CN101702010A - Magnetic field measuring device based on visual guiding robot - Google Patents
Magnetic field measuring device based on visual guiding robot Download PDFInfo
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Abstract
The invention relates to a magnetic field measuring device based on a visual guiding robot, which is characterized by comprising an adjustable workbench, a measuring system, a robot system and a control system which are matched with each other and have a modular design, wherein the adjustable workbench mainly consists of a base, there sets of adjusting mechanisms, a component placing table, foundation wheels and an adjustable support leg, and the gesture of the adjustable workbench can be adjusted by a hand wheel; the measuring system comprises a gesture measuring device of an object to be detected, a visual guiding positioning device and a magnetic field data collecting device; the gesture measuring device of the object to be detected mainly comprises a number dialgauge and a connecting rod; the visual guiding positioning device mainly comprises an integral camera and an image collecting card which are connected by cables; the magnetic data collecting device mainly comprises a multifunctional data collecting card, a teslameter and a Hall probe which are connected by cables; the robot system comprises a three-dimensional right angle coordinate robot; and the control system comprises an industrial personal computer and software.
Description
Technical field
The present invention relates to robot and measuring technique, be specially a kind of magnetic field measuring device based on visual guidance or vision auxiliary robot.
Background technology
Radar is the electronic equipment that utilizes microwave region electromagnetic wave detection target, has characteristics round-the-clock, round-the-clock.Therefore, it not only becomes military requisite electronics, but also is widely used in fields such as weather forecast, traffic control, resource detection, environmental monitoring and scientific research.
Along with the continuous development and perfection of radar correlation technique, the production technology of each parts in its processing and manufacturing process, the requirement of quality are improved constantly; And quality testing is as an important means of production assurance, and its detection level will directly affect the quality of product.Detection technique also more and more receives publicity as an important content in the radar correlation technique.In the development process of New Type Radar, the detection level of its critical component is had higher requirement, for example to magnetic signature detection of klystron electromagnetic focusing system etc.Therefore, the extraordinary detection machine people that development is used for the detection of radar critical component also becomes a research focus of Robotics, and how to realize that high speed, high precision and intelligent the detection then become pursuing one's goal of quality guarantee.
From measuring principle, the method for magnetic measurement can be summarized and be divided into magnetic-force method, inductive electromagnetic method, fluxgate method, galvanomagnetic effect method, Pumping Magnetic Resonance Method, superconductivity effects method and magneto-optic effect method etc., and magnetic-field measurement then is to realize by the sensor of certain principle of work.The magnetic characteristic sensor is placed magnetic field environment, sensor is responded, export certain voltage and current signal, can obtain magnetic field intensity information, finally realize the automatic measurement of magnetic signature by robot by signal of sensor.At present in the research work for magnetic-field-measuring device, the researcher mostly adopts single or multiple magnetic characteristic sensors directly is installed on the motion executive component, dispose the respective handling circuit again and realize the measurement in magnetic field, for example, Germany heavy ion research centre (GSI) is at the six degree of freedom point measurement machine (mechanized equipment (A.Harvey that is used for magnetic-field measurement and correction referring to A.Harvey of the exploitation eighties in 20th century, Mechanical equipment formagnet measurement and alignment CERN Accelerator School MagneticMeasurement and Alignment Proceedings (CERN 92-05), 1992,228-39), whole lathe bed adopts marble material, have 3 translation freedoms and 3 rotational freedoms, detect and be installed on long test arm end with hall probe; The magnet positioning system of Denmark DANFYSIK company exploitation is (referring to O.Pagano, P.Rohmig, L.Walkiers etc., .LEP (the A HighlyAutomated Measuring System for the LEP Magnetic Lenses Journal de PhysiqueColloque of magnetic lens all automatic measurement system, 1984,45 (C-1): 949-952), it is consistent with coil axis to modulate magnet axis automatically, precision can reach 30 μ m, provides the outside reference of magnet location that function is set.Whole measuring process is by system controlled by computer, comprises that power supply can realize automatic measurement in being controlled at; U.S. Argonne National Laboratory has developed the novel magnetic field measurement system of a cover, can measure the field integration of advanced photon source (APS) magnetic flush mounting and the magnetic signature of multipole assembly, the measurement of magnetic signature realizes (referring to Yu.Eidelman by a draw line bag, B.Deriy, O.Makarov etc. are used for (the .The New Magnetic Measurement System at the Advanced Photon Source 8thInternational Conference on Accelerator﹠amp of magnetic measurement system of senior photon source; Large Experimental Physics ControlSystems, 2001,160-163).Hardware configuration comprises several servomotors (be used for translation or rotational line bag) and high-speed data acquisition card (be used for slotted line bag signal), and the PC that uses an operation linux system is as the Control work station.China starts late to the research of magnetic field measuring device, as The CAS Institute of Modern Physics CSR magnetic-field measurement laboratory in conjunction with the single hall probe point measurement system of Lanzhou heavy ion accelerator research device (HIRFL) project research and development (referring to what source, Han Shaofei, horsepower is auspicious etc. Lanzhou heavy ion accelerator magnetic field measurement system. and Chinese Physical Society's circular accelerator and application seminar thereof, Beijing: Chinese Physical Society, 2000:257-262), be the some survey magnetic machine of domestic maximum.Aiming at CSR magnet and measure the sextuple point measurement system of design 3 translational degree of freedom and 3 rotational freedoms are arranged, have that measurement range is big, bearing accuracy is high and characteristics such as automaticity height, is a typical magnetic field intensity automatic measuring equipment; The Synchrotron Radiation translation long loop magnetic survey machine that Shanghai Atomic Nucleus Inst., Chinese Academy of Sciences produces is (referring to Zhang Jidong, Cao's a ceremonial jade-ladle, used in libation, Ren Fanglin etc. the development of SSRF translation long loop magnetic survey machine. nuclear technology, 2003,26 (5): 333-336), utilize computing machine in conjunction with the slotted line circle, the high accuracy number integraph, high-performance 4 shaft step motor control cards, high stability voltage, DC current sensor, 6 half word voltage tables, general purpose interface bus (GPIB) interface card, high-precision encoder and software etc. constitute SSRF high precision magnetic field measurement system, are used for the magnetic field of the dipolar magnet model machine of Synchrotron Radiation (SSRF) storage rings and booster is measured.These special-purpose magnetic-field-measuring device costs are higher relatively, and range of application is subjected to the restriction of some physical conditions, and versatility is relatively poor.
Prior art mainly is that mode by manual measurement detects to the measurement in magnetic field.Measuring process is manually, can not satisfy the positioning requirements to through-bore axis ad-hoc location to be measured at all, and data reliability is low, and the manual measurement process do not possess overload protection arrangement, so device security is poor.Manual measurement process location does not have precision to say fully by range estimation, and manual control also will be leaned in the detection position, and labour intensity is big.On the whole, present magnetic-field-measuring device lays particular emphasis on the measurement to average magnetic field in the certain limit more, and mainly emphasize the driving bearing accuracy of magnetic-field measurement sensing technology and equipment, generally adopt stepping or servomotor, grating chi, marble platform etc. to make up the drives structure of magnetic-field-measuring device, equipment cost is higher relatively, applicability is subjected to restriction to a certain degree, and especially for the magnetic-field measurement towards special object, the robotization of equipment and intelligent degree still remain to be improved.
Summary of the invention
At the deficiencies in the prior art, the technical problem to be solved in the present invention is, a kind of magnetic field measuring device based on visual guiding robot is provided, this device is mainly used in and solves the longhole survey problem that multiple-beam klystron electromagnetic focusing system generally faces, and adopts modular design, has the level of integrated system height, intelligent degree is good, cost is relatively low, reduces labour intensity, can satisfy characteristics such as multiple magnetic-field measurement demand.
The technical scheme that the present invention solve the technical problem is: design a kind of magnetic field measuring device based on visual guiding robot, it is characterized in that this device comprises supporting and adjustable full employment platform, measuring system, robot system and control system modular design; Described measuring system comprises detected object attitude measuring, visual guidance locating device and magnetic field data harvester; Described robot system comprises the three-dimensional rectangular coordinate robot; Described control system comprises industrial computer and software;
Described adjustable full employment platform mainly by pedestal, three groups of adjusting mechanisms, put the part platform, castor and adjustable support leg form; Put the part platform by being three groups of adjusting mechanisms supportings that equilateral triangle is arranged, adjusting mechanism by nut, guide pin bushing, worm-wheel shaft, worm-wheel shaft bearing, Worm Bearing stifle, casing, worm shaft cover thoroughly, worm shaft bearing and worm shaft and handwheel constitute; The worm-wheel shaft bearing is installed on the two ends of worm-wheel shaft by interference fit, the worm shaft bearing is installed on the two ends of worm shaft by interference fit, and all be installed in the casing by interference fit, and, be the screw thread transmission between nut and the worm-wheel shaft axle head by fixing with guide pin bushing by the saturating lid of Worm Bearing stifle, worm shaft that is threadedly connected on the casing; Handwheel is installed on the axle head of worm shaft, can adjust the support height of adjusting mechanism up and down by handwheel, realizes the attitude adjustment of adjustable full employment platform;
Described detected object attitude measuring mainly comprises digital dial gauge and connecting link; Wherein digital dial gauge is fixed on an end of connecting link by being threaded; Before the attitude measurement, the other end of connecting link is fixed on the deck of Z arm slide block of Cartesian robot, after attitude measurement finished, this device should in time take off; Described connecting link can fold, and adjustable length;
Described visual guidance locating device mainly comprises an integrated camera and an image pick-up card; Integrated camera is installed on the end of Z axle moving cell of three-dimensional rectangular coordinate robot; Image pick-up card is installed in the industrial computer, connects by cable between integrated camera and image pick-up card and the industrial computer;
Described magnetic field data harvester mainly comprises a multifunctional data acquisition card, a teslameter and hall probe that cable connects; Hall probe is installed on the connection deck of Z arm slide block of three-dimensional rectangular coordinate robot, and it does the to-and-fro movement that is parallel to the Z arm with Z arm slide block mobile; Teslameter is installed in the switch board 8, and the output line of hall probe inserts teslameter, and the output line of teslameter inserts multifunctional data acquisition card, and multifunctional data acquisition card is installed in the industrial computer.
Compared with prior art, the magnetic field measuring device that the present invention is based on visual guiding robot has following advantage:
1, adjustable full employment platform of apparatus of the present invention and robot and control system adopt the separate type design, be convenient to the operation such as assembling, carrying, installation of large-scale detected objects such as electromagnetic focusing system, reduced labour intensity, carry out attitude measurement and adjustment by the detected object that is opposite on the adjustable full employment platform, and drag accurately motion of probe by Cartesian robot, can guarantee that probe is carried out measurement by particular track in the testing process, also promptly guarantee to detect the reliability of data and the security of checkout equipment, also reduced the measurement cost simultaneously.
2, the present invention adopts machine vision technique as the guiding positioning means, makes measurement mechanism can obtain the exact position of the through hole to be measured hole heart on the detected object automatically.Overcome shortcomings such as manually-operated hole heart bearing accuracy is poor, labour intensity is big, increased substantially Device Testing efficient and accuracy of detection.
3, apparatus of the present invention both can realize the automatic measurement in detected object magnetic field, also can require to realize the self-defined measurement in magnetic field by the form of man-machine interaction at different detections.Magnetic field data acquisition module of the present invention not only can be drawn magnetic field profile automatically, can also write down the magnetic field data in the testing process, is convenient to behind the off-line survey data be analyzed and managed, and has improved the robotization and the intelligent level of device.
Description of drawings
Fig. 1 is the one-piece construction schematic three dimensional views that the present invention is based on a kind of embodiment of magnetic field measuring device of visual guiding robot;
Fig. 2 is the adjustable full employment platform structure three-dimensional synoptic diagram that the present invention is based on a kind of embodiment of magnetic field measuring device of visual guiding robot;
Fig. 3 is the adjusting mechanism structure three-dimensional synoptic diagram of adjustable full employment platform that the present invention is based on a kind of embodiment of magnetic field measuring device of visual guiding robot;
Fig. 4 looks three-dimensional rectangular coordinate robot three-dimensional structural representation based on a kind of embodiment of magnetic field measuring device of visual guiding robot for the present invention;
Fig. 5 is the general structure block diagram that the present invention is based on a kind of embodiment of magnetic field measuring device of visual guiding robot;
Fig. 6 looks software architecture diagram based on a kind of embodiment of magnetic field measuring device of visual guiding robot for the present invention.
Embodiment:
Below in conjunction with embodiment and accompanying drawing thereof technical solution of the present invention is described in detail as follows:
The magnetic field measuring device based on visual guiding robot (hereinafter to be referred as device, referring to Fig. 1-6) of the present invention's design is the device that requires (deep hole that generally faces at radar multiple-beam klystron electromagnetic focusing system detects problem) exploitation according to the special detection of Chinese Academy of Sciences electron institute.Apparatus of the present invention technical spirit problem to be solved is that the exact position by machine vision technique obtains each through hole to be measured hole heart of klystron electromagnetic focusing system drags probe by Cartesian robot and realizes the magnetic field intensity of each through hole to be measured is measured.Most important in apparatus of the present invention also is that the most basic link is exactly to allow robot can finish the measurement of magnetic field intensity automatically.In the scope of applicant's retrieval, do not find similar bibliographical information.
Apparatus of the present invention are followed robot modularized design philosophy, have adopted the high modular design of level of integrated system, can satisfy the test request of multiple detected object.Apparatus of the present invention comprise supporting and adjustable full employment platform, measuring system, robot system and control system modular design.Described measuring system comprises detected object attitude measuring, visual guidance locating device and magnetic field data device for picking collection; Described robot system comprises the three-dimensional rectangular coordinate robot; Described control system comprises industrial control computer (industrial computer) and software.
The described adjustable full employment platforms 1 of apparatus of the present invention (referring to Fig. 2,1,3) are to the present invention is based on the special test request of detected object and create design.Its adopts worm-and-wheel gear to adjust worktable, mainly by pedestal 11, three groups of adjusting mechanisms 12, put part platform 13, castor 15 and adjustable support leg 14 and handwheel 16 form.Put part platform 13 by being three groups of adjusting mechanisms, 12 supportings that equilateral triangle is arranged, adjusting mechanism 12 (referring to Fig. 3) by nut 121, guide pin bushing 122, worm-wheel shaft 123, worm-wheel shaft bearing 124, Worm Bearing stifle 125, casing 126, worm shaft cover 127 thoroughly, worm shaft bearing 128 and worm shaft 129 constitute.Worm-wheel shaft bearing 124 is installed on the two ends of worm-wheel shaft 123 by interference fit, worm shaft bearing 128 is installed on worm shaft 129 two ends by interference fit, and all be installed in the casing 126, and by covering 127 fixing thoroughly with guide pin bushing 122 by being threadedly connected to Worm Bearing stifle 125, worm shaft on the casing 126 by interference fit.Between nut 121 and worm-wheel shaft 123 axle heads is the screw thread transmission.Handwheel 16 is installed on the axle head of worm shaft 129, can adjust the support height of adjusting mechanism 12 up and down by handwheel 16, promptly adjusts the angle of pitch and the roll angle of adjustable full employment platform 1, thereby realizes the attitude adjustment of adjustable full employment platform 1.In order to improve degree of regulation, it is the worm-and-wheel gear of i=20 that the adjusting mechanism described in the embodiment adopts ratio of gear, and than big speed ratio, three groups of adjusting mechanisms 12 are equilateral triangle and are spacedly distributed on the circle of diameter 450mm with acquisition.The handwheel 16 of embodiment is designed to have the special-purpose handwheel 16 of scale deixis, and this handwheel 16 whenever rotates a circle and adjusts the supporting-point put part platform 13 and move up and down 0.25mm, and promptly handwheel 16 revolutions are moving 10 °, adjust the strong point of putting part platform 13 and move up and down 0.0069mm.Described handwheel 16 is adjusted the attitude of adjustable full employment platform 1, also means to adjust to put part platform 13 high and low positions.In order to reduce the weight of putting part platform 13 self, the deck plate of putting part platform 13 is a circular ring structure, and the deck plate center of putting part platform 13 in other words is the open circles structure.The diameter of ring ought to be less than the size of measured piece in hollow diameter of a circle or the annulus.
The described robot system of apparatus of the present invention mainly comprises three-dimensional rectangular coordinate robot 5; The lower end of robot 5 is installed on the support 6.Described three-dimensional rectangular coordinate robot 5 mainly comprises supporting plate 510, X-axis moving cell 59, X-axis drag chain 58, Y-axis moving cell 52, Y-axis drag chain 53, Z axle moving cell 51, Z axle drag chain 55.Wherein X-axis moving cell 59 and X-axis drag chain 58 levels are installed on the support 6, Y-axis moving cell 52 and Y-axis drag chain 53 are perpendicular to X-axis moving cell 59, and level is installed on the slide block of X-axis moving cell 59, and Z axle moving cell 51 and Z axle drag chain 55 are installed on the slide block of Y-axis moving cell 52 perpendicular to X-axis moving cell 59, Y-axis moving cell 52.The high Precision Detection that multiple-beam klystron electromagnetic focusing system 2 requires in a big way, therefore require hall probe 10 motion precisions, steady in the measuring process, and the kinematic accuracy of hall probe 10 and stationarity are determined by the kinetic characteristic of three-dimensional rectangular coordinate robot 5 fully.Therefore, robot should have the bearing accuracy height, the characteristics steady, quick, that physical dimension is little of moving, and requires the motion executive component to have characteristics such as volume is little, in light weight, load-bearing capacity is big, controllability is good.Consider the test request of different model detected object, embodiment selects the drive unit of the integrated single shaft servo-electric actuator of Japanese Xiao Jin well (KOGANEI) company as each kinematic axis of Cartesian robot for use, X-axis moving cell 59 is selected C series A BFC14 electric actuator for use, repetitive positioning accuracy ± 0.01mm, highest movement speed 600mm/s, stroke are 350mm; Y-axis moving cell 52 and Z axle moving cell 51 are selected R series A BTR5 electric actuator for use, repetitive positioning accuracy ± 0.02mm, and highest movement speed 400mm/s, stroke is respectively 300mm and 550mm.
Attitude measuring of the present invention mainly comprises digital dial gauge 3 and connecting link 9 (referring to Fig. 1).Wherein digital dial gauge 3 is fixed on an end of connecting link 9 by being threaded.Before the attitude measurement, the other end that the connecting link 9 of digital dial gauge 3 is housed is fixed on the deck 54 of Z arm 51 slide blocks of Cartesian robot 5; After attitude measurement finished, this device should in time take off.Described connecting link 9 can fold, and length can adjust, and is within the working range of digital display centimeter 3 to guarantee detected object.Digital display centimeter 3 among the embodiment does not have communication function, and measurement result needs manual entry in Survey Software.But can design the digital display centimeter 3 that possesses communication function fully according to prior art, measurement result can be entered in the Survey Software automatically.
Visual guidance locating device of the present invention mainly comprises an integrated camera 4 and an image pick-up card; Integrated camera 4 is installed on the end of Z axle moving cell 51 of three-dimensional rectangular coordinate robot 5; Image pick-up card is installed in the industrial computer 7, connects by cable between integrated camera 4 and image pick-up card and the industrial computer 7.The visual guidance positioning system is finished the visual guidance positioning function of apparatus of the present invention.Because apparatus of the present invention will be finished the test assignment to the different model detected object, field range also has bigger variation simultaneously, therefore require the operating distance of video camera and enlargement factor not to fix, and system's detection requires, and speed is fast, automaticity is high, should not adopt the method for frequent replacing different amplification camera lens and manual adjustments focal length, so integrated camera 4 should have automatic focusing and automatic anamorphosis function.Adopt the GC-655P integrated camera of U.S. Honeywell company and the DH-CG410 image pick-up card of China DaHeng Imax Corp. to use among the embodiment, pixel count is 768 * 576, and Pixel Dimensions is 4.17 μ m * 4.17 μ m.
Magnetic field data harvester of the present invention (referring to Fig. 5) mainly comprises a multifunctional data acquisition card, a teslameter and hall probe 10 that cable connects; Wherein, hall probe 10 is installed on the connection deck 57 of Z arm slide block of three-dimensional rectangular coordinate robot 5, and it does the to-and-fro movement that is parallel to the Z arm with Z arm slide block mobile; Teslameter is installed in the switch board 8, and the output line of hall probe 10 inserts teslameter, and the output line of teslameter inserts multifunctional data acquisition card, and multifunctional data acquisition card is installed in the industrial computer 7.Safety for protection hall probe 10 is equipped with overload protection arrangement 56 at hall probe 10 with deck 57 places that are connected of Z arm slide block.Teslameter is the SG-43 type product of the Atlantic, Beijing Instrumentation Engineering responsibility company limited among the embodiment, and multifunctional data acquisition card is selected American National instrument company (National Instruments, NI PCI-6220 type multifunctional data acquisition card NI) for use.In order to reduce extraneous noise, the output signal with teslameter among the embodiment inserts multifunctional data acquisition card with twisted-pair feeder with differential mode.
The software design of apparatus of the present invention also adopts modular mode, and different content measurements are designed to independent functional module.Described system software is based on the LabVIEW platform development, and software configuration (referring to Fig. 6) mainly comprises motion-control module, attitude measurement and adjusting module, vision localization module, the automatic detection module in magnetic field, the manual detection module in magnetic field and system management module six parts by the work-based logic relation.Each program module is separate, is integrated in the same master routine framework, and realizes communication between each program module by master routine.Design both can realize expansion, upgrading and the maintenance of function flexibly like this, helped again transplanting being used for other occasion.
The described control system of apparatus of the present invention comprises the power supply that is installed in switch board 8 inside, the signal conditioning circuit between Cartesian robot control circuit and teslameter and the multifunctional data acquisition card.Described power supply specifically comprises 7 power supplies: industrial computer power supply, measuring system power supply, integrated camera power supply, X-axis servo-drive system power supply, Y-axis servo-drive system power supply, Z axle servo-drive system power supply and three controller IO power source specials.The parts that are installed on switch board 8 panels comprise: industrial control computer (industrial computer) screen and keyboard, power supply indication, indicating fault, power switch and servo-drive system hand-reset button.Communication function between industrial computer 7, Cartesian robot 5 and the integrated camera 4 realizes by the serial port expansion card, adopts the Advantech product P CI-1610A4 of incorporated company serial port expansion card in the present embodiment.
The present invention does not address part and is applicable to prior art.
The workflow of apparatus of the present invention mainly comprises detected object attitude measurement and adjustment, treats gaging hole heart location and three steps of Distribution of Magnetic Field measurement:
1. detected object attitude measurement and adjustment
Operating personnel install detected object (klystron electromagnetic focusing system 2) by utility appliance such as overhead traveling cranes and are placed on the table top of putting part platform 13 of adjustable full employment platform 1, are realized connecting with adjustable full employment platform 1 by operator's traverse measurement robot then.Before the detected object attitude measurement, operating personnel want to be installed on digital dial gauge 3 on the deck 54 of Cartesian robot 5 by connecting link 9 earlier, calculate the adjusting mechanism 12 pairing adjustment amounts of adjustable full employment platform 1 by height measurement to three set points of detected object upper surface, finish the attitude adjustment of adjustable full employment platform 1 by operating personnel by handwheel 16 then, guarantee probe 511 last reference fields in the magnetic-field measurement process perpendicular to detected object.The attitude adjustment is taken off digital dial gauge 3 and connecting link 9 after finishing on the deck 54 by Cartesian robot 5.
2. treat gaging hole heart location
After the adjustment of worktable attitude finishes, dragging video camera 4 motions by Cartesian robot 5 makes detected object place the camera lens below, adjust enlargement factor and focal length, utilize system software to calculate each through hole to be measured center coordinate figure in the Cartesian robot coordinate system.
3. Distribution of Magnetic Field is measured
By the measurement result of Cartesian robot 5, drag hall probe 10 and finish the measurement of each through-bore axis direction Distribution of Magnetic Field successively by setting sampling interval according to each hole heart coordinate.In the magnetic-field measurement process, reduce the influence of noise to measurement result by bandpass filtering as far as possible.
The detected object attitude measurement system is realized the measurement of relative attitude between detected object and the robot measurement main body, with the vertical relation between probe and the detected object upper surface in the assurance testing process, thereby guarantee to detect the reliability of data and the security of checkout equipment.The visual guidance positioning system is mainly finished accurately obtaining of each heart position, through hole to be measured hole of detected object upper surface, guarantees the reliability of magnetic-field measurement data.The magnetic field data acquisition system realizes collection, processing and the storage of magnetic field data in the measuring process.The use that combines in actual applications of described each module is to reach the automatic measurement purpose of electromagnetic focusing system magnetic field characteristic.
Claims (6)
1. the magnetic field measuring device based on visual guiding robot is characterized in that this device comprises supporting and adjustable full employment platform, measuring system, robot system and control system modular design; Described measuring system comprises detected object attitude measuring, visual guidance locating device and magnetic field data harvester; Described robot system comprises the three-dimensional rectangular coordinate robot; Described control system comprises industrial computer and software;
Described adjustable full employment platform mainly by pedestal, three groups of adjusting mechanisms, put the part platform, castor and adjustable support leg form; Put the part platform by being three groups of adjusting mechanisms supportings that equilateral triangle is arranged, adjusting mechanism by nut, guide pin bushing, worm-wheel shaft, worm-wheel shaft bearing, Worm Bearing stifle, casing, worm shaft cover thoroughly, worm shaft bearing and worm shaft and handwheel constitute; The worm-wheel shaft bearing is installed on the two ends of worm-wheel shaft by interference fit, the worm shaft bearing is installed on the two ends of worm shaft by interference fit, and all be installed in the casing by interference fit, and, be the screw thread transmission between nut and the worm-wheel shaft axle head by fixing with guide pin bushing by the saturating lid of Worm Bearing stifle, worm shaft that is threadedly connected on the casing; Handwheel is installed on the axle head of worm shaft, can adjust the support height of adjusting mechanism up and down by handwheel, realizes the attitude adjustment of adjustable full employment platform;
Described detected object attitude measuring mainly comprises digital dial gauge and connecting link; Wherein digital dial gauge is fixed on an end of connecting link by being threaded; Before the attitude measurement, the other end of connecting link is fixed on the deck of Z arm slide block of Cartesian robot, after attitude measurement finished, this device should in time take off; Described connecting link can fold, and adjustable length;
Described visual guidance locating device mainly comprises an integrated camera and an image pick-up card; Integrated camera is installed on the end of Z axle moving cell of three-dimensional rectangular coordinate robot; Image pick-up card is installed in the industrial computer, connects by cable between integrated camera and image pick-up card and the industrial computer;
Described magnetic field data harvester mainly comprises a multifunctional data acquisition card, a teslameter and hall probe that cable connects; Hall probe is installed on the connection deck of Z arm slide block of three-dimensional rectangular coordinate robot, and it does the to-and-fro movement that is parallel to the Z arm with Z arm slide block mobile; Teslameter is installed in the switch board, and the output line of hall probe inserts teslameter, and the output line of teslameter inserts multifunctional data acquisition card, and multifunctional data acquisition card is installed in the industrial computer.
2. the magnetic field measuring device based on visual guiding robot according to claim 1 is characterized in that it is the worm-and-wheel gear of i=20 that described adjusting mechanism adopts ratio of gear; Described handwheel is the special-purpose handwheel that has scale indication, and this handwheel whenever rotates a circle and adjusts the supporting-point of putting the part platform and move up and down 0.25mm.
3. the magnetic field measuring device based on visual guiding robot according to claim 1 is characterized in that the described deck plate of putting the part platform is a circular ring structure.
4. the magnetic field measuring device based on visual guiding robot according to claim 1 is characterized in that the output signal of teslameter is inserted multifunctional data acquisition card with twisted-pair feeder with differential mode.
5. the magnetic field measuring device based on visual guiding robot according to claim 1 is characterized in that with the deck place that is connected of Z arm slide block overload protection arrangement being housed at described hall probe.
6. the magnetic field measuring device based on visual guiding robot according to claim 1 is characterized in that described integrated camera has automatic focusing and automatic anamorphosis function.
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