ROBOT TEACHING INTERPOSER CONFIGURATION AND METHOD

摘要

ROBOT TEACHING INTERPOSERCONFIGURATION AND METHODABSTRACTA drillhole centerline determining interposerhaving a central pocket enables a robot to probethe interposer to learn the location and orientationof the desired drillhole. The interposer is amushroom shaped device with a planar head and astem dimensioned to fit snugly in the hole to bedrilled. The interposer, in addition to theplanar head from which the perpendicular can becalculated through multiple probes, has a centralpocket concentric to the interposer stem.The method of using the drillhole centerlinedetermining interposer is to place a number ofsuch interposers manually in position in holesin a master part located in the work envelope ofthe robot. The robot operator prepositions theprobe at an initial position facing the pocket ofthe interposer for a drillhole locating sequencefor the related drill hole. In sequence, therobot moves the probe from the initial positionsufficient to clear the edge of the pocket and bymultiple probes determines the plane of theinterposer surface platform. The robot thenadjusts the yaw and pitch of the probe to orientthe probe orthogonal to the platform plane (avector parallel to the desired drillhole center-line axis). The robot, with orientation vectorstored, now locates the XYZ coordinates of thedrillhole by pocket probing actions determiningthe epicenter of the pocket.With orientation vector (pitch and yaw) known, andwith coordinates (XYZ) known, the drillhole isdetermined.