, spring support assembly 7 comprises angle iron bracket 12, and angle iron bracket 12 one side is welded with iron column, is sleeved with spring on iron column, and the free end of spring is welded with rectangular iron plate, and angle iron bracket 12 There are screw holes on the other side, and the standard flat panel 10 is connected to the column frame 4 by bolts.

The hole-making process test module 3 includes a hole-making test plate 11. The hole-making test plate 11 is fixed between the two side walls of the column frame 4 through the bolt clamping assembly 6, and the position of the surface of the hole-making test plate 11 is fixed to the side. There are positioning nails 9 .

The four corners of the surface of the column frame 4 are affixed with measuring target ball seats 5 .

The bottom of the column type frame 4 is fixed on the foundation by anchor bolts.

An integrated workbench for test calibration of an automatic hole-making system of the utility model is aimed at a high-precision hole-making device for an aircraft wall plate of an industrial robot, calibrates the normal sensor and the visual camera of the hole-making device, and performs hole making Craft test. Among them, the hole position accuracy is ±0.1mm, the spacing is 20mm, the verticality error is within ±0.5°, and the hole diameter requirement is Ф4+0.08mm. An integrated workbench for automatic hole making system test calibration of the utility model and The hole-making end effector of the automatic hole-making system connected to the industrial robot is used together, as shown in Figure 5, the hole-making spindle of the hole-making end effector of the automatic hole-making system is connected to the industrial robot, and the hole-making end effector is installed There are visual camera 18, normal direction sensor 17 and parts such as pressure foot 14.

The usage method of an integrated workbench for automatic hole making system test calibration of the utility model is as follows:

Step 1. Use the visual camera calibration module 1 to calibrate the distance between the axis of the visual camera and the axis of the hole-making tool in the automatic hole-making system: move the hole-making end effector in the automatic hole-making system to make the visual camera calibrate the positioning pin 9 in the module 1 Appear in the visual camera field of view center in the automatic hole making system, and record the current coordinate value (x ₁ , y ₁ , z ₁ ); then, ensure that the attitude and position of the hole making end effector in the automatic hole making system remain unchanged, The industrial robot controls the feed of the spindle, and makes a hole on the hole-making test plate 11 of the visual camera calibration module 1, and then moves the hole-making end effector so that the made hole appears in the center of the visual camera field of view, and records the current coordinate value (x ₂ ,y ₂ ,z ₂ ); finally, calculate the deviation in the X and Y directions (Δx ₁ =|x ₂ -x ₁ |,Δy ₁ =|y ₂ -y ₁ |), that is, the automatic hole making system The distance between the axis of the vision camera and the axis of the hole-making tool is updated to the control system of the industrial robot, and the industrial robot automatically corrects the system error of the vision camera in the control system.

Step 2. After step 1 is completed, use the normal sensor calibration module 2 to calibrate the distance between the normal sensor and the front face of the pressure foot in the automatic drilling system: First, move the hole making end effector so that the front face of the pressure foot and the normal sensor The calibration module is compressed; secondly, the distance between the normal sensor and the normal sensor calibration module is measured, and the value is recorded; the average value is obtained through multiple measurements, and the average value is updated to the control system of the industrial robot to correct the normal sensor. System error, thereby ensuring the normal accuracy of hole making.

Step 3. Combine the calibration results of step 1 and step 2 to update the preset data of the industrial robot control system. First, move the hole-making end effector in the automatic hole-making system, and measure the position deviation of the positioning nail through the visual camera to make the hole-making process The positioning pin in the test module appears in the center of the visual camera field of view; secondly, move the hole-making end effector so that the hole-making tool is aligned with the positioning pin, and the normal direction is measured and adjusted through the normal sensor, and the current coordinate value is recorded as the positioning pin actual coordinates. Then, read the hole position number in the control system, calculate the offset based on the positioning nail, and move the hole-making end effector to make the hole; finally, manually measure and detect the position, normal direction, Hole diameter accuracy, confirm whether the tool and its process parameters meet the hole making accuracy requirements.

The utility model relates to an integrated workbench for test calibration of an automatic hole-making system. In the visual camera calibration, the visual camera calibration module has positioning nails and a hole-making area, and the visual alignment and hole-making provided by the hole-making end effector function, it can realize the automatic measurement and calibration of the assembly error of the hole making tool and the visual camera, which significantly improves the position accuracy of the hole making, and does not require additional equipment, which is convenient and fast; in the calibration of the normal sensor, it is executed through the hole making end The normal sensor that comes with the device can realize the automatic measurement and calibration of the normal sensor assembly error. The normal sensor module can be adjusted adaptively, realizing the close fit between the standard plate and the front surface of the pressure foot, ensuring the measurement and calibration data accuracy, significantly improving the normal accuracy of hole making; in the hole making process test, the hole making process test module has positioning nails and the hole making test area, and the hole making process test can realize the calibration data of the visual camera and the normal sensor Accuracy, verification of the rationality of the hole-making process parameters, and verification of whether the aperture accuracy caused by tool selection and wear meets the requirements, which significantly improves the aperture accuracy; the utility model realizes that the visual camera, method and The automatic measurement, calibration and data update of the sensor, as well as the verification of calibration data, process parameters and tools through the hole making process test, truly realize the integration of calibration and testing, which can significantly reduce labor intensity and improve hole making efficiency.

Claims (8)

1. An integrated workbench for automatic hole-making system test calibration, characterized in that it comprises a column frame (4), and the column frame (4) is divided into upper and lower layers, and a dividing plate is affixed in the middle of the upper layer, One side of the partition is provided with a visual camera calibration module (1), the other side of the partition is provided with a normal sensor calibration module (2), and the lower layer of the column frame (4) is provided with a hole-making process test module (3). 2. The integrated workbench for test calibration of a kind of automatic hole-making system as claimed in claim 1, characterized in that, the visual camera calibration module (1) includes an alignment test plate (8), and the alignment test The plate (8) is fixed between the side wall of the column frame (4) and the partition plate through the bolt clamping assembly (6), and the position of the side of the surface of the alignment test plate (8) is also fixed with Dowels (9). 3. the integrated workbench of a kind of automatic drilling system test calibration as claimed in claim 2, is characterized in that, described bolt clamp assembly (6) comprises angle iron support (12), and described angle iron support ( 12) There is a screw hole on one side, and T-bolts are threaded in the screw holes, which are connected and fixed on the column frame (4) through T-bolts, and a screw hole is opened on the other side, and the butterfly bolts are used to Tighten the workpiece to be supported. 4. the integrated workbench of a kind of automatic hole-making system test calibration as claimed in claim 3, is characterized in that, described hole-making process test module (3) comprises hole-making test plate (11), and described hole-making The test plate (11) is fixed between the two side walls of the column frame (4) through the bolt clamp assembly (6), and the position of the surface of the hole-making test plate (11) is also fixed with a Dowels (9). 5. the integrated workbench of a kind of automatic drilling system test calibration as claimed in claim 1, is characterized in that, described normal direction sensor calibration module (2) comprises standard plate (10), and described standard plate (10 ) is installed in the groove on the inner side wall of the column type frame (4) and the partition plate, and the standard flat plate (10) is also fixed by a spring support assembly (7). 6. The integrated workbench for test calibration of an automatic hole-making system according to claim 5, wherein the spring support assembly (7) includes an angle iron bracket (12), and the angle iron bracket (12 ) one side is welded with an iron column, the iron column is sleeved with a spring, the free end of the spring is welded with a rectangular iron plate, and the other side of the angle iron bracket (12) has a screw hole, and the standard flat plate is connected by a bolt (10) is connected on the described upright frame (4). 7. The integrated workbench for test calibration of an automatic hole-making system according to claim 1, characterized in that, the four corners of the surface of the column frame (4) are fixed with measuring target ball seats (5) . 8 . The integrated workbench for test calibration of automatic drilling system according to claim 1 , characterized in that, the bottom of the column frame ( 4 ) is fixed on the foundation by anchor bolts.