CN107300373A - Complex-curved measurement apparatus based on six degree of freedom auxiliary robot - Google Patents

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

Measuring device for complex surface based on six-degree-of-freedom auxiliary robot

technical field

The invention relates to a machining measuring device, in particular to a machining complex curved surface measuring device.

Background technique

At present, although there is some research on coordinate measuring instruments at home and abroad, there are still many disadvantages. Existing measuring instruments generally do not have standardized platform equipment with three degrees of freedom, which cannot be adapted to online measurement of complex surfaces, and the scope of use has obvious limitations. In view of the technical problem of narrow application range of coordinate measuring instruments, the existing measuring equipment is generally three coordinate measuring instruments, and its measuring range has obvious limitations. In addition, the three-coordinate measuring instrument adopts a gantry-type structure scheme, the equipment is large in size, and the use process is relatively cumbersome. It is impossible to realize the online measurement of the steel plate during the forming process in the narrow space of the progressive forming machine tool. Although the new optical three-coordinate measuring instrument has high measurement accuracy, the instrument has high requirements for the on-site working environment and cannot be applied to the working environment of the incremental forming machine tool.

Contents of the invention

In order to solve the above-mentioned deficiencies of the prior art, the object of the present invention is to provide a complex curved surface measuring device based on a six-degree-of-freedom auxiliary robot. The measuring device has six degrees of freedom and can be used to measure three-dimensional coordinate data of complex curved surfaces, thereby obviously improving the application range.

The purpose of the present invention is achieved in the following ways:

A complex surface measuring device based on a six-degree-of-freedom auxiliary robot, which consists of three parts: an action execution system, a control system, and a detection system. The action execution system is connected to the detection system and their movements are controlled by the control system. It is characterized in that:

The action execution system includes the traverse axis, slide rail, support seat, swing arm 1, swing arm 2, swing arm 3, probe working group angle rotation axis and probe attitude rotation axis; swing arm 1, swing arm 2, and swing arm 3 in sequence Hinged and then the swing arm one is connected with the support seat, the support seat is connected with the traverse shaft, and the traverse shaft moves along the slide rail under the action of the ball screw, the swing arm three is connected with the angle rotation axis of the probe working group, and the angle of the probe work group The rotation axis is connected with the probe attitude rotation axis, the action execution system is driven by a servo motor, and its motion control is realized through the control system.

The purpose of the present invention can also be achieved in the following manner: the control system includes a monitor and a control cabinet; the monitor provides an interactive human-machine interface for the control system, and monitors the motion status of the action execution system in real time; The industrial computer, motion control card and servo drive system in the body are used to ensure the precise control of the action execution system and detection system.

The detection system consists of a servo motor, a harmonic reducer, a fixture and a probe; the probe is fixed on the probe attitude rotation axis of the action execution system through the fixture.

The action execution system uses the drive of the servo motor to adjust the angles of the first swing arm, the second swing arm, and the third swing arm, so that the probe is at the best measurement angle; the person who uses the probe to obtain the three-dimensional coordinate data of the complex curved surface of the formed steel plate and transmits it to the monitor machine interface. After the measurement is completed, the action actuator adjusts the positions of the first swing arm, the second swing arm, and the third swing arm and the measurement angle of the probe under the action of the control system, and starts the next measurement.

The control system adjusts the angle of the probe angle rotation axis through the servo driver, and adjusts the angle of the probe attitude rotation axis through the servo motor and harmonic reducer, and adjusts the probe to the best detection position to obtain the best measurement effect.

There are pulleys installed at the bottom of the control cabinet. Use the pulleys to move the measuring device to the designated position and fix it before the measurement work starts, and start the online measurement of the formed steel plate; during non-measurement working hours, move the measuring device to other positions to save incremental forming machine tools workspace.

The beneficial effects of the present invention are: during the use of the self-designed incremental forming machine tool, the invention can measure the three-dimensional coordinate data of the complex curved surface of the formed steel plate in real time, so as to check the forming effect of the incremental forming machine tool, and realize the complex three-dimensional curved surface of the formed steel plate The on-line measurement improves the efficiency and accuracy of the measurement. The invention not only can be used to measure the formed steel plate of the incremental forming machine tool, but also can provide reference and guiding significance for forming detection in other fields.

Description of drawings

Fig. 1 three-dimensional structure and working status diagram of the present invention

Fig. 2 structural representation of the present invention

Fig. 3 is a partial schematic diagram of the detection system of the present invention

detailed description

Reference signs: 1. Progressive forming machine tool, 2. Hydraulic support platform, 3. Formed steel plate, 4. Control system, 5. Action execution system, 6. Monitor, 7. Control cabinet, 8. Traverse axis, 9. Slide rail, 10, support seat, 11, swing arm one, 12, swing arm two, 13, swing arm three, 14, probe direction rotation axis, 15, probe attitude rotation axis, 16, servo motor, 17, harmonic deceleration Device, 18, fixture, 19, probe.

The technical problem to be solved by the present invention is to design a complex curved surface measuring device based on a six-degree-of-freedom auxiliary robot. During the use of the self-designed incremental forming machine tool, the measurement auxiliary robot designed by the invention can measure the three-dimensional coordinate data of the complex curved surface of the processed and formed steel plate in real time to check the forming effect of the incremental forming machine tool.

The present invention mainly solves the following technical problems:

First, fully analyze the shape characteristics of the steel plate formed by the incremental forming machine tool, and combine the structural form of the incremental forming machine tool to provide a solution suitable for detecting the complex curved surface of the formed steel plate.

Second, through the seamless combination with the existing progressive forming machine tool, the online measurement of the surface of the formed steel plate is realized, the measurement process is simplified, and the work efficiency is improved.

The complex curved surface measurement device based on the six-degree-of-freedom auxiliary robot designed by the present invention realizes the online detection of the formed steel plate 3 .

Referring to the accompanying drawings, the present invention is composed of three core parts of an action execution system 5, a control system 4 and a detection system.

Action execution system 5 includes traversing axis 8, slide rail 9, support base 10, swing arm 1 11, swing arm 2 12, swing arm 3 13, probe working group angle rotation axis 14, and probe attitude rotation axis 15. The power execution system is driven by a servo motor, and its motion control is realized through the control system 4 .

The control system 4 includes a monitor 6 and a control cabinet 7 . The monitor 6 provides an interactive man-machine interface for the control system 4, and can monitor the motion status of the action execution system 5 in real time. The control cabinet 7 includes an industrial computer, a motion control card, a servo drive system, etc., which ensures precise control of the action execution system 5 .

The detection system (see FIG. 3 ) consists of a servo motor 16 , a harmonic reducer 17 , a fixture 18 and a probe 19 . The probe 19 is a core component of the detection system, and the tightening function of the probe 19 is realized through the clamp 18 .

The working process of the measuring auxiliary robot for the six-degree-of-freedom progressive forming machine tool will be described in detail below by taking Fig. 1 as an example.

The formed steel plate 3 is fixed on the hydraulic support platform 2 under the adsorption of the electromagnet. After the progressive forming machine tool 1 completes the processing of the formed steel plate, it uses the servo motor to drive the hydraulic support platform 2 to move to the designated position on the Y axis of the machine tool, and begins to perform the forming process. Measurement of complex curved surface of steel plate 3.

Under the action of the control system 4, the action execution system 5 of the measurement auxiliary robot adjusts the angle of the mechanical arm by the drive of the servo motor, so that the probe 19 is located at an optimal measurement angle. The traversing axis 8 of the measurement auxiliary robot moves along the slide rail 9 under the action of the ball screw, and uses the probe 19 to obtain the three-dimensional coordinate data of the complex curved surface of the formed steel plate 3 and transmits it to the human-machine interface of the monitor 6 . After the measurement is completed, the action actuator 5 adjusts the position of the mechanical arm and the angle measured by the probe 19 under the action of the control system 4, and starts the next measurement.

In the detection system (see FIG. 3 ), the probe 19 is fixed on the probe posture rotation axis 15 through the clamp 18 . The control system 4 adjusts the angle of the probe angle rotation axis 14 through the servo driver, and adjusts the angle of the probe attitude rotation axis 15 through the servo motor 16 and the harmonic reducer 17, and adjusts the probe 19 to the best detection position to obtain the best Measure the effect.

A pulley is installed at the bottom of the control cabinet 4, and the measuring auxiliary robot is moved to a designated position and fixed by using the pulley before the measurement work starts, and the on-line measurement of the formed steel plate 3 is started. During non-measurement working hours, the measurement auxiliary robot will move to other positions, saving the working space of the incremental forming machine tool 1 .

The measuring device of the present invention realizes the online measurement of the complex curved surface of the formed steel plate 3, simplifies the measurement process, and greatly improves the efficiency and precision of the measurement. When the invention completes the measurement task, the measurement execution process and the reasonable layout of each mechanical arm simplify the measurement process.

The invention not only can be used to measure the formed steel plate of the incremental forming machine tool, but also can provide reference and guiding significance for forming detection in other fields.

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).