CN104625162B - Drilling Normal Vector Alignment Method and Alignment System Based on Laser Transmitter - Google Patents

Abstract

A drilling normal vector alignment method and alignment system based on a laser transmitter, characterized in that the method includes the following steps: first, at least two laser transmitters are installed in the workshop, and each laser transmitter can Rotate around mutually perpendicular axes; secondly, the top of the drill gun is processed to form a "cross"line; thirdly, calculate the normal vector value required for drilling according to the position of the required drilling hole; fourthly, according to the calculated Adjust the rotation angle of the two emitters so that the plane of light emitted by each laser emitter passes through one of the theoretical "cross" lines, and the plane of light emitted by the two laser emitters intersects on the top of the drill gun to form a The theoretical "cross" line perpendicular to the normal vector; Fifth, manually or automatically adjust the angle of the drill gun so that the "cross" line on the top of the drill gun coincides with the theoretical "cross" line formed by the laser transmitter, that is Complete the alignment of the drill top normal vector. Finally, complete the drilling work according to the adjusted normal vector. The invention has convenient adjustment and simple algorithm.

Description

Drilling Normal Vector Alignment Method and Alignment System Based on Laser Transmitter

technical field

The invention relates to a curved surface drilling technology, in particular to a drilling technology on the surface of an aircraft skin, in particular to a drilling normal vector alignment method and an alignment system based on a laser transmitter.

Background technique

In the aviation industry, the failure mode of an aircraft body is mainly fatigue damage, and most of the fatigue damage occurs on the link parts of the body structure. In today's aircraft manufacturing industry, the main connection methods are still riveting and bolting, so the quality requirements for the connection holes are very high, which has an important impact on the life of the aircraft. The hole making in the traditional aircraft assembly generally adopts manual drilling, but the proficiency and physical strength of different workers are different, and the verticality of the hole is often grasped based on experience, which is prone to processing defects, so that the accuracy of the hole making cannot be achieved. Get guaranteed and real-time monitoring evaluation program.

In a large aircraft, there are about 1.5 to 2 million connecting parts. The position accuracy and surface quality of the connecting holes have a great influence on the machining accuracy of the holes, and the verticality is one of the main factors. Perpendicularity directly affects the diameter of the drilled holes and also has a great influence on the quality of riveting in aircraft assembly. According to relevant data, when the angle of inclination of aircraft fasteners along the direction of external load is greater than 2°, the fatigue life of the aircraft will be reduced by 47%; when the angle of inclination exceeds 5°, the fatigue life will be reduced by 95%.

In the field of normal adjustment technology, some development has been achieved. The normal direction can be adjusted by using 4 contact displacement sensors. This method can adjust the tool feed direction by measuring the normal deviation of the displacement sensor, so as to obtain an ideal normal accuracy. It can be used for manual and automatic drilling, but the disadvantage is that the parts need to be pressed when measuring, which will A certain deformation is produced on the workpiece, which makes the normal adjustment result inaccurate. Or you can use 3 laser displacement sensors to measure the coordinates of 3 feature points around the drilling point, calculate the angle between the central axis of the drill bit and the normal vector of the drilling point through the cross product principle, and then use the binary angle adjustment method to adjust the direction of the drill bit. However, this method needs to ensure that the emission points of the three laser displacement sensors are evenly distributed on the concentric circle of the drill bit, and the laser emission direction needs to be the same as the direction of the drill bit, and it is installed at the end of the hole-making actuator. The installation accuracy requirements High and unsuitable for manual drilling techniques.

In the manual drilling technology, the traditional drill sleeve is widely used at present, but it is not open enough when making holes, and the quality of the holes cannot be observed, and for the inner stringers after the outer skin is drilled inward, etc. The amount of margin is not enough to affect the quality of assembly. In addition, the application of drill sleeves cannot guarantee the accuracy of the hole-making normal vector at all when drilling holes in the skin of military aircraft with large curvature changes.

Laser emitters have been used in a variety of measurement components at present, but it is an outstanding application to apply them to the measurement and inspection of the normal vector of hole making, especially combined with off-line programming technology, using the change of A and B angles to achieve precise positioning Normal vector parameters, and for large aircraft assembly workshops can be fixed multiple at one time to form a unique measurement and inspection system, which is of great significance for improving the accuracy of manual hole making and eliminating or simplifying special tools such as drilling jigs.

Contents of the invention

The purpose of the present invention is to invent a method for aligning drilling normal vectors based on laser transmitters with simple algorithm, convenient control and adjustment, aiming at the existing problems of difficult alignment of drilling normal vectors, complex structure and low precision. and alignment system.

One of technical solutions of the present invention is:

A kind of drilling normal vector alignment method based on laser transmitter is characterized in that it comprises the following steps:

First, install at least two laser emitters in the workshop, and enable each laser emitter to rotate around mutually perpendicular axes;

Secondly, the top of the drill gun is processed to form a "ten" line;

Third, calculate the normal vector value required for drilling according to the position of the required drilling;

Fourth, adjust the rotation angles of the two emitters according to the calculated normal vector, so that the plane of light emitted by each laser emitter passes through one of the theoretical "cross" lines, and the light emitted by the two laser emitters is in the drill The top of the gun forms a theoretical "ten" line perpendicular to the normal vector;

Fifth, adjust the angle of the drilling gun manually or automatically, so that the "cross" line on the top of the drilling gun coincides with the theoretical "cross" line formed by the laser transmitter, that is, the alignment of the normal vector at the top of the drill is completed;

Finally, press the adjusted normal vector to complete the drill gun top work.

The second technical scheme of the present invention is:

A drilling normal vector alignment system is characterized in that it includes at least two laser emitters 6 installed in the workshop, each of the laser emitters 6 is installed on the corresponding second rotation axis 5, the first The second rotating shaft 5 is installed on the support 3, and the second rotating shaft 5 is driven to rotate by the second motor 4 installed on the support 3. The described support 3 is installed on the first rotating shaft 2, and the first rotating shaft 2 is driven by the second rotating shaft 2. A motor 1 drives the rotation; adjusting the rotation angles of the first rotation axis and the second rotation axis of the two laser emitters can make the light plane emitted by each laser emitter pass through one of the theoretical "cross" lines, and the two laser emitters The light plane emitted by the transmitter intersects on the top of the drill gun to form a theoretical "cross" line perpendicular to the normal vector, which provides a reference for manual or automatic adjustment of the normal vector of the drill gun.

Both the first motor and the second motor are servo motors.

The bracket 3 is a U-shaped structure, the first rotating shaft is installed at the center of the bottom of the U-shaped structure, and the second rotating shaft is mounted on the open end of the U-shaped structure.

Beneficial effects of the present invention:

The drilling normal vector alignment technology of the present invention has the advantages of being omnidirectional, suitable for an entire assembly workshop, suitable for a flexible multi-model production line, simple in algorithm, and easy to control and implement.

In the modification of the crosshair of the drill gun involved in the present invention, the A and B angles of the laser transmitter are oscillated to adjust the projection plane to align the crosshair of the drill gun, so as to evaluate the technology of normal vector alignment, which is convenient for workers to operate and saves the traditional custom-made Special tooling and tools such as drilling jigs.

According to the fixed position of the drilled skin in the tooling, the present invention obtains the point information and normal vector information of the drilled point in the skin base coordinate system by off-line programming technology, and obtains the laser emitters by changing the matrix. The amount of oscillating angle α, β required in the moving coordinate system, this algorithm can be used in the control system to realize the angle rotation adjustment of the laser transmitter.

The whole workshop involved in the present invention, the omni-directional normal vector alignment technology of the whole machine under the multi-laser transmitter, utilizes the specific working drilling area, and combines the area where the workers are convenient to operate, and optimizes the selection of laser emission in two specific directions It is a new type of normal vector alignment system for the whole workshop.

The invention is not only suitable for manual drilling, but also suitable for automatic drilling and riveting, especially for manual normal alignment in the manual hole-making process of skins with large surface curvature changes such as military aircraft.

Description of drawings

Fig. 1 is a schematic structural view of the improved drill gun of the present invention.

Fig. 2 is a schematic structural diagram of a laser emitter unit capable of adjusting angles in two directions according to the present invention.

Fig. 3 is a schematic diagram of the normal vector alignment of the multi-laser emitters involved in the present invention.

In Figure 1: point A is the end point of the drill bit, the top of the drill gun has a custom cross line, point B is the center of the cross, h is the distance from point A to point B, the normal vector is marked as n, and the two straight lines of the cross line are marked as BP ,BQ.

In Figure 2: 1 is the first rotating motor, 2 is the first rotating shaft, 3 is the bracket, 4 is the second rotating motor, 5 is the second rotating shaft, 6 is the laser transmitter, and α is the first rotating shaft The rotation angle, β is the rotation angle of the second rotation axis.

In Fig. 3: O-XYZ is the skin base coordinate system, and O _i -X _i Y _i Z _i is the laser transmitter coordinate system.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Embodiment one.

As shown in Figure 1-3.

A kind of drilling normal vector alignment method based on laser emitter, first fix the aircraft part to be drilled on the jig, and define a unique reference coordinate system T ₀ : O-XYZ for this part; planar laser emitter arrangement There are several around the workshop. When drilling a certain area, you can artificially select the nearest non-interfering laser transmitter for the application of the present invention. Such an application can basically meet the artificial alignment of the drilling normal vector in all areas of the aircraft. The operation provides an evaluation and dependence mechanism for the previous artificial guarantee of the operation of the normal vector. Each laser can rotate around mutually perpendicular axes (as shown in Figure 2). The rotation axis is marked as the X _i axis, the Y _i axis, the rotation angle around the X _i axis is marked as α, and the rotation angle around the Y _i axis is marked as β angle , and the light source emitted by the laser source coincides with the X _i -Y _i plane. A sufficient number of laser groups need to be arranged around the workshop so that it can cover the entire workshop, and the coordinate system of each laser is O _i -X _i Y _i Z _i .

The key of the present invention is to carry out the transformation of the manual drill gun, mill a plane perpendicular to the drill gun rotating shaft at the end of the drill gun, and engrave a mutually perpendicular "cross" mark on the milled plane. The distance from the "ten" mark to the top of the drill bit is measured as h by measuring tools such as a tool setting instrument, as shown in Figure 1.

When the drill gun makes a hole in a fixed tooling area of the aircraft, the hole point and the normal vector of the point can be obtained through offline programming. The hole point is recorded as point A(x _a , y _b , z _c ), and the hole point The normal vector of a point is denoted as vector n(x _n ,y _n ,z _n ).

The correct posture when making a hole is that the drill bit coincides with the normal vector of the hole site. In the present invention, the normal vector alignment adjusts the α and β angles of two laser sources in the laser group, so that the planes emitted by the two laser sources constitute the theoretical "cross" of the correct attitude during hole making. When workers make holes, they only need to adjust the posture of the drill gun so that the "cross" mark and the projection of the theoretical cross line formed by the laser plane on the drill gun coincide respectively, and the correct normal vector direction is found.

The present invention needs to calculate the plane where the theoretical "ten" mark of the drill gun corresponding to the hole position is located:

The hole point A(x _a ,y _b ,z _c ), the hole point normal vector n(x _n ,y _n ,z _n ), the distance h between the “cross” mark and the hole point. For the position of the "ten" mark is marked as B, then there are

$\mathrm{<span\; class="notranslate">\; OB</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; OA</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; h</span>}\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; hx</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; hy</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; hz</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Note OB=(x _b , y _b , z _b ), the theoretical plane marked with "ten" passes through point B and is vertical The plane of , let the point on the plane be P(x,y,z), then we have

$<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; OP</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; PB</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

expressed in matrix

$<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&CenterDot;</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

There are any number of "ten" characters perpendicular to each other on a plane, here we first fix two of the coordinates, and then calculate the third coordinate by formula (3).

Johoya A certain component of is 0, then the coordinate corresponding to this component can be any value, so in this case the coordinate must be fixed. According to this idea, the situation can be divided into the following three situations:

1. When z _n ≠0, fix the x and y coordinates first, set x=x _b +l, y=y _b +ml≠m, and substitute it into the formula (3), it can be obtained

$z=z_b-\frac{x_{\mathrm{no}}l+{\mathrm{the\; y}}_{\mathrm{no}}m}{z_{\mathrm{no}}},$ recorded as

$\mathrm{<span\; class="notranslate">\; P</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\mathrm{<span\; class="notranslate">\; m</span>}}{{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

BP can be regarded as the first line of the "ten" mark, and the second line BQ can be expressed as

$\mathrm{<span\; class="notranslate">\; BQ</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; BP</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

Denote it as Q(x _q ,y _q ,z _q ).

2. When z _n ＝0, y _n ＝0, then the y and z coordinates must be fixed, let y＝y _b +m, z＝x _b +nm≠n and substitute it into the formula (3), it can be obtained

$x=x_b-\frac{{\mathrm{the\; y}}_{\mathrm{no}}m+z_{\mathrm{no}}\mathrm{no}}{x_{\mathrm{no}}},$ recorded as

$\mathrm{<span\; class="notranslate">\; P</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\mathrm{<span\; class="notranslate">\; no</span>}}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$

BP can be regarded as the first line of the "ten" mark, and the second line BQ can be expressed as

Denote it as Q(x _q ,y _q ,z _q ).

3. When z _n = 0, y _n ≠ 0, first fix the x and z coordinates, set x = x _b + l, z = z _b + nl ≠ n and substitute it into formula (3), it can be obtained

$\mathrm{the\; y}={\mathrm{the\; y}}_b-\frac{x_{\mathrm{no}}l+z_{\mathrm{no}}\mathrm{no}}{{\mathrm{the\; y}}_{\mathrm{no}}},$ recorded as

$\mathrm{<span\; class="notranslate">\; P</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\mathrm{<span\; class="notranslate">\; no</span>}}{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

BP can be regarded as the first line of the "ten" mark, and the second line BQ can be expressed as

Denote it as Q(x _q ,y _q ,z _q ).

So far the present invention has obtained the linear equation of the theoretical "ten" mark in the reference coordinate system.

To make the planes emitted by the two laser sources constitute the theoretical "cross" character of the correct posture when making holes, that is, the emission plane of the laser is located on the plane formed by the laser source and BP (or BQ). Assume that laser source 1 corresponds to BP, and laser source 2 corresponds to BQ (Figure 3), that is, laser source 1 should be adjusted to the O ₁ BP plane, and laser source 2 should be adjusted to the O ₂ BQ plane. Taking laser source 1 as an example, according to the above regulations, after rotating around the X axis by an angle of α and around the Y axis by an angle of β, the Z axis of the laser source 1 should point to the normal direction of O ₁ BP.

Note that the normal directions of O ₁ BP and O ₂ BQ are respectively

$\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; BP</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

$\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; BQ</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$

Among them, O1 and O2 are the positions of laser source 1 and laser source 2 in the reference coordinate system, namely are expressed in the base coordinate system.

The laser source has two rotational degrees of freedom. First, it is rotated by an angle α around the X axis, and then by an angle β around the Y axis. The transformed attitude can be expressed by the following homogeneous transformation matrix.

$\mathrm{<span\; class="notranslate">\; T</span>}_{\mathrm{<span\; class="notranslate">\; Oi</span>}}^{\mathrm{<span\; class="notranslate">\; t</span>}\mathrm{<span\; class="notranslate">\; arg</span>}\mathrm{<span\; class="notranslate">\; et</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; Rot</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; Rot</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left[\begin{array}{cccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 10</span>}<span\; class="notranslate">\; )</span>$

in $\mathrm{Rot}(x,\mathrm{\&alpha;})=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \left(\mathrm{\&alpha;}\right)& -\sin \left(\mathrm{\&alpha;}\right)& 0\\ 0& \sin \left(\mathrm{\&alpha;}\right)& \cos \left(\mathrm{\&alpha;}\right)& 0\\ 0& 0& 0& 1\end{array}\right],\mathrm{Rot}(\mathrm{the\; y},\mathrm{\&beta;})=\left[\begin{array}{cccc}\cos \left(\mathrm{\&beta;}\right)& 0& \sin \left(\mathrm{\&beta;}\right)& 0\\ 0& 1& 0& 0\\ -\sin \left(\mathrm{\&beta;}\right)& 0& \cos \left(\mathrm{\&beta;}\right)& 0\\ 0& 0& 0& 1\end{array}\right]$

According to the aforementioned definition, after the laser source is rotated, the normal vector of the laser plane is also the rotated Z axis, that is The first three rows of the third column of the transformation matrix, however, the reference coordinate system of the normal vector is the original coordinate system of the laser source, not expressed in the reference coordinate system, so the normal vector needs to be converted to the reference coordinate system. Define the normal vector as

NomNormal＝[sin(β)-sin(α)cos(β)cos(α)cos(β)1] ^T (11)

According to the above definition, the pose of each laser source can be obtained from the reference coordinates through a certain coordinate transformation. Define the position of the first laser source in the reference coordinate system as [ _xi y _i z _i 1] ^T , then the laser The original coordinates of the source can be obtained by translating the reference coordinate system by [ _xi y _i z _i 1] ^T each time, and then rotating α _i , β _i , and γ _i around the X-axis, Y-axis, and Z-axis respectively. Define the transformation matrix from the reference coordinate system to the Ith laser source as

$\mathrm{<span\; class="notranslate">\; T</span>}_{\mathrm{<span\; class="notranslate">\; o</span>}}^{\mathrm{<span\; class="notranslate">\; Oi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; Trans</span>}\left(\begin{array}{ccc}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}& {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}& {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\end{array}\right)\mathrm{<span\; class="notranslate">\; Rot</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; Rot</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; Rot</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>$

in $\mathrm{Trans}\left(\begin{array}{ccc}{x}_i& {\mathrm{the\; y}}_i& z_i\end{array}\right)=\left[\begin{array}{cccc}1& 0& 0& x_i\\ 0& 1& 0& {\mathrm{the\; y}}_i\\ 0& 0& 1& z_i\\ 0& 0& 0& 1\end{array}\right]\mathrm{Rot}(x,{\mathrm{\&alpha;}}_i)=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \left({\mathrm{\&alpha;}}_i\right)& -\sin \left({\mathrm{\&alpha;}}_i\right)& 0\\ 0& \sin \left({\mathrm{\&alpha;}}_i\right)& \cos \left({\mathrm{\&alpha;}}_i\right)& 0\\ 0& 0& 0& 1\end{array}\right],$

$\mathrm{<span\; class="notranslate">\; Rot</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left[\begin{array}{cccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; Rot</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left[\begin{array}{cccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]$

Then NomNormal in the reference coordinate system in the first laser source coordinate system can be expressed as:

$\mathrm{<span\; class="notranslate">\; OriNormal</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; T</span>}_{\mathrm{<span\; class="notranslate">\; o</span>}}^{\mathrm{<span\; class="notranslate">\; Oi</span>}}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; NomNormal</span>}$

With the first laser source for the BP plane of a certain hole site, there is

$\begin{array}{c}\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; OriNormal</span>}\\ <span\; class="notranslate">\; \&DoubleRightArrow;</span>{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; BP</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; OB</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; OO</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; BP</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; NomNormal</span>}_{\mathrm{<span\; class="notranslate">\; o</span>}}^{\mathrm{<span\; class="notranslate">\; Oi</span>}}\\ <span\; class="notranslate">\; \&DoubleRightArrow;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; OA</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; h</span>}\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; OO</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; T</span>}_{\mathrm{<span\; class="notranslate">\; o</span>}}^{\mathrm{<span\; class="notranslate">\; Oi</span>}}\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; c\; o\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; co\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\end{array}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 13</span>}<span\; class="notranslate">\; )</span>$

in:

OA is the hole position to be processed, is the normal vector of the hole, they can be obtained by the off-line programming code

h is the height from the drill point of the riveting gun to the "ten" mark, which is the known structural parameter of the riveting gun

OO _i is the position of the i-th laser source in the reference coordinates, known

is the transformation matrix from the reference coordinate system to the i-th laser source, known

α and β are the rotation angles of the laser source for a certain hole point, and the remaining point P in formula (13) is unknown. According to the above calculated results, we can get:

$\left\{\begin{array}{c}{((\mathrm{OA}+h\stackrel{\&Right\; Arrow;}{\mathrm{no}}-{\mathrm{OO}}_i)\&times;(l,m,-\frac{x_{\mathrm{no}}l+{\mathrm{the\; y}}_{\mathrm{no}}m}{z_{\mathrm{no}}}))}_{\mathrm{normalize}}=T_o^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\&beta;}\right)\\ -\sin \left(\mathrm{\&alpha;}\right)\cos \left(\mathrm{\&beta;}\right)\\ \cos \left(\mathrm{\&alpha;}\right)\mathrm{c\; os}\left(\mathrm{\&beta;}\right)\\ 1\end{array}\right]z_{\mathrm{no}}\&NotEqual;0\\ {((\mathrm{OA}+h\stackrel{\&Right\; Arrow;}{\mathrm{no}}-{\mathrm{OO}}_i)\&times;(-\frac{{\mathrm{the\; y}}_{\mathrm{no}}m+z_{\mathrm{no}}\mathrm{no}}{x_{\mathrm{no}}},m,\mathrm{no}))}_{\mathrm{norm\; ali\; ze}}=T_o^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\&beta;}\right)\\ -\sin (\mathrm{\&alpha;}\cos \left(\mathrm{\&beta;}\right)\\ \cos (\mathrm{\&alpha;})\mathrm{c\; os}\left(\mathrm{\&beta;}\right)\\ 1\end{array}\right]z_{\mathrm{no}}=0,{\mathrm{the\; y}}_{\mathrm{no}}=0\\ {((\mathrm{OA}+h\stackrel{\&Right\; Arrow;}{\mathrm{no}}-{\mathrm{OO}}_i)\&times;(l,-\frac{x_{\mathrm{no}}l+z_{\mathrm{no}}\mathrm{no}}{{\mathrm{the\; y}}_{\mathrm{no}}},\mathrm{no}))}_{\mathrm{normalize}}=T_o^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\&beta;}\right)\\ -\sin \left(\mathrm{\&alpha;}\right)\cos \left(\mathrm{\&beta;}\right)\\ \cos \left(\mathrm{\&alpha;}\right)\mathrm{c\; os}\left(\mathrm{\&beta;}\right)\\ 1\end{array}\right]z_{\mathrm{no}}=0,{\mathrm{the\; y}}_{\mathrm{no}}\&NotEqual;0\end{array}\right.$ in:

l, m, n are the initial known constants; x _n , y _n .z _n are Component; Normalize means to normalize the obtained vector, even if its modulus is 1.

Similarly, for the BQ plane of a certain hole point, the jth laser source has

$\left\{\begin{array}{c}{((\mathrm{OA}+h\stackrel{\&Right\; Arrow;}{\mathrm{no}}-{\mathrm{OO}}_j)\&times;\stackrel{\&Right\; Arrow;}{\mathrm{no}}\&times;(l,m,-\frac{x_{\mathrm{no}}l+{\mathrm{the\; y}}_{\mathrm{no}}m}{z_{\mathrm{no}}}))}_{\mathrm{normalize}}=T_o^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\&beta;}\right)\\ -\sin \left(\mathrm{\&alpha;}\right)\cos \left(\mathrm{\&beta;}\right)\\ \cos \left(\mathrm{\&alpha;}\right)\mathrm{c\; os}\left(\mathrm{\&beta;}\right)\\ 1\end{array}\right]z_{\mathrm{no}}\&NotEqual;0\\ {((\mathrm{OA}+h\stackrel{\&Right\; Arrow;}{\mathrm{no}}-{\mathrm{OO}}_j)\&times;\stackrel{\&Right\; Arrow;}{\mathrm{no}}\&times;(-\frac{{\mathrm{the\; y}}_{\mathrm{no}}m+z_{\mathrm{no}}\mathrm{no}}{x_{\mathrm{no}}},m,\mathrm{no}))}_{\mathrm{norm\; ali\; ze}}=T_o^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\&beta;}\right)\\ -\sin (\mathrm{\&alpha;}\cos \left(\mathrm{\&beta;}\right)\\ \cos (\mathrm{\&alpha;})\cos \left(\mathrm{\&beta;}\right)\\ 1\end{array}\right]z_{\mathrm{no}}=0,{\mathrm{the\; y}}_{\mathrm{no}}=0\\ {((\mathrm{OA}+h\stackrel{\&Right\; Arrow;}{\mathrm{no}}-{\mathrm{OO}}_j)\&times;\stackrel{\&Right\; Arrow;}{\mathrm{no}}\&times;(l,-\frac{x_{\mathrm{no}}l+z_{\mathrm{no}}\mathrm{no}}{{\mathrm{the\; y}}_{\mathrm{no}}},\mathrm{no}))}_{\mathrm{normalize}}=T_o^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\&beta;}\right)\\ -\sin \left(\mathrm{\&alpha;}\right)\cos \left(\mathrm{\&beta;}\right)\\ \cos \left(\mathrm{\&alpha;}\right)\mathrm{c\; os}\left(\mathrm{\&beta;}\right)\\ 1\end{array}\right]z_{\mathrm{no}}=0,{\mathrm{the\; y}}_{\mathrm{no}}\&NotEqual;0\end{array}\right.$ Among them: l, m, n are the initial known constants; x _n , y _n .z _n are Component; Normalize means to normalize the obtained vector, even if its modulus is 1.

One hole site corresponds to two laser sources, and its rotation angles α and β can be obtained from the above two formulas.

Embodiment two.

As shown in Figure 2 and 3.

A drilling normal vector alignment system, which includes at least two laser emitters 6 installed in the workshop, as shown in Figure 3, each of the laser emitters 6 is installed on the corresponding second rotation axis 5 Above, the second rotating shaft 5 is installed on the bracket 3, and the second rotating shaft 5 is driven to rotate by the second servo motor 4 installed on the bracket 3. The bracket 3 is installed on the first rotating shaft 2, and the first rotating shaft The shaft 2 is driven by the first servo motor 1 to rotate; adjusting the rotation angles of the first and second rotation axes of the two laser emitters can make the light emitted by the two laser emitters perpendicular to the desired drilling position. The normal vector forms the theoretical "cross" line required for drilling, and provides a reference for manual or automatic adjustment of the normal vector of the drilling gun. As shown in FIG. 2 , the bracket 3 has a U-shaped structure, the first rotating shaft is installed at the center of the bottom of the U-shaped structure, and the second rotating shaft is mounted on the open end of the U-shaped structure.

The parts not involved in the present invention are the same as the prior art or can be realized by adopting the prior art.

Claims (4)

1. A drilling normal vector alignment method based on a laser transmitter is characterized in that it comprises the following steps: First, install at least two laser emitters in the workshop, and enable each laser emitter to rotate around mutually perpendicular axes; Secondly, the top of the drill gun is processed to form a "ten" line; Third, calculate the normal vector value required for drilling according to the position of the required drilling; Fourth, according to the calculated normal vector value, adjust the rotation angle of the two emitters, so that the plane of light emitted by each laser emitter passes through one of the theoretical "cross" lines, and the plane of light emitted by the two laser emitters is at The projections at the top of the drilling gun intersect to form a theoretical "cross" line perpendicular to the normal vector; Fifth, adjust the angle of the drill gun manually or automatically, so that the "cross" line on the top of the drill gun coincides with the theoretical "cross" line formed by the laser transmitter, that is, the alignment of the normal vector on the top of the drill gun is completed; Finally, complete the drilling work according to the adjusted normal vector. 2. A drilling normal vector alignment system, characterized in that it includes at least two laser emitters (6) installed in the workshop, each of the laser emitters (6) is installed on the corresponding second On the rotating shaft (5), the second rotating shaft (5) is installed on the bracket (3), and the second rotating shaft (5) is driven to rotate by the second motor (4) installed on the bracket (3). The bracket (3) is installed on the first rotating shaft (2), and the first rotating shaft (2) is driven to rotate by the first motor (1); adjust the rotation of the first rotating shaft and the second rotating shaft of the two laser emitters The angle can make the light plane emitted by each laser transmitter pass through one of the theoretical "cross" lines, and provide a reference for manual or automatic adjustment of the normal vector of the drill gun. 3. The system according to claim 2, wherein the first motor and the second motor are both servo motors. 4. The system according to claim 2, characterized in that the bracket (3) is in a U-shaped structure, the first rotating shaft is installed at the center of the bottom of the U-shaped structure, and the second rotating shaft is installed in the U-shaped structure. on the open end of the structure.