CN106949863A - White body is main to spell fixture switching system repetitive positioning accuracy detection method - Google Patents
White body is main to spell fixture switching system repetitive positioning accuracy detection method Download PDFInfo
- Publication number
- CN106949863A CN106949863A CN201710144863.XA CN201710144863A CN106949863A CN 106949863 A CN106949863 A CN 106949863A CN 201710144863 A CN201710144863 A CN 201710144863A CN 106949863 A CN106949863 A CN 106949863A
- Authority
- CN
- China
- Prior art keywords
- positioning accuracy
- fixture
- repetitive positioning
- main
- measured point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of main spelling fixture switching system repetitive positioning accuracy detection method of white body, comprise the following steps：A. multiple measured points are chosen on the fixture substrate of main spelling, the one-to-one multiple gauge heads in the multiple and measured point are fixedly installed；B. measure each described measuring point using displacement transducer and correspond to the distance between gauge head value therewith；C. repeat step b and multigroup measuring point and correspondence the distance between gauge head value are obtained；D. each measured point and the absolute positional accuracy X of its ideal position are calculatedij；E. the repetitive positioning accuracy R of main spelling is calculated；F. the repetitive positioning accuracy R calculated and theoretical precision value are contrasted, judges whether the working condition of main spelling is normal；This detection method can be realized to be detected in real time to main spelling fixture switching system repetitive positioning accuracy, and show the result measured on computers in the form of figure and data, whether system can be by judging the repetitive positioning accuracy in error allowed band, and judging whether that alarm stops line, it is ensured that vehicle body meets required precision.
Description
Technical field
The present invention relates to main spelling accuracy detection field, specifically a kind of white body is main to spell fixture switching system resetting essence
Spend detection method.
Background technology
The existing main spelling technology of white body welding production line substantially using the fixture being fixedly connected, utilizes what is translated or turn round
Mode realizes the switching of flexible multi-vehicle-type and carries out automated production on same production line to adapt to different automobile types, this mode it is soft
Property fixture and switching mechanism often complex structure, floor space is big, because its positioning precision is difficult to ensure that, typically by dialogue
Vehicle body is sampled detection, and offline inspection is carried out using three coordinate measuring machine, and this method both took considerable time, can not be real
The real-time detection of existing dialogue automobile body welding, if the white body of sampling Detection goes wrong, staff must stop ray examination, now
The white body gone wrong is transmitted to multiple stations below already, and this certainly will cause huge economic loss；And main spell is grown
Phase is in the working condition of load, and staff can not possibly stop ray examination, accordingly, it would be desirable to which the resetting progress to main spelling is carried out
Detection, is required with ensureing that the welding precision of vehicle body is met.
Accordingly, it would be desirable to which one kind can realize that white body is main using on-line measuring device spells fixture switching system resetting essence
Spend the method detected.
The content of the invention
In view of this, the purpose of the present invention is to overcome the defect of the prior art can to utilize on-line checking there is provided one kind
Device realizes that white body is main and spells the method that fixture switching system repetitive positioning accuracy is detected.
The white body of the present invention is main to spell fixture repetitive positioning accuracy detection method, comprises the following steps：A. in the folder of main spelling
Multiple measured points are chosen on tool substrate, the one-to-one multiple gauge heads in the multiple and measured point are fixedly installed；B. measure each
The distance between the individual measured point and corresponding gauge head are worth；C. repeat step b and multigroup measured point is obtained and right
Answer the distance between gauge head value；D. each measured point and the absolute positional accuracy X of its ideal position are calculatedij；Xij=xij-
xi, wherein, XijFor the absolute positional accuracy of i-th of measured point jth time measurement, xijThe distance measured for i-th of measured point jth time
Value, xiFor the ideal distance value of i-th of measured point；E. calculate it is main spelling station repetitive positioning accuracy R, R=max | X11-X12
|,|X21-X22|,|X31-X32|,|X41-X42|,…}；F. by the repetitive positioning accuracy R calculated and theoretical repetitive positioning accuracy value
Contrast, judges whether the working condition of main spelling station is normal；
Further, the measured point is distributed at four angles of fixture substrate；
Further, the measured point for being distributed in the fixture substrate upper left corner or the upper right corner is three, and is located at fixture substrate respectively
Front, top surface and side；The measured point for being distributed in the fixture substrate lower left corner or the lower right corner is one, and positioned at fixture substrate
Front；
Further, in step b, the gauge head is displacement transducer；
Further, it is fixed on gantry for detecting the displacement transducer in the fixture substrate upper left corner and the upper right corner by support I
Frame；Portal frame is fixed on for detecting the displacement transducer in the fixture substrate lower left corner and the lower right corner by support II；The support I
With three orthogonal mounting planes I, and three mounting planes I be used for respectively with the front of fixture substrate, top surface and side
Face is relative；There is the support II one to be used for the positive relative mounting plane II with fixture substrate.；
The beneficial effects of the invention are as follows：Main spelling is after long-term use, abrasion and mechanism rigidity due to setting element
Certain change can occur between theoretical value for change, the location of its zero load and loading status lower clamp, now can be different
The influence body dimensions of degree, can cause postorder assembling difficult when serious, white body of the invention is main to spell fixture switching system weight
Multiple Linear Positioning Accuracy Measurement Methods, can realize and the repetitive positioning accuracy of main spelling is detected in real time, and by the result measured with
The form of figure and data shows that on computers system can be by judging the repetitive positioning accuracy whether in error permission model
In enclosing, and judge whether that alarm stops line, it is ensured that white body meets required precision.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the structural representation of main spelling in the present invention；
Fig. 2 is the schematic diagram of fixture substrate in the present invention；
The distribution schematic diagram that sensor is installed in Fig. 3 present invention；
Fig. 4 is Fig. 3 right view；
Fig. 5 is the control flow chart of collection measured point distance in the present invention；
Fig. 6 is the connection diagram of each module in the present invention；
Fig. 7 is the schematic diagram of the support I of the present invention；
Fig. 8 is the support II of present invention schematic diagram
Reference：1- substrates, 2- level boards, 3- install crossbeam, 4- vertical plates, 5- oblique fulcrum bars；6- flat boards.
Embodiment
Fig. 1 is structural representation of the invention.As illustrated, the main fixture switching system of spelling of the white body of the present embodiment is repeated
Linear Positioning Accuracy Measurement Methods, comprise the following steps：A. multiple measured points are chosen on the fixture substrate of main spelling, are fixedly installed multiple
With the one-to-one multiple gauge heads in the measured point；B. measure between each described measured point and corresponding gauge head away from
From value；C. repeat step b and multigroup measured point and correspondence the distance between gauge head value are obtained；D. calculate each described tested
The absolute positional accuracy X of point and its ideal positionij；Xij=xij-xi, wherein, XijFor the absolute of i-th of measured point jth time measurement
Positional precision, xijThe distance value measured for i-th of measured point jth time, xiFor the ideal distance value of i-th of measured point；E. calculate
Go out main spelling repetitive positioning accuracy R, R=max | X11-X12|,|X21-X22|,|X31-X32|,|X41-X42|,…}；F. it will calculate
The repetitive positioning accuracy R gone out is contrasted with theoretical repetitive positioning accuracy value, judges whether the working condition of main spelling is normal.
In the present embodiment, the measured point is distributed at four angles of fixture substrate, and fixture is installed on fixture substrate, base
Plate is fixed on fixture driving frame, its working face high precision, and the point chosen on substrate can reflect determining for main spelling as measured point
Position situation, therefore, selected point is distributed multiple as tested characteristic point additionally, due to the fixture being installed on substrate on fixture substrate
It is miscellaneous, the selection of measured point is not easy to, if measured point is chosen inside substrate, the installation of sensor can also interfere with the work of robot
Make, therefore choose the point on four angles on substrate as measured point, be distributed in the tested of the fixture substrate upper left corner or the upper right corner
Point is three, and is located at front, top surface and the side of fixture substrate respectively；(it is distributed in the fixture substrate lower left corner or the lower right corner
Measured point is one, and positioned at the front of fixture substrate, wherein front is the opposite face of two fixture substrates, it is sideways fixture substrate
It is upper with the orthogonal vertical surface in front, top surface be on fixture substrate with positive orthogonal horizontal surface), such as Fig. 3 and 4
Shown, measured point in the present embodiment is eight, accordingly, on portal frame by support be fixed with eight it is one-to-one therewith
Measuring point, respectively A, B, C, D, E, F, G, H, wherein, it is distributed in three measured points difference in the fixture substrate upper left corner or the upper right corner
The measured point in the positional precision for detecting tri- directions of fixture substrate X, Y, Z, the lower left corner or the lower right corner is used to detect fixture base
The positional precision of plate Y-direction, this mode of gauge head can comprehensively be detected whole on the premise of using minimal number of sensor
The positioning precision of individual main spelling in all directions.
In the present embodiment, in step b, the gauge head is displacement transducer；Spelling fixture switching system main to white body is repeated
When positioning precision is detected, the distance between measuring point and measured point, displacement transducer collection number are gathered by displacement transducer
According to beat determine that, by PLC control system control, sensor often completes a data acquisition by productive temp, data warp
Crossing the processing of computer will be shown on computers in the form of figure and data.Specifically detection process is：(1) scanning car is passed through
Body Quick Response Code is recognized after certain vehicle, and PLC sends the signal to the controller of detecting system, makes the vehicle and the data of detection
Matching；(2) fixture driving frame reaches operating position, installs displacement transducer in orbit and receives the signal, by the signal
PLC control system is fed back to, by compiling PLC, the work tempo of sensor can be controlled；(3) PLC control system sends signal
To displacement transducer, 16 displacement transducers complete the detection to measuring point distance；(4) output and data acquisition of displacement transducer
Card connection, capture card is fed back to by the distance signal of measurement, and capture card is converted to the electric signal signal of computer identification；
(5) data collecting card is connected with computer, and distance signal is exported to computer, by the processing of computer, obtains main spelling
Repetitive positioning accuracy.Shown in idiographic flow Fig. 5.Further, since main spelling working space is compact, welding robot man-hour has electric fire
Colored splashing, there was dampness in the air, and summer and winter temperature are changed greatly, therefore the displacement transducer that the present embodiment is used, except full
Outside the requirement of sufficient measurement accuracy and range, should also possess high temperature resistance, the characteristics of degree of protection is higher, in installation site displacement sensing
During device, in order to obtain high-precision repetitive positioning accuracy value, make when displacement transducer is installed measured point to the distance of gauge head be 30-
50mm。
In the present embodiment, the sensor is fixed on portal frame by support, and corresponding to point position；Spelled due to main
Fixture driving frame in motion process, portal frame can by slight vibration, influence sensor normal detection, pass through support will
Sensor is fixed on portal frame to improve its stability.Wherein, the displacement for detecting the fixture substrate upper left corner and the upper right corner is passed
Sensor is fixed on portal frame by support I；Displacement transducer for detecting the fixture substrate lower left corner and the lower right corner passes through support
II is fixed on portal frame；The support I has three orthogonal mounting planes I, and three mounting planes I be used for respectively with
Front, top surface and the side of fixture substrate are relatively；A level board is fixed with the installation crossbeam of this support and one vertical
Plate, the side for installing the side, the bottom surface of level board and vertical plate of crossbeam forms three orthogonal mounting planes, and divides
Three sensors Dui Ying be installed；There is the support II one to be used for the positive relative mounting plane II with fixture substrate,
As shown in figure 8, installation crossbeam one end of this support is fixed by flat board and fixture substrate front, the other end, which is used to install, to be sensed
Device, two kinds of supports of the present embodiment are respectively provided with certain rigidity and intensity, and sensor can be securely seated between on portal frame,
The measurement accuracy of sensor is not influenceed when being shaken by portal frame, and it is simple in construction, the normal work of robot and fixture is not interfered
Make, easy to disassemble and maintenance.During installation, the flat board for installing crossbeam one end is connected by screw and is fixed on portal frame, in order to increase
Plus oblique fulcrum bar is welded between portal frame and installation crossbeam by its rigidity, displacement transducer is arranged on the sensor peace for installing crossbeam
Fill on position, and arrange winding displacement and safeguard measure, the measurement distance higher in order to obtain precision is passed by adjusting support and displacement
The position of sensor, it is 30-50mm relative to the distance of measured point to make the gauge head of displacement transducer.
In the present embodiment, the accuracy of detection of the sensor should be higher than that main in the positioning precision of main spelling station, the present embodiment
Positioning precision is 0.1mm when spelling work, and to obtain more accurate precision, the measurement accuracy of the sensor of selection should be higher than that the essence
Degree.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (6)
1. a kind of white body is main to spell fixture switching system repetitive positioning accuracy detection method, it is characterised in that comprise the following steps：
A. multiple measured points are chosen on the fixture substrate of main spelling, are fixedly installed multiple multiple correspondingly with the measured point
Gauge head；
B. the distance between each described measured point and corresponding gauge head value is measured；
C. repeat step b and the distance between multigroup measured point and corresponding gauge head value is obtained；
D. each measured point and the absolute positional accuracy X of its ideal position are calculatedij；Xij=xij-xi, wherein, XijFor i-th
The absolute positional accuracy of individual measured point jth time measurement, xijThe distance value measured for i-th of measured point jth time, xiFor i-th of quilt
The ideal distance value of measuring point；
E. calculate it is main spelling station repetitive positioning accuracy R, R=max | X11-X12|,|X21-X22|,|X31-X32|,|X41-X42
|,…}；
F. the repetitive positioning accuracy R calculated is contrasted with theoretical repetitive positioning accuracy value, judge main spelling working condition whether
Normally.
2. white body according to claim 1 is main to spell fixture switching system repetitive positioning accuracy detection method, its feature exists
In：The measured point is distributed at four angles of fixture substrate.
3. white body according to claim 2 is main to spell fixture switching system repetitive positioning accuracy detection method, its feature exists
In：Each three of the measured point in the fixture substrate upper left corner and the upper right corner is distributed in, respectively positioned at the front of fixture substrate, top surface and side
Face；The measured point for being distributed in the fixture substrate lower left corner or the lower right corner is one, and positioned at the front of fixture substrate.
4. white body according to claim 2 is main to spell fixture switching system repetitive positioning accuracy detection method, its feature exists
In：In step b, the gauge head is displacement transducer.
5. white body according to claim 3 is main to spell fixture switching system repetitive positioning accuracy detection method, its feature exists
In：Institute's displacement sensors are fixed on portal frame by support.
6. white body according to claim 5 is main to spell fixture switching system repetitive positioning accuracy detection method, its feature exists
In：Portal frame is fixed on for detecting the displacement transducer in the fixture substrate upper left corner and the upper right corner by support I；For detecting folder
The displacement transducer in the tool substrate lower left corner and the lower right corner is fixed on portal frame by support II；The support I has three mutually
Vertical mounting plane I, and three mounting planes I are for relative with the front of fixture substrate, top surface and side respectively；The branch
There is frame II one to be used for the positive relative mounting plane II with fixture substrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144863.XA CN106949863A (en) | 2017-03-13 | 2017-03-13 | White body is main to spell fixture switching system repetitive positioning accuracy detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144863.XA CN106949863A (en) | 2017-03-13 | 2017-03-13 | White body is main to spell fixture switching system repetitive positioning accuracy detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106949863A true CN106949863A (en) | 2017-07-14 |
Family
ID=59466916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710144863.XA Pending CN106949863A (en) | 2017-03-13 | 2017-03-13 | White body is main to spell fixture switching system repetitive positioning accuracy detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106949863A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050966A (en) * | 2017-12-08 | 2018-05-18 | 重庆长安汽车股份有限公司 | The flexible total spelling precision on-line measuring device of welding and method |
| CN111609821A (en) * | 2019-02-26 | 2020-09-01 | 上汽通用汽车有限公司 | Body-in-white online monitoring device and method for measuring body-in-white |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5276974A (en) * | 1990-05-30 | 1994-01-11 | Regie Nationale Des Usines Renault, Societe Anonyme | Unit for continuously measuring shape defects of a part, and measuring process used in this unit. |
| CN101949687A (en) * | 2010-09-19 | 2011-01-19 | 天津大学 | Detection method of automobile door based on vision measurement |
| CN101957176A (en) * | 2010-09-19 | 2011-01-26 | 天津大学 | Robot and camera combined calibration based method for detecting high-precision car door |
| CN202074908U (en) * | 2011-06-08 | 2011-12-14 | 中国重汽集团济南动力有限公司 | White vehicle body lower part detecting tool |
| CN102486364A (en) * | 2010-12-31 | 2012-06-06 | 上汽通用五菱汽车股份有限公司 | White automobile body tail doorframe checking tool and tail doorframe size detection method |
| CN102607387A (en) * | 2011-12-20 | 2012-07-25 | 南京叁迪焊接设备有限公司 | System for quantitatively measuring detecting hole and detecting surface of welding hole of white automobile body |
| CN202793346U (en) * | 2012-08-20 | 2013-03-13 | 济南吉利汽车有限公司 | Positioner for body-in-white three-coordinate measuring support |
| CN103267461A (en) * | 2013-06-09 | 2013-08-28 | 南京晨光集团有限责任公司 | Method for measuring repeated positioning precision of space object |
| CN105716497A (en) * | 2016-01-16 | 2016-06-29 | 长春北方化工灌装设备有限公司 | Method for testing repeated positioning accuracy of machine |
| CN105737780A (en) * | 2016-04-29 | 2016-07-06 | 重庆长安汽车股份有限公司 | In-place detecting structure and in-place detecting method for vehicle body main splicing fixture |
| CN105865341A (en) * | 2016-05-28 | 2016-08-17 | 上海大学 | Device and method for measuring repeated positioning accuracy of industrial robot spatial poses |
-
2017
- 2017-03-13 CN CN201710144863.XA patent/CN106949863A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5276974A (en) * | 1990-05-30 | 1994-01-11 | Regie Nationale Des Usines Renault, Societe Anonyme | Unit for continuously measuring shape defects of a part, and measuring process used in this unit. |
| CN101949687A (en) * | 2010-09-19 | 2011-01-19 | 天津大学 | Detection method of automobile door based on vision measurement |
| CN101957176A (en) * | 2010-09-19 | 2011-01-26 | 天津大学 | Robot and camera combined calibration based method for detecting high-precision car door |
| CN102486364A (en) * | 2010-12-31 | 2012-06-06 | 上汽通用五菱汽车股份有限公司 | White automobile body tail doorframe checking tool and tail doorframe size detection method |
| CN202074908U (en) * | 2011-06-08 | 2011-12-14 | 中国重汽集团济南动力有限公司 | White vehicle body lower part detecting tool |
| CN102607387A (en) * | 2011-12-20 | 2012-07-25 | 南京叁迪焊接设备有限公司 | System for quantitatively measuring detecting hole and detecting surface of welding hole of white automobile body |
| CN202793346U (en) * | 2012-08-20 | 2013-03-13 | 济南吉利汽车有限公司 | Positioner for body-in-white three-coordinate measuring support |
| CN103267461A (en) * | 2013-06-09 | 2013-08-28 | 南京晨光集团有限责任公司 | Method for measuring repeated positioning precision of space object |
| CN105716497A (en) * | 2016-01-16 | 2016-06-29 | 长春北方化工灌装设备有限公司 | Method for testing repeated positioning accuracy of machine |
| CN105737780A (en) * | 2016-04-29 | 2016-07-06 | 重庆长安汽车股份有限公司 | In-place detecting structure and in-place detecting method for vehicle body main splicing fixture |
| CN105865341A (en) * | 2016-05-28 | 2016-08-17 | 上海大学 | Device and method for measuring repeated positioning accuracy of industrial robot spatial poses |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050966A (en) * | 2017-12-08 | 2018-05-18 | 重庆长安汽车股份有限公司 | The flexible total spelling precision on-line measuring device of welding and method |
| CN111609821A (en) * | 2019-02-26 | 2020-09-01 | 上汽通用汽车有限公司 | Body-in-white online monitoring device and method for measuring body-in-white |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105945948B (en) | A kind of online quick calibrating methods of TCP applied to industrial robot and device | |
| CN102607502B (en) | Automatic detection device and method for size of automobile rear axle assembly | |
| CN104730142B (en) | A kind of flat magnetic field scanning imaging system based on Hall sensor | |
| CN102589492B (en) | A kind of large-scale curved flexible detection device | |
| CN1009221B (en) | Method of measuring by coordinate measuring instrument | |
| US4638232A (en) | Method and apparatus for calibrating a positioning system | |
| CN207881664U (en) | A kind of intelligent calibrating device of draw-wire displacement sensor | |
| CN101487686B (en) | Detection adjusting apparatus and method for thin slab assembly | |
| CN105538313A (en) | Laser track detection device for industrial robots | |
| CN110108238A (en) | It is a kind of for measuring the measuring system and measurement method of part flatness | |
| CN106949863A (en) | White body is main to spell fixture switching system repetitive positioning accuracy detection method | |
| CN102288149B (en) | Brake disc camber angle detection device and brake disc production line device | |
| CN103954260A (en) | Automobile radiator detecting device | |
| CN107783142A (en) | Digitize three direction displacement measurement apparatus and its alignment error control method | |
| JP2001108781A (en) | Method and device for inspecting nuclear reactor fuel assembly | |
| CN113771093A (en) | Mechanical arm calibration and precision measurement device based on linear motion platform | |
| KR100854674B1 (en) | Rudder force measuring device for towing tank test | |
| CN113134848A (en) | Measurement mode based on six-axis robot repeated positioning precision | |
| CN105180887A (en) | Wide span beam deflection deformation measuring method | |
| CN208383116U (en) | A kind of end difference machine measuring flatness | |
| CN109282833B (en) | Automatic calibration device and calibration method for plumb line coordinatograph | |
| CN201951492U (en) | Railway transportation overrunning detector | |
| CN202562619U (en) | Multi-point continuous on-line vibrating screen amplitude detector | |
| US11781941B2 (en) | Multi-degree-of-freedom impedance fixture for automated frequency response function measurements | |
| CN203534562U (en) | Square lithium battery electrical core constant voltage thickness measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170714 |
|
| RJ01 | Rejection of invention patent application after publication |