CN110455279A - A kind of indirect measuring instrument of six degree of freedom - Google Patents
A kind of indirect measuring instrument of six degree of freedom Download PDFInfo
- Publication number
- CN110455279A CN110455279A CN201910800521.8A CN201910800521A CN110455279A CN 110455279 A CN110455279 A CN 110455279A CN 201910800521 A CN201910800521 A CN 201910800521A CN 110455279 A CN110455279 A CN 110455279A
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- cubing
- degree
- measuring instrument
- freedom
- block
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of indirect measuring instruments of six degree of freedom, are related to automatic assembly technique field, comprising: cubing, detection device and computing device；Cubing includes cubing bracket and cubing block, and for being fixed on installation point, cubing block is fixed at the other end of cubing bracket for cubing bracket one end；Detection device is for being fixed at workpiece, detection device is used to measure the spatial position of cubing block, computing device is electrically connected with detection device, computing device is for calculating spatial position and pose of the workpiece relative to installation point, the spatial position of installation point can not be directly measured to overcome existing existing product, and other can measure the defect that measurement request is not achieved in position precision again, the present invention can accurately measure the space six degree of freedom of installation point, and be conducive to the automatic assembling of workpiece.
Description
Technical field
The present invention relates to automatic assembly technique fields, more particularly to a kind of indirect measuring instrument of six degree of freedom.
Background technique
With the rapid development of industrial technology, inexorable trend is become using Automated assembly technology, Automated assembly is compared
Manual assembly has the advantages that assembling quality is high, high-efficient, labor intensity is low etc..The key technology of Automated assembly is that workpiece is opposite
In the space orientation problem of installation point.The matured product of current existing space multi-degree of freedom measurement is less, relies primarily on import,
Its disadvantage is first is that price is high, it is difficult to receive；Second is that precision is low, it is not able to satisfy precision assembly requirement.And it is narrow for assembly space
Narrow, instrument is difficult to the working condition of " sheltering oneself ", and existing product can not directly measure the spatial position of installation point, and other can measure
Measurement request is not achieved in position precision again.
Summary of the invention
The object of the present invention is to provide a kind of indirect measuring instrument of six degree of freedom, to solve above-mentioned of the existing technology ask
Topic, can accurately measure the space six degree of freedom of installation point, and be conducive to the automatic assembling of workpiece.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of indirect measuring instruments of six degree of freedom, including cubing, detection device and computing device；It is described
Cubing includes cubing bracket and cubing block, and cubing bracket one end is set for being fixed on installation point, the cubing block fixation
Set the other end in the cubing bracket；The detection device is for being fixed at workpiece, and the detection device is for surveying
The spatial position of the cubing block is measured, the computing device is electrically connected with the detection device, and the computing device is for calculating
Spatial position and pose of the installation point relative to the workpiece out.
Preferably, the cubing frame upper offers a pin hole and a slot, and the pin hole and the slot are used
It is matched in the two of the installation point locating shafts.
Preferably, the detection device includes detection support, mounting rack and multiple laser range sensors, the detection branch
Frame with the workpiece for being fixedly connected, and the mounting rack is fixedly connected in the detection support, multiple laser rangings
Sensor is fixed on the mounting rack, for measuring the spatial position of the cubing block, and multiple Laser Measurings
It is electrically connected with the computing device away from sensor.
Preferably, the laser range sensor is single-degree-of-freedom displacement sensor.
Preferably, the quantity of the laser range sensor is six, wherein three laser range sensors are in straight
Angle is fixed at the downside of the mounting rack, and two laser range sensors are fixed at the peace in the horizontal direction
The right side shelved, a laser range sensor are fixed at the front side of the mounting rack, for measuring the cubing
The spatial position of block.
Preferably, the detection support top is fixedly installed a diamond positioning pin and a round positioning pin, described
Diamond positioning pin and the round positioning pin with two location holes on the workpiece for matching.
Preferably, the detection support is aluminium alloy post.
Preferably, the cubing bracket is aluminium alloy post.
Preferably, the cubing block is hexahedron structure.
Preferably, the cubing block is Al alloy block.
The present invention achieves following technical effect compared with the existing technology:
The present invention provides a kind of indirect measuring instrument of six degree of freedom, including cubing, detection device and computing device, cubings
Including cubing block and cubing bracket, cubing puts cubing for being fixed on workpiece for being fixed on installation point, detection device
It sets in the measured zone of detection device, detection device can measure to obtain the space six degree of freedom numerical value of cubing block, examine simultaneously
It surveys device and the spatial positional information that measurement obtains is sent to computing device, computing device is according to cubing bracket and detection device number
Accordingly and the spatial positional information of cubing block, spatial position and pose of the workpiece relative to installation point can be calculated, therefore, this
Invention can accurately measure the space six degree of freedom of installation point, and be conducive to the automatic assembling of workpiece.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the indirect measuring instrument axonometric drawing of six degree of freedom provided by the invention；
Fig. 2 is the cubing axonometric drawing of the indirect measuring instrument of six degree of freedom provided by the invention；
Fig. 3 is the detection device axonometric drawing of the indirect measuring instrument of six degree of freedom provided by the invention；
Fig. 4 is that the indirect measuring instrument of six degree of freedom provided by the invention is set for EMU vacuum circuit breaker Automated assembly
Standby operation schematic diagram；
Fig. 5 is the relative positional relationship schematic diagram of workpiece and installation point in Fig. 4.
Wherein: 1- cubing；2- detection device；3- vacuum circuit breaker；4- Motor train unit body；5- automated assembling equipment；6-
Cubing bracket；7- cubing block；8- laser range sensor；9- circle positioning pin；10- diamond positioning pin；11- mounting rack；12- inspection
Survey bracket.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art under the premise of not making the creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is of the existing technology to solve the problems, such as the object of the present invention is to provide a kind of indirect measuring instrument of six degree of freedom,
The space six degree of freedom of installation point can be accurately measured, and is conducive to the automatic assembling of workpiece.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Fig. 1~5: present embodiments providing a kind of indirect measuring instrument of six degree of freedom, including cubing 1, detection dress
Set 2 and computing device；Cubing 1 includes cubing bracket 6 and cubing block 7, and 6 one end of cubing bracket is examined for being fixed on installation point
Tool block 7 is fixed at the other end of cubing bracket 6；Detection device 2 is for being fixed at workpiece, workpiece in the present embodiment
Refer to vacuum circuit breaker 3, detection device 2 is used to measure the spatial position of cubing block 7, so that measurement obtains installation point indirectly
Spatial position, detection device 2 are electrically connected with computing device, and the spatial position of obtained cubing block 7 is measured for will test device 2
Information is sent to computing device, and it is opposite that computing device according to the spatial positional information of cubing bracket 6, cubing block 7 calculates workpiece
Spatial position and pose in installation point so as to accurately measure the space six degree of freedom of installation point, and are conducive to workpiece
Automatic assembling.
6 top of cubing bracket offers a pin hole and a slot, and pin hole and slot are used to nearby be arranged with installation point
Two locating shafts match, and pin hole and slot can compensate for the mismachining tolerance of distance between two locating shafts.
Detection device 2 includes detection support 12, mounting rack 11 and multiple laser range sensors 8, and detection support 12 is used for
It is fixedly connected with workpiece, mounting rack 11 is fixedly connected in detection support 12 by screw, and multiple laser range sensors 8 are solid
It is fixed to be arranged on mounting rack 11, computing device is conveyed to for measuring the spatial position of cubing block 7, and by the data measured.
Laser range sensor 8 is single-degree-of-freedom displacement sensor.
The quantity of laser range sensor 8 is six, wherein three laser range sensors 8 are at right angles fixed at peace
11 downside is shelved, two laser range sensors 8 are fixed at the right side of mounting rack 11, a Laser Measuring in the horizontal direction
The front side of mounting rack 11 is fixed at away from sensor 8, for measuring the spatial position of cubing block 7, according to 6 Laser Measurings
Away from the numerical value that sensor 8 measures, the sky of two location holes on workpiece relative to two locating shafts of installation point can be calculated
Between relative position, pose, and then workpiece can be calculated in X-axis, Y-axis, Z axis, a axis (rotating around X-axis), b axis (rotating around Y-axis)
The adjustment amount for (rotating) six-freedom degree direction about the z axis with c-axis can be assembled workpiece by auto-control assembly equipment 5
Onto installation point, to realize automatic assembling；Wherein, X-axis is horizontal cross shaft, and Y-axis is horizontal longitudinal axis, and Z axis is perpendicular to X-axis and Y
Axis.
12 top of detection support is fixedly installed a diamond positioning pin 10 and a round positioning pin 9, diamond positioning pin
10 and round positioning pin 9 for being matched with two location holes on workpiece, and diamond positioning pin 10 and round positioning pin 9 can
Compensate the mismachining tolerance of distance between two holes on workpiece.
Detection support 12 is aluminium alloy post.
Cubing bracket 6 is aluminium alloy post.
Cubing block 7 is hexahedron structure, and cubing block 7 is processed into corner shape, is conducive to save space.
Cubing block 7 is Al alloy block, is conducive to mitigate own wt.
Detailed process is as follows for workpiece automatic assembling:
Step 1: workpiece is installed on automated assembling equipment 5, the pin hole and slot on the cubing bracket 6 of cubing 1 with
Two locating shafts in Motor train unit body 4 match, two positioning pins (round positioning pin 9 and the diamond positioning pin of detection device 2
10) it is matched with two location holes on workpiece；
Step 2: auto-control assembly equipment 5 enters job position, and cubing block 7 is made to enter 6 laser range sensors
In 8 range region；
Step 3: starting detection program；6 laser rangings sensing i.e. by being arranged on the mounting rack 11 of detection device 2
The measurement numerical value of device 8 calculates the pin hole on workpiece and slot position opposite with the space of two locating shafts in Motor train unit body 4
Set and pose, thus calculate workpiece X-axis, Y-axis, Z axis, a axis (being rotated around X-axis), b axis (being rotated around Y-axis), c-axis (about the z axis
Rotation) six-freedom degree direction adjustment amount；
Step 4: manual demolition detection device 2 and cubing 1；
Step 5: starting workpiece linkage editor；Workpiece is adjusted in X-axis, Y-axis, Z axis, a by automated assembling equipment 5
Axis (being rotated around X-axis), b axis (being rotated around Y-axis), c-axis (about the z axis rotate) six-freedom degree finally workpiece is made to be assembled to motor-car
On two locating shafts of group car body 4；
Step 6: auto-control assembly equipment 5 removes operation position, and manually installed nut is completed workpiece automatic assembling and appointed
Business.
Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of indirect measuring instrument of six degree of freedom, it is characterised in that: including cubing, detection device and computing device；The inspection
Tool includes cubing bracket and cubing block, and cubing bracket one end is for being fixed on installation point, the cubing block fixed setting
In the other end of the cubing bracket；The detection device is for being fixed at workpiece, and the detection device is for measuring
The spatial position of the cubing block, the computing device are electrically connected with the detection device, and the computing device is for calculating
Spatial position and pose of the installation point relative to the workpiece.
2. the indirect measuring instrument of six degree of freedom according to claim 1, it is characterised in that: the cubing frame upper opens up
There are a pin hole and a slot, the pin hole and the slot with two locating shafts of the installation point for matching.
3. the indirect measuring instrument of six degree of freedom according to claim 1, it is characterised in that: the detection device includes detection
Bracket, mounting rack and multiple laser range sensors, the detection support with the workpiece for being fixedly connected, the mounting rack
It is fixedly connected in the detection support, multiple laser range sensors are fixed on the mounting rack, are used for
The spatial position of the cubing block is measured, and multiple laser range sensors are electrically connected with the computing device.
4. the indirect measuring instrument of six degree of freedom according to claim 3, it is characterised in that: the laser range sensor is
Single-degree-of-freedom displacement sensor.
5. the indirect measuring instrument of six degree of freedom according to claim 3, it is characterised in that: the laser range sensor
Quantity is six, wherein three laser range sensors are at right angles fixed at the downside of the mounting rack, two institutes
The right side that laser range sensor is fixed at the mounting rack in the horizontal direction is stated, a laser range sensor is solid
The front side of the mounting rack is set calmly, for measuring the spatial position of the cubing block.
6. the indirect measuring instrument of six degree of freedom according to claim 3, it is characterised in that: the detection support top is fixed
Be provided with the round positioning pin of a diamond positioning pin and one, the diamond positioning pin and the round positioning pin be used for it is described
Two location holes on workpiece match.
7. the indirect measuring instrument of six degree of freedom according to claim 3, it is characterised in that: the detection support is aluminium alloy
Bracket.
8. the indirect measuring instrument of six degree of freedom according to claim 1, it is characterised in that: the cubing bracket is aluminium alloy
Bracket.
9. the indirect measuring instrument of six degree of freedom according to claim 1, it is characterised in that: the cubing block is hexahedron knot
Structure.
10. the indirect measuring instrument of six degree of freedom according to claim 1, it is characterised in that: the cubing block is aluminium alloy
Block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800521.8A CN110455279B (en) | 2019-08-28 | 2019-08-28 | Six-degree-of-freedom indirect measuring instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800521.8A CN110455279B (en) | 2019-08-28 | 2019-08-28 | Six-degree-of-freedom indirect measuring instrument |
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| CN110455279A true CN110455279A (en) | 2019-11-15 |
| CN110455279B CN110455279B (en) | 2021-07-06 |
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