CN106926261B - Relative position measuring instrument - Google Patents
Relative position measuring instrument Download PDFInfo
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- CN106926261B CN106926261B CN201710278388.5A CN201710278388A CN106926261B CN 106926261 B CN106926261 B CN 106926261B CN 201710278388 A CN201710278388 A CN 201710278388A CN 106926261 B CN106926261 B CN 106926261B
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- relative position
- correction rod
- distance
- distance sensor
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- 238000012937 correction Methods 0.000 claims description 48
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000007599 discharging Methods 0.000 abstract description 2
- 230000006698 induction Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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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
- G01B21/02—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 length, width, or thickness
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automatic Control Of Machine Tools (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The structure of the relative position measuring instrument comprises a measuring piece arranged on a mechanical arm, wherein at least two horizontal distance sensors are arranged on the measuring piece, when the relative positions of a reference jig and the mechanical arm are required to be adjusted, the measuring piece is extended to the side of the vertical outer side wall of a correcting rod, when the horizontal distance sensors are positioned on the same vertical line and the horizontal average distance from the outer side wall of the correcting rod is equal, the measuring piece is vertically aligned with the correcting rod, so that the relative positions of the reference jig and a numerical control device can be automatically, quickly and accurately positioned, the mechanical arm can smoothly finish the feeding and discharging work of a workpiece, and the relative position measuring instrument can be well suitable for industrial automatic production.
Description
Technical Field
The invention relates to the technical field of measuring equipment, in particular to a relative position measuring instrument.
Background
In the industrial automatic production process, a numerical control device is often required to finish the loading and unloading work of the workpiece, the adopted numerical control device is generally a mechanical arm or a robot, when a numerical control device moves a workpiece from one piece of equipment to another, the exact location of the workpiece needs to be known to clamp or place it. The workpiece is fixed at the position of the device because the reference jig is arranged on each device to position the workpiece, but after the reference jig is replaced each time, the position of the new reference jig is generally not at the original position, and the position of the workpiece is changed along with the new reference jig, so that the position of the positioned reference jig is required to be measured again, and the position of the workpiece clamped and placed by the numerical control device is required to be correspondingly readjusted, so that the numerical control device can accurately clamp or place the workpiece. In the prior art, the adjustment work is usually completed by hands, and is often only carried out by observing with naked eyes, so that the adjustment mode is time-consuming and labor-consuming, has extremely low efficiency, is not stable enough in adjustment precision, and cannot smoothly complete the loading and unloading work of the workpiece if the position of the reference jig deviates from the position of the workpiece clamped or placed by the numerical control device, so that the adjustment mode cannot be well suitable for industrial automatic production.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a relative position measuring instrument which can quickly and accurately position the relative position of a reference jig and a numerical control device when the numerical control device clamps and places a workpiece and is suitable for automatic production.
In order to achieve the above purpose, the present invention provides the following technical solutions:
providing a relative position measuring instrument, comprising a correction rod arranged on a reference jig, wherein the correction rod is provided with a vertical outer side wall;
the measuring device comprises a measuring part arranged on a mechanical arm, wherein the measuring part extends to the side of the vertical outer side wall of a correction rod during operation, at least two horizontal distance sensors are arranged on the measuring part, and each horizontal distance sensor is positioned on the same vertical line and is equal to the horizontal distance of the outer side wall of the correction rod in the state that the vertical direction of the measuring part is aligned with the correction rod.
The device comprises a controller, wherein if the horizontal distances from each horizontal distance sensor to the outer side wall of the correction rod are not equal, the controller controls the mechanical arm to move so that the horizontal distances from each horizontal distance sensor to the outer side wall of the correction rod are equal.
The number of the horizontal distance sensors is two, namely a first distance sensor and a second distance sensor, and the two horizontal distance sensors are arranged on the same straight line and up and down.
The first distance sensor comprises a plurality of first sub-sensors, and the plurality of first sub-sensors encircle the circumference of the correction rod; the second distance sensor comprises a plurality of second sub-sensors, and the plurality of second sub-sensors encircle the circumference of the correction rod; the correction rod is cylindrical.
Wherein, a plurality of first sub-inductors are uniformly distributed on the circumference side of the correction rod; and/or the plurality of second sub-inductors are uniformly distributed on the circumference side of the correction rod.
The number of the first sub-inductors and the number of the second sub-inductors are three, and in the state that the measuring piece is aligned to the correction rod in the vertical direction, the three first sub-inductors are in the same plane, and the three second sub-inductors are in the same plane.
The measuring piece is also provided with a height distance sensor for measuring the distance between the top of the correcting rod and the mechanical arm.
Wherein, the altitude distance sensor is installed at the top of measuring part.
The top of the correction rod is also provided with an induction block, and the distance from the height distance sensor to the top of the correction rod is not equal to the distance from the height distance sensor to the induction block, so that the rotation origin of the measuring piece can be positioned.
Wherein the measuring piece is a cylinder or a square bracket.
The invention has the beneficial effects that:
the relative position measuring instrument comprises a measuring piece arranged on a mechanical arm, wherein at least two horizontal distance sensors are arranged on the measuring piece, when the relative positions of a reference jig and the mechanical arm are required to be adjusted, the measuring piece is extended to the side of the vertical outer side wall of a correction rod, when the horizontal distance sensors are positioned on the same vertical line and the horizontal equal distances from the horizontal distance sensors to the outer side wall of the correction rod are equal, the measuring piece is vertically aligned to the correction rod, so that the relative positions of the reference jig and a numerical control device can be automatically, quickly and accurately positioned, the mechanical arm can smoothly finish the feeding and discharging work of workpieces, and the relative position measuring instrument can be well suitable for industrial automatic production.
Drawings
Fig. 1 is a schematic perspective view of a measuring member according to the present invention.
Fig. 2 is a schematic view of a relative position measuring instrument according to the present invention mounted on a mechanical arm.
Fig. 3 is an enlarged schematic view of the structure at M in fig. 2.
Fig. 4 is a cross-sectional view taken along the direction A-A in fig. 3.
Fig. 5 is a sectional view in the direction B-B of fig. 3.
Fig. 6 is a schematic structural view of the measuring member of the present invention with its central axis coincident with the central axis of the correction rod.
Fig. 7 is a schematic structural view of the measuring member of the present invention with its central axis offset from the central axis of the correction rod.
Fig. 8 is a schematic view showing a structure in which the central axis of the measuring member and the central axis of the correcting rod are inclined.
Fig. 9 is a schematic diagram of a structure in which a height distance sensor of the present invention faces a sensing block.
Fig. 10 is a schematic view of the measuring member of fig. 9 rotated 90 degrees.
Reference numerals in fig. 1 to 10:
1-a mechanical arm;
2-measuring rack, 21-opening holding cavity;
3-first distance sensor, 31-first sub-sensor;
4-second distance sensor, 41-second sub-sensor;
5-a vertical distance sensor;
6, a sensing block;
7-a reference jig;
8-connecting columns;
9-correction bar.
Detailed Description
The present invention will be described in detail with reference to specific embodiments and drawings.
In this embodiment, in order to simplify the structure of the measuring rack 2, the measuring rack 2 is formed by cross-connecting four L-shaped supporting rods, a connecting column 8 is arranged at the top of the measuring rack 2, the measuring rack 2 is mounted at the end of the mechanical arm 1 through the connecting column 8, the measuring rack 2 is provided with an open cavity 21 (the arrow in fig. 1 indicates the open cavity 21), and the central axis of the open cavity 21 coincides with the central axis of the measuring rack 2. Two horizontal distance sensors, namely a first distance sensor 3 and a second distance sensor 4, are arranged on the vertical side surface of the measuring frame 2, the two horizontal distance sensors are arranged up and down along the axial direction of the measuring frame 2, the first distance sensor 3 comprises three first sub-sensors 31 which are in the same plane and are uniformly distributed circumferentially, the second distance sensor 4 comprises three second sub-sensors 41 which are in the same plane and are uniformly distributed circumferentially, in this embodiment, for describing the implementation process of the function of the invention, the first distance sensor 3 comprises four first sub-sensors 31 which are in the same plane and are uniformly distributed circumferentially, the second distance sensor 4 comprises four second sub-sensors 41 which are in the same plane and are uniformly distributed circumferentially, each sub-sensor 31, 41 is fixed on an L-shaped supporting rod, and the distances between each sub-sensor 31, 41 and the central line of the opening cavity 21 are equal.
The relative position measuring instrument further comprises a controller and a correction rod 9 placed in the center of the reference jig 7, wherein the controller is an inductor controller in the embodiment, the correction rod 9 is cylindrical, all the sub-inductors 31 and 41 and the mechanical arm 1 are electrically connected with the inductor controller, and the central axis of the correction rod 9 coincides with the central axis of the reference jig 7. When the relative position of the reference jig 7 and the mechanical arm 1 needs to be adjusted during the process of grabbing or placing the workpiece by the mechanical arm 1, the correction rod 9 is placed in the center of the reference jig 7, the correction rod 9 is not moved, the mechanical arm 1 is moved, the correction rod 9 is further inserted into the opening accommodating cavity 21, the distance data, measured by the sub-inductors 31 and 41, from the outer circumferential surface of the correction rod 9 are fed back to the inductor controller, the inductor controller controls the movement of the mechanical arm 1 according to the distance data, so that the distances from all the sub-inductors 31 and 41 to the outer circumferential surface of the correction rod 9 are equal (as shown in fig. 6, l1=l2=l3=l4), for example, if the central axis of the measuring frame 2 deviates from the central axis of the correction rod 9 (as shown in fig. 7, l1=l2=l3=l4), the inductor controller controls the right translation of the mechanical arm 1 according to the distance data, measured by the sub-inductors 31 and 41, from the outer circumferential surface of the correction rod 9, is equal (as shown in fig. 6, l1=l2=l4); if the central axis of the measuring rack 2 is inclined with the central axis of the correcting rod 9 (as shown in fig. 8, L1> L2, L3< L4), the sensor controller controls the bottom of the mechanical arm 1 to swing leftwards, and simultaneously the top of the mechanical arm 1 swings rightwards, if the condition of fig. 7 appears after swinging, the mechanical arm 1 translates rightwards until the distances between all the sub-sensors 31, 41 and the outer circumferential surface of the correcting rod 9 are equal (as shown in fig. 6, l1=l2=l3=l4), so that the central axis of the measuring rack 2 and the central axis of the reference jig 7 are finally overlapped, and the mechanical arm 1 can automatically and quickly find the central positions of the reference jigs 7 on the processing table and the blanking disc, so that the mechanical arm 1 can smoothly complete the loading and unloading work of workpieces.
As shown in fig. 1 to 10, the top of the measuring frame 2 is provided with a height distance sensor, i.e., a vertical distance sensor 5, and the vertical distance sensor 5 is also electrically connected with a sensor controller, the vertical distance sensor 5 can measure the distance from the top of the correction rod 9, and the sensor controller controls the up-and-down movement of the mechanical arm 1 through the data measured by the vertical distance sensor 5, so that the distance from the mechanical arm 1 to the top of the correction rod 9 is appropriate. The top of the correction rod 9 is further provided with an induction block 6, and since the distance between the correction rod 9 and the top (such as Lz2 in fig. 10) measured by the vertical distance sensor 5 is different from the distance between the correction rod 9 and the induction block 6 (such as Lz1 in fig. 9) measured by the vertical distance sensor 5, the position of the induction block 6 can be found by comparing the sizes of Lz2 and Lz1, and then the rotation origin of the measurement frame 2 can be determined, so that the mechanical arm 1 can be rotated according to the designed rotation angle.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (8)
1. Relative position measuring apparatu, its characterized in that: the correction rod is arranged on the reference jig and provided with a vertical outer side wall; the measuring part is arranged on the mechanical arm, and extends to the side of the vertical outer side wall of the correction rod when in operation; the device comprises a controller, wherein if the horizontal distances from each horizontal distance sensor to the outer side wall of the correction rod are not equal, the controller controls the mechanical arm to move so that the horizontal distances from each horizontal distance sensor to the outer side wall of the correction rod are equal; the measuring piece is also provided with a height distance sensor for measuring the distance between the top of the correcting rod and the mechanical arm.
2. The relative position measuring instrument of claim 1, wherein: the number of the horizontal distance sensors is two, namely a first distance sensor and a second distance sensor, and the two horizontal distance sensors are arranged on the same straight line and up and down.
3. The relative position measuring instrument of claim 2, wherein: the first distance sensor comprises at least two first sub-sensors, and each first sub-sensor surrounds the circumference of the correction rod; the second distance sensor comprises at least two second sub-sensors, and each second sub-sensor surrounds the circumference of the correction rod; the correction rod is cylindrical.
4. A relative position measuring instrument as claimed in claim 3, characterized in that: each first sub-sensor is uniformly distributed on the periphery of the correction rod; and/or the second sub-inductors are uniformly distributed on the circumference side of the correction rod.
5. The relative position measuring instrument of claim 4, wherein: the number of the first sub-inductors and the number of the second sub-inductors are three, and in the state that the measuring piece is aligned with the correction rod in the vertical direction, the three first sub-inductors are in the same horizontal plane, and the three second sub-inductors are in the same horizontal plane.
6. The relative position measuring instrument of claim 1, wherein: the height distance sensor is mounted on top of the measuring member.
7. The relative position measuring instrument of claim 6, wherein: the top of correction stick still installs the response piece, and the distance of altitude distance inductor to correction stick's top is unequal to the distance of altitude distance inductor to the response piece, and then can fix a position the rotation origin of measuring part.
8. The relative position measuring instrument of claim 1, wherein: the measuring piece is a cylinder or a square bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710278388.5A CN106926261B (en) | 2017-04-25 | 2017-04-25 | Relative position measuring instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710278388.5A CN106926261B (en) | 2017-04-25 | 2017-04-25 | Relative position measuring instrument |
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| Publication Number | Publication Date |
|---|---|
| CN106926261A CN106926261A (en) | 2017-07-07 |
| CN106926261B true CN106926261B (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710278388.5A Active CN106926261B (en) | 2017-04-25 | 2017-04-25 | Relative position measuring instrument |
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| CN (1) | CN106926261B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109666969B (en) * | 2019-03-01 | 2023-09-19 | 洛阳德晶智能科技有限公司 | Centering device for single crystal furnace during clamping of crystal bars and use method |
| CN111311880A (en) * | 2020-02-28 | 2020-06-19 | 郑晓群 | Electromagnetic wave excitation type earthquake early warning device |
| CN112606209B (en) * | 2020-09-07 | 2022-04-22 | 厦门天润锦龙建材有限公司 | Alignment leak prevention system |
| CN118067527B (en) * | 2024-02-22 | 2024-09-20 | 埃客(上海)医用设备有限公司 | Periodontal probe stretching device with straightness detection function |
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| CN104853886A (en) * | 2012-12-21 | 2015-08-19 | 贝克曼考尔特公司 | System and method for laser-based auto-alignment |
| CN205272071U (en) * | 2015-11-13 | 2016-06-01 | 联合汽车电子有限公司 | Error correction device of equipment zero -bit of robot |
| CN105945948A (en) * | 2016-05-25 | 2016-09-21 | 南京工程学院 | TCP online quick calibration method and device applied to industrial robot |
| CN206733025U (en) * | 2017-04-25 | 2017-12-12 | 东莞台一盈拓科技股份有限公司 | Relative position measurement instrument |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2012129110A1 (en) * | 2011-03-18 | 2012-09-27 | Siemens Healthcare Diagnostics Inc. | Methods, systems, and apparatus for calibration of an orientation between and end effector and an article |
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|---|---|---|---|---|
| CN104853886A (en) * | 2012-12-21 | 2015-08-19 | 贝克曼考尔特公司 | System and method for laser-based auto-alignment |
| CN104344818A (en) * | 2013-07-29 | 2015-02-11 | 上海航天设备制造总厂 | Vertical detection device and method |
| CN104626205A (en) * | 2014-12-11 | 2015-05-20 | 珠海格力电器股份有限公司 | Detection method and device for robot mechanical arm |
| CN205272071U (en) * | 2015-11-13 | 2016-06-01 | 联合汽车电子有限公司 | Error correction device of equipment zero -bit of robot |
| CN105945948A (en) * | 2016-05-25 | 2016-09-21 | 南京工程学院 | TCP online quick calibration method and device applied to industrial robot |
| CN206733025U (en) * | 2017-04-25 | 2017-12-12 | 东莞台一盈拓科技股份有限公司 | Relative position measurement instrument |
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| CN106926261A (en) | 2017-07-07 |
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Address after: 523000 No. 3 Yanhe Road, Xicheng Industrial Zone, Hengli Town, Dongguan, Guangdong Applicant after: WINTOP (DONGGUAN) INDUSTRIAL TECHNOLOGY Co.,Ltd. Address before: 523470 Guangdong Dongguan Dongguan Hengli Town waterfront industrial park Southern District Dongguan Taiwan Yi Ying extension Polytron Technologies Inc Applicant before: WINTOP (DONGGUAN) INDUSTRIAL TECHNOLOGY Co.,Ltd. |
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