CN110307814B - Full-automatic contact type measuring device and method - Google Patents

Full-automatic contact type measuring device and method Download PDF

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Publication number
CN110307814B
CN110307814B CN201910646177.1A CN201910646177A CN110307814B CN 110307814 B CN110307814 B CN 110307814B CN 201910646177 A CN201910646177 A CN 201910646177A CN 110307814 B CN110307814 B CN 110307814B
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measuring
displacement sensor
contact
workpiece
contact type
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CN110307814A (en
Inventor
蒋知峰
孔谅
周春立
金鑫
张立中
梁诚
张悦
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Shanghai Baoye M&e Technical Co ltd
Shanghai Jiaotong University
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Shanghai Baoye M&e Technical Co ltd
Shanghai Jiaotong University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/08Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/18Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G01B21/24Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing alignment of axes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/30Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring roughness or irregularity of surfaces

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The invention relates to a full-automatic contact type measuring device and a method, wherein the measuring device comprises a test bench, a longitudinal sliding table which is arranged on the test bench in a longitudinal sliding mode and can fixedly place a workpiece to be measured, and a cross beam which is suspended above the test bench, wherein a measuring arm which can transversely move back and forth along the cross beam is arranged on the cross beam. Compared with the prior art, the device is specially used for quickly and accurately measuring the geometric dimension of the large-size workpiece with the air holes and the burrs on the surface, the dimension of the workpiece is measured by using the contact type displacement sensor, the defects of the conventional measuring method are avoided, the measuring device can avoid the influence of the air holes and the burrs on the surface of the workpiece on the precision, the large-size workpiece is more efficiently and accurately measured, the device can adapt to the complex appearance of the workpiece, the various dimensions such as thickness, verticality, parallelism and planeness can be measured, the cost of measuring equipment is lower, and the maintenance and calibration are simpler and more convenient.

Description

Full-automatic contact type measuring device and method
Technical Field
The invention belongs to the technical field of part surface dimension measurement, and relates to a full-automatic contact type measuring device and method.
Background
The measurement of the length, width, height and other dimensions of multiple points on a porous material workpiece with a large-size rough surface is difficult to ensure the precision and efficiency. In actual production, most of workpieces adopt a manual measurement method, and the defects are that the manual measurement error is large, the measurement efficiency is low, the labor intensity is high, generally only the sampling inspection can be realized, and the risk of out-of-control quality exists. In addition, the size of the workpiece is obtained by recording the position of the touch of the sensor and the workpiece by the traditional three-coordinate measuring equipment, which requires that the equipment per se has higher size precision at each measuring position, so that the traditional large three-coordinate measuring equipment for large-size workpieces is expensive, and the use and maintenance costs are higher; in addition, the traditional three-coordinate measuring equipment is difficult to measure the bottom of the workpiece, and the thickness of the workpiece can be estimated only by measuring the height of the upper surface of the workpiece, so that the accurate thickness of the workpiece cannot be obtained.
Chinese patent CN108592816A discloses a solution for measuring the size of large-sized workpieces by optical triangulation. The scheme realizes rapid detection by scanning the workpiece. However, this solution has the following drawbacks:
1. the surface of the workpiece usually has air holes and burrs, which interfere with the optical measurement result;
2. the scheme can only scan the upper surface of the workpiece, and the side surface and the bottom surface cannot be measured, so that the geometric dimension of the workpiece cannot be completely reflected. In addition, optical measurements can be disturbed if defects are present at the edges of the upper surface.
Disclosure of Invention
The present invention is directed to a fully automatic contact measuring device and method for overcoming the above-mentioned drawbacks of the prior art. The device is specially used for quickly and accurately measuring the geometric dimension of the large-size workpiece with air holes and burrs on the surface, the contact type displacement sensor is used for measuring the dimension of the workpiece, the defects of the existing measuring method are avoided, the measuring device can avoid the influence of the air holes and burrs on the surface of the workpiece on the precision, the measurement of the large-size workpiece is more efficient and accurate, the measuring device can adapt to the complex appearance of the workpiece, meanwhile, the cost of the measuring device is lower, and the maintenance and calibration are more convenient.
The purpose of the invention can be realized by the following technical scheme:
one of the technical solutions of the present invention is to provide a full-automatic contact measuring device, which includes a testing bench, a longitudinal sliding table longitudinally slidably disposed on the testing bench and capable of fixedly placing a workpiece to be tested, and a cross beam suspended above the testing bench, wherein a measuring arm capable of moving back and forth along a transverse direction of the cross beam is disposed on the cross beam,
the measuring arm comprises an upper transverse moving base capable of moving back and forth on the cross beam in the transverse direction, a lifting rod arranged on the upper transverse moving base, and a first contact type displacement sensor assembly arranged at the bottom end of the lifting rod, wherein the first contact type displacement sensor assembly consists of three types of contact type displacement sensors, namely a Z-contact type displacement sensor with a vertical downward measuring direction, an X-contact type displacement sensor with a transverse measuring direction and a Y-contact type displacement sensor with a longitudinal measuring direction;
the test bench is last still to be provided with the jacking measuring part that can follow horizontal round trip movement at vertical slip table below position, jacking measuring part is including the jacking base that can follow the horizontal round trip movement of test bench, the lifter plate of setting on the jacking base to and install on the lifter plate and be higher than a contact displacement sensor on its top, the ascending Z + contact displacement sensor of measurement direction perpendicularly promptly.
Furthermore, the X-direction contact type displacement sensor comprises an X-contact type displacement sensor and an X + contact type displacement sensor which are opposite in direction;
the Y-direction contact type displacement sensor comprises a Y-contact type displacement sensor and a Y + contact type displacement sensor which are opposite in direction;
and the contact displacement sensor that sets up on measuring arm and the jacking measuring part satisfies: at least one of the X-contact type displacement sensor, the X + contact type displacement sensor, the Y-contact type displacement sensor, the Y + contact type displacement sensor, the Z-contact type displacement sensor and the Z + contact type displacement sensor is arranged.
Furthermore, two groups of measuring arms are arranged on the beam in a mirror image mode, the efficiency of the device can be improved by adopting two measuring arms to measure simultaneously, and at the moment, one X-direction contact type displacement sensor can be omitted on each measuring arm.
Furthermore, the cross beam and the vertical left stand column and the vertical right stand column which stand on two sides of the test bench can form a portal frame, two parallel linear guide rails which are transversely arranged are further arranged on the cross beam, and the upper transverse moving base can be movably arranged on the cross beam through the two linear guide rails. The moving range of the upper transverse moving base on the cross beam is not less than the effective measuring stroke in the aspect of the length of the workpiece to be measured.
Furthermore, a transverse moving driving assembly can be arranged on the upper transverse moving base and can comprise a servo motor, a speed reducer, a gear and other structures, and racks meshed with the gear can be arranged on the two transversely arranged linear guide rails. Similarly, the lifting rod can be provided with a lifting rack, the upper transverse moving base is provided with a lifting driving assembly (which can be composed of a servo motor, a speed reducer, a gear and the like), and the lifting rod and the upper transverse moving base can be connected in a lifting and moving manner through the engagement of the lifting driving assembly and the lifting rack.
Furthermore, the bottom of the measuring arm is fixedly provided with an installation base, and the first contact type displacement sensor assembly is arranged on the installation base. The contact displacement sensor in the first contact displacement sensor assembly can be arranged on the mounting base through the sensor mounting bracket, the sensor mounting bracket can adopt a slender overhanging structure, and the slender structure can avoid interference collision between measuring equipment and a workpiece when the measuring surface of the workpiece, which is concave, is measured.
Further, be equipped with lifting guide on the jacking base, the lifter plate accessible realizes raising and lowering functions with the lifting guide cooperation, then can arrange the jacking cylinder of being connected with the lifter plate on the jacking base, the jacking cylinder can be through if cylinder mount pad sets up on the jacking base.
Further, the contact type displacement sensor comprises a sensor body and a contact which elastically stretches along the corresponding measuring direction.
Furthermore, the maximum contact width of the contact head with the measuring surface of the measured workpiece is not less than the diameter of the air hole on the surface of the measured workpiece. Preferably, the contact width is not less than 4 mm. The contact end part of the contact displacement sensor is wider, so that the influence of air holes on the surface of a workpiece on the measurement precision can be avoided.
Preferably, the pressure generated by the contact of the contact type displacement sensor on the surface of the material is not less than 0.07 MPa, so as to overcome the yield force of burrs on the surface of the material and avoid the influence of the burrs on the surface of the workpiece on the detection precision.
Furthermore, the end of the contact is also provided with a contact roller, and the directions of the central axes of the contact rollers of different contact displacement sensors in the same measurement direction are consistent. Contact displacement sensor's contact sets up to cylindrical gyro wheel can allow contact displacement sensor and work piece to have relative slip, can avoid contact displacement sensor and work piece to cause the damage because of unexpected slip to can be in testing process, can remove in the certain distance when contact displacement sensor and measured work piece surface contact, realize continuous measurement, improve detection efficiency and precision, the roll through the gyro wheel can smooth the burr on work piece surface in addition, further promotes measuring precision.
Furthermore, the contact type displacement sensors are respectively installed on the lifting rod or the lifting plate through sensor anti-collision blocks, the sensor anti-collision blocks are installed on the lifting rod or the lifting plate through magnetic adsorption of magnetic devices (preferably columnar magnets and the like), and the distance between each sensor anti-collision block and the top end of the corresponding contact type displacement sensor is not more than the maximum allowable compression amount of the contact type displacement sensor. If the sensor anti-collision block or the contact type displacement sensor transversely collides with a workpiece or equipment, the sensor anti-collision block and the contact type displacement sensor can integrally fall off from the sensor mounting bracket, so that the expensive sensor is prevented from being damaged by collision. If the sensor anti-collision block collides with the workpiece or equipment longitudinally, the sensor anti-collision block is in rigid contact with the equipment or the workpiece, so that the contact type displacement sensor can be prevented from being excessively compressed, and a protection effect is achieved.
Furthermore, the lifting rod is hollow, a piston rod capable of vertically moving up and down along the lifting rod and a lifting cylinder in driving connection with the piston rod are arranged in the hollow position, and the Z-contact type displacement sensor is installed at the end position of the piston rod. The contact type displacement sensor which vertically faces downwards retracts through the air cylinder, so that interference between the measuring arm and the table surface of the longitudinal sliding table during measurement can be avoided, and particularly, the length or width dimension close to the bottom of a workpiece is detected.
Furthermore, the test bed frame is provided with a middle transverse support at the middle position of the stroke of the longitudinal sliding table, three jacking measurement parts are arranged on the middle transverse support, two of the jacking measurement parts are respectively positioned at two sides of the stroke of the longitudinal sliding table, and the other jacking measurement part is positioned below the stroke of the longitudinal sliding table. The plurality of jacking measuring parts can realize the measurement of thickness dimensions at a plurality of positions along the transverse direction.
Furthermore, the jacking measuring part and the middle transverse support are movably connected through the transverse moving guide rail group, the jacking measuring part can be adjusted in the transverse position to realize the measurement of the thickness sizes of a plurality of positions in the transverse direction, and more measuring points can be measured by fewer displacement sensors. Preferably, the transverse movement between the middle transverse support and the jacking measuring part is realized through a transverse moving rack and a transverse moving driving assembly meshed with the transverse moving rack, the transverse moving driving assembly can comprise a transverse moving gear, a transverse moving driving motor and the like, the transverse position of the jacking measuring part is positioned by driving a motor, more measuring points can be measured by using fewer displacement sensors, and meanwhile, the measuring points of the thickness dimension are more flexible and automatic, and manual adjustment is avoided.
Furthermore, the longitudinal sliding table comprises a supporting body, a middle hollow frame structure can be adopted, and the hollow cross frame structure enables the device to avoid interference between the Z-contact displacement sensor and the table surface of the longitudinal sliding table when the side surface of the workpiece to be measured is close to the measuring point on the bottom surface.
Furthermore, a longitudinal positioning plate and a longitudinal positioning cylinder are arranged on the longitudinal sliding table along the longitudinal direction, and a longitudinal positioning surface is processed on one side of the longitudinal positioning plate, which is in contact with the workpiece to be measured, of the longitudinal positioning cylinder. Preferably, the longitudinal positioning plate and the longitudinal positioning cylinder are respectively provided with at least two corresponding positioning plates, and the longitudinal positioning plates and the longitudinal positioning cylinders are transversely arranged at intervals along the edge of the table top of the longitudinal sliding table.
Furthermore, the test bench rack is provided with a front transverse support at the front end of the stroke of the longitudinal sliding table, two auxiliary positioning plates which are respectively positioned at two sides of the longitudinal sliding table and have an interval not exceeding the transverse length of the workpiece to be tested are fixedly arranged on the front transverse support, an auxiliary positioning surface is processed towards one side of the workpiece to be tested, and when the longitudinal sliding table moves to the front end of the test bench rack, the auxiliary positioning surface of the auxiliary positioning plate is aligned with the longitudinal positioning surface of the longitudinal positioning plate in a coplanar manner.
The second technical solution of the present invention is to provide a full-automatic contact measurement method, which is implemented by using the above full-automatic contact measurement device, and the measurement method is divided into three modes of thickness measurement, length measurement and width measurement, wherein,
the thickness measuring steps are specifically as follows:
(1-1) establishing a coordinate system based on X-axis, Y-axis and Z-axis to return the measuring arm to a safe position (X)0,Y0,Z0) After the jacking measuring part descends to the bottom, a standard workpiece with known size is placed at a measuring position on the longitudinal sliding table, and the first thickness measuring position (X) of the standard workpiece is recordedT,YT,ZT) Has a thickness of T0
(1-2) moving the measuring arm and the longitudinal sliding table to enable the Z-contact type displacement sensor to be at a set first thickness measuring position (X)T,YT,ZT) In a ready position just above, i.e. (X)T,YT,ZT+ S), wherein the distance between the Z-contact type displacement sensor and the measured position surface of the standard workpiece is about S;
(1-3) vertically lowering the measuring arm by a distance S + P to make the Z-contact type displacement sensor contact with the upper surface of the workpiece and make a contact head of the Z-contact type displacement sensor compressed (the compression amount is about P), and simultaneously jacking up the Z + displacement sensor of the measuring part,the contact of the Z + displacement sensor is contacted with the lower surface of the standard workpiece, the Z + displacement sensor is compressed (the compression amount is about P), and the compressed strokes of the Z-contact displacement sensor and the Z + contact displacement sensor are respectively recorded as P1、P2
(1-4) lifting the measuring arm, and descending the jacking measuring part to enable the contact of the Z-contact type displacement sensor and the Z + contact type displacement sensor to be separated from the surface of the standard workpiece;
(1-5) repeating the steps (1-1) to (1-4), recording the thicknesses of the standard workpieces at the other measuring positions and the compressed strokes of the corresponding Z-contact type displacement sensor and the Z + contact type displacement sensor;
(1-6) replacing the standard workpiece with the workpiece to be measured, and obtaining the compressed stroke P of the Z-contact type displacement sensor and the Z + contact type displacement sensor at the first thickness measurement position according to the modes of the step (1-1) to the step (1-4)1`、P2The thickness T of the workpiece between the upper and lower measuring surfaces at the first thickness measuring position is calculated according to a formula0+(P1`-P1)+(P2`-P2);
(1-7) repeating the step (1-6), and recording the compressed strokes of the Z-contact displacement sensors and the Z + contact displacement sensors of the measured workpieces at the other measuring positions to obtain the corresponding thicknesses of the other measuring positions of the measured workpieces;
the length measuring steps are specifically as follows:
(2-1) returning the measuring arm to the safety position (X)0,Y0,Z0) And after the jacking measuring part is lowered to the bottom, the standard workpiece is placed at the measuring position on the longitudinal sliding table, and the standard workpiece is positioned at two measuring points (X) at the first length measuring positionLR,YL,ZL) And (X)LL,YL,ZL) The length dimension between is known as L0
(2-2) moving the measuring arm and the longitudinal sliding table to make the contact of the X-contact type displacement sensor at the set measuring point (X)LR,YL,ZL) Right side ready position, i.e. (X)LR+S,YL,ZL) So that at this time the X-contact bitThe distance between the contact head of the displacement sensor and the measured position surface of the standard workpiece is about S;
(2-3) moving the measuring arm along the X-direction by a distance S + P to enable the contact of the X-contact type displacement sensor to contact and compress the measured position surface of the standard workpiece (the compression amount is about P), and recording the compression stroke of the X-contact type displacement sensor at the moment as P1
(2-4) moving the measuring arm along the X + direction to separate a contact of the X-contact type displacement sensor from the surface of the standard workpiece;
(2-5) moving the measuring arm and the longitudinal sliding table to enable the contact of the L + contact type displacement sensor to be at a set second length measuring position (X)LLYL,ZL) Left ready position, i.e. (X)LL-S,YL,ZL) At the moment, the distance between the contact of the X + contact type displacement sensor and the measured position surface of the standard workpiece is about S;
(2-6) moving the measuring arm along the X + direction by a distance S + P to enable the contact of the X + contact type displacement sensor to contact and compress the measured position surface of the standard workpiece (the compression amount is about P), and recording the compression stroke of the X + contact type displacement sensor at the moment as P2
(2-7) moving the measuring arm along the X-direction to separate a contact of the L + contact type displacement sensor from the surface of the standard workpiece;
(2-8) repeating the steps (2-1) to (2-7), recording the length of the workpiece at other length measuring positions, and recording an X-contact type displacement sensor and an X + contact type displacement sensor at corresponding measuring points;
(2-9) replacing the standard workpiece with the workpiece to be measured, and obtaining the compressed stroke P of the X-contact type displacement sensor and the X + contact type displacement sensor at the first length measuring position according to the steps (2-1) to (2-7)1' and P2The length dimension L of the workpiece between two corresponding measuring points at the first length measuring position is L0+(P1`-P1)+(P2`-P2);
(2-10) repeating the step (2-9), namely measuring the length size values of the rest length measuring positions of the measured workpiece;
the width measuring steps are specifically as follows:
(3-1) returning the measuring arm to the safety position (X)0,Y0,Z0) And after the jacking measuring part is lowered to the bottom, a standard workpiece with known size is placed at a first width measuring position on the longitudinal sliding table, and the standard workpiece is positioned at two measuring points (X) of the first width measuring positionW,YWF,ZW) And (X)W,YWB,ZW) The width dimension between is known as W0
(3-2) the measuring arm and the longitudinal sliding table enable the contact of the Y + contact type displacement sensor to be positioned at a set measuring point (X)W,YWF,ZW) A front ready position, i.e. (X)W,YWF-S,ZW) At the moment, the distance between the contact of the Y + contact type displacement sensor and the measured position surface of the workpiece is about S;
(3-3) moving the longitudinal sliding table by a distance S + P along the Y-direction to enable a contact of the Y + contact type displacement sensor to contact and compress the measured position surface of the standard workpiece (the compression amount is about P), and recording the compression stroke of the Y + contact type displacement sensor at the moment as P1
(3-4) moving the longitudinal sliding table along the Y + direction to separate a contact of the Y + contact type displacement sensor from the surface of the workpiece to be measured;
(3-5) moving the measuring arm and the longitudinal sliding table to enable the contact of the Y-contact type displacement sensor to be positioned at a set measuring point (X)W,YWB,ZW) Rear ready position, i.e. (X)W,YWB+S,ZW) The distance between the contact of the Y-contact type displacement sensor and the measured position surface of the workpiece is about S;
(3-6) moving the longitudinal sliding table along the Y + direction by a distance S + P, enabling a contact of the Y-contact type displacement sensor to contact and compress the measured position surface of the standard workpiece (the compression amount is about P), and recording the compression stroke of the Y-contact type displacement sensor at the moment as P2
(3-7) moving the longitudinal sliding table along the Y-direction to separate a contact of the Y-contact type displacement sensor from the surface of the workpiece;
(3-8) repeating the steps (3-1) to (3-7), and recording the width size of the standard workpiece at other width measurement positions and compressed stroke data of the Y-contact type displacement sensor and the Y + contact type displacement sensor at the corresponding two measurement points;
(3-9) replacing the standard workpiece with the workpiece to be measured, and obtaining compressed stroke data P of the Y-contact type displacement sensor and the Y + contact type displacement sensor at the first width measuring position according to the steps (3-1) to (3-7)1' and P2Obtaining the width dimension W of the measured workpiece between two measuring points corresponding to the first width measuring position0+(P1`-P1)+(P2`-P2);
And (3-10) repeating the step (3-9), namely measuring to obtain width dimension values of the rest width measurement positions of the measured workpiece.
Furthermore, two different measuring points on the left and the right of a certain measuring position can be synchronously measured by two measuring arms respectively, so that the efficiency of the equipment can be improved.
Furthermore, in the process of measuring the thickness, the width and the length, the distance P is approximately equal to one half of the effective measuring stroke of the corresponding contact type displacement sensor. The purpose of this step is to make the measuring device tolerate the deviation of the positioning of the workpiece to the greatest possible extent, i.e. the deviation of the positioning of the workpiece can reach a maximum of half the effective compression stroke of the sensor.
Furthermore, the value of the distance S is larger than that of the distance P, in addition, before measurement, when the contact type displacement sensor is located at the preparation position, namely, the distance S from the surface of the standard workpiece or the measured workpiece is obtained, the contact type displacement sensor is moved to be close to the standard workpiece or the measured workpiece until the distance is P, in the moving process, if the compression amount of the contact type displacement sensor is detected to be larger than 0, the movement is immediately stopped, the subsequent detection step is quitted, and meanwhile, the fact that the deviation of the placement positions of the standard workpiece or the measured workpiece is overlarge is prompted. The purpose of this step is to avoid the possibility of damage caused by collision between the equipment and the detected workpiece due to the deviation of the workpiece placement during measurement, and the maximum allowable deviation safety range is ± P.
Further, before measuring the dimension in the length direction, the method also comprises the step of firstly measuring the coordinate position (X)LL-S,YL1,ZL1) And (X)LR+S,YL1,ZL1) Before measuring the width dimension, the step of measuring the coordinate position (X)W1,YWB-S,ZW1) And (X)W1,YWF+S,ZW1) And (4) determining the thickness, and if the Z-displacement sensor contact detects that the compression amount is greater than 0 in the thickness measurement process of the workpieces at the positions, immediately stopping moving and exiting the subsequent steps, and simultaneously prompting that the deviation of the placing positions of the workpieces is too large; the purpose of this step is to avoid the possibility of damage caused by collision between the equipment and the detected workpiece due to the deviation of the workpiece placement during measurement.
Further, in the thickness dimension calibration and measurement process, the longitudinal sliding table can be moved along the Y direction or the measurement arm can be moved along the X direction, so that the contact of the contact type displacement sensor is attached to the surface of the measured workpiece and is moved to the next measurement point along the rolling direction of the upper roller of the contact, and the measurement data is recorded;
similarly, in the process of calibrating and measuring the length dimension, the longitudinal sliding table can be made to move along the Y direction or the measuring arm can be made to move along the Z direction, so that the contact of the contact type displacement sensor is made to move to the next measuring point along the rolling direction of the roller on the contact along the surface of the measured workpiece, and the measured data is recorded;
in the process of calibrating and measuring the width dimension, the method also comprises the steps of moving the measuring arm along the X direction or the Z direction, moving a contact of the contact type displacement sensor to the next measuring point along the rolling direction of a roller on the contact along the surface of the measured workpiece, and recording the measured data. On one hand, the purpose of the step is to quickly obtain the data of a plurality of measuring points, save the measuring time and improve the measuring efficiency; on the other hand, the burrs on the surface of the workpiece can be smoothed through the rolling of the roller, and the measurement precision is further improved.
In a specific embodiment of the invention, before the thickness dimension calibration and measurement steps 1-3, the method further comprises the steps of actuating a lifting cylinder to eject a piston rod to extend the Z-contact type displacement sensor;
after the thickness dimension calibration and measurement step, the method also comprises the steps of lifting the air cylinder to act, withdrawing the piston rod and retracting the Z-contact type displacement sensor;
compared with the prior art, the invention has the following advantages:
(1) compared with the traditional three-coordinate measuring machine, the invention adopts the high-precision contact type displacement sensor to measure the workpiece, obtains the size of the workpiece by comparing the measured values of the reference workpiece and the actual workpiece, has the same initial calibration position and the measurement position, depends on the repeated positioning precision of the equipment and the measurement precision of the sensor, is irrelevant to the factors such as the straightness, the linearity and the like of the equipment, reduces the precision requirement on the equipment while realizing higher measurement precision, and has lower equipment cost and simpler and more convenient maintenance and calibration.
(2) The device has the advantages that the plurality of contact type displacement sensors are fixedly arranged on the measuring arm, so that the measurement of various dimensional data can be realized, and the device has a simple structure, stable precision and easy maintenance.
(3) According to the invention, a contact type measuring method is used, the contact width of the end part of the contact type displacement sensor and the measured surface is larger than the diameter of the air hole on the surface of the workpiece, the ejection force of the contact type displacement sensor probe can overcome the yield force of the burr on the surface of the workpiece, the interference of the air hole and the burr on the surface of the workpiece on the measuring result is avoided, and the measuring precision can be effectively improved compared with an optical measuring method.
(4) The invention has low requirement on the placing position of the workpiece, can realize measurement as long as the placing offset of the workpiece is less than half of the measuring stroke of the displacement sensor, and can intelligently detect and alarm through the displacement sensor in the measuring step if the placing offset of the workpiece exceeds the limit, thereby effectively avoiding collision and damage to expensive sensors in the measuring process. Meanwhile, the workpiece can be clamped and positioned through the positioning cylinder, the positioning plate and the auxiliary positioning plate on the longitudinal sliding table, so that the influence of the deviation of the placing position of the workpiece is further avoided, and the equipment can automatically and reliably execute the measuring action.
(5) The invention can measure the sizes of multiple parts of the workpiece at one time, can simultaneously measure the measuring surfaces on two sides of the workpiece through the two measuring arms, and can simultaneously measure the thicknesses of three positions of the workpiece through the three bottom jacking measuring parts, thereby improving the measuring efficiency and simultaneously providing possibility for measuring the parallelism or the planeness of the surface of the workpiece.
(6) The device is provided with the magnetic attraction type contact displacement sensor anti-collision block, so that the expensive sensors can be effectively prevented from being collided and damaged in the measuring process, and the equipment maintenance cost is reduced.
(7) The longitudinal sliding table adopts a cross-shaped hollow frame structure, and the contact displacement sensor at the bottom cannot interfere with the table top when measuring a lower measuring point on the side surface of a workpiece; and meanwhile, the bottom surface of the measurement workpiece can be ejected out of the hollow part by the bottom jacking measurement part, and in addition, the capacity of the contact type displacement sensor for measuring the complex surface of the workpiece is further enhanced by the slender sensor mounting bracket and the cylinder telescopic structure, so that the interference area is reduced, and the range of the size measurable by the equipment is enlarged. In addition, the frame form is convenient for manual loading and unloading operation and convenient for manual rechecking measurement of the size of the workpiece on equipment.
(8) The invention adopts a structure that the cross beam is fixed, the longitudinal sliding table can move, and the bottom jacking measuring part is fixed along the longitudinal position, the upper and lower measuring units can simultaneously measure the upper and lower surfaces of the workpiece, thereby realizing the function of measuring the thickness dimension of the workpiece by a simpler structure and effectively controlling the equipment cost.
Drawings
FIG. 1 is a schematic structural diagram of a fully automatic contact measuring device;
FIG. 2 is a schematic structural view of a test bench section;
FIG. 3 is a schematic structural view of the jacking-up measuring part;
FIG. 4 is a schematic view of a measuring arm;
FIG. 5 is a cut-away schematic view of the measuring arm;
FIG. 6 is a schematic structural view of a longitudinal slide table;
FIG. 7 is a schematic view of a measuring surface and a measuring point of a workpiece to be measured;
the notation in the figure is:
101 is a right upright post, 102 is a left upright post, 103 is a cross beam, and 104 is a transverse guide rail group;
201 is a first measuring arm, 202 is a second measuring arm, 203 is an upper transverse moving base, 204 is a lifting driving component, and 205 is a transverse moving driving component;
300 is a lifting rod, 301 is a sensor mounting bracket, 302 is a sensor anti-collision block, 303 is a contact type displacement sensor, 304 is a roller, 305 is a columnar magnet, 306 is a lifting rack, 307 is a Z-contact type displacement sensor, 308 is an X-contact type displacement sensor, 309 is a Y + contact type displacement sensor, 310 is a Y-contact type displacement sensor, 311 is an X + contact type displacement sensor, 312 is a mounting base, 313 is a piston rod, and 314 is a lifting cylinder;
400 is a longitudinal sliding table, 401 is a longitudinal positioning plate, 402 is a longitudinal positioning cylinder, and 403 is a supporting body;
501 is a first jacking measuring part, 502 is a second jacking measuring part, 503 is a third jacking measuring part, 504 is a jacking base, 505 is a lifting guide rail, 506 is a cylinder mounting seat, 507 is a jacking cylinder, 508 is a lifting plate, and 509 is a Z + contact type displacement sensor;
600 is a test bench, 601 is a front transverse support, 602 is a middle transverse support, 603 is a sliding table guide rail group, 604 is a sliding table rack, 605 is a transverse moving guide rail group, 606 is a transverse moving rack, and 607 is an auxiliary positioning plate;
700 is the workpiece to be tested.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The invention provides a full-automatic contact type measuring device, please refer to fig. 1 and fig. 3, etc., comprising a test bench 600, a longitudinal sliding table 400 which is arranged on the test bench 600 in a longitudinal sliding manner and can fixedly place a measured workpiece 700, and a cross beam 103 which is suspended above the test bench 600, wherein a measuring arm which can move back and forth along the transverse direction of the cross beam 103 is arranged on the cross beam 103,
the measuring arm comprises an upper transverse moving base 203 capable of moving back and forth on the cross beam 103 along the transverse direction, a lifting rod 300 arranged on the upper transverse moving base 203, and a first contact type displacement sensor assembly arranged at the bottom end of the lifting rod 300, wherein the first contact type displacement sensor assembly consists of five contact type displacement sensors 303, namely a Z-contact type displacement sensor 307 with the vertical downward measuring direction, an X-contact type displacement sensor 308 and an X + contact type displacement sensor 311 with the transverse direction oppositely arranged, and a Y-contact type displacement sensor 310 and a Y + contact type displacement sensor 309 with the longitudinal direction oppositely arranged;
the position still is provided with the jacking measuring part that can follow horizontal round trip movement in vertical slip table 400 below on the test bench 600, jacking measuring part is including the jacking base 504 that can follow test bench 600 horizontal round trip movement, the lifter plate 508 of setting on jacking base 504 to and install on lifter plate 508 and be higher than a contact displacement sensor 303 on its top, the ascending Z + contact displacement sensor 509 of measurement direction perpendicularly promptly.
In a specific embodiment of the present invention, please refer to fig. 1 again, two sets of mirror images of the measuring arms are arranged on the beam 103, and the efficiency of the device can be improved by using two measuring arms to measure simultaneously.
In a specific embodiment of the present invention, please refer to fig. 1 again, the cross beam 103 may form a gantry together with the left upright 102 and the right upright 101 standing vertically on both sides of the test bench 600, two parallel linear guide rails arranged along the transverse direction are further disposed on the cross beam 103, and the upper cross base 203 may be movably disposed on the cross beam 103 through the two linear guide rails (i.e., the transverse guide rail set 104). The moving range of the upper cross-sliding base 203 on the cross beam 103 is not less than the effective measuring stroke in terms of the length of the workpiece 700 to be measured.
In a more specific embodiment, as shown in fig. 4 and 5, the upper traverse base 203 may be provided with a traverse driving assembly 205, which may include a servo motor, a speed reducer, a gear, and the like, and two linear guide rails arranged transversely may also be provided with racks engaged with the gear. Similarly, the lifting rod 300 can also be provided with a lifting rack 306, the upper traverse base 203 is provided with a lifting driving assembly 204 (which can be composed of a servo motor, a speed reducer, a gear and the like), and the lifting rod 300 and the upper traverse base 203 can be connected in a lifting and moving manner by the engagement of the lifting driving assembly 204 and the lifting rack 306.
In an embodiment of the present invention, please refer to fig. 4 and fig. 5 again, a mounting base 312 is fixedly disposed at the bottom of the measuring arm, and the first contact type displacement sensor assembly is disposed on the mounting base 312. The contact displacement sensor 303 of the first contact displacement sensor assembly can be disposed on the mounting base 312 through the sensor mounting bracket 301, and the sensor mounting bracket 301 can adopt a slender overhanging structure, so that interference collision between the measuring equipment and the workpiece can be avoided when measuring the concave measuring surface of the workpiece.
In a specific embodiment of the present invention, please refer to fig. 3 again, a lifting guide rail 505 is disposed on the lifting base 504, the lifting plate 508 can realize a lifting function by cooperating with the lifting guide rail 505, then a lifting cylinder 507 connected to the lifting plate 508 can be disposed on the lifting base 504, and the lifting cylinder 507 can be disposed on the lifting base 504 by a structure such as a cylinder mounting base 506.
In an embodiment of the present invention, please refer to fig. 4 and 5 again, the contact type displacement sensor 303 includes a sensor body and a contact elastically telescopic in a corresponding measuring direction.
Furthermore, the maximum contact width of the contact head with the measuring surface of the measured workpiece 700 is not less than the diameter of the air hole on the surface of the measured workpiece 700. Preferably, the contact width is not less than 4 mm. The contact end part of the contact displacement sensor 303 is wider, so that the influence of air holes on the surface of a workpiece on the measurement precision can be avoided.
Furthermore, the contact of the contact type displacement sensor 303 is compressed by a force not less than 1N, that is, the pressure generated by the contact of the contact type displacement sensor on the surface of the material is about 0.0796 mpa, so that the detection accuracy can be prevented from being affected by burrs on the surface of the workpiece.
Furthermore, the end of the contact is provided with a contact roller 304, and the directions of the central axes of the contact rollers 304 of different contact displacement sensors 303 in the same measurement direction are the same. Contact of contact displacement sensor 303 sets up to cylindrical gyro wheel 304 and can allow contact displacement sensor 303 and work piece to have relative slip, can avoid contact displacement sensor 303 and work piece to cause the damage because of unexpected slip, and can be in the testing process, can remove in the certain distance when contact displacement sensor 303 and the surperficial contact of work piece 700 under test, realize continuous measurement, improve detection efficiency and precision, the burr on work piece surface can be smoothed out in addition through the roll of gyro wheel 304, further promote measuring precision.
In a specific embodiment of the present invention, please refer to fig. 5 and so on, the contact type displacement sensor 303 is respectively installed on the lifting rod 300 or the lifting plate 508 through the sensor anti-collision block 302, the sensor anti-collision block 302 is installed on the lifting rod 300 or the lifting plate 508 through the magnetic attraction of a magnetic device (preferably, a columnar magnet 305), and the distance from the sensor anti-collision block 302 to the top end of the corresponding contact type displacement sensor 303 is not more than the maximum allowable compression amount of the contact type displacement sensor 303. If the sensor anti-collision block 302 or the contact type displacement sensor 303 collides with a workpiece or equipment in the transverse direction, the sensor anti-collision block 302 and the contact type displacement sensor 303 are integrally separated from the sensor mounting bracket 301, so that the expensive sensor is prevented from being damaged by collision. If the sensor anti-collision block 302 collides with the workpiece or equipment longitudinally, the sensor anti-collision block 302 is in rigid contact with the equipment or the workpiece, so that the contact type displacement sensor 303 can be prevented from being compressed excessively, and a protection effect is achieved.
In a specific embodiment of the present invention, please refer to fig. 5 again, the lifting rod 300 is hollow inside, and a piston rod 313 vertically moving up and down along the hollow is arranged in the hollow, and a lifting cylinder 314 driving and connecting the piston rod 313 is arranged in the hollow, and the Z-contact type displacement sensor 307 is installed at the end position of the piston rod 313. The vertically downward contact type displacement sensor 303 is retracted by the air cylinder, so that the interference between the measuring arm and the table surface of the longitudinal sliding table 400 during measurement can be avoided, particularly when the length or width dimension close to the bottom of the workpiece is detected.
In a specific embodiment of the present invention, please refer to fig. 2 and fig. 6, the test bench 600 is provided with a middle transverse support 602 at a middle position of a stroke of the longitudinal sliding table 400, and three jacking measurement portions are provided on the middle transverse support 602, wherein two jacking measurement portions are respectively located at two sides of the stroke of the longitudinal sliding table 400, and the other jacking measurement portion is located below the stroke of the longitudinal sliding table 400. The plurality of jacking measuring parts can realize the measurement of thickness dimensions at a plurality of positions along the transverse direction.
Furthermore, as shown in fig. 2 and fig. 6, the jacking measurement portion is movably connected with the middle transverse support 602 through the traverse guide rail group 605, the jacking measurement portion can be adjusted in the transverse position to measure the thickness dimensions at multiple positions in the transverse direction, and more measurement points can be measured with fewer displacement sensors. Preferably, the transverse movement between the middle transverse support 602 and the jacking measuring part is realized through the transverse moving rack 606 and the transverse moving driving assembly 205 meshed with the transverse moving rack, the transverse moving driving assembly 205 can comprise a transverse moving gear, a transverse moving driving motor and the like, the transverse position of the jacking measuring part is positioned through the driving of the motor, the measurement of more measuring points can be realized by using fewer displacement sensors, meanwhile, the measuring points of the thickness dimension are more flexible and automatic, and manual adjustment is avoided.
In a specific embodiment of the present invention, please refer to fig. 2 and fig. 6, etc., the longitudinal sliding table 400 includes a supporting body 403, which may adopt a frame structure with a hollow center, and the hollow cross frame structure enables the apparatus to avoid the Z-contact displacement sensor 307 from interfering with the table top of the longitudinal sliding table 400 when measuring the measuring point of the side surface of the workpiece close to the bottom surface. The longitudinal sliding table 400 can be longitudinally and slidably matched with the test bench 600 through a sliding table guide rail group 603, and a sliding table rack 604 meshed with a longitudinal gear of a longitudinal driving piece arranged on the longitudinal sliding table 400 can be arranged beside the sliding table guide rail group 603.
In a specific embodiment of the present invention, please refer to fig. 2 and fig. 6, etc., a longitudinal positioning plate 401 and a longitudinal positioning cylinder 402 are disposed on the longitudinal sliding table 400 along the longitudinal direction, and a longitudinal positioning surface is processed on one side of the longitudinal positioning plate 401 and the longitudinal positioning cylinder 402, which contacts the workpiece 700 to be measured. Preferably, at least two longitudinal positioning plates 401 and at least two longitudinal positioning cylinders 402 are respectively arranged correspondingly and transversely at intervals along the edge of the table top of the longitudinal sliding table 400.
In a specific embodiment of the present invention, please refer to fig. 2 and fig. 6, etc., the test bench 600 is provided with a front transverse support 601 at a front end of a stroke of the longitudinal sliding table 400, two auxiliary positioning plates 607 are fixedly provided on the front transverse support 601, the two auxiliary positioning plates 607 are respectively located at two sides of the longitudinal sliding table 400, the distance between the two auxiliary positioning plates does not exceed the transverse length of the workpiece 700 to be tested, one side of the auxiliary positioning plate 607 facing the workpiece 700 to be tested is processed with an auxiliary positioning surface, and when the longitudinal sliding table 400 moves to the front end of the test bench 600, the auxiliary positioning surfaces of the auxiliary positioning plates 607 are aligned with the longitudinal positioning surfaces of the longitudinal positioning plates 401 in a coplanar manner.
The second technical solution of the present invention is to provide a full-automatic contact measurement method, which is implemented by using the above full-automatic contact measurement device, and the measurement method is divided into three modes of thickness measurement, length measurement and width measurement, wherein,
the thickness measuring steps are specifically as follows:
(1-1) establishing a coordinate system based on X-axis, Y-axis and Z-axis to return the measuring arm to a safe position (X)0,Y0,Z0) And after the jacking measuring part is lowered to the bottom, a standard workpiece with known size is placed at the measuring position on the longitudinal sliding table 400, and the first thickness measuring position (X) of the standard workpiece is recordedT,YT,ZT) Has a thickness of T0
(1-2) moving the measuring arm and the longitudinal slide 400 so that the Z-contact displacement sensor 307 is at the first thickness measuring position (X)T,YT,ZT) In a ready position just above, i.e. (X)T,YT,ZT+ S) at which time the Z-touch displacement sensor 307 is in contact with the measured position of the master workpieceThe distance of the surface is about S;
(1-3) measuring the vertical descending distance S + P of the arm, enabling the Z-contact type displacement sensor 307 to contact the upper surface of the workpiece and enable a contact head of the Z-contact type displacement sensor to be compressed (the compression amount is about P), simultaneously jacking up the Z + displacement sensor of the measuring part, enabling the contact head of the Z + displacement sensor to contact the lower surface of the standard workpiece, enabling the Z + displacement sensor to be compressed (the compression amount is about P), and respectively recording the compression strokes of the Z-contact type displacement sensor 307 and the Z + contact type displacement sensor 509 as P1、P2
(1-4) lifting the measuring arm, and descending the jacking measuring part to enable the contact heads of the Z-contact type displacement sensor 307 and the Z + contact type displacement sensor 509 to be separated from the surface of the standard workpiece;
(1-5) repeating the steps (1-1) to (1-4), recording the thicknesses of the standard workpieces at the other measuring positions and the compressed strokes of the corresponding Z-contact type displacement sensor 307 and the Z + contact type displacement sensor 509;
(1-6) replacing the standard workpiece with the workpiece 700 to be measured, and obtaining the compressed strokes P of the Z-contact type displacement sensor 307 and the Z + contact type displacement sensor 509 at the first thickness measurement position according to the steps (1-1) to (1-4)1`、P2T, the thickness T of the workpiece 700 between the upper and lower measurement surfaces at the first thickness measurement position is calculated according to a formula0+(P1`-P1)+(P2`-P2);
(1-7) repeating the step (1-6), and recording the compressed strokes of the Z-contact type displacement sensor 307 and the Z + contact type displacement sensor 509 of the workpiece 700 to be measured at the rest measuring positions, namely obtaining the corresponding thicknesses of the rest measuring positions of the workpiece 700 to be measured;
the length measuring steps are specifically as follows:
(2-1) returning the measuring arm to the safety position (X)0,Y0,Z0) And after the lift-up measuring part is lowered to the bottom, the standard workpiece is placed at the measuring position on the longitudinal slide table 400 at two measuring points (X) at the first length measuring positionLR,YL,ZL) And (X)LL,YL,ZL) The length dimension between is known asL0
(2-2) moving the measuring arm and the longitudinal sliding table 400 so that the contact of the X-contact type displacement sensor 308 is at the set measuring point (X)LR,YL,ZL) Right side ready position, i.e. (X)LR+S,YL,ZL) The distance between the contact head of the X-contact type displacement sensor 308 and the measured position surface of the standard workpiece is about S;
(2-3) moving the measuring arm along the X-direction by a distance S + P to enable the contact head of the X-contact type displacement sensor 308 to contact and compress the measured position surface of the standard workpiece (the compression amount is about P), and recording the compression stroke P of the X-contact type displacement sensor 308 at the moment1
(2-4) moving the measuring arm along the X + direction to separate the contact of the X-contact type displacement sensor 308 from the surface of the standard workpiece;
(2-5) moving the measuring arm and the longitudinal sliding table 400 to make the contact of the L + contact type displacement sensor 303 at the set second length measuring position (X)LLYL,ZL) Left ready position, i.e. (X)LL-S,YL,ZL) At this time, the distance between the stylus of the X + contact type displacement sensor 311 and the measured position surface of the standard workpiece is about S;
(2-6) moving the measuring arm along the X + direction by a distance S + P to enable the contact of the X + contact type displacement sensor 311 to contact and compress the measured position surface of the standard workpiece (the compression amount is about P), and recording the compression stroke of the X + contact type displacement sensor 311 at the moment as P2
(2-7) moving the measuring arm along the X-direction to separate a contact of the L + contact type displacement sensor 303 from the surface of the standard workpiece;
(2-8) repeating the steps (2-1) to (2-7), recording the length of the workpiece at other length measuring positions, and recording the X-contact type displacement sensor 308 and the X + contact type displacement sensor 311 at corresponding measuring points;
(2-9) replacing the standard workpiece with the workpiece 700 to be measured, and obtaining the compressed strokes P of the X-contact type displacement sensor 308 and the X + contact type displacement sensor 311 at the first length measuring position according to the steps (2-1) to (2-7)1' and P2All that isObtaining the length dimension L ═ L of the workpiece 700 between two corresponding measuring points at the first length measuring position0+(P1`-P1)+(P2`-P2);
(2-10) repeating the step (2-9), namely measuring the length size values of the rest length measuring positions of the measured workpiece 700;
the width measuring steps are specifically as follows:
(3-1) returning the measuring arm to the safety position (X)0,Y0,Z0) And after the lift-up measuring portion is lowered to the bottom, a standard workpiece of a known size is placed on the longitudinal slide table 400 at the first width measuring position at two measuring points (X) of the first width measuring positionW,YWF,ZW) And (X)W,YWB,ZW) The width dimension between is known as W0
(3-2) the measuring arm and the longitudinal sliding table 400 are arranged so that the contact of the Y + contact type displacement sensor 309 is at the set measuring point (X)W,YWF,ZW) A front ready position, i.e. (X)W,YWF-S,ZW) At this time, the distance between the stylus of the Y + contact displacement sensor 309 and the measured position surface of the workpiece is about S;
(3-3) moving the longitudinal slide table 400 by a distance S + P in the Y-direction so that the feeler of the Y + contact type displacement sensor 309 contacts and compresses the measured position surface of the standard workpiece (the compression amount is about P), and recording the compression stroke of the Y + contact type displacement sensor 309 at this time as P1
(3-4) moving the longitudinal sliding table 400 along the Y + direction to separate the contact of the Y + contact type displacement sensor 309 from the surface of the workpiece 700 to be measured;
(3-5) moving the measuring arm and the longitudinal sliding table 400 so that the stylus of the Y-contact type displacement sensor 310 is at the set measuring point (X)W,YWB,ZW) Rear ready position, i.e. (X)W,YWB+S,ZW) At this time, the distance between the stylus of the Y-touch displacement sensor 310 and the measured position surface of the workpiece is about S;
(3-6) moving the longitudinal slide table 400 by a distance S + P in the Y + direction to move the Y-contact type displacement sensor 3The stylus 10 contacts the measured position surface of the standard workpiece and compresses (approximately P) to record the compression stroke P of the Y-contact displacement sensor 310 at that time2
(3-7) moving the longitudinal sliding table 400 along the Y-direction to separate the contact of the Y-contact type displacement sensor 310 from the surface of the workpiece;
(3-8) repeating the steps (3-1) to (3-7), and recording the width size of the standard workpiece at other width measurement positions and the compressed stroke data of the Y-contact type displacement sensor 310 and the Y + contact type displacement sensor 309 at the corresponding two measurement points;
(3-9) replacing the standard workpiece with the workpiece 700 to be measured, and obtaining the compressed stroke data P of the Y-contact type displacement sensor 310 and the Y + contact type displacement sensor 309 at the first width measuring position according to the steps (3-1) to (3-7)1' and P2"i.e. the width dimension W of the workpiece 700 between two measuring points corresponding to the first width measuring position is W0+(P1`-P1)+(P2`-P2);
(3-10) repeating the step (3-9), namely measuring to obtain the width dimension values of the rest width measuring positions of the measured workpiece 700.
In a specific embodiment of the present invention, two different measurement points on the left and right of a certain measurement position can be synchronously measured by two measurement arms, so that the efficiency of the device can be improved.
In one embodiment of the present invention, the distance P is approximately equal to one-half of the effective measurement stroke of the corresponding touch displacement sensor 303 during the thickness, width and length measurements. The purpose of this step is to make the measuring device tolerate the deviation of the positioning of the workpiece to the greatest possible extent, i.e. the deviation of the positioning of the workpiece can reach a maximum of half the effective compression stroke of the sensor.
In a specific embodiment of the present invention, the value of the distance S is greater than the value of the distance P, and before the measurement, when the contact type displacement sensor 303 is in the preparation position, that is, when the distance S from the surface of the standard workpiece or the measured workpiece 700 is determined, the contact type displacement sensor 303 is moved close to the standard workpiece or the measured workpiece 700 until the distance is P, and during the moving process, if the compression amount of the contact type displacement sensor 303 is detected to be greater than 0, the moving is immediately stopped and the subsequent detection step is exited, and at the same time, it is indicated that the deviation of the placement position of the standard workpiece or the measured workpiece 700 is too large. The purpose of this step is to avoid the possibility of damage caused by collision between the equipment and the detected workpiece due to the deviation of the workpiece placement during measurement, and the maximum allowable deviation safety range is ± P.
In a specific embodiment of the present invention, before measuring the dimension in the length direction, the method further comprises measuring the coordinate position (X)LL-S,YL1,ZL1) And (X)LR+S,YL1,ZL1) Before measuring the width dimension, the step of measuring the coordinate position (X)W1,YWB-S,ZW1) And (X)W1,YWF+S,ZW1) And (4) determining the thickness, and if the Z-displacement sensor contact detects that the compression amount is greater than 0 in the thickness measurement process of the workpieces at the positions, immediately stopping moving and exiting the subsequent steps, and simultaneously prompting that the deviation of the placing positions of the workpieces is too large; the purpose of this step is to avoid the possibility of damage caused by collision between the equipment and the detected workpiece due to the deviation of the workpiece placement during measurement.
In a specific embodiment of the present invention, during the thickness dimension calibration and measurement, the longitudinal sliding table 400 may be moved along the Y direction or the measurement arm may be moved along the X direction, so that the contact of the contact displacement sensor 303 is moved to the next measurement point along the rolling direction of the contact upper roller 304 along the surface of the workpiece 700 to be measured, and the measurement data is recorded;
similarly, in the process of calibrating and measuring the length dimension, the longitudinal sliding table 400 can be moved along the Y direction or the measuring arm can be moved along the Z direction, so that the contact of the contact displacement sensor 303 is moved to the next measuring point along the rolling direction of the contact upper roller 304 along the surface of the workpiece 700 to be measured, and the measured data is recorded;
in the process of calibrating and measuring the width dimension, the method further comprises the steps of moving the measuring arm along the X direction or the Z direction, moving the contact of the contact type displacement sensor 303 to the next measuring point along the rolling direction of the roller 304 on the contact against the surface of the workpiece 700 to be measured, and recording the measured data. On one hand, the purpose of the step is to quickly obtain the data of a plurality of measuring points, save the measuring time and improve the measuring efficiency; on the other hand, the rolling of the roller 304 can smooth burrs on the surface of the workpiece, and the measurement precision is further improved.
In a specific embodiment of the invention, before the thickness dimension calibration and measurement step, the method further comprises the step of actuating the lifting cylinder 314 to eject the piston rod 313 to extend the Z-contact type displacement sensor;
after the thickness dimension calibration and measurement steps 1-4, the method further comprises the steps of enabling the lifting cylinder 314 to act, retracting the piston rod and enabling the Z-contact type displacement sensor to retract; the above embodiments may be implemented individually, or in any combination of two or more.
Example 1:
a typical measurement workpiece is shown in fig. 7, the thickness direction of the measured workpiece 700 is a surface a and a surface B, and 9 measurement points a1-a 9 are arranged oppositely; the length direction is an E surface and an F surface, and four measuring points, namely E3-E6, are oppositely arranged; the direction perpendicular to the E surface and the F surface and pointing to the inner side of the workpiece is marked as L-, and the direction pointing to the outer side of the workpiece is marked as L +; the width direction is a C surface and a D surface, and four measuring points, namely C3-C6, are oppositely arranged; in addition, at the corners of the length and the width of the workpiece, the corners are offset by a certain distance towards the interior of the workpiece in parallel with the length and the width, so that four unfilled corners are formed, the depth of the unfilled corner in the length direction is denoted as the corner length, the depth of the unfilled corner in the width direction is denoted as the corner width, and the corner length and the corner width are collectively referred to as the corner depth, as shown in fig. 7 as E1, E2, C1, C2, F1, F2, C7, C8, E7, E8, D1, D2, F7, F8, D7 and D8; in particular, since a part of the workpiece is divided into an upper layer and a lower layer, the width or length of the lower layer is greater than that of the upper layer, a step shape is formed at the edge of the workpiece, and the step depth needs to be measured. The workpiece is made of a glass fiber reinforced polyurethane foam board, and is cut and molded, and a few air holes with the diameter not more than 4mm and glass fiber burr-shaped protrusions are formed on the surface of the workpiece.
The coordinate system of the full-automatic contact type measuring machine is as follows: the X-axis is defined as the direction in which the measuring arm moves along the beam 103, and with reference to fig. 1, the direction from left to right along the beam 103 is defined as X +; the moving direction of the longitudinal sliding table 400 is defined as the Y direction, and with reference to fig. 1, the direction from front to back along the longitudinal sliding table 400 is Y +; the direction perpendicular to the longitudinal slide table 400 is the Z direction and the vertically upward mode is Z +.
When the workpiece 700 to be measured is placed on the longitudinal sliding table 400, the C surface is attached to the positioning surface of the baffle plate at the front end of the longitudinal sliding table 400, and the transverse position of the measuring point A4-6 is aligned with the contact position of the contact type displacement sensor 303 in the middle.
The full-automatic contact type measuring machine control system comprises a PLC system and the like, wherein the PLC system controls the data acquisition and data calculation of all moving shafts, pneumatic components and sensors of the full-automatic contact type measuring machine; in addition, the system can also comprise upper computer software, and communication with the PLC, establishment of a measuring point measuring sequence, data entry, parameter setting and selection of a measuring formula are realized through the upper computer software; the upper computer software is deployed in the touch screen, and functions of data entry, parameter setting, workpiece type selection, measurement step compilation, measurement result display and the like can be realized through the touch screen.
For the workpiece 700 to be measured, the beam 103 of the full-automatic contact measuring machine provided by this embodiment is provided with two left and right measuring arms, and each measuring arm is provided with four contact displacement sensors 303 in Z-, L-, Y +, and Y-directions. Wherein the L-contact displacement sensors 303 on the two measuring arms are arranged opposite to each other. The middle part of the test bench 600 is provided with three Z + direction contact type displacement sensors 303 along the lower part of the cross beam 103, wherein the middle contact type displacement sensor 303 is fixed in the transverse position, and when the workpiece 700 to be tested is located at the measuring position on the longitudinal sliding table 400, the transverse positions of the measuring points A4-A6 are aligned with the contact position of the middle contact type displacement sensor 303. The contact type displacement sensors 303 on the two sides can move along the traverse guide rail group 605 along with the base, and the X coordinate of the Z + contact type displacement sensor 509 on the right side is aligned with the workpiece measuring points A1-A3, and the X coordinate of the Z + contact type displacement sensor 509 on the left side is aligned with the workpiece measuring points A7-A9 through manual positioning.
The design of whole testing arrangement has following main points:
1) the first measuring arm 201 comprises an upper transverse moving base 203, the upper transverse moving base 203 is movably connected with the cross beam 103 through two linear guide rails arranged in parallel along the cross beam 103, the moving range of the transverse moving base is not less than 1/2 of an effective measuring stroke in the length direction of a workpiece, the moving range of the upper transverse moving base 203 corresponding to the first measuring arm 201 and the second measuring arm 202 on the linear guide rails of the cross beam 103 is limited by a photoelectric limit switch, so that the two measuring arms do not generate mechanical interference when moving on the guide rails, racks are arranged in parallel along the linear guide rails on the cross beam 103, a transverse moving driving assembly 205 is arranged on the upper transverse moving base 203, the first measuring arm 201 further comprises a lifting rod 300, a lifting rack 306 is arranged on the lifting rod 300, a lifting driving assembly 204 is further arranged on the upper transverse moving base 203, the lifting rod 300 is meshed with the lifting driving assembly 204 through the lifting rack 306 and is, the lifting rod 300 is provided with photoelectric limit switches in the Z + and Z-directions, so that the mounting base 312 connected with the lifting rod 300 is ensured not to interfere with the cross beam 103) during the Z + movement and not to interfere with the longitudinal sliding table 400 during the Z-movement; the bottom of the first measuring arm 201 is provided with a mounting base 312; the mounting base 312 is provided with four contact type displacement sensors 303 in Z-, L-, Y + and Y-directions along the measuring direction, the contact type displacement sensors 303 can be elastically compressed in the measuring direction, the contact type displacement sensors 303 are connected to the mounting base 312 through a sensor mounting bracket 301, and the sensor mounting bracket 301 is of a slender overhanging structure; the contact part between the end part of the contact type displacement sensor 303 and the measured object is a straight line or a plane, and the width of the contact part is not less than the diameter size of the air hole on the surface of the workpiece.
2) The second measuring arm 202 is arranged on the cross beam 103 in a mirror image mode with the first measuring arm 201, the two arms are oppositely provided with a contact type displacement sensor 303 along the transverse direction, and the two measuring arms are matched to finish dimension measurement in the length direction.
3) And the displacement sensors arranged on the two measuring arms are of a Keynes GT-A22 cylinder type, the measuring range is 22mm, relative to the GT-H22 sensing head, the GT-A22 retracts the sensing head through a built-in micro cylinder in a non-measuring state, and the micro cylinder ejects the sensing head out in a normal measuring state to finish the measuring work, so that the expensive sensing head is protected from being damaged by collision, and the sensor is protected together with the sensor anti-collision block 302. The end of the contact displacement sensor 303 is further provided with a roller 304, the surface of the roller 304 is cylindrical, and the directions of the central axes of the rollers 304 at the ends of different contact displacement sensors 303 in the same measurement direction are the same.
4) The sensor mounting bracket 301 is also provided with a sensor anti-collision block 302, the contact type displacement sensor 303 is fixedly mounted on the sensor anti-collision block 302, a columnar magnet 305 is arranged in the sensor anti-collision block 302, the sensor anti-collision block 302 is connected with the end part of the sensor mounting bracket 301 through magnetic force, the distance between the sensor anti-collision block 302 and the end part of the contact type displacement sensor 303 is not more than 22mm of the maximum allowable compression amount of the contact type displacement sensor 303, even if the sensor is in relative collision in the direction, the anti-collision block can be ensured to be in a collision state, the sensor also has the capability of being compressed, and the sensor is protected from being damaged by transitional compression. In addition, the distance between the sensor anti-collision block 302 and the end part of the contact displacement sensor 303 needs to be greater than 85% of the maximum allowable compression amount 22mm of the contact displacement sensor 303, namely 18.7mm, so that the sensor has a larger effective measurement range during normal working measurement, and the positioning requirement on a measurement workpiece is relaxed.
5) The lifting rod 300 of the measuring arm is of a hollow structure, the lifting cylinder 314 is arranged in the lifting rod, and the contact type displacement sensor 303 arranged along the vertical downward direction on the measuring arm is connected to the piston rod 313 of the lifting cylinder 314 through the sensor mounting bracket 301, so that the contact type displacement sensor 303 can extend or retract along with the piston rod 313 of the lifting cylinder 314; the piston is equipped with the location dog on the direction of stretching out, and is provided with magnetic switch in that the cylinder is inside, guarantees that displacement sensor targets in place when stretching out at every turn, and the position all is unanimous, avoids atmospheric pressure not enough or because of the cylinder when stretching out completely deviation in position to bring the influence for thickness measurement accuracy.
6) The test bench 600 is also provided with three jacking measuring parts, namely a first jacking measuring part 501, a second jacking measuring part 502 and a third jacking measuring part 503; jacking measuring part sets up in vertical slip table 400 below, and wherein first jacking measuring part 501 and first measuring arm 201 cooperate, and second jacking measuring part 502 and the cooperation of second measuring arm 202, the symmetry sets up respectively in both sides, and third jacking measuring part 503 selects one of first measuring arm 201 and second measuring arm 202 to cooperate according to measuring the demand, and fixed the setting in the middle of vertical slip table 400. Three jacking measurement portion all is equipped with anticollision piece, and its setting mode is unanimous with the sensor anticollision piece 302 of measuring the arm, and the effective measuring range of displacement sensor is guaranteed again to the ability that the sensor still has the compression when guaranteeing to measure jacking portion and bumping in incorrect position.
7) A longitudinal positioning plate 401 and a longitudinal positioning cylinder 402 are oppositely arranged on the longitudinal sliding table 400 along the longitudinal direction, and two longitudinal positioning plates 401 and two longitudinal positioning cylinders 402 are arranged at intervals along the edge of the table top in the transverse direction; the side of the longitudinal positioning plate 401 and the longitudinal positioning cylinder 402 contacting the workpiece is provided with a positioning surface. Still be provided with auxiliary positioning board 607 on the test bench 600, the quantity of auxiliary positioning board 607 is two to the fixed one side that sets up the longitudinal positioning board 401 that is close to vertical slip table 400 at test bench 600, auxiliary positioning board 607 is provided with the locating surface towards work piece one side, the locating surface of two auxiliary positioning boards 607 is in the coplanar, and is parallel with the locating surface of longitudinal positioning board 401, and the interval of auxiliary positioning board 607 is less than the length of work piece, and can not shelter from the last measuring point of work piece width direction.
8) The sensor arrangement of the first and second measuring arms 201 and 202 allows the measurement of the angular length and width of the workpiece; allowing measurement of the step depth in the thickness direction. The overhanging length of the sensor mounting bracket 301 in the angular depth measuring direction is not less than the angular depth measuring range, and the overhanging length of the bracket of the Z-sensor is not less than the step depth measuring range.
The full-automatic contact type measuring machine can measure the length, the width, the thickness and the angular depth and can measure the planeness, the verticality and the straightness at the same time; when measuring the flatness, the positioning position of the measuring arm is precisely required, which is specifically represented as follows:
(1) when the flatness of the thickness (Z) direction is measured, the Z-direction positions of each thickness measuring point on the plane of the thickness direction of the measuring arm are completely consistent, namely the Z coordinates of all the thickness measuring points are completely the same, the flatness is calculated through the compression amount of the displacement sensors at different measuring points, and the compression amount of all the measuring point sensors of an ideal plane is the same.
(2) When the length (L) direction flatness is measured, the L-direction positions of each length measuring point on the length plane of a single measuring arm are completely consistent, namely the X coordinates of all the length measuring points of the same measuring arm are completely the same, and the length direction flatness is calculated through the compression amount of displacement sensors at different measuring points.
(3) When the width (W) direction flatness is measured, the Y coordinates of the longitudinal slide table 400 are kept consistent, and the width direction flatness is calculated by the displacement sensor compression amounts at different measuring points.
The verticality measurement mainly aims at the length, width and angular depth directions, and the specific positioning position requirement is consistent with the position requirement when the flatness is measured; when measuring straightness accuracy, the positioning position to measuring arm, motion parameter have accurate requirement, and the concrete expression is in:
1) when the side or the straight line to be measured is determined, firstly, the direction of the roller 304 of the displacement sensor needs to be corrected, so that the rolling direction of the roller 304 is consistent with the direction of the straight line;
2) controlling the corresponding sensor heads to contact with the workpiece, wherein the compression amount is controlled to be about 1/2 of the maximum compression amount, and the coordinate axis positions in the compression direction need to be kept consistent;
3) the corresponding coordinate axes (X, Y, Z) are controlled to move at a low speed along the linear direction, the sensor compression amount is collected at a certain frequency, and the linearity is calculated through the change of the sensor compression amount.
In order to protect the expensive sensors and avoid the influence of collision damage and sensor damage on the workpiece 700 caused by the placement deviation of the workpiece 700 to be measured, during the dimension measurement, relevant monitoring and probing operations are also executed to predict possible dangerous operations in advance, and the monitoring and probing can be divided into: the method comprises the following steps of single-point measurement exploration, length exploration, width exploration, unfilled corner exploration, thickness step exploration and maximum compression monitoring, and is characterized in that:
1) single point measurement probing: the measurement distance P is approximately equal to one half of the effective measurement stroke of the contact displacement sensor 303, and the distance S is greater than one half of the effective measurement stroke of the sensor, namely P; in the process that the contact of the sensor is slowly positioned to a position which is about P away from the surface of the workpiece at a low speed, if the sensor detects that the compression amount exists, the sensor immediately stops and exits the subsequent steps, and the deviation of the placing position of the workpiece is over large or the deviation of the size of the workpiece is over large, so that the sensor has the compression amount at the position which should not have the compression amount, and the workpiece is contacted; this probing is valid for each station.
2) Length probing: before measuring the dimension in the length direction, the coordinate position (X) is measured by adopting the procedure of measuring the thicknessLL-S,YL1,ZL1) And (X)LR+S,YL1,ZL1) And if the sensor detects that the compression amount exists, the sensor immediately stops and exits the subsequent steps, and simultaneously prompts that the deviation of the placing position of the workpiece is too large. Before the length measurement is carried out, the thickness measurement flow steps are carried out at two sides of the workpiece in the length dimension direction, if the sensor has a compression amount in the probing process, the interference condition of the workpiece exists at the position, and the danger of sensor collision can occur if the subsequent length measurement is carried out.
3) Width probing: before measuring the dimension in the width direction, the coordinate position (X) is measured by the procedure of measuring the thicknessW1,YWB-S,ZW1) And (X)W1,YWF+S,ZW1) And if the sensor detects that the compression amount exists, the sensor immediately stops and exits the subsequent steps, and simultaneously prompts that the deviation of the placing position of the workpiece is too large. Before the width measurement, the thickness measurement process is carried out at two sides of the workpiece in the width dimension direction, if the sensor has a compression amount in the probing process, the interference condition of the workpiece exists at the position, and the danger of sensor collision will occur if the subsequent width measurement is carried out.
4) And (3) unfilled corner exploration: in measuring the angular width or length of a workpiece, the depth of the angle is typically less than the extension of the sensor mounting bracket 301, and sensing is performedThe bumper block 302 has a certain width wd, which is often wider than the contact of the contact displacement sensor 303, so that it is possible that the sensor contact can normally move into the unfilled corner during the corner measurement process, and the sensor bumper block 302 collides with the edge of the unfilled corner due to the width. Referring to FIG. 7, taking the unfilled corners of the measurement points C7, C8, F1 and F2 as an example, the X coordinate of the nominal positions of C7 and C8 is XCAnd the Y coordinates of the F1 and F2 nominal positions are YCThe Z coordinate of the A7 calibration position is ZCThe unfilled corner exploration is to measure the coordinate position (X) by adopting the step flow of measuring the thickness before measuring the width and the length of the cornerC+wd/2,YC+wd/2,ZC) And if the sensor detects that the compression amount exists in the measuring process, the subsequent steps are immediately stopped and quitted, and meanwhile, the deviation of the placing position of the workpiece is over-large or the deviation of the size of the workpiece is prompted. The rest unfilled corner exploration principle is similar, and essentially, whether two planes of a contact head of the sensor contacting the unfilled corner are interfered with the positions with the same height as the thickness measuring point after being respectively shifted inwards by a distance wd/2 or not is used, if interference exists, when the angle length or the angle width is measured, the sensor anti-collision block 302 can collide with a workpiece.
5) Probing the thickness step: because part of the workpiece is divided into an upper layer and a lower layer, the width or the length of the lower layer is larger than that of the upper layer, a step shape is formed at the edge of the workpiece, and the step direction can be positioned in the width direction, namely the X-axis direction, or the length direction, namely the Y-axis direction, according to the measurement requirement of the step size; the principle of exploration is similar to that of unfilled corner exploration, an exploration point is arranged at a position which is deviated outwards by wd/2 distance along the vertical surface of a step, thickness process measurement is carried out by using a thickness calibration position coordinate, if a sensor detects that a compression amount exists in the measurement process, the subsequent step is immediately stopped and quitted, and meanwhile, the situation that the deviation of the placing position of a workpiece is overlarge or the deviation of the size of the workpiece is overlarge is prompted.
6) Monitoring the maximum compression amount: the purpose of this monitoring is to set a maximum detected compression P during which the sensor feeler has contacted the workpiece surface and started to move the compression feeler slowlymaxIf the sensor compression during the movement is greater than PmaxThen immediately stop andand exiting the subsequent step, and simultaneously prompting that the size deviation of the workpiece is overlarge. At calibration, the compression amount of the sensor is kept around 1/2 of the maximum compression amount (22 × 0.5 ═ 11mm), and the constraint of the sensor crash block 302 makes the effective compression amount of the sensor around 85% of the maximum compression amount (22 × 0.85 ═ 18.7mm), so the setting of Pmax needs to satisfy the requirement that 11 < Pmax < 18.7 to satisfy the monitoring of the maximum compression amount, and Pmax is usually set to 17 mm.
In the complete measurement process, after one measuring point is finished, the measurement is required to be automatically transited to the measurement of the next measuring point; from the angle of measurement efficiency, a shortest path method is adopted for measuring point transition, and the concrete transition implementation has two conditions:
1) as shown in FIG. 7, for example, the measurement points of the same type are thickness measurement points A1-A9, length measurement points F3-F6, width measurement points C3-C6, D3-D6, angle depth measurement points C1-C2, C7-C8, D1-D2, D7-D8, E1-E2, E7-E8, F1-F2, and F7-F8, and after the measurement points are completed, the measurement points move to the next point along the direction of the roller 304, and the roller 304 can simultaneously squeeze burrs and simultaneously collect more points.
2) When transition is carried out among different types of measuring points, the measuring points are required to return to the preparation positions, and then the two measuring arms move to the next measuring point to continue measuring after returning to the safe height.
One preferred shortest path measurement point path is as follows, with brackets indicating that two measurement arms are participating in the measurement at the same time, with reference to fig. 7:
a4 → a1(a7) → a1(a7) unfilled corner probe → front width probe → length probe → C3(C5) → C4(C6) → C1 (C1) → E1(F1) → a1(a 1) unfilled corner probe → rear width probe → E1(F1) → E1) → D1 (D1) → D1 (1) → D) → F1 → D) → 1(F1) → E1(F1) → E1) → D1 (F1) → 1 (1).
Figure BDA0002133653800000141
Figure BDA0002133653800000151
The following describes the detailed detection process of the path, and the process is divided into calibration and measurement.
The calibration process of the standard workpiece comprises the following steps:
firstly, the standard size of each measuring point of a calibrated workpiece is recorded into a control system of a full-automatic contact type measuring machine, and then the recording flow of the compression amount of a sensor during calibration is the same as the acquisition flow during workpiece measurement, so that the recording flow and the acquisition flow are explained in the measurement flow.
Measurement flow of the workpiece 700 to be measured:
when the position information of the standard workpiece and the compression information of the displacement sensor are known, the measured workpiece 700 is measured by sequentially moving each coordinate of the full-automatic contact measuring machine to a corresponding position according to the shortest path, recording the corresponding compression of the sensor, and then calculating the corresponding compression of the sensor and the calibrated compression of the sensor to obtain a measured size; the detailed process is shown in the following;
(1) [ readiness ]: the full-automatic contact type measuring machine returns to the original point position, the two measuring arms at the original point position are respectively positioned at the two sides of the cross beam 103, the longitudinal sliding table 400 is positioned at the foremost end, so that the longitudinal sliding table is in the working range of the robot, and the lifting rod 300 rises to the topmost part, so that the longitudinal sliding table does not interfere with the longitudinal platform and the robot;
(2) [ Loading in place ]: after the robot carries the workpiece 700 to be measured to the longitudinal sliding table 400 for positioning and quitting, a feeding completion signal is sent to the full-automatic contact type measuring machine, and then a starting signal is sent;
(3) (completion of positioning and clamping of workpieces): the full-automatic contact type measuring machine receives the starting signal and judges whether the workpiece 700 to be measured exists or not through the material detection switch on the longitudinal sliding table 400; and after the tested workpiece 700 is confirmed to be loaded without errors, the longitudinal positioning air cylinder 402 is controlled to eject, and the tested workpiece 700 is clamped.
(4) [ A4 ready for localization ]: the first measuring arm 201 of the fully automatic contact measuring machine is moved so that the contact of the Z-contact displacement sensor 307 is located at a position directly above the measuring point a4, i.e. (X)A4,YA4,ZA4+ S), the second measuring arm 202 is held atThe current position.
(5) [ sensor reach ] as follows: the piston rod 313 of the first measuring arm 201 is ejected and the Z-contact displacement sensor 307 is ejected by the microcylinder, so that the thickness direction sensor is in a normal operating state.
(6) [ A4 exploration positioning ]: while maintaining the X, Y coordinates of the first measuring arm 201, the first measuring arm 201 moves downward along the Z axis, and the stylus of the Z-contact displacement sensor 307 moves to a position (X) directly above the measuring point a4A4,YA4,ZA4+ P); in this process, if any of the Z-contact displacement sensors 307 of the measuring arms has a compression amount, the movement is immediately stopped and a positional deviation of the workpiece is indicated.
(7) [ A4 measurement positioning ]: keeping the coordinates of the first measuring arm 201X and Y unchanged, moving the first measuring arm 201 downwards along the Z-axis by a distance 2P, and simultaneously ejecting the third lifting measuring part 503 to make the contact of the Z + contact type displacement sensor 509 contact the measuring point B4; in the process, the upper sensor and the lower sensor are about to contact the workpiece, the moving speed of the measuring arm is low, and the sensors are prevented from being in quick contact with the workpiece to generate vibration and impact.
(8) [ A4 debounce ] is: keeping the X, Y and Z coordinates of the first measuring arm 201 unchanged, pausing for a certain time t, and recording the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the first measuring arm 201Z-contact type displacement sensor 307 is recorded as PL1The third lift-up measuring section 503Z + contact displacement sensor 509 has a compression amount PL2(ii) a If the workpiece 700 is measured, the compression amount of the Z-contact displacement sensor 307 of the first measuring arm 201 is recorded as PL1', the compression amount of the Z + contact type displacement sensor 509 of the first lift-up measuring section 501 is denoted as PL2’。
(9) [ A4 size calculation ]: the thickness between A4 and B4 is dimensioned as TA4Calculating the thickness T of the workpiece 700A4’=TA4+(PL1’-PL1)+(PL2’-PL2)。
(10) [ A4 ready for reset ]: the X and Y coordinates of the first measuring arm 201 are kept unchanged, so that the Z-contact type displacement transmission is realizedSensor 307 contact movement to ZA4+ S, while the piston rod 313 of the first measuring arm 201 retracts, the Z-contact displacement sensor 307 micro cylinder retracts, and the first lift-up measuring portion 501 retracts, so that the sensor is separated from the surface of the workpiece 700 to be measured.
(11) [ A1-A7 ready to locate ]: the Z-contact displacement sensor 307 contact of the first measuring arm 201 of the fully automatic contact measuring machine is moved to a position directly above the measuring point a7, i.e. (X)A7,YA7,ZA7+ S), the Z-contact displacement sensor 307 stylus of the second measurement arm 202 moves to a position directly above measurement point a1, i.e. (X)A1,YA1,ZA1+S)。
(12) [ sensor reach ] as follows: the piston rods 313 of the two measuring arms are ejected out, and the Z-contact type displacement sensor 307 is ejected out by the micro cylinder, so that the thickness direction sensor is in a normal working state.
(13) [ A1-A7 exploration positioning ]: while maintaining the X and Y coordinates of the first measuring arm 201, the Z axis of the first measuring arm 201 moves downward, so that the contact of the Z-contact displacement sensor 307 moves to a position (X) directly above the measuring point a7A7,YA7,ZA7+ P); while maintaining the X, Y coordinates of the second measurement arm 202, the second measurement arm 202 moves down along the Z axis, moving the tip of the Z-contact displacement sensor 307 to a position (X) directly above the measurement point a1A1,YA1,ZA1+ P); in this process, if any of the Z-contact displacement sensors 307 of the measuring arms has a compression amount, the movement is immediately stopped and a positional deviation of the workpiece is indicated.
(14) [ A1-A7 survey location ]: keeping the coordinates of the two measuring arms X and Y unchanged, moving the two measuring arms Z downwards in the axial direction by a distance 2P, and simultaneously ejecting the first jacking measuring part 501 and the third jacking measuring part 503 to enable the contact of the Z + contact type displacement sensor 509 to contact with measuring points B7 and B4 respectively; in the process, the upper sensor and the lower sensor are about to contact the workpiece, the moving speed of the measuring arm is low, and the sensors are prevented from being in quick contact with the workpiece to generate vibration and impact.
(15) [ A1-A7 Detrembling pause ]: keeping the X, Y and Z coordinates of the two measuring arms unchanged, pausing for a certain time t, and recording the pressure of the sensor after the data of the sensor is stabilizedShrinkage; in this step, if the standard workpiece is calibrated, the compression amount of the Z-contact displacement sensor 307 of the first measuring arm 201 is recorded as PL1The compression amount of the Z + contact displacement sensor 509 of the first lift-up measuring unit 501 is denoted as PL2(ii) a The Z-contact displacement sensor 307 compression of the second measurement arm 202 is noted as PR1The compression amount of the Z + contact displacement sensor 509 of the second lift-up measuring unit 502 is denoted as PR2(ii) a If the workpiece 700 is measured, the compression amount of the Z-contact displacement sensor 307 of the first measuring arm 201 is recorded as PL1', the compression amount of the Z + contact type displacement sensor 509 of the first lift-up measuring section 501 is denoted as PL2'; the Z-contact displacement sensor 307 compression of the second measurement arm 202 is noted as PR1', the compression amount of the Z + contact type displacement sensor 509 of the second lift-up measuring section 502 is denoted as PR2’。
(16) [ A1-A7 size calculation ]: the thickness between A7 and B7 is dimensioned as TA7The thickness between A1 and B1 is dimensioned as TA1(ii) a Calculating the thickness T of the workpiece 700A7’=TA7+(PL1’-PL1)+(PL2’-PL2),TA1’=TA1+(PR1’-PR1)+(PR2’-PR2)。
(17) [ A1-A7 ready to reset ]: keeping the X and Y coordinates of the first measuring arm 201 unchanged, and moving the contact head of the Z-contact type displacement sensor 307 to ZA7+ S, simultaneously retracting the piston rod 313 of the first measuring arm 201, retracting the micro cylinder of the Z-contact type displacement sensor 307, and retracting the first jacking measuring part 501; keeping the X and Y coordinates of the second measuring arm 202 unchanged, and moving the contact head of the Z-contact type displacement sensor 307 to ZA1+ S, while the piston rod 313 of the second measuring arm 202 retracts, the Z-contact displacement sensor 307 micro cylinder retracts, and the retraction of the second lift-up measuring portion 502 disengages the sensor from the surface of the workpiece 700 under test.
(18) [ A1-A7 unfilled corner exploration ]: the width of the anti-collision block of the full-automatic contact type measuring machine is set as wd, so that the contact head of the Z-contact type displacement sensor 307 of the first measuring arm 201 moves to (X)C7+wd/2,YF1-wd/2), second measurementThe Z-contact displacement sensor 307 contact of the gage arm 202 moves to (X)C1+wd/2,YF1Wd/2), the piston rods 313 of the two measuring arms are ejected, and the micro cylinder of the Z-contact type displacement sensor 307 is ejected, so that the thickness direction sensor is in a normal working state; after the above position is in place, the Z-contact displacement sensor 307 contact of the first measuring arm 201 is moved to ZA7The Z-contact displacement sensor 307 contact of the second measurement arm 202 moves to ZA1(ii) a This step investigates whether or not there is a missing corner and the dimension is within range, and if any of the measurement arm's Z-contact displacement sensors 307 has an amount of compression, then the motion is immediately stopped and a workpiece position deviation is indicated.
(19) [ A1-A7 unfilled corner exploration reduction ]: keeping the X and Y coordinates of the two measuring arms unchanged, so that the contact head of the first measuring arm 201(201) Z-contact type displacement sensor 307 moves to ZA7+ S, the Z-contact displacement sensor 307 stylus of the second measurement arm 202 moves to ZA1+S。
(20) [ front width exploration ] of the image: the sensor mounting bracket 301 of the full-automatic contact measuring machine is set to have a width wid, so that the contact of the Z-contact displacement sensor 307 of the first measuring arm 201 moves to (X)C5,YC5Wid + P), the Z-contact displacement sensor 307 contact of the second measuring arm 202 moves to (X)C3,YF1-wd/2); after the above position is in place, the Z-contact displacement sensor 307 contact of the first measuring arm 201 is moved to ZA7The Z-contact displacement sensor 307 contact of the second measurement arm 202 moves to ZA1(ii) a This step probes whether the width dimension is within range and if any of the measurement arm's Z-contact displacement sensors 307 has an amount of compression, the motion is immediately stopped and a workpiece position deviation is indicated.
(21) [ front width exploration and reduction ]: keeping the X and Y coordinates of the two measuring arms unchanged, and moving the contact head of the Z-contact type displacement sensor 307 of the first measuring arm 201 to ZA7+ S, the Z-contact displacement sensor 307 stylus of the second measurement arm 202 moves to ZA1+S。
(22) Length exploration: extension of sensor mounting bracket 301 with fully automatic contact measuring machineWidth wid, moving the Z-contact displacement sensor 307 contact of the first measuring arm 201 to (X)F3-wid+P,YF3) Upward, the Z-contact displacement sensor 307 contact of the second measurement arm 202 moves to (X)E3-wid+P,YF3) An upper part; after the above position is in place, the Z-contact displacement sensor 307 contact of the first measuring arm 201 is moved to ZA7The Z-contact displacement sensor 307 contact of the second measurement arm 202 moves to ZA1(ii) a This step probes whether the length dimension is within range and if any of the measurement arm's Z-contact displacement sensors 307 has a compression, the motion is immediately stopped and a workpiece position deviation is indicated.
(23) Length exploration reset: keeping the X and Y coordinates of the two measuring arms unchanged, and moving the contact head of the Z-contact type displacement sensor 307 of the first measuring arm 201 to ZA7+ S, the Z-contact displacement sensor 307 stylus of the second measurement arm 202 moves to ZA1+S。
(24) [ C3-C5 preparatory localization ]: the contact head of the Z-contact displacement sensor 307 of the first measuring arm 201 of the full-automatic contact measuring machine moves to (X)C5,YC5+ S), the Z-contact displacement sensor 307 stylus of the second measurement arm 202 moves to (X)C3,YC5+ S) above; after the above position is in place, the Z-contact displacement sensor 307 contact of the first measuring arm 201 is moved to ZC5The Z-contact displacement sensor 307 contact of the second measurement arm 202 moves to ZC3And the two measuring arms Y + displacement sensor micro cylinder are ejected out.
(25) [ C3-C5 exploration positioning ]: the longitudinal slide table 400 is moved to move the Y + contact displacement sensor 309 contact of the first measurement arm 201 to a position just in front of the measurement point C5 (X) while keeping the X and Z coordinates of the two measurement arms unchangedC5,YC5+ P), the Y + contact displacement sensor 309 stylus of the second measuring arm 202 moves to a position (X) directly in front of the measuring point C3C3,YC3+ P); in this process, if any of the measuring arms Y + contact displacement sensors 309 has a compression amount, the movement is immediately stopped, and a positional deviation of the workpiece is indicated.
(26) [ C3-C5 survey positioning ]: keeping the coordinates of the X and Z of the two measuring arms unchanged, and moving the longitudinal sliding table 400 to enable the Y axes of the two measuring arms to move backwards by a distance 2P; in the process, the Y + sensor is about to contact the workpiece, the moving speed of the measuring arm is low, and the sensor is prevented from being in quick contact with the workpiece to generate vibration and impact.
(27) [ C3-C5 Detrembling pause ]: keeping the X, Y and Z coordinates of the two measuring arms unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the Y + contact displacement sensor 309 of the first measuring arm 201 is recorded as PL1The compression of the Y + contact displacement sensor 309 of the second measuring arm 202 is denoted as PR1(ii) a If the workpiece 700 is measured, the compression amount of the Y + contact displacement sensor 309 of the first measurement arm 201 is denoted as PL1', the compression of the Y + contact displacement sensor 309 of the second measuring arm 202 is denoted as PR1'. Note that the measurement of the D-plane has not yet begun, so the width dimension cannot be calculated at this time, and assuming that the measurement of the D-plane is in progress, the amount of compression of the Y-touch displacement sensor 310 of the first measurement arm 201 when the calibration is performed on the standard workpiece is denoted as PL2The compression of the Y-contact displacement sensor 310 of the second measurement arm 202 is denoted as PR2(ii) a When the workpiece 700 is measured, the compression amount of the Y-contact displacement sensor 310 of the first measuring arm 201 is denoted as PL2', the compression of the Y-contact displacement sensor 310 of the second measuring arm 202 is denoted as PR2’。
(28) [ C3-C5 size calculation ] the width between C5 and D5 is scaled by TC5Calculating the width T of the workpiece 700C5’=TC5+(PL1’-PL1)+(PL2’-PL2) (ii) a The width between C3 and D3 is scaled by TC3Calculating the width T of the workpiece 700C3’=TC3+(PR1’-PR1)+(PR2’-PR2)。
(29) [ C3-C5 Ready to reposition ]: keeping the X and Z coordinates of the two measuring arms unchanged, moving the longitudinal sliding table 400 to enable the contact of the Y + contact type displacement sensor 309 of the two measuring arms to move to YC5+ S or YC3+ S, two measuring arms YAnd the + displacement sensor micro cylinder retracts.
(30) [ C4-C6 Measure ] measure the measurement points of the C4, C6 front broadside with reference to (24) - (29), and return to the ready position.
(31) [ C1-C7 measurement ] the angular widths of C1, C7 were measured with reference to (24) - (29) and returned to the ready position. The calculation method of the angular width comprises the following steps: c1 nominal angular width dimension WCC1The compression amount in calibration is PCRThe compression amount during measurement is PCR'; c7 nominal angular width dimension WCC7The compression amount in calibration is PCLThe compression amount during measurement is PCL'. Combining with the step 0, the angular width dimension WC of the workpiece 700 to be measured is calculatedC1’=WCC1+(PCR’-PCR)-(PL1’-PL1),WCC7’=WCC7+(PCL’-PCL)-(PL1’-PL1)。
(32) [ C2-C8 Measure ] the angular widths of C2, C8 are measured with reference to (24) - (29), and back to the ready position, the calculation result is referred to step 0.
(33) [ E1-F1 Measure ] the angular lengths of E1 and F1 are measured with reference to (35) - (40), and returned to the ready position, and the calculation result is referred to step 0.
(34) [ E2-F2 Measure ] the angular lengths of E2 and F2 are measured with reference to (35) - (40), and returned to the ready position, and the calculation result is referred to step 0.
(35) [ E3-F3 ready to position ] the L-contact displacement sensor 303 stylus of the first measuring arm 201 of the fully automatic contact measuring machine moves to (X)F3-S,YF3) Upward, the L-contact displacement sensor 303 contact of the second measurement arm 202 moves to (X)E3+S,YE3) An upper part; after the position is in place, the contact of the L-contact displacement sensor 303 of the first measuring arm 201 is moved to ZF3The contact of the L-contact displacement sensor 303 of the second measuring arm 202 moves to ZE3And the L-displacement sensor micro cylinder with two measuring arms is ejected out.
(36) [ E3-F3 exploration positioning ]: the contact of the L-contact type displacement sensor 303 of the first measuring arm 201 moves to the X position while the X and Z coordinates of the two measuring arms are kept unchangedF3P, L-contact displacement transmission of the second measuring arm 202Sensor 303 contact moving to XE3+ P; in this process, if any one of the L-contact displacement sensors 303 of the two measuring arms has a compression amount, the movement is immediately stopped, and a positional deviation of the workpiece is indicated.
(37) [ E3-F3 survey positioning ]: keeping the coordinates of the X and Z of the two measuring arms unchanged, moving the contact of the L-contact type displacement sensor 303 of the first measuring arm 201 to the right by 2P, and moving the contact of the L-contact type displacement sensor 303 of the second measuring arm 202 to the left by 2P; in the process, the L-shaped sensors of the two measuring arms are about to contact the workpiece, and the moving speed of the measuring arms is low, so that the sensors are prevented from rapidly contacting the workpiece to generate vibration and impact.
(38) [ E3-F3 Detrembling pause ]: keeping the X, Y and Z coordinates of the two measuring arms unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the first measuring arm 201(201) and the L-contact type displacement sensor 303 is recorded as PL1The compression of the L-contact displacement sensor 303 of the second measuring arm 202 is denoted as PR1(ii) a If the workpiece 700 is measured, the compression amount of the L-contact displacement sensor 303 of the first measuring arm 201 is recorded as PL1', the compression of the L-contact displacement sensor 303 of the second measuring arm 202 is denoted as PR1’。
(39) [ E3-F3 size calculation ]: e3 and F3 have length LE3Calculating the length L of the workpiece 700E3’=TE3+(PL1’-PL1)+(PL2’-PL2)。
(40) [ E3-F3 ready to reset ]: keeping the Y and Z coordinates of the two measuring arms unchanged, the contact of the L-contact type displacement sensor 303 of the first measuring arm 201 moves to the X positionF3S, the contact of the L-contact displacement sensor 303 of the second measuring arm 202 moves to XE3+ S; and the L-displacement sensor micro air cylinders of the two measuring arms retract.
(41) [ E4-F4 measurement ] the E4, F4 length dimensions were measured with reference to (35) - (40) and returned to the ready position.
(42) [ A2-A8 measurement ] A2 is measured with reference to (11) - (17), the A8 thickness dimension, and returned to the ready position.
(43) [ A5 measurement ] A5 thickness dimension was measured with reference to (4) - (10) and returned to the ready position.
(44) [ A6 measurement ] A6 thickness dimension was measured with reference to (4) - (10) and returned to the ready position.
(45) [ A3-A9 measurement ] A3 is measured with reference to (11) - (17), the A9 thickness dimension, and returned to the ready position.
(46) [ A3-A9 unfilled corner exploration ] unfilled corner exploration is performed with reference to (18) - (19), and is returned to the ready position.
(47) Width probing after [ width probing ] refers to (20) - (21) for width probing and returns to the ready position.
(48) Reference (35) - (40) amounts E5, F5 length dimension, and back to ready position [ E5-F5 measure ].
(49) [ E6-F6 measurement ] measure E6, F6 length dimension with reference to (35) - (40), and return to the ready position.
(50) [ E7-F7 Measure ] measure E7, F7 angular length dimension with reference to (35) - (40), and return to the ready position.
(51) [ E8-F8 Measure ] measure E8, F8 angular length dimension with reference to (35) - (40), and return to the ready position.
(52) [ D1-D7 Measure D1 with reference to (54) - (58), the D7 angular width dimension, and return to the ready position.
(53) [ D2-D8 Measure D2 with reference to (54) - (58), the D8 angular width dimension, and return to the ready position.
(54) [ D3-D5 preparatory localization ]: the contact head of the Z-contact displacement sensor 307 of the first measuring arm 201 of the full-automatic contact measuring machine moves to (X)D5,YD5S) above, the Z-contact displacement sensor 307 feeler of the second measuring arm 202 moves to (X)D3,YD3-S) above; after the above position is in place, the Z-contact displacement sensor 307 contact of the first measuring arm 201 is moved to ZD5The Z-contact displacement sensor 307 contact of the second measurement arm 202 moves to ZD3And the Y-displacement sensor micro cylinder with two measuring arms is ejected out.
(55) [ D3-D5 exploration positioning ]: keeping the X and Z coordinates of the two measuring arms unchanged, moving the longitudinal sliding table 400 to enable the Y-contact type displacement sensor 310 contact of the first measuring arm 201 to moveTo a position (X) right behind the measuring point D5D5,YD5P), the Y-contact displacement sensor 310 stylus of the second measuring arm 202 moves to a position (X) directly in front of the measuring point D3D3,YD3-P); in the process, if any one of the Y-contact displacement sensors 310 of the measuring arm has a compression amount, the movement is stopped immediately, and the position deviation of the workpiece is indicated.
(56) [ D3-D5 survey positioning ]: keeping the coordinates of X and Z of the two measuring arms unchanged, and moving the longitudinal sliding table 400 to enable the two measuring arms Y to move forwards by a distance 2P in the axial direction; in the process, the Y-sensor is about to contact the workpiece, the moving speed of the measuring arm is low, and the sensor is prevented from rapidly contacting the workpiece to generate vibration and impact.
(57) [ D3-D5 Detrembling pause ]: keeping the X, Y and Z coordinates of the two measuring arms unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the Y-contact displacement sensor 310 of the first measuring arm 201 is recorded as PL2The compression of the Y-contact displacement sensor 310 of the second measurement arm 202 is denoted as PR2(ii) a If the workpiece 700 is measured, the compression amount of the Y-contact displacement sensor 310 of the first measuring arm 201 is denoted as PL2', the compression of the Y-contact displacement sensor 310 of the second measuring arm 202 is denoted as PR2', size calculation reference step (27).
(58) [ D3-D5 ready to reset ]: keeping the X and Z coordinates of the two measurement arms unchanged, moving the longitudinal sliding table 400 to move the contact of the Y-contact displacement sensor 310 of the two measurement arms to YD5-S or YD3-S, two measuring arms Y-displacement sensor micro cylinder retraction.
(59) Reference to (54) - (58) measures D4, D6 width dimension, and returns to the ready position [ D4-D6 measure ].
(60) [ Return to origin ]: after the measurement of all the measuring points is finished, the Z axes of the two measuring arms return to the original point position; after the workpiece is in place, the X axes of the two measuring arms return to the original point position, the longitudinal sliding table 400 returns to the original point position, the positioning air cylinder retracts, and the workpiece is loosened.
(61) Robot blanking sends a blanking instruction to a robot and waits for the completion of the robot blanking. And (3) after the robot finishes blanking, returning to the step (1) to wait for the next workpiece feeding and measurement.
Example 2
A single measuring arm is arranged on the beam 103 of the full-automatic contact type measuring machine, and five contact type displacement sensors 303 in Z-, L +, L-, Y + and Y-directions are arranged on the measuring arm. The middle of the rack is provided with a jacking measuring part, the jacking measuring part further comprises a transverse moving driving assembly 205, and the transverse moving driving assembly 205 adopts a servo motor to drive the jacking measuring part to accurately position any measuring point of the B surface of the workpiece in the length range of the workpiece along the X-direction transverse moving guide rail group 605. The jacking measuring part is provided with a Z + direction contact type displacement sensor 303. The workpiece is made of a pine board, and is cut and formed, and a few air holes with the diameter not more than 4mm and burr-shaped protrusions of wood fibers are formed in the surface of the pine board.
The upper part of the first measuring arm 201 is identical to that of embodiment 1 except that five contact type displacement sensors 303 in total are arranged on the mounting base 312 along the measuring direction, wherein the L-direction is along the X-direction and the L + direction is along the X + direction.
The beam 103 of the full-automatic contact type measuring machine is provided with a single measuring arm to complete the measurement of all measuring points.
The arrangement and requirements of the displacement sensors on the measuring arm correspond exactly to those of example 1.
The sensor mounting bracket 301 is provided with a sensor crash block 302) arranged and required in reference to embodiment 1.
A sensor bracket is mounted on the lifting rod 300 of the measuring arm, and a Z-contact type displacement sensor 307 is fixedly mounted on the sensor bracket.
The test bench 600 is further provided with a third jacking measuring part 503 which is arranged in the middle of the longitudinal sliding table 400, the jacking measuring part is driven by a servo motor and can move and be positioned along the transverse moving guide rail group 605 (the positioning range is between two guide rails of the longitudinal sliding table 400), and is matched with the measuring arm to complete thickness measurement, and the thickness measurement range needs to be within the moving range of the jacking measuring part. Jacking measuring part is equipped with anticollision piece, and its setting mode is unanimous with measuring arm sensor anticollision piece 302, and the effective measuring range of displacement sensor is guaranteed again to the ability that the sensor still compressed when guaranteeing to measure jacking part and bumping in incorrect position.
The longitudinal positioning plate 401 and the longitudinal positioning cylinder 402 provided longitudinally opposite to each other on the longitudinal slide table 400 are the same as those of embodiment 1. Please refer to example 1 for the measurement of the angular width and the angular length of the sensor of the first measuring arm 201. Please refer to example 1 for measuring flatness, verticality and straightness of a full-automatic contact measuring machine. Reference is made to example 1 for the operation of monitoring probing during dimensional measurement. In the complete measurement process, after one measuring point is finished, the measurement is required to be automatically transited to the measurement of the next measuring point; from the angle of measurement efficiency, a shortest path method is adopted for measuring point transition, and the specific implementation has two conditions:
(1) as shown in FIG. 7, for example, the measurement points of the same type are thickness measurement points A1-A9, length measurement points F3-F6, width measurement points C3-C6, D3-D6, angle depth measurement points C1-C2, C7-C8, D1-D2, D7-D8, E1-E2, E7-E8, F1-F2, and F7-F8, and after the measurement points are completed, the measurement points move to the next point along the direction of the roller 304, and the roller 304 can simultaneously squeeze burrs and simultaneously collect more points.
(2) When transition is carried out among different types of measuring points, the measuring points are required to return to the preparation positions, and then the two measuring arms move to the next measuring point to continue measuring after returning to the safe height.
One preferred shortest path measurement path is as follows, with reference to fig. 7:
a7 unfilled corner exploration → a7 → a4 → a1 → a1 unfilled corner exploration → E3 → E4 → E1 → E2 → C1 → F1 → a1 → F1 → D1 → E1 → end of measurement.
The following describes the detailed detection process of the path, and the process is divided into calibration and measurement.
The calibration process of the standard workpiece comprises the following steps:
firstly, the standard size of each measuring point of a calibrated workpiece is recorded into a control system of a full-automatic contact type measuring machine, and then the recording flow of the compression amount of a sensor during calibration is the same as the acquisition flow during workpiece measurement, so that the recording flow and the acquisition flow are explained in the measurement flow.
Measurement flow of the workpiece 700 to be measured:
when the position information of the standard workpiece and the compression information of the displacement sensor are known, the measured workpiece 700 is measured by sequentially moving each coordinate of the full-automatic contact measuring machine to a corresponding position according to the shortest path, recording the corresponding compression of the sensor, and then calculating the corresponding compression of the sensor and the calibrated compression of the sensor to obtain a measured size;
the detailed process is shown as follows:
(1) [ readiness ]: the full-automatic contact type measuring machine returns to the original point position, the first measuring arm 201 is positioned on the left side of the cross beam 103 at the original point position, the longitudinal sliding table 400 is positioned at the foremost end, the longitudinal sliding table is positioned in the working range of the robot, the lifting rod 300 rises to the topmost part, the lifting rod and the platform are enabled to be free of interference, and the robot is prevented from interfering;
(2) [ Loading in place ]: after the robot carries the workpiece to the longitudinal sliding table 400 for positioning and quitting, a feeding completion signal is sent to the full-automatic contact type measuring machine, and then a starting signal is sent;
(3) (completion of positioning and clamping of workpieces): the full-automatic contact type measuring machine receives the starting signal and judges whether the workpiece 700 to be measured exists or not through the material detection switch on the longitudinal sliding table 400; and after the tested workpiece 700 is confirmed to be loaded without errors, the longitudinal positioning air cylinder 402 is controlled to eject, and the tested workpiece 700 is clamped.
(4) [ A7 unfilled corner exploration ]: the width of the anti-collision block of the full-automatic contact type measuring machine is set as wd, so that the contact head of the Z-contact type displacement sensor 307 of the first measuring arm 201 moves to (X)C7+wd/2,YF1-wd/2); moving the Z-contact displacement sensor 307 stylus of the first measurement arm 201 to ZA7(ii) a This step investigates whether or not there is a missing corner and the dimension is within range, and if there is a compression on the Z-contact displacement sensor 307 of the measuring arm, the motion is immediately stopped and a workpiece position deviation is indicated.
(5) [ A7 unfilled corner exploration reset ]: keeping the X and Y coordinates of the first measuring arm 201 unchanged, and moving the contact head of the Z-contact type displacement sensor 307 of the first measuring arm 201 to ZA7+S。
(6) [ A7 ready for localization ]: the Z-contact displacement sensor 307 contact of the first measuring arm 201 of the fully automatic contact measuring machine is moved to a position directly above the measuring point a7, i.e. (X)A7,YA7,ZA7+ S), the third lift-up measuring portion 503 moves to XA7
(7) [ sensor reach ] as follows: the micro cylinder of the Z-contact displacement sensor 307 is ejected out so that the thickness direction sensor is in a normal working state.
(8) [ A7 exploration positioning ]: while maintaining the X, Y coordinates of the first measuring arm 201, the first measuring arm 201 moves downward along the Z axis, and the contact of the Z-contact displacement sensor 307 moves to a position (X) directly above the measuring point a7A7,YA7,ZA7+ P); in this process, if the Z-contact displacement sensor 307 of the measuring arm has a compression amount, the movement is immediately stopped and a positional deviation of the workpiece is indicated.
(9) [ A7 measurement positioning ]: keeping the coordinates of the first measuring arm 201X and the Y unchanged, moving the first measuring arm 201Z axially downward by a distance 2P, and simultaneously ejecting the third jacking measuring part 503; in the process, the upper sensor and the lower sensor are about to contact the workpiece, the moving speed of the measuring arm is low, and the sensors are prevented from being in quick contact with the workpiece to generate vibration and impact.
(10) [ A7 debounce ] is: keeping the X, Y and Z coordinates of the first measuring arm 201 unchanged, pausing for a certain time t, and recording the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the first measuring arm 201Z-contact type displacement sensor 307 is recorded as PL1The compression amount of the Z + contact displacement sensor 509 of the third lift-up measuring unit 503 is denoted as PL2(ii) a If the workpiece 700 is measured, the compression amount of the Z-contact displacement sensor 307 of the first measuring arm 201 is recorded as PL1', the compression amount of the Z + contact type displacement sensor 509 of the first lift-up measuring section 501 is denoted as PL2’。
(11) [ A7 size calculation ]: the thickness between A7 and B7 is dimensioned as TA7Calculating the thickness T of the workpiece 700A7’=TA7+(PL1’-PL1)+(PL2’-PL2)。
(12) [ A7 ready for reset ]: keeping the X and Y coordinates of the first measuring arm 201 unchanged, and moving the contact head of the Z-contact type displacement sensor 307 to ZA7The micro cylinder of the + S, Z-contact displacement sensor 307 retracts, and the third jacking measurement part 503 retracts, so that the sensor is separated from the surface of the workpiece 700 to be measured.
(13) [ A4 measurement ]: the thickness of a4 was measured with reference to (6) - (12) and returned to the ready position.
(14) [ A1 measurement ]: the thickness of a1 was measured with reference to (6) - (12) and returned to the ready position.
(15) [ A1 unfilled corner exploration ]: the width of the anti-collision block of the full-automatic contact type measuring machine is set as wd, so that the contact head of the Z-contact type displacement sensor 307 of the first measuring arm 201 moves to (X)C1-wd/2,YF1-wd/2); moving the Z-contact displacement sensor 307 stylus of the first measurement arm 201 to ZA7(ii) a This step investigates whether or not there is a missing corner and the dimension is within range, and if there is a compression on the Z-contact displacement sensor 307 of the measuring arm, the motion is immediately stopped and a workpiece position deviation is indicated.
(16) [ A1 unfilled corner exploration reset ]: keeping the X and Y coordinates of the first measuring arm 201 unchanged, and moving the contact head of the Z-contact type displacement sensor 307 of the first measuring arm 201 to ZA1+S。
(17) [ E3 ready for positioning ] the L-contact displacement sensor 303 of the first measuring arm 201 of the fully automatic contact measuring machine moves to (X)E3+S,YE3) An upper part; after the position is in place, the contact of the L-contact displacement sensor 303 of the first measuring arm 201 is moved to ZE3And ejecting out the micro cylinder of the L-displacement sensor of the measuring arm.
(18) [ E3 exploration localization ]: the contact of the L-contact displacement sensor 303 of the first measuring arm 201 moves to the X position while keeping the Y and Z coordinates of the measuring arm unchangedE3+ P; in this process, if the L-contact displacement sensor 303 of the measuring arm has compressionAnd if so, immediately stopping the movement and prompting the position deviation of the workpiece.
(19) [ E3 measurement location ]: keeping the coordinates of the measuring arm Y and the coordinate of the measuring arm Z unchanged, and moving the contact of the L-contact type displacement sensor 303 of the first measuring arm 201 leftwards by 2P; in the process, the L-contact displacement sensor 303 of the first measuring arm 201 is about to contact the workpiece, and the moving speed of the measuring arm is slow, so that the sensor is prevented from rapidly contacting the workpiece to generate vibration and impact.
(20) [ E3 debounce ] in: keeping the X, Y and Z coordinates of the measuring arm unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the L-contact displacement sensor 303 of the first measuring arm 201 is recorded as PL1(ii) a If the workpiece 700 is measured, the compression amount of the L-contact displacement sensor 303 of the first measuring arm 201 is recorded as PL1'. At this time, since the length measurement point F3 corresponding to E3 has not been measured yet, the calculation cannot be performed temporarily, and assuming that F3 is measured, when the standard workpiece is calibrated, the amount of compression of the first measurement arm 201L + contact displacement sensor 303 is denoted as PL2(ii) a If the workpiece 700 is measured, the compression amount of the first measuring arm 201L + contact displacement sensor 303 is recorded as PL2’。
(21) [ E3 size calculation ]: e3 and F3 have length LE3Calculating the length L of the workpiece 700E3’=TE3+(PL1’-PL1)+(PL2’-PL2)。
(22) [ E3 ready for reset ]: keeping the Y and Z coordinates of the two measuring arms unchanged, and moving the contact of the first measuring arm 201L-contact type displacement sensor 303 to the X positionE3+ S, the first measuring arm 201L-displacement sensor microcylinder retracts.
(23) [ E4 measurement ]: references (17) - (22) measure the length of E4 and return to the ready position.
(24) [ E1 ready for localization ]: the contact of the L-contact displacement sensor 303 of the first measuring arm 201 of the full-automatic contact measuring machine moves to (X)E1+S,YE1) An upper part; after the above-mentioned position is in place, the first measuring arm 20 is brought into position1L-contact displacement sensor 303 contact moves to ZE1And ejecting out the micro cylinder of the L-displacement sensor of the measuring arm.
(25) [ E1 exploration localization ]: the contact of the L-contact displacement sensor 303 of the first measuring arm 201 moves to the X position while keeping the Y and Z coordinates of the measuring arm unchangedE1+ P; in this process, if the L-contact displacement sensor 303 of the measuring arm has a compression amount, the movement is immediately stopped and a positional deviation of the workpiece is indicated.
(26) [ E1 measurement location ]: keeping the coordinates of the measuring arm Y and the coordinate of the measuring arm Z unchanged, and moving the contact of the L-contact type displacement sensor 303 of the first measuring arm 201 leftwards by 2P; in this process, the L-displacement sensor of the first measuring arm 201 is about to contact the workpiece, and the moving speed of the measuring arm is slow, so as to prevent the sensor from contacting the workpiece quickly to generate vibration and impact.
(27) [ E1 debounce ] in: keeping the X, Y and Z coordinates of the measuring arm unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the L-contact displacement sensor 303 of the first measuring arm 201 is recorded as PLC1(ii) a If the workpiece 700 is measured, the compression amount of the L-touch type displacement sensor 303 of the first measurement arm 201 is expressed as PLC1’。
(28) [ E1 size calculation ]: the angular length of E1 is scaled to LCE1If the calibration process is performed, the compression amount during calibration is PCIf it is a measurement process, the compression amount during measurement is PC'; in conjunction with step (20), the angular width dimension LC of the workpiece 700 under test is calculatedE1’=LCE1+(PC’-PC)-(PL1’-PL1)。
(29) [ E1 ready for reset ]: keeping the Y and Z coordinates of the two measuring arms unchanged, the contact of the L-contact type displacement sensor 303 of the first measuring arm 201 moves to the X positionE1+ S, the first measuring arm 201L-displacement sensor microcylinder retracts.
(30) [ E2 measurement ]: the dimension of the angular length of E2 is measured with reference to (24) - (29) and returned to the ready position.
(31) C1 ready to locate: second of full-automatic contact type measuring machineThe contact of the Y + contact displacement sensor 309 of a measuring arm 201 moves to (X)C1,YC1+ S) above; after the position is in place, the contact of the Y + contact displacement sensor 309 of the first measuring arm 201 is moved to ZC1And ejecting out the miniature cylinder of the measuring arm Y + displacement sensor.
(32) [ C1 exploration positioning ]: the Y + contact type displacement sensor 309 contact of the first measuring arm 201 moves to Y while maintaining the X and Z coordinates of the measuring arm unchangedC1+ P; in this process, if the Y + contact displacement sensor 309 of the measuring arm has a compression amount, the movement is immediately stopped and a positional deviation of the workpiece is indicated.
(33) [ C1 measurement and positioning ]: keeping the coordinates of the measuring arms X and Z unchanged, and moving the contact of the Y + contact type displacement sensor 309 of the first measuring arm 201 forward by 2P; in the process, the Y + displacement sensor of the first measuring arm 201 is about to contact with the workpiece, and the moving speed of the measuring arm is low, so that the sensor is prevented from rapidly contacting with the workpiece to generate vibration and impact.
(34) [ C1 debounce ] in: keeping the X, Y and Z coordinates of the measuring arm unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the Y + contact type displacement sensor 309 of the first measuring arm 201 is recorded as PC; when the workpiece 700 is measured, the compression amount of the Y + contact displacement sensor 309 of the first measurement arm 201 is denoted as PC'.
(35) [ C1 size calculation ]: c1 Angle Width is dimensioned WCC1The angular width size of C1 needs the information of the C3 measuring point, and the angular width data is insufficient and cannot be calculated at this moment; assuming that the standard workpiece is calibrated at the measuring point C3, the compression amount of the Y + contact type displacement sensor 309 of the first measuring arm 201 is recorded as PL1(ii) a If the workpiece 700 is measured, the compression amount of the Y + contact displacement sensor 309 of the first measurement arm 201 is denoted as PL1'; calculation method WC of C1 angular widthC1’=WCC1+(PC’-PC)-(PL1’-PL1)。
(36) [ C1 ready to reset ]: y + contact type displacement sensing of the first measuring arm 201 by keeping the Y and Z coordinates of the two measuring arms unchangedContact of the device 309 moves to YC1+ S, the Y + displacement sensor microcylinder on the first measurement arm 201 retracts.
(37) [ C2 measurement ]: references (31) - (36) measure the angular width of C2 and return to the ready position.
(38) C3 ready to locate: the contact of the Y + contact displacement sensor 309 of the first measuring arm 201 of the fully automatic contact measuring machine moves to (X)C3,YC3+ S) above; after the position is in place, the contact of the Y + contact displacement sensor 309 of the first measuring arm 201 is moved to ZC3And ejecting out the miniature cylinder of the measuring arm Y + displacement sensor.
(39) [ C3 exploration positioning ]: the Y + contact type displacement sensor 309 contact of the first measuring arm 201 moves to Y while maintaining the X and Z coordinates of the measuring arm unchangedC3+ P; in this process, if the Y + contact displacement sensor 309 of the measuring arm has a compression amount, the movement is immediately stopped and a positional deviation of the workpiece is indicated.
(40) [ C3 measurement and positioning ]: keeping the coordinates of the measuring arms X and Z unchanged, and moving the contact of the Y + contact type displacement sensor 309 of the first measuring arm 201 forward by 2P; in the process, the Y + displacement sensor on the first measuring arm 201 is about to contact with the workpiece, and the moving speed of the measuring arm is low, so that the sensor is prevented from rapidly contacting with the workpiece to generate vibration and impact.
(41) [ C3 debounce ] in: keeping the X, Y and Z coordinates of the measuring arm unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the Y + contact displacement sensor 309 on the first measurement arm 201 is recorded as P1(ii) a If the workpiece 700 is measured, the compression amount of the Y + contact type displacement sensor 309 on the first measuring arm 201 is recorded as P1’。
(42) [ C3 size calculation ]: the width of C3 is designated as WC3The width size of C3 needs the information of the D3 measuring point, and the angular width data is insufficient and cannot be calculated at this time; assuming that the standard workpiece is calibrated by the measuring point D3, the compression amount of the Y-contact type displacement sensor 310 on the first measuring arm 201 is recorded as P2(ii) a If the workpiece 700 is measured, Y is set on the first measuring arm 201Contact displacement sensor 310 compression amount P2'; calculation method W of C3 widthC3’=WC3+(P1’-P1)+(P2’-P2)。
(43) [ C3 ready to reset ]: keeping the Y and Z coordinates of the two measuring arms unchanged, the contact of the Y + contact type displacement sensor 309 on the first measuring arm 201 moves to YC3+ S, the Y + displacement sensor microcylinder on the first measurement arm 201 retracts.
(44) [ C4 measurement ]: references (38) - (43) measure the width of C4 and return to the ready position.
(45) [ C5 measurement ]: references (38) - (43) measure the width of C5 and return to the ready position.
(46) [ C6 measurement ]: references (38) - (43) measure the width of C6 and return to the ready position.
(47) [ C7 measurement ]: references (31) - (36) measure the angular width of C7 and return to the ready position.
(48) [ C8 measurement ]: references (31) - (36) measure the angular width of C8 and return to the ready position.
(49) [ F1 measurement ]: the dimensions of the angular length of F1 are measured with reference to (24) - (29) and returned to the ready position.
(50) [ F2 measurement ]: the dimensions of the angular length of F2 are measured with reference to (24) - (29) and returned to the ready position.
(51) [ F3 measurement ]: the length of F3 is measured with reference to (17) - (22) and returned to the ready position.
(52) [ F4 measurement ]: the length of F4 is measured with reference to (17) - (22) and returned to the ready position.
(53) [ A8 measurement ]: the thickness of A8 was measured with reference to (6) - (12) and returned to the ready position.
(54) [ A5 measurement ]: the thickness of a5 was measured with reference to (6) - (12) and returned to the ready position.
(55) [ A2 measurement ]: the thickness of a2 was measured with reference to (6) - (12) and returned to the ready position.
(56) [ A3 measurement ]: the thickness of a3 was measured with reference to (6) - (12) and returned to the ready position.
(57) [ A6 measurement ]: the thickness of a6 was measured with reference to (6) - (12) and returned to the ready position.
(58) [ A9 measurement ]: the thickness of a9 was measured with reference to (6) - (12) and returned to the ready position.
(59) [ F5 measurement ]: the length of F5 is measured with reference to (17) - (22) and returned to the ready position.
(60) [ F6 measurement ]: the length of F6 is measured with reference to (17) - (22) and returned to the ready position.
(61) [ F7 measurement ]: the dimensions of the angular length of F7 are measured with reference to (24) - (29) and returned to the ready position.
(62) [ F8 measurement ]: the dimensions of the angular length of F8 are measured with reference to (24) - (29) and returned to the ready position.
(63) D7 ready to locate: the contact head of the Y-contact type displacement sensor 310 on the first measuring arm 201 of the full-automatic contact type measuring machine moves to (X)D7,YD7-S) above; after the position is in place, the contact of the Y-contact displacement sensor 310 on the first measuring arm 201 is moved to ZD7And ejecting out the miniature cylinder of the Y-displacement sensor of the measuring arm.
(64) [ D7 exploration positioning ]: the X and Z coordinates of the measuring arm are kept unchanged, and the contact head of the Y-contact type displacement sensor 310 on the first measuring arm 201 moves to YD7-P; in this process, if the Y-contact displacement sensor 310 of the measuring arm has a compression amount, the movement is immediately stopped and a positional deviation of the workpiece is indicated.
(65) [ D7 measurement positioning ]: keeping the coordinates of the X and Z of the measuring arm unchanged, and moving the contact of the Y-contact type displacement sensor 310 on the first measuring arm 201 backwards by 2P; in the process, the Y-sensor is about to contact the workpiece, the moving speed of the measuring arm is low, and the sensor is prevented from rapidly contacting the workpiece to generate vibration and impact.
(66) [ D7 debounce ] in: keeping the X, Y and Z coordinates of the measuring arm unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the Y-contact displacement sensor 310 on the first measuring arm 201 is recorded as PC; if the workpiece 700 is measured, the compression of the Y-touch sensor 310 on the first measurement arm 201 is denoted as PC'.
(67) [ D7 size calculation ]: d7 Angle Width is dimensioned WCD7The angular width dimension of D7 needs the information of the D5 measuring point, and the angular width data is insufficient and cannot be calculated at this moment; assuming that the standard workpiece is calibrated by the measuring point D5, the compression amount of the Y-contact type displacement sensor 310 on the first measuring arm 201 is recorded as PL1(ii) a If the workpiece 700 is measured, the compression amount of the Y-contact displacement sensor 310 on the first measuring arm 201 is recorded as PL1'; calculation method WC of D7 angular widthD7’=WCD7+(PC’-PC)-(PL1’-PL1)。
(68) [ D7 ready for reset ]: the X and Z coordinates of the measuring arm are kept unchanged, and the contact head of the Y-contact type displacement sensor 310 on the first measuring arm 201 moves to YD7-S, measuring arm Y-displacement sensor micro cylinder retraction.
(69) [ D8 measurement ]: the dimensions of the angular width of D8 were measured with reference to (63) - (68) and returned to the ready position.
(70) D5 ready to locate: the contact head of the Y-contact type displacement sensor 310 on the first measuring arm 201 of the full-automatic contact type measuring machine moves to (X)D5,YD5-S) above; after the position is in place, the contact of the Y-contact displacement sensor 310 on the first measuring arm 201 is moved to ZD5And ejecting out the miniature cylinder of the Y-displacement sensor of the measuring arm.
(71) [ D5 exploration positioning ]: the X and Z coordinates of the measuring arm are kept unchanged, and the contact head of the Y-contact type displacement sensor 310 on the first measuring arm 201 moves to YD5-P; in this process, if the Y-contact displacement sensor 310 of the measuring arm has a compression amount, the movement is immediately stopped and a positional deviation of the workpiece is indicated.
(72) [ D5 measurement positioning ]: keeping the coordinates of the X and Z of the measuring arm unchanged, and moving the contact of the Y-contact type displacement sensor 310 on the first measuring arm 201 backwards by 2P; in the process, the Y-sensor is about to contact the workpiece, the moving speed of the measuring arm is low, and the sensor is prevented from rapidly contacting the workpiece to generate vibration and impact.
(73) [ D5 debounce ] in: keeping the X, Y and Z coordinates of the measuring arm unchanged, and pausing for a certain time t to record the compression amount of the sensor after the data of the sensor is stabilized; in this step, if the standard workpiece is calibrated, the compression amount of the Y-contact displacement sensor 310 on the first measuring arm 201 is recorded as P1; if the workpiece 700 is measured, the compression amount of the Y-touch sensor 310 on the first measuring arm 201 is denoted as P1'.
(74) [ D5 size calculation ]: the width measurement of D5 was used in the calculation in combination with the measurement data of C5.
(75) [ D5 ready for reset ]: the X and Z coordinates of the measuring arm are kept unchanged, and the contact head of the Y-contact type displacement sensor 310 on the first measuring arm 201 moves to YD5-S, measuring arm Y-displacement sensor micro cylinder retraction.
(76) [ D6 measurement ]: references (70) - (75) measure the dimension of the width of D6 and return to the ready position.
(77) [ D3 measurement ]: references (70) - (75) measure the dimension of the width of D3 and return to the ready position.
(78) [ D4 measurement ]: references (70) - (75) measure the dimension of the width of D4 and return to the ready position.
(79) [ D1 measurement ]: the dimensions of the angular width of D1 were measured with reference to (63) - (68) and returned to the ready position.
(80) [ D2 measurement ]: the dimensions of the angular width of D2 were measured with reference to (63) - (68) and returned to the ready position.
(81) [ E7 measurement ]: the dimension of the angular length of E7 is measured with reference to (24) - (29) and returned to the ready position.
(82) [ E8 measurement ]: the dimension of the angular length of E8 is measured with reference to (24) - (29) and returned to the ready position.
(83) [ E5 measurement ]: references (17) - (22) measure the length of E5 and return to the ready position.
(84) [ E6 measurement ]: references (17) - (22) measure the length of E6 and return to the ready position.
(85) [ Return to origin ]: after the measurement of all the measuring points is finished, the Z axis of the first measuring arm 201 returns to the original point position; after the workpiece is in place, the X axis of the measuring arm returns to the original point position, the longitudinal sliding table 400 returns to the original point position, the positioning cylinder retracts, and the workpiece is loosened.
(86) The robot blanking command is sent to the robot, the robot blanking is finished, and the step (1) is returned to wait for the next workpiece feeding and measurement.
In the above embodiments, unless otherwise specified, it is obvious that the conventional component structures or conventional techniques for realizing the functions thereof in the art are provided.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims (9)

1. A full-automatic contact type measuring device is characterized by comprising a test bench, a longitudinal sliding table which is arranged on the test bench in a longitudinal sliding mode and can be used for fixedly placing a workpiece to be measured, and a cross beam which is suspended above the test bench, wherein at least one measuring arm which can move back and forth along the transverse direction of the cross beam is arranged on the cross beam,
the measuring arm comprises an upper transverse moving base capable of moving back and forth on the cross beam in the transverse direction, a lifting rod arranged on the upper transverse moving base, and a first contact type displacement sensor assembly arranged at the bottom end of the lifting rod, wherein the first contact type displacement sensor assembly comprises a plurality of contact type displacement sensors with measuring directions respectively vertically downward, transversely and/or longitudinally, a Z-contact type displacement sensor with a measuring direction vertically downward, an X-contact type displacement sensor and an X + contact type displacement sensor with measuring directions transversely and oppositely arranged, and a Y-contact type displacement sensor and a Y + contact type displacement sensor with measuring directions longitudinally opposite;
the test bench is also provided with a jacking measuring part which can move back and forth along the transverse direction at the position below the longitudinal sliding table, the jacking measuring part comprises a jacking base which can move back and forth along the transverse direction of the test bench, a lifting plate which is arranged on the jacking base, and a contact type displacement sensor which is arranged on the lifting plate and is higher than the top end of the lifting plate, namely a Z + contact type displacement sensor with the vertical upward measuring direction;
the contact type displacement sensor comprises a sensor body and a contact which elastically stretches along the corresponding measuring direction;
the contact width of the contact and the measuring surface of the measured workpiece is not less than the diameter of the air hole on the surface of the measured workpiece;
the pressure intensity generated on the surface of the workpiece by the compressed force of the contact type displacement sensor can overcome the yield force of burrs on the surface of the workpiece.
2. The full-automatic contact type measuring device according to claim 1, wherein the end of the contact is further provided with a contact roller, and the central axes of the contact rollers of different contact type displacement sensors in the same measuring direction are in the same direction.
3. The full-automatic contact type measuring device according to claim 1, wherein the contact type displacement sensor is respectively mounted on the lifting rod or the lifting plate through a sensor anti-collision block, the sensor anti-collision block is mounted on the lifting rod or the lifting plate through a magnetic device in an adsorption manner, and the distance between the sensor anti-collision block and the top end of the corresponding contact type displacement sensor is not more than the maximum allowable compression amount of the contact type displacement sensor.
4. The full-automatic contact type measuring device according to claim 1, wherein the lifting rod is hollow inside, a piston rod vertically moving up and down along the lifting rod and a lifting cylinder driving and connecting the piston rod are arranged in the hollow, and the Z-contact type displacement sensor is installed at the end position of the piston rod.
5. The full-automatic contact type measuring device of claim 1, wherein the test bed is provided with a middle transverse support at a middle position of a stroke of the longitudinal sliding table, and three jacking measuring parts are arranged on the middle transverse support, wherein two jacking measuring parts are respectively positioned at two sides of the stroke of the longitudinal sliding table, and the other jacking measuring part is positioned below the stroke of the longitudinal sliding table.
6. The full-automatic contact type measuring device according to claim 1, wherein a longitudinal positioning plate and a longitudinal positioning cylinder are arranged on the longitudinal sliding table along the longitudinal direction, and a longitudinal positioning surface is processed on one side of the longitudinal positioning plate, which is in contact with a workpiece to be measured, of the longitudinal positioning cylinder;
the test bench rack is characterized in that a front transverse support is arranged at the front end of the stroke of the longitudinal sliding table, two auxiliary positioning plates which are respectively positioned at two sides of the longitudinal sliding table and have an interval not exceeding the transverse length of a workpiece to be tested are fixedly arranged on the front transverse support, an auxiliary positioning surface is machined on one side, facing the workpiece to be tested, of each auxiliary positioning plate, and when the longitudinal sliding table moves to the front end of the test bench rack, the auxiliary positioning surfaces of the auxiliary positioning plates are aligned with the longitudinal positioning surface of the longitudinal positioning plate in a coplanar manner.
7. A full-automatic contact measuring method implemented by using the full-automatic contact measuring device according to any one of claims 1 to 6, wherein the measuring method is divided into three modes of thickness measurement, length measurement and width measurement,
the thickness measuring steps are specifically as follows:
(1-1) establishing an X-Y-Z coordinate system based on the transverse direction, the longitudinal direction and the vertical direction, and returning the measuring arm to a safe position (X)0,Y0,Z0) After the jacking measuring part descends to the bottom, a standard workpiece with known size is placed at a measuring position on the longitudinal sliding table, and the first thickness measuring position (X) of the standard workpiece is recordedT,YT,ZT) Has a thickness of T0
(1-2) moving the measuring arm and the longitudinal sliding table to enable the Z-contact type displacement sensor to be at a set first thickness measuring position (X)T,YT,ZT) In a ready position just above, i.e. (X)T,YT,ZT+ S), wherein S is the distance between the Z-contact type displacement sensor and the measured position surface of the standard workpiece;
(1-3) measuring the vertical descending distance S + P of the arm, enabling the Z-contact type displacement sensor to contact the upper surface of the workpiece and compressing a contact head of the Z-contact type displacement sensor, jacking up the Z + displacement sensor of the jacking measuring part, enabling the contact head of the Z + displacement sensor to contact the lower surface of the standard workpiece, compressing the Z + displacement sensor, and respectively recording the compression strokes of the Z-contact type displacement sensor and the Z + contact type displacement sensor as P1、P2
(1-4) lifting the measuring arm, and descending the jacking measuring part to enable the contact of the Z-contact type displacement sensor and the Z + contact type displacement sensor to be separated from the surface of the standard workpiece;
(1-5) repeating the steps (1-1) to (1-4), recording the thicknesses of the standard workpieces at the other measuring positions and the compressed strokes of the corresponding Z-contact type displacement sensor and the Z + contact type displacement sensor;
(1-6) replacing the standard workpiece with the workpiece to be measured, and obtaining the compressed stroke P of the Z-contact type displacement sensor and the Z + contact type displacement sensor at the first thickness measurement position according to the modes of the step (1-1) to the step (1-4)1`、P2The thickness T of the workpiece between the upper and lower measuring surfaces at the first thickness measuring position is calculated according to a formula0+(P1`-P1)+(P2`-P2);
(1-7) repeating the step (1-6), and recording the compressed strokes of the Z-contact displacement sensors and the Z + contact displacement sensors of the measured workpieces at the other measuring positions to obtain the corresponding thicknesses of the other measuring positions of the measured workpieces;
the length measuring steps are specifically as follows:
(2-1) returning the measuring arm to the safety position (X)0,Y0,Z0) And after the jacking measuring part is lowered to the bottom, the standard workpiece is placed at the measuring position on the longitudinal sliding table, and the standard workpiece is positioned at two measuring points (X) at the first length measuring positionLR,YL,ZL) And (X)LL,YL,ZL) Has a length dimension ofIs known as L0
(2-2) moving the measuring arm and the longitudinal sliding table to make the contact of the X-contact type displacement sensor at the set measuring point (X)LR,YL,ZL) Right side ready position, i.e. (X)LR+S,YL,ZL) The distance between the contact of the X-contact type displacement sensor and the measured position surface of the standard workpiece is S;
(2-3) moving the measuring arm along the X-direction by a distance S + P to enable a contact of the X-contact type displacement sensor to contact and compress the measured position surface of the standard workpiece, and recording the compressed stroke P of the X-contact type displacement sensor at the moment1
(2-4) moving the measuring arm along the X + direction to separate a contact of the X-contact type displacement sensor from the surface of the standard workpiece;
(2-5) moving the measuring arm and the longitudinal sliding table to enable the contact of the L + contact type displacement sensor to be at a set second length measuring position (X)LLYL,ZL) Left ready position, i.e. (X)LL-S,YL,ZL) At the moment, the distance between the contact of the X + contact type displacement sensor and the measured position surface of the standard workpiece is S;
(2-6) moving the measuring arm along the X + direction by a distance S + P to enable a contact of the X + contact type displacement sensor to contact and compress the measured position surface of the standard workpiece, and recording the compression stroke P of the X + contact type displacement sensor at the moment2
(2-7) moving the measuring arm along the X-direction to separate a contact of the L + contact type displacement sensor from the surface of the standard workpiece;
(2-8) repeating the steps (2-1) to (2-7), recording the length of the workpiece at other length measuring positions, and recording an X-contact type displacement sensor and an X + contact type displacement sensor at corresponding measuring points;
(2-9) replacing the standard workpiece with the workpiece to be measured, and obtaining the compressed stroke P of the X-contact type displacement sensor and the X + contact type displacement sensor at the first length measuring position according to the steps (2-1) to (2-7)1' and P2The length dimension L of the workpiece between two corresponding measuring points at the first length measuring position is L0+(P1`-P1)+(P2`-P2);
(2-10) repeating the step (2-9), namely measuring the length size values of the rest length measuring positions of the measured workpiece;
the width measuring steps are specifically as follows:
(3-1) returning the measuring arm to the safety position (X)0,Y0,Z0) And after the jacking measuring part is lowered to the bottom, a standard workpiece with known size is placed at a first width measuring position on the longitudinal sliding table, and the standard workpiece is positioned at two measuring points (X) of the first width measuring positionW,YWF,ZW) And (X)W,YWB,ZW) The width dimension between is known as W0
(3-2) moving the measuring arm and the longitudinal sliding table to enable the contact of the Y + contact type displacement sensor to be at a set measuring point (X)W,YWF,ZW) A front ready position, i.e. (X)W,YWF-S,ZW) At the moment, the distance between the contact of the Y + contact type displacement sensor and the measured position surface of the workpiece is S;
(3-3) moving the longitudinal sliding table by a distance S + P along the Y-direction to enable a contact of the Y + contact type displacement sensor to contact and compress the measured position surface of the standard workpiece, and recording the compression stroke P of the Y + contact type displacement sensor at the moment1
(3-4) moving the longitudinal sliding table along the Y + direction to separate a contact of the Y + contact type displacement sensor from the surface of the workpiece to be measured;
(3-5) moving the measuring arm and the longitudinal sliding table to enable the contact of the Y-contact type displacement sensor to be positioned at a set measuring point (X)W,YWB,ZW) Rear ready position, i.e. (X)W,YWB+S,ZW) At the moment, the distance between the contact of the Y-contact type displacement sensor and the measured position surface of the workpiece is S;
(3-6) moving the longitudinal sliding table along the Y + direction by a distance S + P, enabling a contact of the Y-contact type displacement sensor to contact and compress the measured position surface of the standard workpiece, and recording the compression stroke P of the Y-contact type displacement sensor at the moment2
(3-7) moving the longitudinal sliding table along the Y-direction to separate a contact of the Y-contact type displacement sensor from the surface of the workpiece;
(3-8) repeating the steps (3-1) to (3-7), and recording the width size of the standard workpiece at other width measurement positions and compressed stroke data of the Y-contact type displacement sensor and the Y + contact type displacement sensor at the corresponding two measurement points;
(3-9) replacing the standard workpiece with the workpiece to be measured, and obtaining compressed stroke data P of the Y-contact type displacement sensor and the Y + contact type displacement sensor at the first width measuring position according to the steps (3-1) to (3-7)1' and P2Obtaining the width dimension W of the measured workpiece between two measuring points corresponding to the first width measuring position0+(P1`-P1)+(P2`-P2);
And (3-10) repeating the step (3-9), namely measuring to obtain width dimension values of the rest width measurement positions of the measured workpiece.
8. A fully automatic contact measurement method according to claim 7, wherein the distance P during the thickness, width and length measurements is equal to one half of the effective measurement stroke of the corresponding contact displacement sensor.
9. A fully automatic contact measurement method according to claim 7, characterized in that the value of the distance S is greater than the value of the distance P;
before measurement, when the contact type displacement sensor is located at a preparation position, namely the distance from the surface of a standard workpiece or a measured workpiece is S, the contact type displacement sensor is moved to be close to the standard workpiece or the measured workpiece until the distance is P, in the moving process, if the compression amount of the contact type displacement sensor is detected to be larger than 0, the movement is immediately stopped, the subsequent detection step is quitted, and meanwhile, the situation that the deviation of the placement position of the standard workpiece or the measured workpiece is too large is prompted.
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