CN110068286A - The full topography system of three-dimensional and method based on the projecting cooperation mechanical arm of large-sized gantry - Google Patents
The full topography system of three-dimensional and method based on the projecting cooperation mechanical arm of large-sized gantry Download PDFInfo
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- CN110068286A CN110068286A CN201910286211.9A CN201910286211A CN110068286A CN 110068286 A CN110068286 A CN 110068286A CN 201910286211 A CN201910286211 A CN 201910286211A CN 110068286 A CN110068286 A CN 110068286A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The full topography system of three-dimensional and method based on the projecting cooperation mechanical arm of large-sized gantry, it is designed for large scale anisotropic approach, measured object is transported to designated position by large-scale AGV platform, in measured object two sides, multi-angle locating rod is set, the laser scanning and dynamically track to measured object are realized by the double-deck three axis portal frame electrical structures simultaneously, high-precision scanning can be carried out to large-sized special-shaped structure measured object, scanning freedom degree is high, and measurement is accurate.
Description
Technical field
The present invention relates to the full topography systems of three-dimensional and method based on the projecting cooperation mechanical arm of large-sized gantry, belong to survey
Measure mechanical arm technical field.
Background technique
The important branch that robot measurement is applied as industrial robot, its research run through optical metrology,
The numerous areas such as mechanics, Mechanics of Machinery, electronics, materialogy, computer science and robotics, have become the world
The research hotspot of robot field.Currently, robot measurement has been widely applied to reverse-engineering, historical relic scanning, essence
Close mating assembly etc., this not only promotes the development of surveying, has also driven the new technology and new theory of related fields
Development.
In R&D process, the first common measurement method, present widely applied three coordinate measuring machine structure add two from
High-precision guide rail is needed by degree rotary laser measurement header structure, prices are rather stiff for high-precision guide rail, it is difficult to popularity application,
The especially shape measurement of large scale measured object；Meanwhile the measurement of Complex Different Shape structure cannot be coped with, present widely applied three
Coordinate measuring machine structure adds two-freedom rotary laser to measure header structure, and only there are five freedom degrees for laser measuring head, cannot cope with
The measurement of labyrinth measured object.Second of common measurement method, existing sixdegree-of-freedom simulation carry laser light probe utilize
Anchor point measures on measured object, and since mechanical arm working space is limited, this measurement method is difficult to cope with large scale measured object
Measurement；Secondly, needing to carry out anchor point attaching on measured object, measurement efficiency is low.
Summary of the invention
Technical problem solved by the present invention is high for the price being easy to appear in current existing robot measurement technology
It is expensive, complicated anisotropic approach is difficult to measure, the problems such as laser scanning and degree of freedom in location are poor, propose based on large-sized gantry
The full topography system of three-dimensional and method of projecting cooperation mechanical arm.
The present invention solves above-mentioned technical problem and is achieved by following technical solution:
Based on the full topography system of three-dimensional of the projecting cooperation mechanical arm of large-sized gantry, including moves truss, column, can stretch
Contracting vertical bar, cooperation mechanical arm, laser measuring head, U-shaped rail locomotive, liftable rotation support rod, dynamically track head, U-rail,
Parallel long guideway, the parallel long guideway of two sections of equal lengths for being slid laterally for mobile truss both ends are vertical by four
Column is supported, for being individually fixed in two sections in parallel for the U-rail two sides rectilinear orbit section that U-shaped rail locomotive is slided
Long guideway lower layer, two sections of parallel long guideways are connected by U-rail curve track section, and the scalable vertical bar is installed on mobile purlin
On frame and the longitudinal extension under motor driven, the cooperation mechanical arm be installed on scalable vertical bar end and with scalable vertical bar into
Row is flexible, while carrying out laser measurement, the U-shaped rail locomotive peace using the laser measuring head for being set to cooperation mechanical arm end
Loaded on being slided in U-rail and with U-rail under motor driven, the dynamically track head is installed on liftable rotation
Support rod end, liftable rotation support rod installation end are connected on U-shaped rail locomotive and move with mobile drive of U-shaped rail locomotive
State follower head carries out dynamically track.
The cooperation mechanical arm and laser measuring head junction are equipped with six-dimension force sensor, to mechanical arm in measurement process
Stress measures, when mechanical arm stress be more than collision limit threshold value when, stop measurement, wherein it is described collision limit threshold value as
2N-15N。
It further include Collaborative Control work station, the Collaborative Control work station is according to user demand by controlling scalable vertical bar
The posture of retracted position and the mechanical arm that cooperates, while controlling the lifting of U-shaped rail locomotive sliding position, liftable rotation support rod
Highly.
The laser measuring head, dynamically track head operating mode include teaching mode and automatic measurement mode, are surveyed in homogeneous
During amount, laser measuring head, dynamically track head operating mode are identical.
The teaching mode are as follows: cooperation mechanical arm and mobile truss are driven by manual driving style, and adjusted scalable
Vertical bar is scanned measured object, by the mechanical arm tail end stress and torque of six-dimension force sensor real-time measurement, cooperation mechanical arm
The cooperation mechanical arm attitude data of included teaching machine real-time measurement is sent to Collaborative Control work station, the Collaborative Control work
Make after generating measuring route after station resolves, is converted to automatic measurement mode and realizes automatic measurement.
It further include tested delivery AGV platform, the tested delivery AGV platform includes measured object, delivers AGV, locating rod, institute
It states measured object to be installed on delivery AGV, the locating rod for positioning measured object is uniformly arranged in delivery around measured object
On AGV, when starting test to measured object, delivery AGV brings measured object into designated position and carries out laser measurement and dynamically track.
The locating rod is combined by locating rod triangle body and is constituted, and the locating rod triangle body includes 20 ° of triangle bodies, 40 ° three
Angle body, 60 ° of triangle bodies, 80 ° of triangle bodies, it is angularly ascending to be arranged in a triangle body combination.
The locating rod triangle body number is selected according to measured object height.
20 ° of triangle bodies, 40 ° of triangle bodies, 60 ° of triangle bodies, 80 ° of triangle bodies etc. central planes attach anchor point, position
Point does not attach anchor point in each paste position random distribution for waiting central planes on measured object.
20 ° of triangle bodies, 40 ° of triangle bodies, 60 ° of triangle bodies, 80 ° of triangle body materials are carbon fiber.
The column quantity is 8, and locating rod clipping room is away from for 1m~4m.
The full shape measurement method of three-dimensional based on the projecting cooperation mechanical arm of large-sized gantry, steps are as follows:
(a) after measured object reaches designated position ,/stop instruction is played to mobile truss using Collaborative Control work station, control moves
Dynamic truss is moved to suitable measurement pose, records mobile truss shift position；
(b) cooperation mechanical arm is dragged by manually dragging teaching mode, while controls scalable vertical bar and is retractable to one
Measured length records scalable vertical bar collapsing length in measurement process, cooperation mechanical arm by the included teaching machine of cooperation mechanical arm
The measurement track of posture and drawing force size and the mechanical arm that cooperates；
(c) X, Y-direction direction and gesture commands are sent to the second omni-directional moving platform using Collaborative Control work station rise/to stop
Instruction, controls U-shaped rail locomotive and is moved to measurement position, while adjusting dynamically track head pose and liftable rotation support rod height
It spends and starts to measure；
(d) step (b), step (c) the data obtained are saved, changes the measurement of cooperation mechanical arm, dynamically track head
Position and scan vision range after obtaining measuring route, terminate teaching mode and enter automatic measurement mode, carry out automatic measurement
Until obtaining measured object whole profile scan data.
The advantages of the present invention over the prior art are that:
(1) the full topography system of three-dimensional and method provided by the invention based on the projecting cooperation mechanical arm of large-sized gantry,
It crosses large-sized gantry and carries the cooperation mechanical arm for being equipped with laser scanning head, and large-scale U-shaped rails carry dynamically track head, realize
The full shape automatic measurement of large-scale measured object, while 9 freedom degrees of laser scanning head, 3 of dynamically track head can be passed through
Freedom degree and multi-angle locating rod realize the measurement of Complex Different Shape structure measured object, moreover it is possible to carry out realizing Complex Different Shape structure
Track scanning；
(2) the dynamically track head in the present invention is mounted on moving trolley, moves on U-rail with trolley, and pass through liter
Dropping motor and rotating electric machine has lifting, yaw freedom, and cooperates multi-angle locating rod, realize while observing sufficient amount
Anchor point and laser measuring head, with realize Complex Different Shape structure measured object full shape measurement, moreover it is possible to pass through measured object two sides
The mode that locating rod is arranged improves measure batch efficiency, and locating rod is multi-angle triangle body laminated construction, and it is fixed to post on each face
Site, mobile tracking head can realize itself and laser measuring head positioning from multiple angles；
(3) present invention also realizes collision emergency stop by the six-dimension force sensor of mechanical arm tail end, prevents to measuring head, is tested
Object or personnel damage.In measurement process, the six-dimension force sensor examinations mechanical arm tail end of mechanical arm tail end installation
The force signal being subject to, when force signal is greater than given threshold, system emergency stop is avoided and is caused to measuring head, measured object or personnel
Injury.
Detailed description of the invention
Fig. 1 is the full topography system overall construction drawing of three-dimensional that invention provides；
Fig. 2 is the six-dimension force sensor schematic view of the mounting position that invention provides；
Fig. 3 is the positional lever structure schematic diagram that invention provides；
Specific embodiment
The full topography system of three-dimensional and method based on the projecting cooperation mechanical arm of large-sized gantry, with the three double-deck axis gantry
Based on frame, measured object is transported to designated position by large-scale AGV, the two sides AGV are arranged multi-angle locating rod and realize that measured object is fixed
Position, while driving laser measuring head 5 and locomotive band motion detection device to carry out laser by cooperation mechanical arm 4 on gantry rail
Scanning and cooperation dynamic tracking measurement, in which:
Three axis portal frames include two layers, and lower layer is U-rail 9, and U-shaped rail locomotive 6 is arranged on U-rail 9, and U-shaped rail moves
Liftable is set on motor-car 6 and rotates support rod 7, support and goes up and down or rotate dynamically track head 8 as needed；Three axis gantry upper layer
It is made of parallel long guideway 11, mobile truss 1, scalable vertical bar 3, scalable 3 bottom end of vertical bar installation six degree of freedom cooperation is mechanical
Arm 4, six degree of freedom cooperate 4 carry laser light measuring head 5 of mechanical arm, and mechanical arm control cabinet and measurement are placed on gantry-travelling truss 1
Device controller.One jiao of gantry placement Collaborative Control work station 14, Collaborative Control work station control three axis gantry frameworks and cooperation
Mechanical arm 4；
The measured object two sides are arranged mostly with locating rod 13, and every section of locating rod 13 combines structure by 10 sections of identical triangle bodies
At, wherein it is 20 ° of 17,40 ° of triangle body, 18,60 ° of triangle body, 19,80 ° of triangles of triangle body that every section of triangle body combination, which all includes apex angle,
It is 20 isoceles triangle body of body each one, angularly ascending to be arranged in a triangle body combination, it is pasted on each triangle external surface
Anchor point 16, placing orientation is triangle body apex angle towards measured object.Meanwhile locating rod triangle body number is selected according to measured object height
It is fixed.
It include six roots of sensation column 2 on the three axis portal frame, two I-shaped parallel long guideways 11 of support on column 2, two
Parallel long guideway 11 supports a mobile truss 1 jointly, and scalable vertical bar 3 is arranged on truss；Vertical bar end is inversely installed six certainly
By degree cooperation mechanical arm 4, laser measuring head 5 is installed in cooperation 4 end of mechanical arm.
U-rail 9 is installed under parallel long guideway 11, U-shaped rail locomotive 6, U-shaped rail locomotive are installed on U-rail 9
Liftable is installed on 6 and rotates support rod 7, liftable rotates dynamically track head 8 on support rod 7, is equipped with lead screw and silk on vertical bar
Thick stick driving motor is equipped with holder to realize lifting freedom degree to realize yaw and pitch freedom on vertical bar.
On three axis portal frames comprising driving truss moved on I-shaped parallel long guideway 11 servo motor (Y-axis),
The flexible servo motor of the servo motor (X axis) that drives scalable vertical bar 3 to move on truss, driving vertical bar (Z axis to).
Mobile truss 1 is channel steel structure, and measuring device controller and cooperation 4 control cabinet of mechanical arm are placed in channel steel.System
Three motors, six degree of freedom the cooperation mechanical arm 4, the mobile motor of U-shaped rail locomotive 6, U-shaped rail locomotive at three axis gantry of system
6 lifting motor, rotating electric machine are all by 14 Collaborative Control of Collaborative Control work station.
It is realized by three axis gantry of teaching box teaching and dragging teaching cooperation mechanical arm the measurement track of laser measuring head 5；
It is realized by the movement of teaching box teaching U-rail trolley, lifting and rotation the measurement track of dynamically track head.
Dress cooperate on 4 end of mechanical arm by six-dimension force sensor 15, real-time detection cooperates 4 end force value of mechanical arm, to
The collision detection of end and the teaching dragging of cooperation mechanical arm 4, setting collision limit threshold value, when mechanical arm stress is more than collision limit
When determining threshold value, stop measurement protective device, wherein the collision limits threshold value as 2N-15N.
Measured object delivery AGV12 has the function of all-around mobile and support measured object elevating function.Measured object can be according to survey
It measures height requirement and adjusts bearing height；The delivery bottom AGV12 Mecanum wheel construction realizes delivery, and measured object is comprehensive freely moves
It is dynamic.
8 mobile mechanism of dynamically track head moves on U-rail 9, and also has yaw and go up and down two freedom degrees simultaneously.
Bottom is moved on U-rail 9 using U-shaped 6 structure of rail locomotive, and liftable rotates support rod 7 and uses two servo motor realities
Now lifting and yaw freedom.Liftable rotates 7 end of support rod and dynamically track head 8 is fixedly mounted, and guarantees dynamically track head 8
Visual field covers enough anchor points and laser measuring head.
Collaborative Control work station 14 is made of industrial personal computer and electronic component, is realized to three axis portal frames, dynamically track head 8
Mobile mechanism, six degree of freedom cooperation 4 Collaborative Control of mechanical arm.EtherCAT communication control wherein is used to six servo motors,
Six degree of freedom cooperation mechanical arm 4 is controlled using TCP/IP communication, according to user demand by controlling scalable 3 scale shape of vertical bar
The posture of state and the mechanical arm 4 that cooperates, recycles laser measuring head 5 to realize the laser scanning of measured object, while it is mobile to control U-shaped rail
6 sliding position of vehicle, liftable rotate 7 adjustable height of support rod, and the dynamic tracing of measured object is realized by dynamically track head 8, and
The data for receiving the passback of six-dimension force sensor 15 carry out cooperation 4 posture analysis of mechanical arm.
It is further described combined with specific embodiments below:
As shown in Figure 1, three axis portal frames include mobile truss 1, column 2, scalable vertical bar 3, cooperation mechanical arm 4, laser
Measuring head 5, U-shaped rail locomotive 6, liftable rotation support rod 7, dynamically track head 8, U-rail 9, parallel long guideway 11,6 DOF
Force snesor 15, the parallel long guideway 11 of two sections of equal lengths for being slid laterally for mobile 1 both ends of truss is by four
Root post 2 is supported, for fixing two respectively for the 9 two sides rectilinear orbit section of U-rail that U-shaped rail locomotive 6 is slided
Section is connected in parallel 11 lower layer of long guideway, two sections of parallel long guideways 11 by 9 curve track section of U-rail, described scalable perpendicular
Bar 3 is installed on mobile truss 1 and carries out longitudinal sliding motion with mobile truss 1 under motor driven, and the cooperation mechanical arm 4 is installed
It stretches in scalable 3 end of vertical bar and with scalable vertical bar 3, while utilizing the laser for being set to cooperation 4 end of mechanical arm
Measuring head 5 carries out laser measurement, and measurement six-dimension force sensor 15 is installed on cooperation mechanical arm 4 and 5 junction of laser measuring head,
The U-shaped rail locomotive 6 is installed in U-rail 9 and is slided under motor driven with U-rail 9, the dynamic with
Track head 8 is installed on 7 end of lifting rotation support rod, and 7 installation end of lifting rotation support rod is connected on U-shaped rail locomotive 6 and with U
Type rail locomotive 6 is mobile to drive dynamically track head 8 to carry out dynamically track.
It wherein, further include tested delivery AGV platform, the tested delivery AGV platform includes measured object, delivery AGV12, is determined
Position bar 13, the measured object are installed on delivery AGV12, and the locating rod 13 for being positioned to measured object is equal around measured object
Even to be arranged on delivery AGV12, when starting test to measured object, delivery AGV12 brings measured object into designated position and swashs
Light measurement and dynamically track.
As shown in figure 3, locating rod 13 includes 20 ° of 17,40 ° of triangle body, 18,60 ° of triangle body, 19,80 ° of triangle bodies of triangle body
20, angularly ascending to carry out rearranging triangle body combination, 10 sections of triangle body combinations constitute locating rod 13, all triangle bodies
Material is carbon fiber, wherein anchor point is not attached on measured object.
2 quantity of column is 8, and locating rod clipping room is away from for 1m~4m.
In measuring system proposed by the present invention, three-dimensional full topography system includes two kinds of operating modes, and one kind is to show
Religion mode, one kind are automatic measurement mode.For a measured object, determine that it measures track using teaching mode first, then pass through
Automatic measurement mode realizes the measure batch to same measured object.Under teaching mode, cooperation machine is driven by manual driving style
Tool arm (4) and movement truss (1), and adjust scalable vertical bar (3) and measured object is scanned, six-dimension force sensor (15) is real
When the mechanical arm tail end stress that measures and the included teaching machine real-time measurement of torque, cooperation mechanical arm (4) cooperation mechanical arm (4)
Attitude data is sent to Collaborative Control work station (14), and the Collaborative Control work station (14) generates measuring route after resolving
Afterwards, by Collaborative Control work station (14) control three axis gantry motors, U-rail motor, lifting motor and yaw motor and
The cooperative motion of cooperation mechanical arm, realizes the automatic measurement to measured object.
The dragging teaching of cooperation mechanical arm 4, by the mechanical arm tail end and laser that are mounted on six degree of freedom cooperation mechanical arm 4
5 junction six-dimension force sensor 15 of measuring head, power/torque suffered by real-time measurement mechanical arm tail end, and by power/torque signals
Being sent to Collaborative Control work station (14) and resolving is mechanical arm tail end expected pose, and mechanical arm control cabinet is anti-by end expected pose
Solution is that six axis pulse signals of mechanical arm are sent to six motors of mechanical arm, realizes real-time power-assisted when artificial dragging teaching.
As shown in Fig. 2, the six-dimension force sensor 15 is mounted on the mechanical arm tail end of six degree of freedom cooperation mechanical arm 4 and swashs
5 junction of light measurement head, when mechanical arm tail end collides with the external world, suffered by 15 real-time detection end of six-dimension force sensor
Power/torque, when detected power/torque be greater than given threshold when, system occur emergency stop, avoid occur accidental damage.
The full shape measurement method of three-dimensional based on the projecting cooperation mechanical arm of large-sized gantry, steps are as follows:
(a) after measured object reaches designated position ,/stop instruction is played using Collaborative Control work station (14) Xiang Yidong truss (1),
It controls mobile truss (1) and is moved to suitable measurement pose, record mobile truss (1) shift position；
(b) cooperation mechanical arm (2) is dragged by manually dragging teaching mode, while controls scalable vertical bar (3) and stretches
It is reduced to certain length, the flexible length of scalable vertical bar (3) in measurement process is recorded by the included teaching machine of cooperation mechanical arm (2)
The measurement track of degree, cooperation mechanical arm (2) posture and drawing force size and cooperation mechanical arm (2)；
(c) X, Y-direction direction and posture is sent to the second omni-directional moving platform (6) using Collaborative Control work station (14) to order
/ stop instruction is enabled, U-shaped rail locomotive (6) is controlled and is moved to measurement position, while adjusting dynamically track head (8) pose and can rise
Drop rotation support rod (7) height simultaneously starts to measure；
(d) step (b), step (c) the data obtained are saved, changes cooperation mechanical arm (2), dynamically track head (8)
Measurement position and scan vision range, obtain measuring route after, terminate teaching mode simultaneously enter automatic measurement mode, carry out from
Dynamic measurement is until obtain measured object whole profile scan data.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (12)
1. the full topography system of three-dimensional based on the projecting cooperation mechanical arm of large-sized gantry, it is characterised in that: including mobile truss
(1), column (2), scalable vertical bar (3), cooperation mechanical arm (4), laser measuring head (5), U-shaped rail locomotive (6), liftable rotation
Turn support rod (7), dynamically track head (8), U-rail (9), parallel long guideway (11), for carrying out for mobile truss (1) both ends
The parallel long guideway (11) of the two sections of equal lengths slid laterally is supported by four columns (2), for mobile for U-shaped rail
U-rail (9) two sides rectilinear orbit section that vehicle (6) is slided is individually fixed in two sections of parallel long guideway (11) lower layers, and two sections
Parallel long guideway (11) is connected by U-rail (9) curve track section, and the scalable vertical bar (3) is installed on mobile truss (1)
The upper and longitudinal extension under motor driven, the cooperation mechanical arm (4) are installed on scalable vertical bar (3) end and with scalable perpendicular
Bar (3) stretches, while carrying out laser measurement using the laser measuring head (5) for being set to cooperation mechanical arm (4) end, described
U-shaped rail locomotive (6) is installed in U-rail (9) and is slided under motor driven with U-rail (9), the dynamic
Follower head (8) is installed on liftable rotation support rod (7) end, and liftable rotation support rod (7) installation end is connected to U-shaped rail and moves
Dynamically track head (8) are driven to carry out dynamically track on motor-car (6) and with U-shaped rail locomotive (6) is mobile.
2. the three-dimensional full topography system according to claim 1 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: the cooperation mechanical arm (4) and laser measuring head (5) junction are equipped with six-dimension force sensor (15), to measuring
Mechanical arm stress measures in journey, when mechanical arm stress is more than that collision limits threshold value, stops measurement, wherein the collision
Threshold value is limited as 2N-15N.
3. the three-dimensional full topography system according to claim 1 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: further including Collaborative Control work station (14), the Collaborative Control work station (14) can by control according to user demand
Flexible vertical bar (3) retracted position and the posture of cooperation mechanical arm (4), while controlling U-shaped rail locomotive (6) sliding position, can rise
The adjustable height of drop rotation support rod (7).
4. the three-dimensional full topography system according to claim 1 or 2 based on the projecting cooperation mechanical arm of large-sized gantry,
Be characterized in that: the laser measuring head (5), dynamically track head (8) operating mode include teaching mode and automatic measurement mode,
In homogeneous measurement process, laser measuring head (5), dynamically track head (8) operating mode are identical.
5. the three-dimensional full topography system according to claim 4 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: the teaching mode are as follows: drives cooperation mechanical arm (4) and movement truss (1) by manual driving style, and adjusting can
Flexible vertical bar (3) are scanned measured object, by the mechanical arm tail end stress of six-dimension force sensor (15) real-time measurement and torque,
Cooperation mechanical arm (4) attitude data of the included teaching machine real-time measurement of cooperation mechanical arm (4) is sent to Collaborative Control work
It stands (14), after the Collaborative Control work station (14) generates measuring route after resolving, is converted to automatic measurement mode and realizes automatically
Measurement.
6. the three-dimensional full topography system according to claim 1 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: further including tested delivery AGV platform, the tested delivery AGV platform includes measured object, delivers AGV (12), locating rod
(13), the measured object is installed in delivery AGV (12), and the locating rod (13) for being positioned to measured object surrounds measured object
It is uniformly arranged in delivery AGV (12), when starting test to measured object, delivers AGV (12) for measured object and bring designated position into simultaneously
Carry out laser measurement and dynamically track.
7. the three-dimensional full topography system according to claim 6 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: the locating rod (13) is combined by locating rod triangle body to be constituted, and the locating rod triangle body includes 20 ° of triangle bodies
(17), 40 ° of triangle bodies (18), 60 ° of triangle bodies (19), 80 ° of triangle bodies (20) are angularly ascending to be arranged in a triangle body
Combination.
8. the three-dimensional full topography system according to claim 7 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: the locating rod triangle body number is selected according to measured object height.
9. the three-dimensional full topography system according to claim 6 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: 20 ° of triangle bodies (17), 40 ° of triangle bodies (18), 60 ° of triangle bodies (19), the equal central planes of 80 ° of triangle bodies (20) are equal
Anchor point is attached, anchor point does not attach anchor point in each paste position random distribution for waiting central planes on measured object.
10. the three-dimensional full topography system according to claim 6 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: 20 ° of triangle bodies (17), 40 ° of triangle bodies (18), 60 ° of triangle bodies (19), 80 ° of triangle body (20) materials are carbon fiber
Dimension.
11. the three-dimensional full topography system according to claim 1 based on the projecting cooperation mechanical arm of large-sized gantry, special
Sign is: column (2) quantity is 8, and locating rod clipping room is away from for 1m~4m.
12. the full shape measurement method of three-dimensional based on the projecting cooperation mechanical arm of large-sized gantry, it is characterised in that steps are as follows:
(a) after measured object reaches designated position ,/stop instruction, control are played using Collaborative Control work station (14) Xiang Yidong truss (1)
Mobile truss (1) is moved to suitable measurement pose, records mobile truss (1) shift position；
(b) cooperation mechanical arm (2) is dragged by manually dragging teaching mode, while controls scalable vertical bar (3) and is retractable to
Certain length records scalable vertical bar (3) collapsing length, association in measurement process by the included teaching machine of cooperation mechanical arm (2)
Make the measurement track of mechanical arm (2) posture and drawing force size and cooperation mechanical arm (2)；
(c) X, Y-direction direction and gesture commands are sent to the second omni-directional moving platform (6) using Collaborative Control work station (14)
/ stop instruction is played, U-shaped rail locomotive (6) is controlled and is moved to measurement position, while adjusting dynamically track head (8) pose and liftable
Rotation support rod (7) height simultaneously starts to measure；
(d) step (b), step (c) the data obtained are saved, changes the survey of cooperation mechanical arm (2), dynamically track head (8)
Position and scan vision range are measured, after obtaining measuring route, terminates teaching mode and enters automatic measurement mode, surveyed automatically
Amount is until obtain measured object whole profile scan data.
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| CN201910286211.9A CN110068286B (en) | 2019-04-10 | 2019-04-10 | Three-dimensional full-outline measurement system and method based on large gantry inverted-hanging cooperative mechanical arm |
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| CN114518078A (en) * | 2022-03-18 | 2022-05-20 | 南京航空航天大学 | Gantry type structure optical scanning robot and method for measuring surface topography of large equipment |
| CN114740492A (en) * | 2022-03-11 | 2022-07-12 | 南京航空航天大学 | Mobile flexible measurement system and measurement method for large complex component |
| CN114751152A (en) * | 2022-04-19 | 2022-07-15 | 西南交通大学 | Conveying and grabbing mechanism for detecting bearing saddle |
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| CN114518078A (en) * | 2022-03-18 | 2022-05-20 | 南京航空航天大学 | Gantry type structure optical scanning robot and method for measuring surface topography of large equipment |
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