CN114918951A - Laser projection robot and airplane assembly method - Google Patents
Laser projection robot and airplane assembly method Download PDFInfo
- Publication number
- CN114918951A CN114918951A CN202210744833.3A CN202210744833A CN114918951A CN 114918951 A CN114918951 A CN 114918951A CN 202210744833 A CN202210744833 A CN 202210744833A CN 114918951 A CN114918951 A CN 114918951A
- Authority
- CN
- China
- Prior art keywords
- control box
- laser
- sub
- laser projection
- projection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- 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
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Artificial Intelligence (AREA)
- Optics & Photonics (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention provides a laser projection robot and an airplane assembly method, and relates to the technical field of airplane manufacturing. The laser projection robot comprises a mobile chassis, a control box and a laser projector, wherein the control box is installed on the mobile chassis, the laser projector is installed on the control box, the mobile chassis can convey the laser projector to a corresponding position, then the laser projector starts to work and projects a preset image to a plane to be assembled, the preset image can be a contour map of the plane component, then the preset assembly position of the component to be assembled can be determined according to the preset image, finally the plane component is installed at the preset assembly position, and the positioning accuracy of the plane component is greatly improved.
Description
Technical Field
The invention relates to the technical field of aircraft manufacturing, in particular to a laser projection robot and an aircraft assembly method.
Background
Aircraft assembly has a non-negligible impact on the production cycle, development costs, product quality, etc. of aircraft manufacturing. In the process of aircraft development, the application of the digital assembly technology changes the design and manufacture mode of the traditional aircraft and becomes an indispensable important means and technology in modern aircraft development.
On the existing aircraft assembly line, the positioning accuracy of aircraft parts is not high.
Disclosure of Invention
The invention provides a laser projection robot and an airplane assembly method, which can realize the positioning accuracy of airplane parts.
Embodiments of the invention may be implemented as follows:
an embodiment of the present invention provides a laser projection robot, including:
moving the chassis;
the control box is arranged on the movable chassis; and
a laser projector mounted to the control box.
Optionally, the laser projection robot further comprises a lifting device, the lifting device is mounted on the first mounting surface of the control box and connected with the laser projector;
the lifting device is used for driving the laser projector to move away from or close to the mobile chassis.
Optionally, the lifting device comprises a lifting rod, a screw rod and a driving motor, and the lifting rod is slidably mounted on the first mounting surface of the control box;
the lifting rod is in threaded fit with the screw rod, and the driving motor is in driving connection with the screw rod.
Optionally, the mobile chassis is mounted at the bottom of the control box, and the lifting device is mounted at the top of the control box.
Optionally, the control box comprises a first sub-control box and a second sub-control box which are connected with each other, the first sub-control box has the first installation surface, the second sub-control box has a second installation surface, the laser projection robot further comprises a computer terminal, the computer terminal is arranged on the second installation surface, and the second installation surface is lower than the first installation surface;
the computer terminal and the laser projector are electrically connected.
Optionally, the laser projection robot further includes an indicator light, an indicator light groove is further provided at the top edge of the first sub-control box, the indicator light is installed in the indicator light groove, and the indicator light is electrically connected to the computer terminal.
Optionally, the laser projection robot further comprises a camera, a camera mounting groove is formed in the side wall of the first sub-control box, the camera is mounted in the camera mounting groove, and the camera is electrically connected with the computer terminal.
Optionally, the first sub-control box and the second sub-control box are communicated.
Optionally, the laser projection robot further includes a laser radar, the laser radar is installed on the movable chassis or the control box, the laser radar is electrically connected with the computer terminal, and the laser radar is installed on the movable chassis and abuts against the bottom side of the first sub-control box.
The embodiment of the invention also provides an aircraft assembly method, which adopts the laser projection robot and comprises the following steps:
the laser projector performs system calibration;
the laser projector projects a preset image to a plane to be assembled so as to determine a preset assembling position of a part to be assembled;
and mounting the parts to be assembled to the preset assembly position.
The laser projection robot and the airplane assembly method of the embodiment of the invention have the beneficial effects that:
the embodiment of the invention provides a laser projection robot, which comprises a mobile chassis, a control box and a laser projector, wherein the control box is arranged on the mobile chassis, the laser projector is arranged on the control box, the mobile chassis can convey the laser projector to a corresponding position, then the laser projector starts to work and projects a preset image to a plane to be assembled, the preset image can be a contour map of a plane part, then the preset assembling position of the plane part to be assembled can be determined according to the preset image, and finally the plane part is arranged at the preset assembling position, so that the positioning precision of the plane part is greatly improved.
The embodiment of the invention also provides an airplane assembly method, which adopts the laser projection robot and comprises the following steps: the laser projector is used for carrying out system calibration; the laser projector projects a preset image to a plane surface to be assembled so as to determine a preset assembling position of a part to be assembled; the parts to be assembled are installed to the preset assembly positions, and the positioning accuracy of the airplane parts is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic illustration of a laser projection robot provided in an embodiment of the present invention;
fig. 2 is a first schematic view of a partial structure of a laser projection robot provided in an embodiment of the present invention;
fig. 3 is a second schematic diagram of a partial structure of a laser projection robot provided in an embodiment of the present invention.
Icon: 1000-laser projection robot; 100-moving the chassis; 200-a control box; 210-a first sub-control box; 211 — a first mounting surface; 201-indicator light trough; 202-a camera mounting groove; 220-a second sub-control box; 221-a second mounting surface; 300-a laser projector; 400-a lifting device; 410-a lifter; 500-a computer terminal; 600-an indicator light; 700-a camera; 800-laser radar; 900-emergency stop switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Aircraft assembly has a non-negligible impact on the production cycle, development costs, product quality, etc. of aircraft manufacturing. In the process of aircraft development, the application of the digital assembly technology changes the design and manufacture mode of the traditional aircraft and becomes an indispensable important means and technology in modern aircraft development. The digital intelligent degree on the existing airplane assembly line is not high, the flexibility is low, the task scheduling in the assembly process is unreasonable, the automation degree needs to be improved, the positioning precision of airplane parts is not high, and the production period of airplane manufacturing is greatly increased.
In view of this, the laser projection robot and the aircraft assembly method provided in the embodiments of the present invention can solve this problem.
Referring to fig. 1-3, the present embodiment provides a laser projection robot 1000 and an aircraft assembly method, which will be described in detail below.
The embodiment of the invention provides a laser projection robot 1000, which comprises a mobile chassis 100, a control box 200 and a laser projector 300, wherein the control box 200 is installed on the mobile chassis 100, the laser projector 300 is installed on the control box 200, the mobile chassis 100 can convey the laser projector 300 to a corresponding position, for example, a position close to a plane to be assembled, then the laser projector 300 starts to work, project a preset image to the plane to be assembled, the preset image can be a contour map of a plane part, the contour map of the plane part is directly projected onto the plane to be assembled and corresponds to the part to be assembled, then a preset assembling position of the part to be assembled can be determined according to the preset image, and finally the plane part is installed at the preset assembling position, so that the positioning precision of the plane part is greatly improved.
Specifically, the laser projector 300 may be a three-dimensional laser projection positioning device for positioning and projecting on a plane to be assembled, and specifically, the laser projector 300 is based on the principle that a laser light source emits a laser beam, and the laser beam is emitted into a parallel beam through an automatic focusing device. The rotating shaft driving device of the laser projector 300 drives the reflection device to deflect back and forth, the projection direction of the laser beam is controlled by the deflected reflection mirror, and a high-precision image is generated on the surface of the object to be projected.
The laser beam firstly irradiates to a target positioning point (for example, a certain point on a plane to be assembled of an airplane), a first galvanometer and a second galvanometer of the laser projector 300 are both connected with a rotating shaft driving device, and respectively record rotating angles of a rotating shaft, so as to define a vertical plane (azimuth angle) of the rotating shaft device where the first galvanometer is located for controlling the laser projection technology, which can be represented by V, and define a horizontal plane (pitch angle) of the rotating shaft device where the second galvanometer is located for controlling the laser projection technology, which can be represented by H.
By changing the rotation angle of the rotating shaft driving device, the transmission direction of the laser beam can be changed, and finally the laser beam is projected onto the target positioning point, as mentioned above, the reflective film on the target positioning point reflects the light back to the laser projector 300 according to the original light path. The return light beam passes through a small-aperture optical device of the system, the small-aperture optical device can effectively prevent the reflected light in the laser projection window from directly reaching the reflected light sensor, the influence on the measurement data is avoided, errors are eliminated, and at the moment, the reflected light sensor can only receive the light beam reflected back from the target positioning point reversely according to the original light path. The first galvanometer and the second galvanometer can record angle values of the rotation angles of the reflecting mirrors controlling two directions, so that the space coordinate value of the target positioning point is calculated, and the space position parameter of the coordinate system of the laser projector 300 relative to the coordinate system of the object to be projected can be determined through calculation, wherein the coordinate system of the object can be the coordinate system of the airplane to be assembled.
The scanning speed of the laser contour points is high, so that the positioning contour of the composite material laying area or the part can be difficult to observe by eyes on the surface of an object to be projected (such as the plane to be assembled of an airplane). If the area to be projected is too large, a plurality of laser projection robots 1000 can be used to simultaneously perform laser projection, and the laser projections are spliced together to form a larger laser projection image.
The laser projection robot 1000 further includes a lifting device 400, wherein the lifting device 400 is mounted on the first mounting surface 211 of the control box 200 and is connected to the laser projector 300, and the lifting device 400 can raise or lower the laser projector 300 relative to the ground to facilitate projection onto planes to be assembled at different heights.
Specifically, the lifting device 400 includes a lifting rod 410, a screw rod (not shown), and a driving motor (not shown), the lifting rod 410 is slidably mounted on the first mounting surface 211 of the control box 200, the lifting rod 410 is in threaded engagement with the screw rod, the lifting rod 410 is a hollow cylinder, a nut block in threaded engagement with the screw rod is provided in the lifting rod 410, the driving motor is in driving connection with the screw rod, and the driving motor can drive the screw rod to rotate, so as to drive the nut block to move in a direction away from the ground or in a direction close to the ground, so that the lifting rod 410 slides relative to the control box 200, so as to raise or lower the laser projector 300 relative to the ground.
Of course, in other embodiments, the lifting device 400 may also be a hydraulic lifting platform or a hydraulic telescopic rod, and the farther the laser projector 300 is relative to the ground, the greater the range of the projected positioning projection.
Wherein, the mobile chassis 100 is installed at the bottom of the control box 200, the lifting device 400 is installed at the top of the control box 200, and the mobile chassis 100 can be selected as a positionable mobile robot chassis so as to automatically drive to a preset position in an assembly factory.
The control box 200 includes a first sub-control box 210 and a second sub-control box 220 connected to each other, the first sub-control box 210 has a first mounting surface 211, the second sub-control box 220 has a second mounting surface 221, the first sub-control box 210 and the second sub-control box 220 are communicated, and the lifting device 400 is mounted on the first mounting surface 211 of the first sub-control box 210.
In order to facilitate control of the laser projector 300 and enhance human-computer interaction, the laser projection robot 1000 further includes a computer terminal 500, the computer terminal 500 is electrically connected to the laser projector 300, the computer terminal 500 is disposed on the second mounting surface 221, and the second mounting surface 221 is lower than the first mounting surface 211 to define a groove for facilitating installation of the computer terminal 500.
In order to determine the working state of the entire laser projection robot 1000, the laser projection robot 1000 further includes an indicator light 600, the indicator light 600 may display different colors to feed back the working state of the laser projection robot 1000, for example, when the indicator light 600 is green, the laser projection robot 1000 normally works, when the indicator light 600 is red, the laser projection robot 1000 fails, and the operator may maintain the robot in time, the indicator light groove 201 is further disposed at the top edge of the first sub-control box 210, the indicator light 600 is mounted in the indicator light groove 201, so that the indicator light 600 may be prevented from being damaged by collision, and the indicator light 600 is electrically connected to the computer terminal 500.
In addition, the laser projection robot 1000 further comprises a camera 700, the camera 700 is a 3D camera 700, the camera 700 can detect surrounding obstacles, such as obstacles above the laser projection robot 1000, and prevent the laser projection robot 1000 from colliding with wings of an aircraft during movement, wherein a camera mounting groove 202 is formed in a side wall of the first sub-control box 210, the camera 700 is mounted in the camera mounting groove 202, the camera 700 is electrically connected with the computer terminal 500, and meanwhile, the camera 700 is also mounted on a side wall of the second sub-control box 220, so as to improve the sensing capability of the laser projection robot 1000.
In order to further improve the sensing capability of the laser projection robot 1000, the laser projection robot 1000 further includes a laser radar 800, the laser radar 800 is mounted on the mobile chassis 100 or the control box 200, the laser radar 800 is electrically connected to the computer terminal 500, the laser radar 800 is mounted on the mobile chassis 100 and abuts against the bottom side of the control box 200, and specifically, in this embodiment, the laser radar 800 is mounted on the mobile chassis 100 to determine surrounding obstacles.
In addition, in order to prevent an accident and stop the laser projection robot 1000 in time, the first sub-control box 210 and the second sub-control box 220 are both provided with an emergency stop switch 900, and the emergency stop switch 900 is electrically connected to the computer terminal 500, it should be noted that in this embodiment, the first sub-control box 200 or the second sub-control box 220 is provided with a power supply battery, and the laser projector 300, the driving motor, and the computer terminal 500 are all electrically connected to the power supply battery.
The embodiment of the invention also provides an aircraft assembly method, which adopts the laser projection robot 1000 and comprises the following steps: the laser projector 300 performs system calibration; the laser projector 300 projects a preset image to the plane to be assembled so as to determine a preset assembling position of the part to be assembled; and finally, mounting the parts to be assembled to a preset assembly position. The positioning precision of the aircraft parts can be greatly improved.
Specifically, before the entire laser projector 300 is operated, the installation calibration of the laser projector 300 needs to be performed first. The positioning is performed by a target positioning point installed on the surface of an object to be projected (e.g., the surface of an airplane to be assembled), and the target positioning point on the surface of the object can reflect the laser beam emitted by the laser projector 300 back into the laser projector 300 according to the original direction, so that the laser projector 300 can automatically detect the accurate position of the target positioning point.
In addition, for different surfaces of the object to be projected, target positioning points with different angles between the surface of the reflective material and the surface of the object to be projected can be used, and the laser beam can be kept in a perpendicular relation with the target positioning points by using the appropriate target positioning points at specific positions, so that the calibration and projection display accuracy of the projection system of the laser projector 300 can be greatly improved.
Meanwhile, when the laser projector 300 is operated, in order to determine the position of the target location point, the laser beam emitted by the laser projector 300 can continuously scan the target location point installed on the surface of the object to be projected, and after determining the approximate location area, the laser projector 300 will precisely scan the target location point in the area, thereby determining the accurate location thereof. The laser beam is then fixed and the orientation of the laser projector 300 in the world coordinate system is determined according to the laser projection technology built-in algorithm.
After the laser projector 300 is calibrated, the relationship between the laser projector 300 and the object to be projected is determined, and then the projection operation can be started, specifically, the laser projector 300 projects a preset image onto the plane to be assembled, where the preset image is a CAD digital-to-analog file that has been processed in advance and is stored in the computer terminal 500, and the CAD digital-to-analog is a basic file when the laser projector 300 performs laser projection scanning.
The CAD digital-analog file provides coordinates and projection information required by installation and positioning of the parts to be assembled of the airplane, and is a data file used for displaying each outline required by projection of each part to be assembled of the airplane. According to the image data of the file, the laser projector 300 can display the projection outline of the image of the part to be assembled of the airplane in the form of laser beams, and then the part to be assembled is installed to the preset assembly position according to the projection outline of the image of the part of the airplane, so that the positioning precision of the part of the airplane is greatly improved, and in addition, CAD digital-analog files with different preset images can be selected through the computer terminal 500 to perform positioning projection on different surfaces to be assembled of the airplane.
In addition, the digital positioning network system of the laser projector 300 monitors the entire operating area in real time during the entire laser projection process, and is calibrated at any time. If the parts to be projected in the working area or the laser projector 300 are displaced, the parts can be detected by the positioning network and corrected in time to ensure the installation accuracy.
In summary, the laser projection robot 1000 includes a mobile chassis 100, a control box 200, and a laser projector 300, where the control box 200 is installed on the mobile chassis 100, the laser projector 300 is installed on the control box 200, the mobile chassis 100 can transport the laser projector 300 to a corresponding position, then the laser projector 300 starts to operate to project a preset image onto a plane to be assembled, where the preset image may be a contour diagram of a plane component, then a preset assembly position of the plane component to be assembled can be determined according to the preset image, and finally the plane component is installed at the preset assembly position, thereby greatly improving the positioning accuracy of the plane component.
In some preferred embodiments, the aircraft assembly method further comprises the steps of: and judging the position of the plane to be assembled, and if the height of the plane to be assembled is higher than a preset value, controlling and adjusting the height of the lifting device 400 and/or adjusting the position of the laser projection robot 1000. This step may be provided before the step of the laser projector 300 projecting the preset image onto the plane surface to be assembled, wherein the projection position may be raised by raising the lifting device 400, or by moving the laser projection robot 1000 away from the surface to be assembled.
In some preferred embodiments, the aircraft assembly method further comprises the steps of: vertically splitting a preset image to obtain a plurality of preset sub-images; and collecting assembly process information, judging whether assembly of a certain preset sub-image is finished or not according to the assembly process information, and if so, controlling the lifting device 400 to ascend or descend and projecting another adjacent preset sub-image to a corresponding position. In an implementation, this step may be performed before the step of projecting the preset image onto the plane surface to be assembled by the laser projector 300. In some scenes, the preset image is too large, energy consumption is increased by projecting the whole image, the preset image is vertically split in the scheme, a plurality of preset sub-images which are mutually connected in the height direction are obtained, each sub-image can be assembled, and the lifting device 400 is adjusted to project another sub-image after one sub-image is assembled, so that the energy consumption of equipment is reduced under the condition of ensuring efficiency, and meanwhile, the assembly process can be more focused.
Meanwhile, an intelligent auxiliary technology is provided for airplane assembly, for example, the intelligent auxiliary technology of cooperation of a plurality of laser projection robots 1000 inevitably improves airplane digital assembly efficiency, and brings great changes to application and development of the airplane assembly technology.
The aircraft assembly method adopts the laser projection robot 1000, and comprises the following steps: the laser projector 300 performs system calibration; the laser projector 300 projects a preset image to the plane to be assembled so as to determine a preset assembling position of the part to be assembled; the parts to be assembled are installed to the preset assembly positions, and the positioning accuracy of the airplane parts is greatly improved.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A laser projection robot, comprising:
a mobile chassis (100);
a control box (200), the control box (200) being mounted to the mobile chassis (100); and
a laser projector (300), the laser projector (300) being mounted to the control box (200).
2. The laser projection robot according to claim 1, further comprising a lifting device (400), wherein the lifting device (400) is mounted to the first mounting surface (211) of the control box (200) and is connected to the laser projector (300);
the lifting device (400) is used for driving the laser projector (300) to move away from or close to the mobile chassis (100).
3. The laser projection robot according to claim 2, wherein the lifting device (400) comprises a lifting rod (410), a screw rod and a driving motor, the lifting rod (410) is slidably mounted on the first mounting surface (211) of the control box (200);
the lifting rod (410) is in threaded fit with the screw rod, and the driving motor is in driving connection with the screw rod.
4. The laser projection robot according to claim 2, wherein the moving chassis (100) is mounted at the bottom of the control box (200), and the lifting device (400) is mounted at the top of the control box (200).
5. The laser projection robot according to claim 2, wherein the control box (200) comprises a first sub-control box (210) and a second sub-control box (220) connected to each other, the first sub-control box (210) has the first mounting surface (211), the second sub-control box (220) has a second mounting surface (221), the laser projection robot further comprises a computer terminal (500), the computer terminal (500) is disposed on the second mounting surface (221), and the second mounting surface (221) is lower than the first mounting surface (211);
the computer terminal (500) and the laser projector (300) are electrically connected.
6. The laser projection robot as claimed in claim 5, further comprising an indicator light (600), wherein an indicator light groove (201) is further provided at a top edge of the first sub-control box (210), the indicator light (600) is mounted in the indicator light groove (201), and the indicator light (600) is electrically connected to the computer terminal (500).
7. The laser projection robot of claim 5, further comprising a camera (700), wherein a side wall of the first sub-control box (210) is provided with a camera mounting groove (202), the camera (700) is mounted in the camera mounting groove (202), and the camera (700) is electrically connected with the computer terminal (500).
8. The laser projection robot according to claim 5, wherein the first sub-control box (210) and the second sub-control box (220) are in communication.
9. The laser projection robot according to claim 5, further comprising a laser radar (800), wherein the laser radar (800) is mounted on the mobile chassis (100) or the control box (200), the laser radar (800) is electrically connected to the computer terminal (500), and the laser radar (800) is mounted on the mobile chassis (100) and abuts against the bottom side of the first sub-control box (210).
10. An aircraft assembly method using the laser projection robot of any one of claims 1 to 9, wherein the aircraft assembly method comprises:
the laser projector (300) performs a system calibration;
the laser projector (300) projects a preset image to the plane to be assembled so as to determine a preset assembling position of the part to be assembled;
and installing the parts to be assembled to the preset assembly positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210744833.3A CN114918951A (en) | 2022-06-27 | 2022-06-27 | Laser projection robot and airplane assembly method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210744833.3A CN114918951A (en) | 2022-06-27 | 2022-06-27 | Laser projection robot and airplane assembly method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114918951A true CN114918951A (en) | 2022-08-19 |
Family
ID=82815286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210744833.3A Pending CN114918951A (en) | 2022-06-27 | 2022-06-27 | Laser projection robot and airplane assembly method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114918951A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6828525B1 (en) * | 2004-01-28 | 2004-12-07 | The Boeing Company | Method of assembling an article using laser light projection and a photoreactive material |
| CN101498579A (en) * | 2008-02-01 | 2009-08-05 | 波音公司 | Portable laser projector and enclosure |
| CN101506811A (en) * | 2006-06-28 | 2009-08-12 | 萨姆·斯塔西斯 | Method and system for automatically performing a study of a multidimensional space |
| US20150043011A1 (en) * | 2013-08-06 | 2015-02-12 | Laser Projection Technologies, Inc. | Virtual laser projection system and method |
| CN206419641U (en) * | 2017-02-06 | 2017-08-18 | 浙江日发航空数字装备有限责任公司 | A kind of laser tracker height adjuster |
| CN207500737U (en) * | 2017-11-21 | 2018-06-15 | 潍坊歌尔电子有限公司 | A kind of projecting apparatus auxiliary device |
| CN111355894A (en) * | 2020-04-14 | 2020-06-30 | 长春理工大学 | Novel self-calibration laser scanning projection system |
| CN111660235A (en) * | 2020-05-20 | 2020-09-15 | 上海航天精密机械研究所 | Laser guide assembly system and method for riveting cabin |
| CN212578620U (en) * | 2020-11-23 | 2021-02-23 | 科大讯飞华南人工智能研究院（广州）有限公司 | Robot with projection function |
| CN113084993A (en) * | 2021-03-23 | 2021-07-09 | 山东城开远大装配式建筑有限公司 | Prefabricated floor mould and positioner for built-in fitting |
-
2022
- 2022-06-27 CN CN202210744833.3A patent/CN114918951A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6828525B1 (en) * | 2004-01-28 | 2004-12-07 | The Boeing Company | Method of assembling an article using laser light projection and a photoreactive material |
| CN101506811A (en) * | 2006-06-28 | 2009-08-12 | 萨姆·斯塔西斯 | Method and system for automatically performing a study of a multidimensional space |
| CN101498579A (en) * | 2008-02-01 | 2009-08-05 | 波音公司 | Portable laser projector and enclosure |
| US20090195759A1 (en) * | 2008-02-01 | 2009-08-06 | Van Avery James C | Portable laser projector and enclosure |
| US20150043011A1 (en) * | 2013-08-06 | 2015-02-12 | Laser Projection Technologies, Inc. | Virtual laser projection system and method |
| CN206419641U (en) * | 2017-02-06 | 2017-08-18 | 浙江日发航空数字装备有限责任公司 | A kind of laser tracker height adjuster |
| CN207500737U (en) * | 2017-11-21 | 2018-06-15 | 潍坊歌尔电子有限公司 | A kind of projecting apparatus auxiliary device |
| CN111355894A (en) * | 2020-04-14 | 2020-06-30 | 长春理工大学 | Novel self-calibration laser scanning projection system |
| CN111660235A (en) * | 2020-05-20 | 2020-09-15 | 上海航天精密机械研究所 | Laser guide assembly system and method for riveting cabin |
| CN212578620U (en) * | 2020-11-23 | 2021-02-23 | 科大讯飞华南人工智能研究院（广州）有限公司 | Robot with projection function |
| CN113084993A (en) * | 2021-03-23 | 2021-07-09 | 山东城开远大装配式建筑有限公司 | Prefabricated floor mould and positioner for built-in fitting |
Non-Patent Citations (2)
| Title |
|---|
| 林海峰: "基于激光投影的飞机装配定位技术应用", 林海峰, no. 34, pages 33 - 34 * |
| 秦玉波等: "基于空间增强现实的辅助装配***研究", 航空制造技术, vol. 65, no. 12, pages 57 - 62 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114071112B (en) | Vehicle point cloud identification imaging method and system | |
| CA2948485A1 (en) | Methods and systems for wing-to-body joining | |
| CN106017312B (en) | Structured light triangulation automatic calibration system and calibration method | |
| CN109239086B (en) | Vehicle paint surface and appearance flaw detection system | |
| EP2966401A1 (en) | Shape examination method and device therefor | |
| CN109509602B (en) | Laser resistance-adjusting machine | |
| CN109724540B (en) | Two-dimensional MEMS scanning reflector corner calibration system and calibration method | |
| CN113050072A (en) | Laser radar test system and method | |
| CN112697112B (en) | Method and device for measuring horizontal plane inclination angle of camera | |
| CN111239711A (en) | Automatic calibration system for laser three-dimensional imaging radar | |
| US20220103794A1 (en) | Projection device for displaying construction plans | |
| CN114413784A (en) | Line laser 3D contour scanning reconstruction system and control method thereof | |
| CN103353391A (en) | Measuring device and method for spatial luminosity distribution property of aiming lamp box | |
| EP3992662A1 (en) | Three dimensional measurement device having a camera with a fisheye lens | |
| CN112975361A (en) | High-precision docking method for laser vision fusion in complex illumination environment | |
| CN113758480B (en) | Surface type laser positioning system, AGV positioning calibration system and AGV positioning method | |
| Csaba et al. | Differences between Kinect and structured lighting sensor in robot navigation | |
| CN114918951A (en) | Laser projection robot and airplane assembly method | |
| CN109751987A (en) | A kind of vision laser locating apparatus and localization method for mechanical actuating mechanism | |
| RU2718396C1 (en) | Method of mounting wind-driven power plant components | |
| CN114001680A (en) | Vehicle side wall unevenness measuring device and measuring method | |
| CN113658221A (en) | Monocular camera-based AGV pedestrian following method | |
| CN113156607A (en) | Method for assembling prism, device for assembling prism and equipment for assembling prism | |
| JP2003215244A (en) | Collimation target of range finder and collimation method | |
| CN202582492U (en) | Auxiliary device for measuring performance parameters of semiconductor machine platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |