基于激光位移传感器的螺纹孔位姿搜索方法研究

Research of Laser Sensor-based Screw Hole-searching Method

传统自动化螺丝锁付时,若工件姿态或螺纹孔位置不确定,则无法实现螺丝锁付。针对此类情况,提出一种利用激光位移传感器确定工件位姿及搜索圆孔特征中心点的方法,无需设计专用夹具,可应用于各种不同工件。同时以常见的环形组孔工件为例,设计搜索策略以获得螺纹孔精确位姿,并通过实验,证明方法的有效性。

In general automated screwing cases,When the pose of the work pieces or the position of the screw hole is uncertain,the screwing cannot be achieved.This paper proposes a method of using laser displacement sensor to determine the position and posture of the work piece and search for the center point of the circular hole when the position of the workpiece is uncertain.In addition,a search strategy is designed for the common annular group hole workpiece.Finally,experimental verification shows the effective of method.