CN107300373A - Complex-curved measurement apparatus based on six degree of freedom auxiliary robot - Google Patents
Complex-curved measurement apparatus based on six degree of freedom auxiliary robot Download PDFInfo
- Publication number
- CN107300373A CN107300373A CN201710715884.2A CN201710715884A CN107300373A CN 107300373 A CN107300373 A CN 107300373A CN 201710715884 A CN201710715884 A CN 201710715884A CN 107300373 A CN107300373 A CN 107300373A
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- probe
- swing arm
- measurement
- complex
- angle
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of complex-curved measurement apparatus based on six degree of freedom auxiliary robot, is made up of, action executing system is connected with detection system and controls them to move by control system action executing system, control system and the part of detection system three, it is characterised in that：Action executing system includes traversing axle, slide rail, support base, swing arm one, swing arm two, swing arm three, probe working group's angle rotary shaft and probe posture rotary shaft.During the progressive molding lathe use of autonomous Design, it can in real time be measured using the present invention and shape the complex-curved three-dimensional coordinate data of steel plate, to examine the forming effect of progressive molding lathe, the on-line measurement to shaping steel plate complex three-dimensional curved surface is realized, the efficiency and precision of measurement is improved.The present invention can also offer reference and directive significance in addition to available for measurement progressive molding lathe shaping steel plate for the shaping detection of other field.
Description
Technical field
Measurement apparatus is machined the present invention relates to one kind, particularly a kind of complex-curved measurement apparatus of machining.
Background technology
At present, though there is certain research for coordinate measuring apparatus both at home and abroad, still there is many drawbacks.Existing measuring instrument
The standardized platform equipment of universal non-three degree of freedom, it is impossible to be adapted to complex-curved on-line measurement, have bright using scope
Aobvious limitation.For the technical barrier of current coordinate measuring apparatus generally existing narrow application range, existing measuring apparatus is universal
For three-coordinates measuring machine, its measurement range has obvious limitation.In addition, three-coordinates measuring machine employs the structure of planer-type
Scheme, equipment volume is larger, comparatively laborious using process, it is impossible to which realization is aligned in progressive molding lathe small space internal shaping
The on-line measurement of process steel plate.Although new optical three-coordinate measuring instrument measurement accuracy is higher, instrument is to work on the spot
The requirement of environment is very high, it is impossible to suitable for the working environment of progressive molding lathe.
The content of the invention
In order to solve the above-mentioned deficiency of prior art, six degree of freedom auxiliary machinery is based on it is an object of the invention to provide one kind
The complex-curved measurement apparatus of people.The measurement apparatus has six-freedom degree, can be used for measuring complex-curved three-dimensional coordinate
Data, hence it is evident that improve the scope of application.
The purpose of the present invention is realized by following mode：
A kind of complex-curved measurement apparatus based on six degree of freedom auxiliary robot, by action executing system, control system
Constituted with the part of detection system three, action executing system is connected with detection system and controls them to move by control system, it is special
Levy and be：
Action executing system includes traversing axle, slide rail, support base, swing arm one, swing arm two, swing arm three, probe working group angle
Spend rotary shaft and probe posture rotary shaft；Swing arm one, swing arm two, swing arm three are hinged and then connected by swing arm one and support base successively
Connect, support base is connected with traversing axle, traversing axle is moved in the presence of ball screw along slide rail, swing arm three and probe working group angle
Rotary shaft connection, probe working group's angle rotary shaft and the rotary shaft connection of probe posture are spent, action executing system is using servo electricity
Machine is driven, and its motion control is realized by control system.
The purpose of the present invention can be realized with following manner：Control system includes monitor and switch board；Monitor is provided
The motion state of the man-machine interface of control system interaction, in real time monitoring action executing system；Switch board includes cabinet and installation
In the industrial computer in cabinet, motion control card and servo drive system, to ensure to action executing system and detection system
Accurate control.
Detection system is made up of servomotor, harmonic speed reducer, fixture and probe；Probe is fixed on action by fixture and held
In the probe posture rotary shaft of row system.
Action executing system makes probe position using the driving adjustment swing arm one, swing arm two, the angle of swing arm three of servomotor
In optimal measurement angle；The complex-curved three-dimensional coordinate data of shaping steel plate is obtained using probe and is transferred to the people of monitor
Machine interface.After the measurement has been completed, action actuating mechanism adjusts swing arm one, swing arm two, swing arm three in the presence of control system
Position and probe measurement angle, proceed by measurement next time.
Control system adjusts the angle of head angle rotary shaft by servo-driver, and is subtracted by servomotor harmonic
The angle of fast device regulation probe posture rotary shaft, arrives optimal detection position, to obtain optimal measurement effect by probe regulation.
Switch board bottom is provided with pulley, and measurement apparatus is moved into specified location using pulley before measurement work starts
And it is fixed, start the on-line measurement to shaping steel plate；In the non-measured working time, measurement apparatus is moved to other positions, saved
Save the working space of progressive molding lathe.
The beneficial effects of the invention are as follows：, can using the present invention during the progressive molding lathe use of autonomous Design
Measurement shapes the complex-curved three-dimensional coordinate data of steel plate in real time, to examine the forming effect of progressive molding lathe, realizes
On-line measurement to shaping steel plate complex three-dimensional curved surface, improves the efficiency and precision of measurement.The present invention is except available for measuring
Outside progressive molding lathe shaping steel plate, it can also be offered reference and directive significance for the shaping detection of other field.
Brief description of the drawings
Fig. 1 stereochemical structures of the present invention and working state figure
Fig. 2 schematic structural views of the invention
Fig. 3 is detection system partial schematic diagram of the present invention
Embodiment
Reference：1st, progressive molding lathe, 2, Hydraulic support platform, 3, shaping steel plate, 4, control system, 5, action holds
Row system, 6, monitor, 7, switch board, 8, traversing axle, 9, slide rail, 10, support base, 11, swing arm one, 12, swing arm two, 13, pendulum
Arm three, 14, probe orientation rotary shaft, 15, probe posture rotary shaft, 16, servomotor, 17, harmonic speed reducer, 18, fixture,
19th, pop one's head in.
The technical problem to be solved in the present invention is a kind of complex-curved measurement based on six degree of freedom auxiliary robot of design
Device., can be with using the measurement auxiliary robot designed by the present invention during the progressive molding lathe use of autonomous Design
Measurement shapes the complex-curved three-dimensional coordinate data of steel plate in real time, to examine the forming effect of progressive molding lathe.
The present invention's mainly solves following technical barrier：
Firstth, fully analysis progressive molding lathe shapes the features of shape of steel plate, with reference to the structure shape of progressive molding lathe
There is provided suitable for the complex-curved solution of detection shaping steel plate for formula.
Secondth, by the seamless combination with existing progressive molding lathe, the on-line measurement to shaping steel plate curved surface, letter are realized
Change the flow of measurement, so as to improve operating efficiency.
The complex-curved measurement apparatus based on six degree of freedom auxiliary robot that the present invention is designed, is realized to shaping steel plate
3 on-line checking.
Referring to accompanying drawing, by action executing system 5, control system 4 and detection system, this three big core is constituted the present invention.
Action executing system 5 include traversing axle 8, slide rail 9, support base 10, swing arm 1, swing arm 2 12, swing arm 3 13,
Probe working group angle rotary shaft 14, probe posture rotary shaft 15.Power actuation system is driven using servomotor, and it moves control
System is realized by control system 4.
Control system 4 includes monitor 6 and switch board 7.Monitor 6 provides the man-machine interface that control system 4 is interacted,
And the motion state of action executing system 5 can be monitored in real time.Switch board 7 contains industrial computer, motion control card, servo and driven
Dynamic system etc., it is ensured that the accurate control to action executing system 5.
Detection system (referring to Fig. 3) is made up of servomotor 16, harmonic speed reducer 17, fixture 18 and probe 19.Probe 19
It is the core component of detection system, function is stepped up by the realization of fixture 18 probe 19.
The course of work of the six degree of freedom progressive molding machine tool measuring auxiliary robot is illustrated by taking Fig. 1 as an example below.
Steel plate 3 is shaped under the suction-operated of electromagnet in fixed hydraulic support platform 2, and progressive molding lathe 1 is completed
To shape steel plate processing after, using servomotor driving Hydraulic support platform 2 move to lathe Y-axis specified location, start into
The row measurement complex-curved to shaping steel plate 3.
In the presence of control system 4, the action executing system 5 of measurement auxiliary robot is adjusted using the driving of servomotor
The angle of whole mechanical arm, makes probe 19 be located at optimal measurement angle.The traversing axle 8 of auxiliary robot is measured in ball screw
Moved under effect along slide rail 9, obtain the complex-curved three-dimensional coordinate data of shaping steel plate 3 using probe 19 and be transferred to monitor
6 man-machine interface.After the measurement has been completed, action actuating mechanism 5 adjusted in the presence of control system 4 mechanical arm position and
The angle of 19 measurements of probe, proceeds by measurement next time.
Probe 19 is fixed in probe posture rotary shaft 15 by fixture 18 in detection system (referring to Fig. 3).Control system 4
The angle of head angle rotary shaft 14 is adjusted by servo-driver, and spy is adjusted by the harmonic decelerator 17 of servomotor 16
The angle of head posture rotary shaft 15, arrives optimal detection position, to obtain optimal measurement effect by the regulation of probe 19.
The bottom of switch board 4 is provided with pulley, is moved to before measurement work starts using pulley by auxiliary robot is measured
Specified location and fixation, start the on-line measurement to shaping steel plate 3.In the non-measured working time, measurement auxiliary robot will
Other positions are moved to, the working space of progressive molding lathe 1 is saved.
The measurement apparatus of the present invention realizes the on-line measurement complex-curved to shaping steel plate 3, simplifies measurement procedure, and
Greatly improve the efficiency and precision of measurement.The present invention is when completing measurement task, the implementation procedure of measurement and each mechanical arm
Rational deployment, simplify the flow of measurement.
The present invention can also be detected in addition to available for measurement progressive molding lathe shaping steel plate for the shaping of other field
Offer reference and directive significance.
Claims (10)
1. a kind of complex-curved measurement apparatus based on six degree of freedom auxiliary robot, by action executing system (5), control system
(4) constituted with the part of detection system three, action executing system (5) is connected with detection system and controls them by control system (4)
Motion, it is characterised in that：
Action executing system (5) includes traversing axle (8), slide rail (9), support base (10), swing arm one (11), swing arm two (12), pendulum
Arm three (13), probe working group's angle rotary shaft (14) and probe posture rotary shaft (15)；Swing arm one (11), swing arm two (12),
Swing arm three (13) is hinged and then is connected by swing arm one (11) with support base (10) successively, and support base (10) is connected with traversing axle (8),
Traversing axle (8) is mobile along slide rail (9) in the presence of ball screw, swing arm three (13) and probe working group's angle rotary shaft (14)
Connection, probe working group's angle rotary shaft (14) and probe posture rotary shaft 15 are connected, and action executing system (5) is using servo electricity
Machine is driven, and its motion control is realized by control system (4).
2. the complex-curved measurement apparatus according to claim 1 based on six degree of freedom auxiliary robot, it is characterised in that：
Control system (4) includes monitor (6) and switch board (7)；Monitor (6) provides the man-machine interface of control system (4) interaction, real
When monitoring action executing system (5) motion state；Switch board (7) includes cabinet and the industrial computer being installed in cabinet, fortune
Dynamic control card and servo drive system, to ensure the accurate control to action executing system (5) and detection system.
3. the complex-curved measurement apparatus according to claim 1 based on six degree of freedom auxiliary robot, it is characterised in that：
Detection system is made up of servomotor (16), harmonic speed reducer (17), fixture (18) and probe (19)；Probe (19) passes through fixture
(18) it is fixed in the probe posture rotary shaft (15) of action executing system (5).
4. the complex-curved measurement apparatus according to claim 2 based on six degree of freedom auxiliary robot, it is characterised in that：
Detection system is made up of servomotor (16), harmonic speed reducer (17), fixture (18) and probe (19)；Probe (19) passes through fixture
(18) it is fixed in the probe posture rotary shaft (15) of action executing system (5).
5. the complex-curved measurement apparatus based on six degree of freedom auxiliary robot according to claim 1,2 or 3, its feature
It is：Action executing system (5) utilizes the driving adjustment swing arm one (11), swing arm two (12), swing arm three (13) of servomotor
Angle, makes probe (19) be located at optimal measurement angle；The complex-curved three-dimensional seat of shaping steel plate (3) is obtained using probe (19)
Mark data and the man-machine interface for being transferred to monitor (6).After the measurement has been completed, action actuating mechanism (5) is in control system (4)
In the presence of adjustment swing arm one (11), swing arm two (12), the position of swing arm three (13) and probe (19) measurement angle, start
Carry out measurement next time.
6. the complex-curved measurement apparatus according to claim 4 based on six degree of freedom auxiliary robot, it is characterised in that：
Action executing system (5) adjusts swing arm one (11), swing arm two (12), the angle of swing arm three (13) using the driving of servomotor,
Probe (19) is set to be located at optimal measurement angle；The complex-curved three-dimensional coordinate number of shaping steel plate (3) is obtained using probe (19)
According to and be transferred to the man-machine interfaces of monitor (6).After the measurement has been completed, work of the action actuating mechanism (5) in control system (4)
The angle measured with (19) of lower adjustment swing arm one (11), swing arm two (12), the position of swing arm three (13) and probe, is proceeded by
Measurement next time.
7. the complex-curved measurement apparatus based on six degree of freedom auxiliary robot according to claim 1,2 or 3, its feature
It is：Control system (4) adjusts the angle of head angle rotary shaft (14) by servo-driver, and passes through servomotor (16)
The angle of harmonic decelerator (17) regulation probe posture rotary shaft (15), optimal detection position is arrived by probe (19) regulation, with
Obtain optimal measurement effect.
8. the complex-curved measurement apparatus according to claim 4 based on six degree of freedom auxiliary robot, it is characterised in that：
Control system (4) adjusts the angle of head angle rotary shaft (14) by servo-driver, and harmonious by servomotor (16)
The angle of ripple decelerator (17) regulation probe posture rotary shaft (15), optimal detection position is arrived by probe (19) regulation, to obtain
Optimal measurement effect.
9. the complex-curved measurement apparatus based on six degree of freedom auxiliary robot according to claim 1,2 or 3, its feature
It is：The bottom of cabinet bulk of control system (4) is provided with pulley, is moved to measurement apparatus using pulley before measurement work starts
Specified location and fixation, start the on-line measurement to shaping steel plate (3)；In the non-measured working time, measurement apparatus is moved to
Other positions, save the working space of progressive molding lathe (1).
10. the complex-curved measurement apparatus according to claim 4 based on six degree of freedom auxiliary robot, its feature exists
In：Control system (4) bottom of cabinet bulk is provided with pulley, is moved to measurement apparatus using pulley before measurement work starts specified
Position and fixation, start the on-line measurement to shaping steel plate (3)；In the non-measured working time, measurement apparatus is moved to other
Position, saves the working space of progressive molding lathe (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710715884.2A CN107300373A (en) | 2017-08-21 | 2017-08-21 | Complex-curved measurement apparatus based on six degree of freedom auxiliary robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710715884.2A CN107300373A (en) | 2017-08-21 | 2017-08-21 | Complex-curved measurement apparatus based on six degree of freedom auxiliary robot |
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| CN107300373A true CN107300373A (en) | 2017-10-27 |
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ID=60132373
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710715884.2A Pending CN107300373A (en) | 2017-08-21 | 2017-08-21 | Complex-curved measurement apparatus based on six degree of freedom auxiliary robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719412A (en) * | 2017-09-13 | 2018-02-23 | 东峰国检（邢台）科技有限公司 | A kind of three swing arm rail profile measurement apparatus and measuring method |
| CN110497440A (en) * | 2018-05-16 | 2019-11-26 | 昆山松盈利自动化科技有限公司 | Propelling pencil code device |
| RU2762693C1 (en) * | 2020-07-06 | 2021-12-22 | федеральное государственное автономное образовательное учреждение высшего образования "Самарский национальный исследовательский университет имени академика С.П. Королева" | Method for increasing the accuracy of movements of an industrial robot in the process of incremental shaping |
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