CN107402390B - Distance measuring device and stacking equipment - Google Patents
Distance measuring device and stacking equipment Download PDFInfo
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- CN107402390B CN107402390B CN201710661747.5A CN201710661747A CN107402390B CN 107402390 B CN107402390 B CN 107402390B CN 201710661747 A CN201710661747 A CN 201710661747A CN 107402390 B CN107402390 B CN 107402390B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a distance measuring device and stacking equipment, wherein the distance measuring device comprises: one end of the guide component is contacted with the object to be measured and can move along the surface of the object to be measured; the connecting component is connected with the guide component at one end and used for adjusting the working state of the guide component; the telescopic component is connected with the other end of the connecting component and can stretch along the central axis direction of the guiding component; the displacement detection piece is arranged on the telescopic component and used for determining the distance between the displacement detection piece and the guide component, and the distance is close to the surface of the object to be detected. The distance measuring device provided by the invention can move on the surface of an object to be measured, can finish measurement by only using one displacement detecting piece, simplifies the structure, reduces the cost, realizes the scalability of the whole device through the telescopic component, can be applied to a concave-convex surface, has strong adaptability, and can adjust the telescopic distance according to the actual working condition, thereby being convenient to use.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a distance measuring device and stacking equipment.
Background
Along with the development of Chinese economic level, the labor cost in production is continuously increased, and each industry starts to lift the automation improvement hot tide of robots instead of people. With the deep application of robot automation, the traditional fixed robot installation mode is difficult to meet the requirements of some complex application occasions. Under such circumstances, a motion chassis on which a robot or some special equipment can be mounted to perform a moving operation is increasingly used, when the motion chassis moves, the spatial position of the motion chassis needs to be perceived by various technical means, the sensors for measurement and related auxiliary structures are equivalent to eyes of the motion chassis, how to accurately and effectively acquire position information, and the motion chassis is a current industry problem.
In the related art, the main solution is to measure the distance between the motion chassis and the external object through the ranging sensor, and although the industrial ranging sensors are widely applied at present, the industrial ranging sensors have a disadvantage: all of them measure the distance of the sensor to a certain target point. When the measured surface is uneven, such as the inner surface of a container, the measured value fluctuates in distance according to the unevenness of the target surface. An important task when moving the motion chassis is to avoid collisions, which often do not require an accurate knowledge of the distance of a measurement point from itself, which requires knowledge of the closest distance of the target surface from itself. To cope with these irregularities, it is necessary to use a sensor array to measure the change in the target surface.
Meanwhile, a plurality of ranging sensors are applied, so that the hardware cost is increased, and the program operation load is increased. As shown in fig. 1, the ranging device 1a is provided with a plurality of ranging sensors 18a, 18b and 18c, respectively, where d represents the distance from the ranging sensor to the surface of the object 2a, and e represents the actual nearest distance from the ranging sensor to the surface of the object 2a, so that even a ranging sensor array composed of a plurality of sensors has difficulty in completely avoiding the situation of "missing the actual nearest distance", resulting in that the measured data cannot accurately describe the minimum distance from the chassis to the surface to be measured, and may cause the collision between the moving chassis and the surface to be measured, and cause loss.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art.
To this end, a first aspect of the invention provides a distance measuring device.
A second aspect of the invention provides a stacking apparatus.
In view of this, according to a first aspect of the present invention, the present invention proposes a ranging apparatus comprising: one end of the guide component is contacted with the object to be measured and can move along the surface of the object to be measured; the connecting component is connected with the guide component at one end and used for adjusting the working state of the guide component; the telescopic component is connected with the other end of the connecting component and can stretch along the central axis direction of the guiding component; the displacement detection piece is arranged on the telescopic component and used for determining the distance between the displacement detection piece and the guide component, and the distance is close to the surface of the object to be detected.
The distance measuring device provided by the invention comprises: guide component, coupling assembling, flexible subassembly and displacement detection spare. The guiding device is used for contacting with the surface of the measured object and can move along the surface of the measured object, so that the working of the distance measuring device is facilitated, the minimum distance measurement on the surface of the measured object can be completed by only using one displacement detecting piece, the structure is simplified, and the cost is reduced; the guide component is connected with the telescopic component through the connecting component, so that the connection of the whole device is finished, the working state of the guide component is adjusted through the connecting component, and the working efficiency of the guide component is improved; further, the scalability of the whole device is realized through the telescopic component, and the telescopic component is suitable for concave-convex surfaces, wherein when the distance measuring device works, the telescopic component adjusts the telescopic distance according to the actual working condition, so that the displacement detecting component arranged on the telescopic component conveniently measures the minimum distance between the displacement detecting component and the end face of the guiding component, which is close to the displacement detecting component; furthermore, when the distance measuring device is not needed, the telescopic assembly is contracted, so that the structural size of the whole device is reduced, storage is convenient, and the use experience of a user is improved.
The distance measuring device according to the invention can also have the following additional technical features:
in the above technical solution, preferably, the telescopic assembly includes: the first connecting plate is connected with the guide assembly, and the displacement detection piece is arranged on the first connecting plate and faces one side of the object to be detected; the telescopic part is connected with one side of the first connecting plate, which is away from the object to be measured, and is used for driving the guide assembly to move; and the driving part is connected with one end of the telescopic part and used for driving the telescopic part to stretch and retract.
In the technical scheme, the displacement detection piece and the telescopic part are arranged through the first connecting plate, so that the position relation of the displacement detection piece and the telescopic part is reasonably arranged, and the use of a user is facilitated; further, the driving part is arranged at one end of the first connecting plate, which is opposite to the telescopic component, and is used for providing power for the telescopic component so as to realize telescopic action; on the other hand, the position relation of the device is reasonably arranged, so that the condition that the device is interfered with other components in the working process of the driving part is avoided, and the normal use of the device is ensured.
In any of the foregoing solutions, preferably, the telescopic assembly further includes: the at least one guide rod is arranged on the first connecting plate through the at least one guide seat and is connected with the guide assembly for limiting the guide assembly.
In technical scheme, set up at least one guide bar on first connecting plate through the guide holder, provide location and support for range unit, promptly, when range unit during operation, the stability of direction subassembly has been improved in the setting of guide bar, and then promotes user's use experience.
In any of the above embodiments, preferably, the telescopic portion includes any one of: the device comprises a cylinder, an oil cylinder, a gear and a rack.
In this technical scheme, under the prerequisite of guaranteeing expansion portion working property, select one of cylinder, hydro-cylinder, gear and rack, simple structure is convenient for install, and then improves the machining efficiency of whole device, and then reduction in production manufacturing cost.
In any of the foregoing solutions, preferably, the connection assembly includes: the floating joint is connected with the other end of the telescopic part and is positioned between the first connecting plate and the guide assembly; the second connecting plate is connected with the floating joint and at least one guide rod towards one side of the telescopic assembly, and the other side of the second connecting plate is connected with the guide assembly.
In the technical scheme, the connecting assembly comprises a floating connector and a second connecting plate, wherein the floating connector is used for ensuring floating connection between the first connecting plate and the guiding assembly in the telescopic process of the telescopic assembly so as to eliminate production, manufacturing and installation errors, protect the driving assembly and the telescopic assembly and further improve the stability of the whole device during operation; the second connecting plate is used for connecting the floating joint and the connection between the guide rod and the guide assembly, and then the connection of the whole device is completed.
In any of the foregoing solutions, preferably, the connection assembly further includes: the rotating piece, the opposite side of second connecting plate is connected with the direction subassembly through the rotating piece.
In this technical scheme, connect second connecting plate and direction subassembly through the rotating member, when the surface roughness of measured object, through the setting of this rotating member, can guarantee range unit's normal operating, and then improve its suitability.
In any of the foregoing solutions, preferably, the connection assembly further includes: and the two ends of each extension spring are respectively connected with the second connecting plate and the guide assembly, and the at least two extension springs are respectively positioned at the two sides of the guide assembly.
According to the technical scheme, due to the arrangement of the at least two extension springs, the guide part has certain flexibility, and can swing around the rotating shaft at a certain angle, namely, the plane of the guide component is parallel to the plane of the second connecting plate in a normal state, when the surface of the measured object is uneven, the guide component can adapt to the uneven surface through swinging, and under the action of the at least two extension springs, the guide component can quickly recover to be parallel to the second connecting plate, so that the accuracy of measured values is ensured; further, the extension spring is used for connecting the second connecting plate and the guide assembly, and plays a certain tensioning role.
In any of the foregoing solutions, preferably, the connection assembly further includes: the two ends of the at least two adjusting screws are respectively connected with the at least two extension springs and the second connecting plate, and the at least two adjusting screws are respectively positioned at two sides of the second connecting plate and used for adjusting the tensioning degree of the at least two extension springs.
In the technical scheme, the at least two tension springs are adjusted by the at least two adjusting screws, so that on one hand, the tensioning degree of the at least two tension springs can be ensured, and the accuracy of a measuring structure is further ensured; on the other hand, at least two extension springs are adjusted through at least two adjusting screws, so that the structure is simple, the installation and the subsequent maintenance and replacement are convenient, and the production and manufacturing cost is reduced; further, the guide assembly is made to have a certain flexibility and can swing around the rotating shaft at a certain angle.
In any of the above technical solutions, preferably, the guiding assembly includes a mounting plate connected with the connecting assembly; the guide part is arranged on the mounting plate and is contacted with the surface of the object to be detected.
In this technical scheme, the direction subassembly is provided with mounting panel and guide part, and wherein, the mounting panel is connected and is used for placing the guide part with coupling assembling, and the guide part is used for providing the guiding effect at the in-process of range unit work, and then guarantees the normal work of whole device, ensures measurement data's accuracy.
In any of the above embodiments, preferably, the guide portion is at least one row of guide rollers.
In the technical scheme, the guide part is arranged in the mode of at least one row of guide rollers, so that on one hand, the guide rollers are simple in structure, low in cost and convenient to install and manufacture, and further the cost is reduced; on the other hand, at least one row of guide rollers can roll in the working process of the guide part, so that friction is reduced, resistance is reduced, working efficiency is improved, and user experience is improved; further, when the distance measuring device slides on the concave-convex surface, the guide portion may adapt to the concave-convex surface by swinging when the concave-convex undulation occurs in the contact plane. Further, under the action of the tension spring, the guide part quickly restores to be parallel to the second connecting plate, so that the accuracy of the measured value is ensured.
In any of the above technical solutions, preferably, at least two first guide wheels are disposed at two ends of the mounting plate; the at least one second guide wheel is arranged on the mounting plate and is positioned between the at least two first guide wheels; wherein the diameter of at least two first guide wheels is larger than the diameter of at least one second guide wheel.
In this technical scheme, through setting up first leading wheel and the second leading wheel that the size is different, and set up the great first leading wheel of diameter in the both ends of mounting panel, the mode that the second leading wheel that the diameter is less sets up between two at least first leading wheels of mounting panel, can guarantee that range unit rolls along the plane when, at least two first leading wheels in mounting panel both sides contact with the measured object surface, when contacting with unsmooth face, at least two first leading wheels cooperatees with at least one second leading wheel, and then improves the commonality of direction subassembly at unsmooth surface, in order to promote user's use experience.
In any of the above embodiments, preferably, the guide portion further includes: the caterpillar band or belt is sleeved outside the guide roller.
In this technical scheme, establish track or belt cover in the outside of guide roller, increase its frictional force, and then ensure that range unit still can normal use under the smooth circumstances in measured object surface to improve the suitability of whole device.
In any of the above embodiments, preferably, the displacement detecting member includes any one of: linear displacement sensor, stay wire displacement sensor, laser displacement sensor, ultrasonic displacement sensor.
In the technical scheme, under the condition of ensuring accurate measurement results, one of the linear displacement sensor, the stay wire displacement sensor, the laser displacement sensor and the ultrasonic displacement sensor is adopted, so that the device is simple in structure, convenient to install, beneficial to reducing production and manufacturing costs and convenient for batch production.
In any of the foregoing solutions, preferably, the ranging apparatus further includes: and the control component is used for controlling the work of the distance measuring device.
In the technical scheme, the control of the distance measuring assembly is realized through the arrangement of the control assembly, so that the user operation is facilitated.
In summary, the ranging device provided by the present invention includes: the device comprises a guide assembly, a connecting assembly, a telescopic assembly and a displacement detection part, wherein the mode of arranging at least two first guide wheels with larger diameters and at least one second guide wheel with smaller diameters on a mounting plate ensures that a distance measuring device can move on the surface of a measured object, so that the applicability of the device is improved; further, due to the arrangement of at least two extension springs, the guide assembly has certain flexibility, so that the parallel state of the guide assembly and the second connecting plate on the concave-convex surface and the plane is ensured, and the accuracy of measured values is further ensured; furthermore, the scalability of the whole device is realized through the telescopic component, wherein, when the distance measuring device works, the telescopic component adjusts the telescopic distance according to the actual working condition and is not required to be contracted and placed when the distance measuring device works, the structure size of the distance measuring device is reduced, the distance measuring device is convenient to store, when the distance measuring device works, the displacement detecting piece is used for measuring the minimum distance between the distance measuring device and the second connecting plate, and the guiding component is of a rigid structure, so that the distance between the second connecting plate and the surface of the measured object is unchanged, and the minimum distance between the displacement detecting piece and the surface of the measured object can be determined. On the other hand, the movable and telescopic structure is arranged, so that the guide assembly has certain flexibility, the minimum distance between the measured concave-convex surface and the measuring equipment can be found out through the structure, and the guide assembly has good adaptability; furthermore, an indirect measuring method is adopted, the minimum distance between the displacement detecting piece and the surface of the measured object is obtained by the minimum distance detected by the displacement detecting piece and the distance between the second connecting plate and the surface of the measured object, and the detection data is accurate and reliable.
According to a second aspect of the present invention, there is also provided a stacking apparatus, including a chassis, and a ranging device according to any one of the above-mentioned aspects; wherein, range unit sets up on the chassis.
The stacking device provided by the invention has all the beneficial effects because the stacking device comprises the ranging device in any one of the technical schemes, and the stacking device is not repeated here.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of the operation of a prior art ranging device;
FIG. 2 is a schematic diagram of a ranging apparatus according to an embodiment of the present invention;
FIG. 3 is a top view of the ranging device of the embodiment of FIG. 2;
FIG. 4 is a front view of the ranging device of the embodiment of FIG. 2;
FIG. 5 is a right side view of the ranging device of the embodiment of FIG. 2;
FIG. 6 is a schematic diagram illustrating the operation of the ranging apparatus of the embodiment of FIG. 2;
FIG. 7 is a schematic view of the embodiment of FIG. 2 in a planar position;
FIG. 8 is a schematic view of the ranging apparatus of the embodiment shown in FIG. 2 in a concave-convex surface;
FIG. 9 is a schematic view of the mounting structure of the ranging device of the embodiment of FIG. 2;
FIG. 10 is a schematic view of the ranging apparatus of the embodiment of FIG. 2;
fig. 11 is a schematic diagram of the operation of the ranging apparatus of the embodiment of fig. 2.
The correspondence between the reference numerals and the component names in fig. 1 is:
1a distance measuring device, 18a distance measuring sensor 1, 18b distance measuring sensor 2, 18c distance measuring sensor 3,2a measured object;
the correspondence between the reference numerals and the component names in fig. 2 to 11 is:
1 distance measuring device, 12 guide components, 122 mounting plates, 124 guide parts, 1242 first guide wheels, 1244 second guide wheels, 14 connecting components, 142 floating joints, 144 second connecting plates, 146 rotating parts, 148 extension springs, 150 adjusting screws, 16 telescopic components, 162 first connecting plates, 164 driving parts, 166 guide rods and 2 chassis.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Providing a ranging apparatus 1 according to some embodiments of the present invention is described below with reference to fig. 2 to 11.
As shown in fig. 2 to 5, the present invention proposes a ranging apparatus 1 comprising: the guide assembly 12, one end of the guide assembly 12 contacts with the object to be measured, and can move along the surface of the object to be measured; the connecting component 14, one end of the connecting component 14 is connected with the guide component 12, and is used for adjusting the working state of the guide component 12; the telescopic assembly 16 is connected with the other end of the connecting part 14, and can extend and retract along the central axis direction of the guide assembly 12; the displacement detecting member is arranged on the telescopic assembly 16 and is used for determining the distance between the displacement detecting member and the guide assembly 12, and the distance between the displacement detecting member and the surface of the object to be detected is determined.
The distance measuring device 1 provided by the invention comprises: guide assembly 12, connecting member 14, telescoping assembly 16, and displacement sensing element. The guiding device is used for contacting with the surface of the measured object and can move along the surface of the measured object, so that the distance measuring device 1 is convenient to work, the minimum measurement of the surface of the measured object can be finished by only using one displacement detecting piece, the structure is simplified, and the cost is reduced; the guide component 12 is connected with the telescopic component 16 through the connecting component 14, so that the connection of the whole device is finished, and the working state of the guide component 12 is adjusted through the connecting component 14, so that the working efficiency is improved; further, the scalability of the whole device is realized through the telescopic component 16, wherein when the distance measuring device 1 works, the telescopic component 16 adjusts the telescopic distance according to the actual working condition, and is suitable for the concave-convex surface, so that the displacement detecting element arranged on the telescopic component 16 conveniently measures the minimum distance between the displacement detecting element and the end surface of the guiding component 12, which is close to the displacement detecting element; furthermore, when the distance measuring device 1 is not needed, the telescopic assembly 16 is contracted, so that the structural size of the whole device is reduced, the storage is convenient, and the use experience of a user is improved.
In one embodiment of the present invention, the retraction assembly 16 preferably includes: the first connecting plate 162 is connected with the guide assembly 12, and the displacement detection member is arranged on the first connecting plate 162 and faces one side of the object to be detected; the telescopic part is connected with one side of the first connecting plate 162, which is away from the object to be measured, and is used for driving the guide assembly 12 to move; and a driving part 164 connected to one end of the telescopic part for driving the telescopic part to expand and contract.
In this embodiment, the displacement detecting member and the telescopic part are mounted through the first connecting plate 162, and the positional relationship thereof is reasonably arranged, so that the use by a user is facilitated; further, the driving portion 164 is disposed at an end of the first connecting plate 162 facing away from the telescopic assembly 16, and is configured to provide power for the telescopic assembly 16, so as to implement telescopic motion thereof; on the other hand, the positional relationship thereof is reasonably arranged, and the condition that the driving part 164 is interfered with other components in the working process is avoided, so that the normal use of the device is ensured.
In one embodiment of the present invention, the telescoping assembly 16 preferably further comprises: the at least one guide rod 166 is mounted on the first connecting plate 162 through the at least one guide seat, and is connected with the guide assembly 12 for limiting the guide assembly 12.
In this embodiment, at least one guide rod 166 is disposed on the first connecting plate 162 through at least one guide seat, so as to provide positioning and support for the distance measuring device 1, that is, when the distance measuring device 1 works, the stability of the guide assembly 12 is improved due to the arrangement of the guide rod 166, and thus the use experience of the user is improved.
In a specific embodiment, as shown in fig. 3, the number of the guide rods 166 is two, where the two guide rods 166 are respectively disposed at two ends of the floating joint 142 of the second connecting plate 144 through guide holders and connected with the first connecting plate 162 and the second connecting plate 144, when the distance measuring device works, the two guide rods 166 that are uniformly disposed provide appropriate supporting force while limiting the guide assembly 12, so as to improve stability of the device and improve use experience of a user.
In one embodiment of the present invention, preferably, the expansion portion is a cylinder.
In this embodiment, the cylinder is selected on the premise of ensuring the working performance of the telescopic part, the structure is simple, the installation is convenient, the processing efficiency of the whole device is further improved, and the production and manufacturing costs are further reduced.
In one embodiment of the present invention, the connection part 14 preferably includes: a floating joint 142 connected to the other end of the telescopic part and located between the first connection plate 162 and the guide assembly 12; and a second connecting plate 144, wherein one side of the second connecting plate 144 facing the telescopic assembly 16 is connected with the floating joint 142 and the at least one guide rod 166, and the other side of the second connecting plate 144 is connected with the guide assembly 12.
In this embodiment, the connecting member 14 includes a floating joint 142 and a second connecting plate 144, where the floating joint 142 is used to ensure a floating connection between the first connecting plate 162 and the guiding assembly 12 during the telescoping assembly 16 telescoping process, so as to eliminate manufacturing and installation errors, and protect the driving assembly and the telescoping assembly 16, thereby improving the stability of the whole device during operation; the second connection plate 144 is used to connect the floating connector 142 and the guide bar 166 to the guide assembly 12, thereby completing the connection of the entire device.
In one embodiment of the present invention, preferably, the connection part 14 further includes: the rotating member 146, the other side of the second connecting plate 144 is connected to the guide assembly 12 via the rotating member 146.
In this embodiment, the rotating member 146 is connected to the second connecting plate 144 and the guiding assembly 12, so that when the stool surface of the measured object is uneven, the normal operation of the ranging device 1 can be ensured by the arrangement of the rotating member, and the applicability of the ranging device can be improved, so as to improve the use experience of the user.
In one embodiment of the present invention, preferably, the connection part 14 further includes: at least two extension springs 148, two ends of each extension spring 148 are respectively connected with the second connecting plate 144 and the guide assembly 12, and at least two extension springs 148 are respectively located at two sides of the guide assembly 12.
In this embodiment, by the arrangement of the at least two tension springs 148, the guide portion 124 has a certain flexibility, and can swing around the rotation axis by a certain angle, that is, the plane of the guide assembly 12 is parallel to the plane of the second connecting plate 144 in a normal state, when the surface of the measured object is uneven, the guide assembly 12 can adapt to the uneven surface through swinging, and under the action of the at least two tension springs 148, the guide assembly 12 will quickly recover to be parallel to the second connecting plate 144, so as to ensure the accuracy of the measured value; further, at least two tension springs 148 are provided for connecting the second web 144 to the guide assembly 12 to provide a degree of tension.
In a specific embodiment, as shown in fig. 3, the number of the extension springs 148 is two, and the extension springs 148 are uniformly distributed at two ends of the rotating member 146 and are connected with the second connecting plate 144 and the guiding assembly 12, on one hand, the arrangement of the two extension springs 148 ensures that the guiding portion 124 has a certain flexibility, so that when the surface of the measured object is in an uneven shape or a plane, the two extension springs 148 can be used for ensuring the parallel state between the guiding assembly 12 and the second connecting plate 144, so as to ensure the vertical accuracy of measurement; further, by the arrangement of the two tension springs 148, a certain tensioning effect is achieved, so that the stability of the device is improved, and meanwhile, the accuracy of data is ensured.
In one embodiment of the present invention, preferably, the connection part 14 further includes: at least 2 adjusting screws 150, two ends of the at least 2 adjusting screws 150 are respectively connected with the at least 2 tension springs 148 and the second connecting plate 144, and the at least 2 adjusting screws 150 are respectively located at two sides of the second connecting plate 144 for adjusting the tensioning degree of the at least two tension springs 148.
In this embodiment, by providing at least 2 adjusting screws 150 to adjust at least 2 tension springs 148, on one hand, the degree of tension of at least 2 tension springs 148 can be ensured, thereby ensuring the accuracy of the measurement structure; on the other hand, 4 extension springs 148 are adjusted through at least 2 adjusting screws 150, so that the structure is simple, the installation and the subsequent maintenance and replacement are convenient, and the production and manufacturing cost is reduced; further, the guide assembly 12 is made somewhat flexible to permit a certain degree of angular oscillation about the axis of rotation.
In the specific embodiment, 2 adjusting screws 150 are provided to adjust 2 tension springs 148, so that on one hand, the tensioning degree of the 2 tension springs 148 can be ensured, and further the accuracy of the measurement structure is ensured; on the other hand, 2 extension springs 148 are adjusted through 22 adjusting screws 150, so that the structure is simple, the installation and the subsequent maintenance and replacement are convenient, and the production and manufacturing cost is reduced; further, the guide assembly 12 is made somewhat flexible to permit a certain degree of angular oscillation about the axis of rotation.
In one embodiment of the present invention, the guide assembly 12 preferably includes a mounting plate 122 coupled to the coupling member 14; the guiding part 124, the guiding part 124 is disposed on the mounting plate 122, and contacts with the surface of the object to be measured.
In this embodiment, the guiding component 12 is provided with a mounting plate 122 and a guiding portion 124, wherein the mounting plate 122 is connected with the connecting component 14 in a box and is used for placing the guiding portion 124, and the guiding portion 124 is used for providing guiding function in the working process of the ranging device 1, so that the normal working of the whole device is ensured, and the accuracy of measurement data is ensured; further, when the ranging device 1 slides on the concave-convex surface, the guide 124 may adapt to the concave-convex surface by swinging when the concave-convex undulation occurs in the contact plane. Further, under the action of the tension spring 148, the guide portion 124 will quickly return to the parallel state with the second connecting plate 144, so as to ensure the accuracy of the measured value.
In one embodiment of the present invention, the guide 124 is preferably a row of guide rollers as shown in fig. 5.
In this embodiment, the guide portion 124 is arranged as a row of guide rollers, so that on one hand, the guide rollers have simple structure and low cost, and are convenient to install and manufacture, thereby reducing the cost; on the other hand, a row of guide rollers may roll during the operation of the guide portion 124, so as to reduce friction and drag, thereby improving the working efficiency and enhancing the user experience.
In one embodiment of the present invention, preferably, as shown in fig. 5, a row of guide rollers includes: two first guide wheels 1242, the two first guide wheels 1242 being disposed at two ends of the mounting plate 122; a plurality of second guide wheels 1244, wherein the second guide wheels 1244 are disposed on the mounting plate 122 and located between the two first guide wheels 1242; wherein the diameters of the two first guide wheels 1242 are larger than the diameters of the plurality of second guide wheels 1244.
In one embodiment of the present invention, preferably, the row of guide rollers includes: a row of guide rollers comprising: two first guide wheels 1242, the two first guide wheels 1242 being disposed at two ends of the mounting plate 122; a plurality of second guide wheels 1244, wherein the second guide wheels 1244 are disposed on the mounting plate 122 and located between the two first guide wheels 1242; wherein the diameters of the two first guide wheels 1242 are larger than the diameters of the plurality of second guide wheels 1244.
In this embodiment, by providing the first guide wheels 1242 and the second guide wheels 1244 having different sizes, and providing the first guide wheels 1242 having a larger diameter at both ends of the mounting plate 122 and providing the second guide wheels 1244 having a smaller diameter between the two first guide wheels 1242 of the mounting plate 122, it is possible to ensure that at least two first guide wheels 1242 on both sides of the mounting plate 122 contact the surface of the object to be measured when the distance measuring device 1 rolls along the plane, and the two first guide wheels 1242 cooperate with the plurality of second guide wheels 1244 when contacting the concave-convex surface, thereby improving the versatility of the guide assembly 12 on the concave-convex surface, so as to improve the use experience of the user, and here, it should be understood by those skilled in the art that the number of the two first guide wheels 1242 and the plurality of second guide wheels 1244 is not limited to this, and that it is possible to achieve the improvement of the applicability of the guide assembly 12.
In one embodiment of the present invention, preferably, the guide 124 further includes: the caterpillar band or belt is sleeved outside the guide roller.
In this embodiment, the crawler belt or the belt is sleeved outside the guide roller, so that the friction force is increased, and the ranging device 1 can still be normally used under the condition that the surface of the measured object is smooth, so that the applicability of the whole device is improved.
In one embodiment of the present invention, the displacement detecting member is preferably a linear displacement sensor.
In this embodiment, a linear displacement sensor is adopted under the condition of ensuring accurate measurement results, the structure is simple, the installation is convenient, the production and manufacturing costs are reduced, the mass production is convenient, the linear displacement sensor is taken as an example for illustration, however, it will be understood by those skilled in the art that the displacement detecting member is not limited to the linear displacement sensor, and can be realized as long as the detection accuracy can be realized.
In one embodiment of the present invention, preferably, the ranging apparatus 1 further comprises: and a control assembly for controlling the operation of the distance measuring device 1.
In the embodiment, the control of the ranging component is realized through the arrangement of the control component, so that the user operation is facilitated.
In a specific embodiment, as shown in fig. 6 to 11, the ranging apparatus 1 provided by the present invention includes: the guiding component 12, the connecting component 14, the telescopic component 16 and the displacement detecting component, wherein the mode of arranging the two first guiding wheels 1242 with larger diameters and the plurality of second guiding wheels 1244 with smaller diameters on the mounting plate 122 ensures that the distance measuring device 1 can move on the surface of a measured object, thereby improving the applicability of the device, and the rotating component 146 exists between the guiding component 12 and the connecting component 14, thereby improving the applicability of the device, and the rotating component 146 ensures that the guiding component 12 has a rotating kinematic pair, thereby realizing multidirectional movement, further improving the adaptability of the device and improving the use experience of a user; further, due to the arrangement of the four extension springs 148, the guide assembly 12 has certain flexibility, so that the parallel state of the guide assembly 12 with the second connecting plate 144 on the concave-convex surface and the plane is ensured, and the accuracy of measurement values is further ensured; furthermore, the scalability of the whole device is realized through the telescopic component 16, wherein when the distance measuring device 1 works, the telescopic component 16 adjusts the telescopic distance according to the actual working condition, and the structure size is reduced when the distance measuring device 1 does not need to work, so that the distance measuring device is convenient to store, when the distance measuring device 1 works, the displacement detecting component is used for measuring the distance a between the displacement detecting component and the second connecting plate 144, and the guiding component 12 is of a rigid structure, so that the distance b between the second connecting plate 144 and the surface of the measured object is unchanged, and further, the distance c between the displacement detecting component and the surface of the measured object can be determined, compared with the prior art, on one hand, one displacement detecting component can finish measurement without too many sensors, and the cost is reduced; on the other hand, the movable and telescopic structure is arranged, so that the guide component 12 has certain flexibility, the minimum distance between the measured concave-convex surface and the measuring equipment can be found out through the structure, and the guide component has good adaptability; further, by adopting an indirect measuring method, the distance c between the displacement detecting member and the surface of the measured object is obtained by the distance a detected by the displacement detecting member and the distance b between the second connecting plate 144 and the surface of the measured object, and the data is more accurate and reliable; in addition, instead of positioning the displacement detecting member on an end surface of the first mounting plate 162 facing the guide assembly 12 for measuring the distance between the displacement detecting member and the second connecting plate 144, the reference point of the displacement detecting member may be positioned on an end surface of the guide assembly 12 close to the displacement detecting member or other positions at a specific distance from the mounting plate 122, where the value of the distance b is changed, but the distance c may still be calculated by the same calculation method, so as to ensure accuracy.
According to a further embodiment of the present invention, a stacking apparatus is also provided, which includes a chassis 2, and a ranging device 1 according to any of the foregoing aspects; wherein the distance measuring device is arranged on the chassis 2.
The stacking device provided by the invention comprises the ranging device 1 in any one of the technical schemes, so that the stacking device has all the beneficial effects and is not repeated herein.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A ranging apparatus, comprising:
one end of the guide component is contacted with the object to be detected and can move along the surface of the object to be detected;
one end of the connecting component is connected with the guide component and is used for adjusting the working state of the guide component;
the telescopic component is connected with the other end of the connecting component and can stretch and retract along the central axis direction of the guide component;
the displacement detection piece is arranged on the telescopic component and used for determining the distance between the displacement detection piece and the guide component, and the distance is close to the surface of the object to be detected;
the telescoping assembly includes:
the first connecting plate is connected with the guide assembly, and the displacement detection piece is arranged on the first connecting plate and faces one side of the object to be detected;
the telescopic part is connected with one side of the first connecting plate, which is away from the object to be measured, and is used for driving the guide assembly to move;
the guide rod is arranged on the first connecting plate through at least one guide seat, is connected with the guide assembly and is used for limiting the guide assembly;
the telescopic part comprises any one of the following components: the device comprises a cylinder, an oil cylinder, a gear and a rack;
the connection assembly includes:
the floating joint is connected with the other end of the telescopic part and is positioned between the first connecting plate and the guide assembly;
the second connecting plate faces to one side of the telescopic assembly and is connected with the floating joint and the at least one guide rod, and the other side of the second connecting plate is connected with the guide assembly.
2. The ranging apparatus as recited in claim 1 wherein the telescoping assembly comprises:
and the driving part is connected with one end of the telescopic part and used for driving the telescopic part to stretch and retract.
3. The ranging device as defined in claim 1 wherein the connection assembly further comprises:
the other side of the second connecting plate is connected with the guide component through the rotating piece.
4. The ranging device as defined in claim 1 wherein the connection assembly further comprises:
and the two ends of each extension spring are respectively connected with the second connecting plate and the guide assembly, and the at least two extension springs are respectively positioned at the two sides of the guide assembly.
5. The ranging device as recited in claim 4 wherein the connection assembly further comprises:
the two ends of the at least two adjusting screws are respectively connected with the at least two stretching springs and the second connecting plate, and the at least two adjusting screws are respectively positioned at two sides of the second connecting plate and used for adjusting the tensioning degree of the at least two stretching springs.
6. The ranging device as defined in any one of claims 1-5 wherein the guide assembly comprises:
the mounting plate is connected with the connecting component;
and the guide part is arranged on the mounting plate and is contacted with the surface of the object to be detected.
7. The distance measuring device according to claim 6, wherein,
the guide part is at least one row of guide rollers.
8. The ranging apparatus as recited in claim 7 wherein the at least one row of guide rollers comprises: the at least two first guide wheels are arranged at two ends of the mounting plate;
the at least one second guide wheel is arranged on the mounting plate and is positioned between the at least two first guide wheels;
wherein the diameter of the at least two first guide wheels is larger than the diameter of the at least one second guide wheel.
9. The ranging device as defined in claim 7 wherein the guide further comprises:
the caterpillar band or the belt is sleeved outside the at least one row of guide rollers.
10. The distance measuring device according to any one of claims 1 to 5, wherein,
the displacement detecting member includes any one of the following: linear displacement sensor, stay wire displacement sensor, laser displacement sensor, ultrasonic displacement sensor.
11. The ranging device as defined in any one of claims 1-5, further comprising: and the control component is used for controlling the working of the distance measuring device.
12. A stacking apparatus comprising a chassis, characterized by comprising a distance measuring device according to any one of claims 1 to 11, said distance measuring device being arranged on said chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710661747.5A CN107402390B (en) | 2017-08-04 | 2017-08-04 | Distance measuring device and stacking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710661747.5A CN107402390B (en) | 2017-08-04 | 2017-08-04 | Distance measuring device and stacking equipment |
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| Publication Number | Publication Date |
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| CN107402390A CN107402390A (en) | 2017-11-28 |
| CN107402390B true CN107402390B (en) | 2023-05-09 |
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| CN108202143B (en) * | 2017-12-28 | 2020-08-11 | 南方增材科技有限公司 | Gun head device convenient for distance measurement and method for controlling height of printing head |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007315815A (en) * | 2006-05-23 | 2007-12-06 | Kyowa Electron Instr Co Ltd | Three-dimensional displacement measuring system |
| CN103292732B (en) * | 2013-05-20 | 2016-05-25 | 华中科技大学 | A kind of large-scale free form surface on-machine measurement device of extension type |
| CN203396379U (en) * | 2013-07-22 | 2014-01-15 | 西子奥的斯电梯有限公司 | Elevator guide rail distance measuring device |
| CN105011938B (en) * | 2015-08-05 | 2018-02-16 | 浙江阿思家居室用品有限公司 | Measure the device of body curve |
| CN206177273U (en) * | 2016-11-23 | 2017-05-17 | 赵振虎 | Elevator guide rail distance measuring device |
| CN206244217U (en) * | 2016-11-23 | 2017-06-13 | 鲁玉坤 | A kind of automatic elevator guide rail is away from laser measuring device for measuring |
| CN106774319B (en) * | 2016-12-14 | 2020-07-31 | 智易行科技(武汉)有限公司 | Multi-sensor self-walking universal intelligent chassis |
| CN207123615U (en) * | 2017-08-04 | 2018-03-20 | 广东美的智能机器人有限公司 | Range unit and pile up equipment |
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