CN110455279B - Six-degree-of-freedom indirect measuring instrument - Google Patents
Six-degree-of-freedom indirect measuring instrument Download PDFInfo
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- CN110455279B CN110455279B CN201910800521.8A CN201910800521A CN110455279B CN 110455279 B CN110455279 B CN 110455279B CN 201910800521 A CN201910800521 A CN 201910800521A CN 110455279 B CN110455279 B CN 110455279B
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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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Abstract
The invention discloses a six-degree-of-freedom indirect measuring instrument, which relates to the technical field of automatic assembly and comprises the following components: the device comprises a detection tool, a detection device and a calculation device; the detection tool comprises a detection tool support and a detection tool block, one end of the detection tool support is used for being fixed on a mounting point, and the detection tool block is fixedly arranged at the other end of the detection tool support; the detection device is fixedly arranged on the workpiece and used for measuring the spatial position of the detection block, the calculation device is electrically connected with the detection device and used for calculating the spatial position and the pose of the workpiece relative to the mounting point, so that the defects that the existing product cannot directly measure the spatial position of the mounting point and the precision of other measurable parts cannot meet the measurement requirement are overcome, the six-degree-of-freedom spatial measurement device can accurately measure the six-degree-of-freedom spatial position of the mounting point, and the automatic assembly of the workpiece is facilitated.
Description
Technical Field
The invention relates to the technical field of automatic assembly, in particular to a six-degree-of-freedom indirect measuring instrument.
Background
With the rapid development of industrial technology, the adoption of an automatic assembly technology becomes a necessary trend, and compared with manual assembly, the automatic assembly has the advantages of high assembly quality, high efficiency, low labor intensity and the like. A key technique for automated assembly is the spatial positioning of the workpiece relative to the mounting point. At present, the existing space multi-degree-of-freedom measurement has fewer mature products and mainly depends on import, and the defects that the price is high and the acceptance is difficult are overcome; secondly, the precision is low, can not satisfy the precision assembly requirement. And for the working conditions that the assembly space is narrow and the instrument is difficult to 'accommodate', the existing product can not directly measure the space position of the installation point, and the precision of other measurable parts can not meet the measurement requirement.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom indirect measuring instrument, which solves the problems in the prior art, can accurately measure the spatial six-degree-of-freedom of a mounting point and is beneficial to automatic assembly of workpieces.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a six-degree-of-freedom indirect measuring instrument which comprises a detection tool, a detection device and a calculation device; the detection tool comprises a detection tool support and a detection tool block, one end of the detection tool support is used for being fixed on a mounting point, and the detection tool block is fixedly arranged at the other end of the detection tool support; the detection device is used for being fixedly arranged on a workpiece, the detection device is used for measuring the spatial position of the detection tool block, the calculation device is electrically connected with the detection device, and the calculation device is used for calculating the spatial position and the pose of the installation point relative to the workpiece.
Preferably, the upper part of the checking fixture support is provided with a pin hole and a slotted hole, and the pin hole and the slotted hole are used for being matched with the two positioning shafts of the mounting point.
Preferably, the detection device comprises a detection support, a mounting frame and a plurality of laser ranging sensors, the detection support is used for being fixedly connected with the workpiece, the mounting frame is fixedly connected onto the detection support, the laser ranging sensors are fixedly arranged on the mounting frame and used for measuring the spatial position of the detection block, and the laser ranging sensors are electrically connected with the computing device.
Preferably, the laser ranging sensor is a single-degree-of-freedom displacement sensor.
Preferably, the number of the laser ranging sensors is six, three of the laser ranging sensors are arranged at the lower side of the mounting frame in a right-angle fixed mode, two of the laser ranging sensors are arranged at the right side of the mounting frame in a horizontal fixed mode, and one of the laser ranging sensors is arranged at the front side of the mounting frame and used for measuring the spatial position of the checking fixture block.
Preferably, the upper part of the detection support is fixedly provided with a diamond-shaped positioning pin and a round positioning pin, and the diamond-shaped positioning pin and the round positioning pin are used for being matched with the two positioning holes in the workpiece.
Preferably, the detection bracket is an aluminum alloy bracket.
Preferably, the checking fixture support is an aluminum alloy support.
Preferably, the check tool block is of a hexahedral structure.
Preferably, the check tool block is an aluminum alloy block.
Compared with the prior art, the invention has the following technical effects:
the invention provides a six-degree-of-freedom indirect measuring instrument, which comprises a checking fixture, a detecting device and a calculating device, wherein the checking fixture comprises a checking fixture block and a checking fixture support, the checking fixture is fixed on a mounting point, the detecting device is fixed on a workpiece, the checking fixture is placed in a measuring area of the detecting device, the detecting device can measure and obtain a spatial six-degree-of-freedom numerical value of the checking fixture block, meanwhile, the detecting device sends measured spatial position information to the calculating device, and the calculating device can calculate the spatial position and the pose of the workpiece relative to the mounting point according to the checking fixture support, the detecting device data and the spatial position information of the checking fixture block.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is an isometric view of a six degree-of-freedom indirect measurement instrument provided by the present invention;
FIG. 2 is an isometric view of a gauge of the six-degree-of-freedom indirect measuring instrument provided by the present invention;
FIG. 3 is an axonometric view of a detection device of the indirect measurement instrument with six degrees of freedom provided by the invention;
FIG. 4 is a working schematic diagram of the six-degree-of-freedom indirect measuring instrument provided by the invention for the automatic assembling equipment of the vacuum circuit breaker of the motor train unit;
fig. 5 is a schematic diagram showing the relative positional relationship between the workpiece and the mounting point in fig. 4.
Wherein: 1-a gauge; 2-a detection device; 3-a vacuum interrupter; 4-a train body of the motor train unit; 5-automatic assembly equipment; 6-a gauge stand; 7-a gauge block; 8-laser ranging sensor; 9-a circular locating pin; 10-a diamond-shaped positioning pin; 11-a mounting frame; 12-detection of the scaffold.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide a six-degree-of-freedom indirect measuring instrument, which solves the problems in the prior art, can accurately measure the spatial six-degree-of-freedom of a mounting point and is beneficial to automatic assembly of workpieces.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIGS. 1 to 5: the embodiment provides a six-degree-of-freedom indirect measuring instrument, which comprises a gauge 1, a detecting device 2 and a calculating device; the detection tool 1 comprises a detection tool support 6 and a detection tool block 7, one end of the detection tool support 6 is used for being fixed on a mounting point, and the detection tool block 7 is fixedly arranged at the other end of the detection tool support 6; the detection device 2 is used for being fixedly arranged on a workpiece, the workpiece refers to a vacuum circuit breaker 3 in the embodiment, the detection device 2 is used for measuring the spatial position of the detection block 7, so that the spatial position of a mounting point is obtained through indirect measurement, the detection device 2 is electrically connected with the calculation device and is used for sending the spatial position information of the detection block 7 obtained through measurement by the detection device 2 to the calculation device, and the calculation device calculates the spatial position and the pose of the workpiece relative to the mounting point according to the spatial position information of the detection block 7 and the detection support 6, so that the spatial six-degree-of-freedom of the mounting point can be accurately measured, and automatic assembly of the workpiece is.
The upper part of the checking fixture support 6 is provided with a pin hole and a slotted hole, the pin hole and the slotted hole are used for being matched with two positioning shafts arranged near a mounting point, and the pin hole and the slotted hole can compensate machining errors of the distance between the two positioning shafts.
The laser distance measuring sensor 8 is a single degree of freedom displacement sensor.
The number of the laser ranging sensors 8 is six, three laser ranging sensors 8 are fixedly arranged on the lower side of the mounting frame 11 in a right angle mode, two laser ranging sensors 8 are fixedly arranged on the right side of the mounting frame 11 along the horizontal direction, one laser ranging sensor 8 is fixedly arranged on the front side of the mounting frame 11 and used for measuring the space position of the detection tool block 7, according to the values measured by the 6 laser ranging sensors 8, the space relative positions and poses of the two positioning holes on the workpiece relative to the two positioning shafts of the mounting point can be calculated, further, the adjustment amount of the workpiece in the directions of six degrees of freedom of an X axis, a Y axis, a Z axis, an a axis (rotating around the X axis), a b axis (rotating around the Y axis) and a c axis (rotating around the Z axis) can be calculated, by controlling the automatic assembly equipment 5, the workpiece can be assembled on the installation point, so that automatic assembly is realized; wherein, X-axis is horizontal axis, Y-axis is horizontal vertical axis, and Z-axis is perpendicular to X-axis and Y-axis.
The upper portion of the detection support 12 is fixedly provided with a diamond-shaped positioning pin 10 and a round positioning pin 9, the diamond-shaped positioning pin 10 and the round positioning pin 9 are used for being matched with two positioning holes in a workpiece, and the diamond-shaped positioning pin 10 and the round positioning pin 9 can compensate machining errors of the distance between the two holes in the workpiece.
The detection bracket 12 is an aluminum alloy bracket.
The checking fixture bracket 6 is an aluminum alloy bracket.
The checking fixture block 7 is of a hexahedral structure, and the checking fixture block 7 is processed into a corner shape, so that the space is saved.
The checking fixture block 7 is an aluminum alloy block, and is beneficial to reducing the weight of the checking fixture block.
The specific process of automatic assembly of the workpiece is as follows:
the method comprises the following steps: installing a workpiece on automatic assembly equipment 5, matching a pin hole and a slotted hole on a gauge bracket 6 of a gauge 1 with two positioning shafts on a motor train unit train body 4, and matching two positioning pins (a round positioning pin 9 and a diamond positioning pin 10) of a detection device 2 with two positioning holes on the workpiece;
step two: controlling the automatic assembly equipment 5 to enter an operation position, and enabling the detection tool block 7 to enter a measuring range area of the 6 laser ranging sensors 8;
step three: starting a detection program; the method comprises the steps that the spatial relative positions and poses of pin holes and slotted holes in a workpiece and two positioning shafts on a motor train unit train body 4 are calculated through the measurement values of 6 laser ranging sensors 8 arranged on a mounting frame 11 of a detection device 2, and therefore the adjustment amounts of the workpiece in six freedom directions of an X axis, a Y axis, a Z axis, an a axis (rotating around the X axis), a b axis (rotating around the Y axis) and a c axis (rotating around the Z axis) are calculated;
step four: manually removing the detection device 2 and the detection tool 1;
step five: starting a workpiece assembly program; six degrees of freedom of the workpiece on an X axis, a Y axis, a Z axis, an a axis (rotating around the X axis), a b axis (rotating around the Y axis) and a c axis (rotating around the Z axis) are adjusted through the automatic assembling equipment 5, and finally the workpiece is assembled on two positioning shafts of the motor train unit train body 4;
step six: and controlling the automatic assembly equipment 5 to move out of the operation position, and manually installing the nut to finish the automatic assembly task of the workpiece.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A six-degree-of-freedom indirect measuring instrument is characterized in that: the device comprises a detection tool, a detection device and a calculation device; the detection tool comprises a detection tool support and a detection tool block, one end of the detection tool support is used for being fixed on a mounting point, and the detection tool block is fixedly arranged at the other end of the detection tool support; the detection device is used for being fixedly arranged on a workpiece, the detection device is used for measuring the spatial position of the detection tool block, the calculation device is electrically connected with the detection device, and the calculation device is used for calculating the spatial position and the pose of the mounting point relative to the workpiece; the detection device comprises a detection support, an installation frame and a plurality of laser ranging sensors, wherein the number of the laser ranging sensors is six, three laser ranging sensors are fixedly arranged on the lower side of the installation frame in a right angle mode, two laser ranging sensors are fixedly arranged on the right side of the installation frame in the horizontal direction, and one laser ranging sensor is fixedly arranged on the front side of the installation frame and used for measuring the spatial position of the detection tool block; the checking fixture block is of a hexahedral structure.
2. The six-degree-of-freedom indirect measuring instrument according to claim 1, wherein: the upper part of the checking fixture support is provided with a pin hole and a slotted hole, and the pin hole and the slotted hole are used for being matched with the two positioning shafts of the mounting point.
3. The six-degree-of-freedom indirect measuring instrument according to claim 1, wherein: the detection support is used for being fixedly connected with the workpiece, the mounting frame is fixedly connected to the detection support, the laser ranging sensors are fixedly arranged on the mounting frame and used for measuring the spatial position of the detection tool block, and the laser ranging sensors are electrically connected with the computing device.
4. The six-degree-of-freedom indirect measuring instrument according to claim 3, wherein: the laser ranging sensor is a single-degree-of-freedom displacement sensor.
5. The six-degree-of-freedom indirect measuring instrument according to claim 3, wherein: the upper part of the detection support is fixedly provided with a diamond positioning pin and a round positioning pin, and the diamond positioning pin and the round positioning pin are used for being matched with the two positioning holes in the workpiece.
6. The six-degree-of-freedom indirect measuring instrument according to claim 3, wherein: the detection support is an aluminum alloy support.
7. The six-degree-of-freedom indirect measuring instrument according to claim 1, wherein: the gauge support is an aluminum alloy support.
8. The six-degree-of-freedom indirect measuring instrument according to claim 1, wherein: the gauge block is an aluminum alloy block.
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| CN201910800521.8A CN110455279B (en) | 2019-08-28 | 2019-08-28 | Six-degree-of-freedom indirect measuring instrument |
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