CN105252251A - Device and method for achieving automatic grabbing and accurate attaching of aircraft thermal insulation piece - Google Patents
Device and method for achieving automatic grabbing and accurate attaching of aircraft thermal insulation piece Download PDFInfo
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- CN105252251A CN105252251A CN201510731096.3A CN201510731096A CN105252251A CN 105252251 A CN105252251 A CN 105252251A CN 201510731096 A CN201510731096 A CN 201510731096A CN 105252251 A CN105252251 A CN 105252251A
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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
- B23P19/02—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 connecting objects by press fit or for detaching same
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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Abstract
The invention relates to a device and method for achieving automatic grabbing and accurate attaching of an aircraft thermal insulation piece. The device comprises an outer frame module, a main shaft module, a normal leveling module, a vision alignment module, a pressure detection module and a suction cup set module. By means of the vision alignment module, the center of the thermal insulation piece and the center of the area where the thermal insulation piece is to be attached can be accurately found, the thermal insulation piece can be accurately attached to a machine body, and accuracy of all attached positions of the thermal insulation piece is ensured. By means of the normal leveling module, the axis of a motor, the center of a corresponding suction cup and the curved surface normal of the thermal insulation piece accurately coincide, and therefore tension and pressure can coincide with the normal of the thermal insulation piece all the time, and it is ensured that the force direction is perpendicular to the outer surface of the thermal insulation piece all the time when attachment and adhesion detection are conducted; the force, in the axial direction, of the motor is detected in real time through the pressure detection module, and therefore accurate and closed-loop control over loading of the motor is achieved; and by means of the suction cup set module, flexible design and adjustment of the diameter, the number and positions of suction cups are achieved according to requirements, and thermal insulation pieces of different sizes and irregular shapes are grabbed.
Description
Technical field
The invention belongs to numeric terminal field, specifically a kind of devices and methods therefor being applicable to fly aircraft heat shield automatic capturing and precisely fit, in order to improve efficiency of assembling and assembly quality.
Background technology
Automatic chip mounting device has certain application in electronic product production and processing field.At present, conventional automation paster apparatus comprises: mechanical system, vision system and control system.Patent CN103152994A has invented the efficient subsides head that a kind of many suction nozzles synchronously inhale subsides, this subsides head comprises the driving mechanism and driving of moving both vertically moved up and down and inhales and paste module and make the horizontal movement driving mechanism of horizontal linear displacement, inhale subsides module to be connected with horizontal movement drives structure, what make up the employing of existing chip mounter is all the defect that single suction nozzle inhales subsides form, realizes the chip attachment to pcb board, efficiency is high, interchangeability good; Patent CN103717006A has invented a kind of high accuracy polaroid attaching head device, and comprise placement head framework and multiple placement head mechanism, the work efficiency solving existing chip mounter is lower, the problem that placement accuracy, stability and reliability are not high.The existing patent about automatic capturing paster concentrates on electronic product production field, its function singleness, the guarantee of precision mainly relies on the reciprocating motion of mechanical device to realize, and namely mainly relies on the repetitive positioning accuracy of transmission mechanism, lacks certain flexibility and fitness.And aircraft heat shield size is large, various shapes, required precision are high, existing Apparatus for () and method therefor cannot meet the required precision of automatic capturing laminating.
Summary of the invention
Problems existing in laminating is captured for solving aircraft heat shield, the present invention is by analyzing the feature of heat shield, in conjunction with robot, a kind of method realizing aircraft heat shield automatic capturing and precisely laminating is provided, adopt Automated condtrol mode to achieve heat shield, heat shield put area, treat the some position centering of patch location, and the function such as normal direction leveling, heat shield flexible clamping, working trajectory planning, numerical control code generation.Thus realize the automatic capturing of high-speed aircraft surface heat shield and precisely fit, improve positional precision and the stability of paster, thus meet design requirement, can labor strength be reduced simultaneously, achieve aircraft heat shield and capture laminating automation, integration.
Technical scheme of the present invention is:
Described a kind of device realizing aircraft heat shield automatic capturing and precisely laminating, is characterized in that: comprise housing module, main shaft module, normal direction leveling module, vision centering module, pressure detecting module, sucker group module; Housing module is for installing all the other modules; Main shaft module comprises linear electric motors, and linear electric motors realize the straight-line feed along paster axis, and provide the pressure needed for paster; Normal direction leveling module comprises the laser range sensor that four are distributed in linear electric motors axis, and normal direction leveling module realizes main shaft module axis and waits to capture that heat shield normal direction is parallel and main shaft module axis is parallel with treating Chip Area field surface normal direction; Vision centering module comprises vision camera and supporting light source, and vision centering module realizes difformity heat shield center centering and treats paster region location recognition; Pressure detecting module is arranged between main shaft module and sucker group module, and pressure detecting module is by pressure sensor monitoring and feed back paster pressure; Sucker group module adopts vacuum cup to realize capturing heat shield.
Further preferred version, described a kind of device realizing aircraft heat shield automatic capturing and precisely laminating, is characterized in that: four laser range sensors tapering that slopes inwardly is installed, and makes laser and linear electric motors axis there is angle.
Further preferred version, described a kind of device realizing aircraft heat shield automatic capturing and precisely laminating, is characterized in that: housing module comprises ring flange and encloses frame, and ring flange one end is fixedly connected with external robots, and the other end is fixedly connected with and encloses frame upper end; Vision centering module is fixedly mounted on encloses frame side, and normal direction leveling module is arranged on encloses frame lower end; Enclose frame inside and be fixed with motor mounting plate, linear electric motors are arranged on motor mounting plate, and linear electric motors axis and ring flange axis collinear.
Further preferred version, described a kind of device realizing aircraft heat shield automatic capturing and precisely laminating, it is characterized in that: pressure detecting module comprises pressure sensor, pressure sensor two ends by installing sleeve respectively with linear electric motors main shaft and sucker group model calling.
Further preferred version, described a kind of device realizing aircraft heat shield automatic capturing and precisely laminating, is characterized in that: sucker group module comprises mounting bracket, sucker installing plate and vacuum cup; Mounting bracket is connected with installing sleeve on the downside of pressure detecting module, and sucker installing plate is fixed on mounting bracket, and some vacuum cups are fixed on sucker installing plate, and the axis of centre position sucker axially overlaps with linear electric motors main shaft.
Utilize said apparatus, realize aircraft heat shield automatic capturing and accurate applying method, it is characterized in that: comprise the following steps:
Step 1: the sensing system of four laser range sensor compositions is demarcated: the measuring center of four laser range sensors forms a rectangle plane, measure rectangle plane length and width; Vision centering module and main shaft module are demarcated: the relative distance measuring vision camera center and linear electric motors main-shaft axis;
Step 2: control main shaft module and move to dead-center position, and drive housing module to move to heat shield placement station by robot; Vision centering module work, measures the overall profile of heat shield, obtains heat shield central point, and calculates the deviate at heat shield central point and vision camera center; The deviate at foundation heat shield central point and vision camera center, control drives housing module to move, and makes heat shield central point and vision camera center superposition; The vision camera center demarcated according to step 1 and the relative distance of linear electric motors main-shaft axis, control drives housing module to move, and heat shield central point is overlapped with linear electric motors main-shaft axis;
Step 3: normal direction leveling module work, four laser range sensors record laser range sensor measuring center and heat shield distance; According to four laser range sensor measuring centers and heat shield distance, and rectangle plane length, width that step 1 is demarcated, calculate normal angles compensation rate, and according to normal angles compensation rate control adjustment pose, make linear electric motors main-shaft axis parallel with heat shield surface normal;
Step 4: linear electric motors drive sucker group module along axis feeding, and by the real-time detected pressures value of pressure sensor, when the sucker detected and heat shield contact reach designing requirement, linear electric motors feed-disabling, sucker vacuum system starts, after vacuum meets the demands, linear electric motors drive sucker group module to return dead-center position;
Step 5: robot drives housing module to move to aircraft and treats paster region; Vision centering module work, measures the overall profile profile treating paster region, obtains treating paster region central point, and calculates the deviate treating paster region central point and vision camera center; According to the deviate treating paster region central point and vision camera center, control drives housing module to move, and makes to treat paster region central point and vision camera center superposition; The vision camera center demarcated according to step 1 and the relative distance of linear electric motors main-shaft axis, control drives housing module to move, and makes to treat that paster region central point overlaps with linear electric motors main-shaft axis;
Step 6: normal direction leveling module work, four laser range sensors record laser range sensor measuring center and treat paster region distance; According to four laser range sensor measuring centers with treat paster region distance, and rectangle plane length, width that step 1 is demarcated, calculate normal angles compensation rate, and according to normal angles compensation rate control adjustment pose, make linear electric motors main-shaft axis parallel with treating Chip Area field surface normal direction;
Step 7: linear electric motors drive sucker group module along axis feeding, and by the real-time detected pressures value of pressure sensor, when the heat shield detected and aircraft reach designing requirement until paster region contact, linear electric motors feed-disabling, after heat shield and aircraft are fixed, close sucker vacuum system, sucker is separated with heat shield, and linear electric motors drive sucker group module to return dead-center position.
Beneficial effect
The advantage that the present invention has is as follows:
1, accurately can look for heat shield center by vision centering module and treat paster regional center, achieving the accurate laminating of heat shield and fuselage, ensure that and the positional precision that all heat shields are fitted decrease laminating accumulated error.
2, achieve electrical axis, sucker center and heat shield Surface Method to inregister by normal direction leveling module, pressure is overlapped with heat shield normal direction all the time, ensure that paster and adhere to force direction when detecting vertical with heat shield outer surface all the time.
3, pressure detecting module can detect the power of motor axial direction in real time, and Real-time Feedback is to control system, thus realizes motor and load accurate closed-loop control, achieves the Real-Time Monitoring of power during paster, makes it reach designing requirement.
4, sucker group module can carry out sucker diameter, the flexible design of quantity and position and adjustment according to demand, achieves the crawl of different size, erose heat shield, easy to use.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
The overall structure figure of Fig. 1 paster end effector;
Fig. 2 paster end effector housing module diagram;
Fig. 3 paster end effector main shaft module schematic diagram;
Fig. 4 paster end effector normal direction leveling module diagram;
Fig. 5 paster end effector vision centering module diagram;
Fig. 6 paster end effector pressure detecting module diagram;
Fig. 7 paster end effector sucker group module diagram.
In figure:
Housing module 1; Mounting flange 1001, encloses frame 1002, spindle motor installing plate 1003;
Main shaft module 2;
Normal direction leveling module 3; First laser range sensor 3001, second laser range sensor the 3002, three laser range sensor the 3003, four laser range sensor 3004;
Vision centering module 4; Vision camera 4001, vision camera mounting bracket 4002, vision camera rebound 4003, light source rebound 4004, light source mounting bracket 4005, light source 4006;
Pressure detecting module 5; First branch sleeve 5001, pull pressure sensor 5002, the second branch sleeve 5003;
Sucker group module 6: mounting bracket 6001, sucker installing plate 6002, vacuum cup 6003.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", " outward ", " clockwise ", orientation or the position relationship of the instruction such as " counterclockwise " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Therefore, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
As shown in Figure 1, the device that the present embodiment realizes aircraft heat shield automatic capturing and precisely laminating comprises housing module 1, main shaft module 2, normal direction leveling module 3, vision centering module 4, pressure detecting module 5, sucker group module 6.
As shown in Figure 2, housing module 1 comprises ring flange 1001 and encloses frame 1002, and ring flange 1001 one end is fixedly connected with external robots, and the other end is bolted to connection and encloses frame 1002 upper end.As shown in Figure 1, vision centering module 4 is fixedly mounted on encloses frame 1002 side, and normal direction leveling module 3 is arranged on encloses frame 1002 lower end; Enclose frame 1002 inside and be fixed with motor mounting plate 1003, main shaft module 2 is arranged on motor mounting plate 1003, and main shaft module 2 axis and ring flange 1001 axis collinear.
As shown in Figure 3, main shaft module 2 is linear electric motors, be arranged on the motor mounting plate 1003 of housing module 1 by bolt, linear electric motors realize along the straight-line feed of paster axis, for sucker group module 6 provides moving and pressure needed for paster along electrical axis direction; In order to detect paster force value in real time, pressure detecting module 5 is arranged on electro spindle.
Normal direction leveling module comprises the laser range sensor 3001,3002,3003 and 3004 that four are distributed in linear electric motors axis, four laser range sensors 3001,3002,3003,3004 are arranged on by screw and enclose on frame 1002, under guarantee sucker does not block the prerequisite of laser, four laser range sensors tapering that slopes inwardly is installed, laser and linear electric motors axis is made to there is angle 30 °, to ensure normal direction precision and to meet the leveling requirements of small size heat shield.Utilize in the course of work data of four sensor measurements judge main shaft module axis whether with wait to capture that heat shield normal direction is parallel and whether main shaft module axis parallel with treating Chip Area field surface normal direction, and by device data system, the comparison of four data and process are obtained to the stroke of each free degree of equipment needs movement, control appliance adjustment pose, realizes main shaft module axis and waits to capture that heat shield normal direction is parallel and main shaft module axis is parallel with treating Chip Area field surface normal direction.
As shown in Figure 5, vision centering module comprises vision camera 4001 and supporting light source 4006, light source connecting plate 4004 one end is connected with supporting light source 4006, the other end is connected by strip hole with the frame 1002 that encloses in housing module 1, can be finely tuned up and down thus reach coaxial with vision camera camera lens in installation process by strip hole light source; L shape camera connecting plate 4002 one end is connected with vision camera 4001, one end adopts strip hole to be connected by strip hole with the frame 1002 that encloses in housing module 1, along camera lens directional trim, thus heat shield and the optimum position of fuselage in camera lens can be ensured by strip hole camera and L shape connecting plate in installation process.Vision centering module realizes difformity heat shield center centering and treats paster region location recognition.
As shown in Figure 6, pressure detecting module 5 selects all threaded pressure sensor 5002 in two ends, its two ends installing sleeve 5001 and 5003 for linear electric motors main shaft and sucker group model calling, the pressure of paster and paster process is captured by pressure sensor Real-Time Monitoring feedback, thus the accurate closed-loop control of realizable force, ensure paster quality.
As shown in Figure 7, sucker group module 6 is connected with linear electric motors main shaft by mounting bracket 6001, ensure that middle sucker axis and electric machine main shaft dead in line; Sucker installing plate 6002 is installed on mounting bracket 6001 by bolt, is ensureing that precision can meet the crawl demand of different size profile heat shield simultaneously by changing different sucker installing plates; Sucker 6003 is installed on sucker installing plate 6002, for the direct crawl of sucker, can change the sucker of different size to meet actual operation requirements according to sucker installing plate 6002.
Utilize said apparatus, realize aircraft heat shield automatic capturing and accurate applying method, comprise the following steps:
Step 1: because the physical dimension relating to sensing system calculated by angle drift gage during normal direction leveling, so demarcate the sensing system of four laser range sensor compositions: the measuring center of four laser range sensors forms a rectangle plane, accurately measures rectangle plane length and width by laser tracker.Due to during vision centering when behind vision camera center and heat shield center superposition, need mobile robot, make electric machine main shaft axis and heat shield center superposition, for ensureing centering precision, need to demarcate vision centering module and main shaft module: the relative distance measuring vision camera center and linear electric motors main-shaft axis.
Step 2: control main shaft module and move to dead-center position, and drive housing module to move to heat shield placement station by robot; Vision centering module work, utilizes taking pictures and writing function of vision system, measures the overall profile of heat shield, obtain heat shield central point, and calculate the deviate at heat shield central point and vision camera center; The deviate at foundation heat shield central point and vision camera center, control drives housing module to move, and makes heat shield central point and vision camera center superposition; Because camera position and electric machine main shaft position are fixed, so according to the vision camera center of step 1 demarcation and the relative distance of linear electric motors main-shaft axis, control drives housing module to move, and makes heat shield central point overlap with linear electric motors main-shaft axis.
Step 3: after the centering of heat shield position, normal direction leveling module work, four laser range sensors record laser range sensor measuring center and heat shield distance; According to four laser range sensor measuring centers and heat shield distance, and rectangle plane length, width that step 1 is demarcated, calculate normal angles compensation rate, and according to normal angles compensation rate control adjustment pose, through repetitive measurement and pose adjustment, make linear electric motors main-shaft axis parallel with heat shield surface normal.
Step 4: linear electric motors drive sucker group module along axis feeding, and by the real-time detected pressures value of pressure sensor, when the sucker detected and heat shield contact reach designing requirement, linear electric motors feed-disabling, sucker vacuum system starts, after vacuum meets the demands, linear electric motors drive sucker group module to return dead-center position.
Step 5: robot drives housing module to move to aircraft and treats paster region; Vision centering module work, utilizes taking pictures and writing function of vision system, measures the overall profile profile treating paster region, obtains treating paster region central point, and calculates the deviate treating paster region central point and vision camera center; According to the deviate treating paster region central point and vision camera center, control drives housing module to move, and makes to treat paster region central point and vision camera center superposition; Because camera position and electric machine main shaft position are fixed, so according to the vision camera center of step 1 demarcation and the relative distance of linear electric motors main-shaft axis, control drives housing module to move, and makes to treat that paster region central point overlaps with linear electric motors main-shaft axis.
Step 6: after fuselage treats paster centering, normal direction leveling module work, four laser range sensors record laser range sensor measuring center and treat paster region distance; According to four laser range sensor measuring centers with treat paster region distance, and rectangle plane length, width that step 1 is demarcated, calculate normal angles compensation rate, and according to normal angles compensation rate control adjustment pose, through repetitive measurement and pose adjustment, make linear electric motors main-shaft axis parallel with treating Chip Area field surface normal direction.
Step 7: linear electric motors drive sucker group module along axis feeding, and by the real-time detected pressures value of pressure sensor, when the heat shield detected and aircraft reach designing requirement until paster region contact, linear electric motors feed-disabling, after pressurize certain hour to heat shield and aircraft is fixed, close sucker vacuum system, sucker is separated with heat shield, linear electric motors drive sucker group module to return dead-center position, and automatic chip mounting completes.
Aircraft heat shield automatic assembly technique is the important component part of aircraft advanced manufacturing technology, is the important guarantee realizing aircraft assembly digitalization, automation, flexibility.The present invention is by structural design, the industrial robot of high flexibility and the automatic control technology of advanced person in advance, make aircraft heat shield capture laminating and turn to automation by pure craft, while ensureing Anawgy accuracy, improve the stability of laminating quality, reduce the labour intensity of workman.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention when not departing from principle of the present invention and aim, revising, replacing and modification.
Claims (6)
1. realize a device for aircraft heat shield automatic capturing and precisely laminating, it is characterized in that: comprise housing module, main shaft module, normal direction leveling module, vision centering module, pressure detecting module, sucker group module; Housing module is for installing all the other modules; Main shaft module comprises linear electric motors, and linear electric motors realize the straight-line feed along paster axis, and provide the pressure needed for paster; Normal direction leveling module comprises the laser range sensor that four are distributed in linear electric motors axis, and normal direction leveling module realizes main shaft module axis and waits to capture that heat shield normal direction is parallel and main shaft module axis is parallel with treating Chip Area field surface normal direction; Vision centering module comprises vision camera and supporting light source, and vision centering module realizes difformity heat shield center centering and treats paster region location recognition; Pressure detecting module is arranged between main shaft module and sucker group module, and pressure detecting module is by pressure sensor monitoring and feed back paster pressure; Sucker group module adopts vacuum cup to realize capturing heat shield.
2. a kind of device realizing aircraft heat shield automatic capturing and precisely laminating according to claim 1, is characterized in that: four laser range sensors tapering that slopes inwardly is installed, and makes laser and linear electric motors axis there is angle.
3. a kind of device realizing aircraft heat shield automatic capturing and precisely laminating according to claim 2, is characterized in that: housing module comprises ring flange and encloses frame, and ring flange one end is fixedly connected with external robots, and the other end is fixedly connected with and encloses frame upper end; Vision centering module is fixedly mounted on encloses frame side, and normal direction leveling module is arranged on encloses frame lower end; Enclose frame inside and be fixed with motor mounting plate, linear electric motors are arranged on motor mounting plate, and linear electric motors axis and ring flange axis collinear.
4. a kind of device realizing aircraft heat shield automatic capturing and precisely laminating according to Claims 2 or 3, it is characterized in that: pressure detecting module comprises pressure sensor, pressure sensor two ends by installing sleeve respectively with linear electric motors main shaft and sucker group model calling.
5. a kind of device realizing aircraft heat shield automatic capturing and precisely laminating according to claim 4, is characterized in that: sucker group module comprises mounting bracket, sucker installing plate and vacuum cup; Mounting bracket is connected with installing sleeve on the downside of pressure detecting module, and sucker installing plate is fixed on mounting bracket, and some vacuum cups are fixed on sucker installing plate, and the axis of centre position sucker axially overlaps with linear electric motors main shaft.
6. realize a method for aircraft heat shield automatic capturing and precisely laminating, it is characterized in that: comprise the following steps:
Step 1: the sensing system of four laser range sensor compositions is demarcated: the measuring center of four laser range sensors forms a rectangle plane, measure rectangle plane length and width; Vision centering module and main shaft module are demarcated: the relative distance measuring vision camera center and linear electric motors main-shaft axis;
Step 2: control main shaft module and move to dead-center position, and drive housing module to move to heat shield placement station by robot; Vision centering module work, measures the overall profile of heat shield, obtains heat shield central point, and calculates the deviate at heat shield central point and vision camera center; The deviate at foundation heat shield central point and vision camera center, control drives housing module to move, and makes heat shield central point and vision camera center superposition; The vision camera center demarcated according to step 1 and the relative distance of linear electric motors main-shaft axis, control drives housing module to move, and heat shield central point is overlapped with linear electric motors main-shaft axis;
Step 3: normal direction leveling module work, four laser range sensors record laser range sensor measuring center and heat shield distance; According to four laser range sensor measuring centers and heat shield distance, and rectangle plane length, width that step 1 is demarcated, calculate normal angles compensation rate, and according to normal angles compensation rate control adjustment pose, make linear electric motors main-shaft axis parallel with heat shield surface normal;
Step 4: linear electric motors drive sucker group module along axis feeding, and by the real-time detected pressures value of pressure sensor, when the sucker detected and heat shield contact reach designing requirement, linear electric motors feed-disabling, sucker vacuum system starts, after vacuum meets the demands, linear electric motors drive sucker group module to return dead-center position;
Step 5: robot drives housing module to move to aircraft and treats paster region; Vision centering module work, measures the overall profile profile treating paster region, obtains treating paster region central point, and calculates the deviate treating paster region central point and vision camera center; According to the deviate treating paster region central point and vision camera center, control drives housing module to move, and makes to treat paster region central point and vision camera center superposition; The vision camera center demarcated according to step 1 and the relative distance of linear electric motors main-shaft axis, control drives housing module to move, and makes to treat that paster region central point overlaps with linear electric motors main-shaft axis;
Step 6: normal direction leveling module work, four laser range sensors record laser range sensor measuring center and treat paster region distance; According to four laser range sensor measuring centers with treat paster region distance, and rectangle plane length, width that step 1 is demarcated, calculate normal angles compensation rate, and according to normal angles compensation rate control adjustment pose, make linear electric motors main-shaft axis parallel with treating Chip Area field surface normal direction;
Step 7: linear electric motors drive sucker group module along axis feeding, and by the real-time detected pressures value of pressure sensor, when the heat shield detected and aircraft reach designing requirement until paster region contact, linear electric motors feed-disabling, after heat shield and aircraft are fixed, close sucker vacuum system, sucker is separated with heat shield, and linear electric motors drive sucker group module to return dead-center position.
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| CN201510731096.3A CN105252251B (en) | 2015-11-02 | 2015-11-02 | A kind of device and method for realizing aircraft heat shield and capturing and be precisely bonded automatically |
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| CN201510731096.3A CN105252251B (en) | 2015-11-02 | 2015-11-02 | A kind of device and method for realizing aircraft heat shield and capturing and be precisely bonded automatically |
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| CN106182088B (en) * | 2016-07-05 | 2018-11-27 | 昆山华恒机器人有限公司 | Localization method, device between industrial robot and grid |
| CN108638103A (en) * | 2018-05-22 | 2018-10-12 | 航天材料及工艺研究所 | The end effector of robot and method of adjustment of a kind of automatic crawl and pose adjustment |
| CN108638103B (en) * | 2018-05-22 | 2020-09-18 | 航天材料及工艺研究所 | Robot end effector capable of automatically grabbing and adjusting pose and adjusting method |
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| CN110116326A (en) * | 2019-04-30 | 2019-08-13 | 宁波海迈克自动化科技有限公司 | Utilize the automatic production line of the workpiece of numerically-controlled machine tool processing |
| CN110255169A (en) * | 2019-07-09 | 2019-09-20 | 安吉八塔机器人有限公司 | A kind of grabbing device suitable for composite machine people's system |
| CN110587615A (en) * | 2019-08-02 | 2019-12-20 | 中国航空工业集团公司北京长城航空测控技术研究所 | Accurate product feature identification method based on multi-sensor measurement |
| CN111128801A (en) * | 2019-12-01 | 2020-05-08 | 赵汉章 | Automatic placing system for semiconductor patches |
| CN111128801B (en) * | 2019-12-01 | 2024-04-05 | 深圳市嘉旺达科技有限公司 | Automatic placement system for semiconductor patches |
| CN111168701A (en) * | 2019-12-31 | 2020-05-19 | 清华大学 | Controllable adhesion manipulator with adaptive surface curvature |
| CN111168701B (en) * | 2019-12-31 | 2021-09-21 | 清华大学 | Controllable adhesion manipulator with adaptive surface curvature |
| CN112025701A (en) * | 2020-08-11 | 2020-12-04 | 浙江大华技术股份有限公司 | Method, device, computing equipment and storage medium for grabbing object |
| CN112192202A (en) * | 2020-08-21 | 2021-01-08 | 西安空间无线电技术研究所 | Self-adaptive adjustment high-precision assembling device for dynamic measurement of phased array antenna |
| CN113511511A (en) * | 2021-08-10 | 2021-10-19 | 无锡芯感智半导体有限公司 | Material pipe carrying system for testing machine |
| CN114178827A (en) * | 2021-12-13 | 2022-03-15 | 苏州新区德力精密机械有限公司 | Paster device of thin wall LED lamp stand |
| CN114178827B (en) * | 2021-12-13 | 2023-12-12 | 苏州新区德力精密机械有限公司 | Patch device of thin-wall LED lamp holder |
| CN114538088A (en) * | 2022-02-11 | 2022-05-27 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision feeding and discharging method based on flying shooting |
| CN114538088B (en) * | 2022-02-11 | 2024-02-13 | 珠海市运泰利自动化设备有限公司 | High-speed high-precision material taking and placing method based on fly shooting |
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