CN111136686A - Posture adjusting device for end effector for detecting thickness of surface coating - Google Patents
Posture adjusting device for end effector for detecting thickness of surface coating Download PDFInfo
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- CN111136686A CN111136686A CN201911360596.5A CN201911360596A CN111136686A CN 111136686 A CN111136686 A CN 111136686A CN 201911360596 A CN201911360596 A CN 201911360596A CN 111136686 A CN111136686 A CN 111136686A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an attitude adjusting device for a surface coating thickness detection end effector, which comprises a sliding mechanism, a rotating mechanism and an attitude adjusting mechanism, wherein the rotating mechanism and the attitude adjusting mechanism are arranged on the sliding mechanism, and the sliding mechanism can drive the rotating mechanism and the attitude adjusting mechanism to move; the posture adjusting mechanism comprises a swinging shaft, a swinging supporting mechanism and a first connecting mechanism, the swinging supporting mechanism is connected with the sliding mechanism, the swinging shaft penetrates through the swinging supporting mechanism and can swing by taking the swinging supporting mechanism as a fulcrum, one end of the swinging shaft is connected with the first connecting mechanism, the first connecting mechanism can drive the swinging shaft to swing by taking the swinging supporting mechanism as the fulcrum, the first connecting mechanism is connected with the rotating mechanism, the rotating mechanism can drive the first connecting mechanism to rotate, and the other end of the swinging shaft can be connected with the thickness detection end actuator. The device can enable the surface coating thickness detection end effector to flexibly adjust the posture in space.
Description
Technical Field
The invention belongs to the field of robot end effector control and posture adjustment, and particularly relates to a posture adjusting device for a surface coating thickness detection end effector.
Background
Many installations with surface coatings require that the thickness of the coating on their surface be checked before use or before the next process step after coating to prevent loss of the coating due to non-uniformity or non-compliance. Therefore, how to make the end effector of the thickness detection robot reach a specified detection attitude angle, and perform quick and effective attitude control to obtain a high-quality measurement result is a problem to be considered and solved.
Chinese patent CN201910573853.7 discloses a three-degree-of-freedom posture adjustment device, which can adjust three angles of pitch, roll and horizontal rotation by adjusting screws at different positions. But the method is mainly suitable for the field of turning tool adjustment and cannot be suitable for posture adjustment of the end effector for detecting the thickness of the surface coating.
Chinese patent CN 201822144922.6 discloses a laser radar attitude adjustment device, its adjustment that is mainly applicable to the laser radar gesture, and the shock attenuation connecting plate in its device can play better shock attenuation effect to laser radar, can adjust laser radar's gesture angle simultaneously to the alignment work of laser radar and observation window has been made things convenient for. But it is equally not applicable to attitude adjustment of a surface coating thickness detection end effector.
Chinese patent CN 201910202386.7 discloses a posture adjustment device and a posture adjustment method for a 6-axis robot, which adjust the posture of a 6-axis robot standing up in a direction substantially perpendicular to a robot installation surface, and are posture control methods for performing posture adjustment in a large range in a plane to reach each position of the plane, which are not suitable for posture adjustment with spatial degree of freedom, and therefore are not suitable for posture adjustment of a surface coating thickness detection end effector.
Disclosure of Invention
In order to solve the problems in the prior art, an object of the present invention is to provide an attitude adjustment device for a surface coating thickness detection end effector, which enables the surface coating thickness detection end effector to flexibly perform attitude adjustment in space.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
an attitude adjusting device for a surface coating thickness detection end effector comprises a sliding mechanism, a rotating mechanism and an attitude adjusting mechanism, wherein the rotating mechanism and the attitude adjusting mechanism are arranged on the sliding mechanism, and the sliding mechanism can drive the rotating mechanism and the attitude adjusting mechanism to move; the posture adjusting mechanism comprises a swinging shaft, a swinging supporting mechanism and a first connecting mechanism, the swinging supporting mechanism is connected with the sliding mechanism, the swinging shaft penetrates through the swinging supporting mechanism and can swing by taking the swinging supporting mechanism as a fulcrum, one end of the swinging shaft is connected with the first connecting mechanism, the first connecting mechanism can drive the swinging shaft to swing by taking the swinging supporting mechanism as the fulcrum, the first connecting mechanism is connected with the rotating mechanism, the rotating mechanism can drive the first connecting mechanism to rotate, and the other end of the swinging shaft can be connected with the thickness detection end actuator.
The sliding mechanism comprises a transverse sliding table and a bottom plate, the transverse sliding table comprises a sliding rail, a first sliding block and a first sliding block driving mechanism, the first sliding block is arranged on the sliding rail, the first sliding block driving mechanism is connected with the first sliding block, and the first sliding block driving mechanism can drive the first sliding block to move along the sliding rail; the bottom plate is arranged on the first sliding block, and the rotating mechanism and the posture adjusting mechanism are arranged on the bottom plate; a sliding separation blade is arranged on the first sliding block, and a position detection sensor used for detecting the limit position of the sliding separation blade is arranged on the sliding rail.
The rotating mechanism comprises a rotating driving device, a rotating mechanism fixing seat and a longitudinal sliding platform support, the rotating driving device is installed on the rotating mechanism fixing seat, the rotating mechanism fixing seat is installed on the sliding mechanism, the output end of the rotating driving device is connected with the longitudinal sliding platform support, and the rotating driving device can drive the longitudinal sliding platform support to rotate; the first connecting mechanism is arranged on the longitudinal sliding platform support.
The first connecting mechanism comprises a longitudinal sliding table and a sliding ring mechanism, the longitudinal sliding table comprises a mounting frame, a screw rod and a second sliding block, the mounting frame is connected with the rotating mechanism, the screw rod is rotatably connected with the mounting frame, the second sliding block is in threaded connection with the screw rod, and the screw rod can drive the second sliding block to move along the axis of the screw rod; the screw rod is connected with a driving device for driving the screw rod to rotate; and the sliding ring mechanism is arranged on the second sliding block and is connected with the swinging shaft.
The sliding ring mechanism comprises a longitudinal sliding table connecting seat, a rotating shaft and a sliding ring, the longitudinal sliding table connecting seat is installed on the second sliding block, the sliding ring is connected with the longitudinal sliding table connecting seat through the rotating shaft, a through hole used for restraining the oscillating shaft is formed in the sliding ring, the end portion of the oscillating shaft extends into the through hole, and the oscillating shaft is perpendicular to the rotating shaft.
A lubricating sleeve is arranged in the through hole, and the end part of the oscillating shaft extends into the lubricating sleeve.
The rotating shaft of the screw is vertical to and intersected with the rotating shaft of the output end of the rotation driving device.
The swing supporting mechanism comprises a swing supporting mechanism support, an angle swing device and a swing shaft sleeve, the supporting mechanism support is fixedly installed on the sliding mechanism, the angle swing device is fixed on the swing supporting mechanism support, the angle swing device can swing on the swing supporting mechanism support, the swing shaft sleeve is installed on the angle swing device, the swing shaft sleeve can rotate relative to the angle swing device, and the swing shaft penetrates through the swing shaft sleeve and is fixedly connected with the swing shaft sleeve.
An end effector connecting flange is installed at the other end of the oscillating shaft and can be connected with a thickness detection end effector, a distance fine adjustment mechanism is installed on the end effector connecting flange, a fine adjustment mechanism connecting rod is installed at the output end of the distance fine adjustment mechanism, and the fine adjustment mechanism connecting rod can enable a measuring sensor in the thickness detection end effector to reach a preset distance from the surface of a measured object.
The distance fine adjustment mechanism is coaxially arranged by adopting a hydraulic cylinder, an air cylinder or a ball screw, and the hydraulic cylinder, the air cylinder or the ball screw and the end effector connecting flange.
Compared with the prior posture adjusting device, the invention has the beneficial effects that:
according to the posture adjusting device for the surface coating thickness detection end effector, aiming at the working characteristics of coating thickness measurement, the thickness detection end effector can be enabled to rapidly approach or leave a measured object through the sliding mechanism, and the first connecting mechanism is utilized in the posture adjusting mechanism to drive the swinging shaft to swing by taking the swinging supporting mechanism as a fulcrum, so that the swinging of the swinging shaft in the plane can be realized, and further the swinging of the thickness detection end effector in the plane can be realized; the first connecting mechanism is connected with the rotating mechanism, and the rotating mechanism can drive the first connecting mechanism to rotate, so that the thickness detection end effector can swing in a plane and can move at any point on the surface similar to the spherical segment. Therefore, the invention can quickly and effectively adjust the posture of the thickness detection end effector through the thickness detection end effector, the rotating mechanism and the posture adjusting mechanism, so that the thickness detection end effector reaches the appointed measurement posture angle, and the thickness detection end effector can flexibly move in the space.
Furthermore, the sliding mechanism comprises a transverse sliding table and a bottom plate, wherein the transverse sliding table comprises a sliding rail, a first sliding block and a first sliding block driving mechanism, and the rotating mechanism and the posture adjusting mechanism are arranged on the bottom plate; utilize first slider actuating mechanism can the quick drive first slider remove on the slide rail fast, and then make the bottom plate can the quick travel, the quick travel of bottom plate ability makes rotary mechanism and gesture guiding mechanism and thickness detection end effector quick travel to make thickness detection end effector be close to the testee fast, have very high work efficiency. If the sliding separation blade passes through the position detection sensor, the first sliding block driving mechanism can be forcibly stopped, and the surface of a thickness detection device or a measured object is prevented from being damaged by overtravel.
Furthermore, the distance fine-tuning mechanism can be used for fine-tuning the thickness detection end effector when the thickness detection end effector is close to the measured surface, so that the thickness detection end effector slowly approaches the measured surface, collision between the thickness detection end effector and the measured surface can be prevented, and meanwhile, a high-quality measurement result can be obtained.
Drawings
FIG. 1 is a schematic view of an attitude adjustment device for a surface coating thickness detection end effector according to the present invention;
FIG. 2 is a schematic view of a sliding mechanism of an attitude adjustment device for a surface coating thickness detection end effector according to the present invention;
FIG. 3 is a schematic view of a rotating mechanism of an attitude adjusting device for a surface coating thickness detecting end effector according to the present invention;
FIG. 4 is a schematic view of an attitude adjustment mechanism of an end effector for measuring the thickness of a coating layer on a surface according to the present invention;
FIG. 5 is a schematic view of a slip ring mechanism of an attitude adjustment device for a surface coating thickness detection end effector according to the present invention;
FIG. 6 is a schematic view of a swing support mechanism of an attitude adjustment device for a surface coating thickness detection end effector according to the present invention;
in the figure:
1 is a sliding mechanism, 101 is a transverse sliding table, 1011 is a first sliding block, 1012 is a sliding rail, 102 is a sliding separation blade, 103 is a position detection sensor, 104 is a bottom connecting flange, and 105 is a bottom plate;
2, a rotating mechanism, 201, a rotating driving device, 202, a rotating mechanism fixing seat, 203, a rotating connecting shaft, 204, a longitudinal sliding platform support and 205, a connecting gasket;
3, an attitude adjusting mechanism, 301, a longitudinal sliding table, 3011, an installation frame, 3012, a screw, 3013, a second slider, 302, a sliding ring mechanism, wherein 3021 is a longitudinal sliding table connection base, 3021a is a sliding table connection boss, 3021b is a sliding table connection recess, 3022 is a rotation shaft, 3023 is a retainer ring, 3024 is a sliding ring, 3025 is a lubricating sleeve, 303 is a swing shaft, 304 is a swing support mechanism, 3041 is a swing support mechanism support, 3042 is a fastening screw, 3043 is an angle swing device, 3044 is a swing shaft sleeve, 305 is an end effector connection flange, 306 is a distance fine adjustment mechanism, 307 is a fine adjustment mechanism connection rod, and 308 is a swing support base;
and 4, a thickness detection end effector.
Detailed Description
The invention is further described below with reference to the figures and examples.
Referring to fig. 1 and 4, the posture adjustment device for the surface coating thickness detection end effector of the invention comprises a sliding mechanism 1, a rotating mechanism 2 and a posture adjustment mechanism 3, wherein the rotating mechanism 2 and the posture adjustment mechanism 3 are installed on the sliding mechanism 1, and the sliding mechanism 1 can drive the rotating mechanism 2 and the posture adjustment mechanism 3 to move; the posture adjustment mechanism 3 includes a swing shaft 303, a swing support mechanism 304, and a first connection mechanism, the swing support mechanism 304 is connected to the slide mechanism 1, the swing shaft 303 penetrates the swing support mechanism 304, the swing shaft 303 can swing with the swing support mechanism 304 as a fulcrum, one end of the swing shaft 303 is connected to the first connection mechanism, the first connection mechanism can drive the swing shaft 303 to swing with the swing support mechanism 304 as a fulcrum, the first connection mechanism is connected to the rotation mechanism 2, the rotation mechanism 2 can drive the first connection mechanism to rotate, and the other end of the swing shaft 303 can be connected to the thickness detection end effector 4.
As a preferred embodiment of the present invention, referring to fig. 1 and 2, the sliding mechanism 1 includes a transverse sliding table 101 and a bottom plate 105, the transverse sliding table 101 includes a sliding rail, a first sliding block and a first sliding block driving mechanism, the first sliding block is mounted on the sliding rail, the first sliding block driving mechanism is connected with the first sliding block, and the first sliding block driving mechanism can drive the first sliding block to move along the sliding rail; the bottom plate 105 is arranged on the first slide block, and the rotating mechanism 2 and the posture adjusting mechanism 3 are arranged on the bottom plate 105; a sliding separation blade 102 is arranged on the first sliding block, a position detection sensor 103 used for detecting the limit position of the sliding separation blade 102 is arranged on the sliding rail, and a photoelectric sensor can be adopted as the position detection sensor 103.
As a preferred embodiment of the present invention, referring to fig. 1, 3 and 4, the rotating mechanism 2 includes a rotating driving device 201, a rotating mechanism fixing seat 202 and a longitudinal sliding platform support 204, the rotating driving device 201 is installed on the rotating mechanism fixing seat 202, the rotating mechanism fixing seat 202 is installed on the sliding mechanism 1, an output end of the rotating driving device 201 is connected with the longitudinal sliding platform support 204, and the rotating driving device 201 can drive the longitudinal sliding platform support 204 to rotate; the first linkage is mounted on the longitudinal sliding platform support 204.
As a preferred embodiment of the present invention, referring to fig. 1 and fig. 4, the first connecting mechanism includes a longitudinal sliding table 301 and a sliding ring mechanism 302, the longitudinal sliding table 301 includes a mounting block 3011, a screw 3012 and a second slider 3013, the mounting block 3011 is connected to the rotating mechanism 2, the screw 3012 is rotatably connected to the mounting block 3011, the second slider 3013 is connected to the screw 3012 by a screw, and the screw 3012 can drive the second slider 3013 to move along the axis of the screw 3012; the screw 3012 is connected with a driving device for driving the screw to rotate; the slip ring mechanism 302 is attached to the second slider 3013, and the slip ring mechanism 302 is connected to the swing shaft 303.
Referring to fig. 1, 4 and 5, as a preferred embodiment of the present invention, the slip ring mechanism 302 includes a longitudinal slide table connection base 3021, a rotation shaft 3022 and a slip ring 3024, the longitudinal slide table connection base 3021 is mounted on the second slider 3013, the slip ring 3024 is connected to the longitudinal slide table connection base 3021 through the rotation shaft 3022, a through hole for restricting the swing shaft 303 is provided on the slip ring 3024, an end of the swing shaft 303 extends into the through hole, and the swing shaft 303 is perpendicular to the rotation shaft 3022.
Referring to fig. 5, as a preferred embodiment of the present invention, a lubricating sleeve 3025 is provided in the through hole, and the end of the swing shaft 303 protrudes into the lubricating sleeve 3025.
Referring to fig. 1 and 4, as a preferred embodiment of the present invention, the rotation axis of the screw 3012 is perpendicular to and intersects with the rotation axis of the output end of the rotation driving device 201.
Referring to fig. 1, 4 and 6, the swing support mechanism 304 includes a swing support mechanism support 3041, an angle swing device 3043 and a swing shaft sleeve 3044, the support mechanism support 3041 is fixedly mounted on the sliding mechanism 1, the angle swing device 3043 is fixed on the swing support mechanism support 3041, the angle swing device 3043 can swing on the swing support mechanism support 3041, the swing shaft sleeve 3044 is mounted on the angle swing device 3043, the swing shaft sleeve 3044 can rotate relative to the angle swing device 3043, and the swing shaft 303 passes through the swing shaft sleeve 3044 and is fixedly connected with the swing shaft sleeve 3044.
Referring to fig. 1 and 4, as a preferred embodiment of the present invention, an end effector connecting flange 305 is mounted at the other end of the swing shaft 303, the end effector connecting flange 305 is capable of being connected to the thickness detection end effector 4, a distance fine adjustment mechanism 306 is mounted on the end effector connecting flange 305, a fine adjustment mechanism connecting rod 307 is mounted at an output end of the distance fine adjustment mechanism 306, and the fine adjustment mechanism connecting rod 307 is capable of enabling a measurement sensor in the thickness measurement end effector 4 to reach a preset distance from the surface of a measured object.
As a preferred embodiment of the present invention, the distance fine adjustment mechanism 306 is provided coaxially with the end effector attachment flange 305 by using a hydraulic cylinder, an air cylinder, or a ball screw.
Examples
The posture adjusting device for the surface coating thickness detection end effector comprises a sliding mechanism 1, a rotating mechanism 2 and a posture adjusting mechanism 3, wherein the rotating mechanism 2 and the posture adjusting mechanism 3 are connected with the sliding mechanism 1 through a base 105, and a thickness detection end effector 4 is connected with the posture adjusting mechanism 3 through an end effector connecting flange 305. The slide mechanism 1 includes a lateral slide table 101, a slide shutter 102, a position detection sensor 103, a bottom attachment flange 104, and a bottom plate 105. A bottom coupling flange 104 couples the lateral slide 101 to a base plate 105. The sliding device comprises a transverse sliding table 101 sliding rail 1012, a first sliding block 1011 and a first sliding block driving mechanism, wherein the first sliding block is arranged on the sliding rail, the first sliding block driving mechanism is connected with the first sliding block, and the first sliding block driving mechanism can drive the first sliding block to move along the sliding rail; the base plate 105 is mounted on the first slider 1011. When the thickness measurement is carried out, the thickness detection end effector 4 is enabled to rapidly approach or leave a measured object through the sliding of the first sliding block 1011, so that the working efficiency is high; when the slide fence 102 passes the position detection sensor 103, the slide is forcibly stopped, preventing the overtravel from damaging the thickness detection end effector 4 or the surface of the object to be detected. The rotating mechanism 2 comprises a rotating driving device 201, a rotating mechanism fixing seat 202, a rotating connecting shaft 203, a longitudinal sliding platform support 204 and a connecting gasket 205. The longitudinal sliding platform support 204 is fixedly connected with the rotating connecting shaft 203, and the rotating connecting shaft 203 is connected with the output end of the rotating driving device 201, so that the longitudinal sliding platform support 204 can rotate under the driving of the rotating driving device 201; the two connecting gaskets 205 are positioned between the rotating mechanism 2 and the posture adjusting mechanism 3, so that the connection is stable and the assembly is convenient; the rotation driving device 201 rotates to drive the swing lever 303 and the thickness detection end effector 4 in the attitude adjusting mechanism 3 to rotate, so that the swing direction of the thickness detection end effector 4, that is, the sliding direction of the longitudinal slide table 301 coincides with the direction of the relative position of the object to be measured and the thickness detection end effector 4. The attitude adjusting mechanism 3 includes a longitudinal slide table 301, a slip ring mechanism 302, a swing shaft 303, a swing support mechanism 304, an end effector connection flange 305, a distance fine adjustment mechanism 306, a fine adjustment mechanism connection rod 307, and a swing support base 308. After the thickness detection end effector 4 is driven by the rotating mechanism 2 to rotate to a proper swing posture, the longitudinal sliding table 301 drives the sliding ring mechanism 302 to longitudinally slide, at this time, the swing shaft 303 swings at a certain angle along with the sliding ring mechanism 302 by taking the swing support mechanism 304 as a fulcrum, and the connection end of the swing shaft 303 and the thickness detection end effector 4 also swings at the same angle, so that the thickness detection end effector 4 swings to a posture angle suitable for measurement. The slip ring mechanism 302 includes a longitudinal sliding table connecting seat 3021, a rotating shaft 3022, a retainer ring 3023, a slip ring 3024, and a lubrication sleeve 3025, and the longitudinal sliding table connecting seat 3021 includes a sliding table connecting boss 3021a and a sliding table connecting recess 3021 b. When the sliding ring mechanism 302 moves under the driving of the longitudinal sliding table 301, one side of the sliding ring on the oscillating shaft 303 slides in the inner hole of the sliding ring 3043 (i.e. the through hole for restraining the oscillating shaft 303), the cross-sectional shape of the sliding ring side of the oscillating shaft 303 is a flat round shape with two sides cut off, and the inner hole of the sliding ring 3024 is a rectangular shape, so that the oscillating shaft 303 can only slide and cannot rotate when sliding in the inner hole of the sliding ring 3043, and as shown in fig. 4, taking the orientation shown in fig. 4 as an example, the right end of the oscillating shaft 303 is always positioned at the right side of the rotating shaft 3022, so as to prevent the oscillating shaft 303 from slipping out of the inner hole of the sliding ring 3043 and ensure the stability when the. A lubricating sleeve 3025 is fixed in an inner hole of the slip ring 3024, and plays a role in lubricating and reducing the friction coefficient; the rotating shaft 3022 can rotate in holes on both sides of the longitudinal sliding platform connecting seat 3021, so that the sliding ring 3043 can rotate by a corresponding angle along with the swinging shaft 303 when the swinging shaft 303 swings; the longitudinal sliding table connecting seat 3021 is composed of a sliding table connecting convex seat 3021a and a sliding table connecting concave seat 3021b, so that the longitudinal sliding table connecting seat can be conveniently installed, and the convex part of the sliding table connecting convex seat 3021a and the concave part of the sliding table connecting concave seat 3021b can be matched during installation, so that the longitudinal sliding table connecting seat 3021 has good positioning and stability. The swing support mechanism 304 includes a swing support mechanism support 3041, a fastening screw 3042, an angle swing device 3043, and a swing shaft bushing 3044. An angle swing device 3043 is fixed to the swing support mechanism support 3041, and can swing at a certain angle with the swing support mechanism support 3041 along with the swing of the swing shaft; the fastening screw 3042 enables the angle swing device 3043 and the swing support mechanism support 3041 to be stably connected without being separated from the swing support mechanism support 3041 in the swing process, thereby causing a failure in adjusting the angle pose of the swing shaft 303; the swing shaft sleeve 3044 is fixedly connected to the swing shaft 303, and when the swing shaft 303 is angularly deflected by the driving of the longitudinal sliding table 301, the inside of the angular swing device 3043 relatively rotates to serve as a pivot point for swinging the swing shaft 303, so that the swing shaft 303 can swing to a proper angular posture. The end effector connecting flange 305 is coaxially provided with a distance fine adjustment mechanism 306, and if the thickness measuring end effector 4 has reached the measured position, the distance fine adjustment mechanism 306 drives a fine adjustment mechanism connecting rod 307 fixedly connected to the measuring sensor, so that the measuring sensor in the thickness measuring end effector 4 reaches a proper distance from the surface of the measured object, and an accurate measuring result is obtained.
The working process of the attitude adjusting device for the surface coating thickness detection end effector comprises the following steps:
step 1: when the coating surface thickness detection work starts, the first slide block 1011 in the slide table mechanism 1 slides, so that the bottom plate 105 fixedly connected to the first slide block 1011 slides, the posture adjusting mechanism 3 fixedly connected to the bottom plate 105 slides, the thickness detection end effector 4 connected to the posture adjusting mechanism 3 slides, and the thickness detection end effector 4 is close to the surface of the object to be detected. If the sliding stopper 102 passes the position detection sensor 103 during the sliding process, the sliding is forcibly stopped, and the overtravel damage to the thickness detection device or the surface of the object to be measured is prevented.
Step 2: when the thickness detection end effector 4 approaches the surface to be detected, the rotation driving device 201 rotates to drive the longitudinal sliding platform support 204 to rotate, so that the swinging direction of the thickness measurement end effector 4, namely the sliding direction of the longitudinal sliding platform 301 is consistent with the relative position direction of the position of the point to be detected and the thickness detection end effector 4.
And step 3: after the thickness detection end effector 4 rotates to a proper angle, the second slider 3013 drives the slip ring mechanism 302 to longitudinally slide, at this time, the swing shaft 303 slides in the inner hole of the slip ring mechanism 302, swings by a certain angle with the swing support mechanism 304 as a fulcrum, and swings by the same angle as the connection end of the thickness detection end effector 4 until the thickness detection end effector 4 swings to an attitude angle suitable for measurement.
And 4, step 4: after the thickness detection end effector 4 swings to an angle suitable for measurement and is located at a measured position of a measured surface, the distance fine adjustment mechanism 306 fixedly connected in the end effector connecting flange 305 drives the fine adjustment mechanism connecting rod 307 fixedly connected to the measurement sensor to finely adjust the distance to the measured object surface, so that an accurate measurement result is obtained.
And 5: after the thickness measurement of the designated position of the measured surface is completed, if the thickness measurement needs to be changed to another position, the thickness detection end effector 4 can be separated from the measured surface position through the step 1, and the posture angle of the thickness detection end effector 4 is adjusted to reach another measurement position through the steps 1, 2, 3 and 4.
It should be noted that, in the measurement process, the sequence of step 1, step 2, step 3, step 4, and step 5 need not be executed strictly, and one or more steps of steps 1-5 need to be executed according to the placement position of the measurement device, the surface shape of the measured object, the relative position of the current measured point and the next measured point, and the detection precision requirement, so as to adjust the posture, angle, and position of the thickness detection end effector 4 to reach the appropriate measurement position to perform the thickness measurement on the measured point. Such as: if the thickness detection end effector 4 reaches the measurement position in the step 1, the distance between the thickness detection end effector 4 and the surface of the measured object can be measured only by finely adjusting the distance in the step 4; for another example: and (4) enabling the thickness detection end effector 4 to reach a detection position above the current measured point by only performing the step (3) and the step (4) when the next measured point is right above the current measured point.
After the thickness detection end effector 4 is driven to approach the surface to be detected through the sliding device 1, if the position of the measurement point is reached, the distance fine adjustment mechanism 306 is only driven to finely adjust the distance between the thickness detection end effector 4 and the surface of the object to be detected, and then the thickness detection work can be performed.
If the thickness detection end effector 4 does not reach the position of the measurement point after being driven to approach the surface to be measured by the sliding device 1, the angle posture of the thickness detection end effector 4 can be quickly adjusted by the driving of the rotating mechanism 2 and the posture adjusting mechanism 3, so that the thickness detection end effector 4 reaches the posture position suitable for measurement.
After the thickness detection end effector 4 reaches the posture position suitable for measurement, the distance between the thickness detection end effector 4 and the surface of the object to be measured can be finely adjusted by driving the thickness detection end effector 4 through the distance fine adjustment mechanism 306 according to the requirement of detection precision, so that an accurate measurement result can be obtained.
The specific attitude adjustment strategy includes, but is not limited to, the case of illustration, as long as the position of the thickness detection end effector 4 adjusted to the measured point by the attitude control of the entire attitude adjustment device is included in the attitude adjustment strategy of the attitude adjustment device.
Claims (10)
1. The attitude adjusting device for the end effector for detecting the thickness of the coating on the surface is characterized by comprising a sliding mechanism (1), a rotating mechanism (2) and an attitude adjusting mechanism (3), wherein the rotating mechanism (2) and the attitude adjusting mechanism (3) are arranged on the sliding mechanism (1), and the sliding mechanism (1) can drive the rotating mechanism (2) and the attitude adjusting mechanism (3) to move; the posture adjusting mechanism (3) comprises a swinging shaft (303), a swinging supporting mechanism (304) and a first connecting mechanism, the swinging supporting mechanism (304) is connected with the sliding mechanism (1), the swinging shaft (303) penetrates through the swinging supporting mechanism (304), the swinging shaft (303) can swing by taking the swinging supporting mechanism (304) as a fulcrum, one end of the swinging shaft (303) is connected with the first connecting mechanism, the first connecting mechanism can drive the swinging shaft (303) to swing by taking the swinging supporting mechanism (304) as the fulcrum, the first connecting mechanism is connected with the rotating mechanism (2), the rotating mechanism (2) can drive the first connecting mechanism to rotate, and the other end of the swinging shaft (303) can be connected with the thickness detection end actuator (4).
2. The attitude adjusting device for the end effector for detecting the thickness of the coating on the surface of the coating is characterized in that the sliding mechanism (1) comprises a transverse sliding table (101) and a bottom plate (105), the transverse sliding table (101) comprises a sliding rail (1012), a first sliding block (1011) and a first sliding block driving mechanism, the first sliding block (1011) is installed on the sliding rail (1012), the first sliding block driving mechanism is connected with the first sliding block (1011), and the first sliding block driving mechanism can drive the first sliding block (1011) to move along the sliding rail (1012); the bottom plate (105) is arranged on the first sliding block (1011), and the rotating mechanism (2) and the posture adjusting mechanism (3) are arranged on the bottom plate (105); a sliding separation blade (102) is arranged on the first sliding block (1011), and a position detection sensor (103) for detecting the limit position of the sliding separation blade (102) is arranged on the sliding rail (1012).
3. The attitude adjusting device for the end effector for detecting the thickness of the coating on the surface of the coating is characterized in that the rotating mechanism (2) comprises a rotating driving device (201), a rotating mechanism fixing seat (202) and a longitudinal sliding platform support (204), the rotating driving device (201) is arranged on the rotating mechanism fixing seat (202), the rotating mechanism fixing seat (202) is arranged on the sliding mechanism (1), the output end of the rotating driving device (201) is connected with the longitudinal sliding platform support (204), and the rotating driving device (201) can drive the longitudinal sliding platform support (204) to rotate; the first connecting mechanism is arranged on a longitudinal sliding platform support (204).
4. The attitude adjusting device for the end effector for detecting the thickness of the coating on the surface of the coating is characterized in that the first connecting mechanism comprises a longitudinal sliding table (301) and a sliding ring mechanism (302), the longitudinal sliding table (301) comprises a mounting frame (3011), a screw rod (3012) and a second sliding block (3013), the mounting frame (3011) is connected with the rotating mechanism (2), the screw rod (3012) is rotatably connected with the mounting frame (3011), the second sliding block (3013) is in threaded connection with the screw rod (3012), and the screw rod (3012) can drive the second sliding block (3013) to move along the axis of the screw rod (3012); the screw (3012) is connected with a driving device for driving the screw to rotate; the slip ring mechanism (302) is mounted on the second sliding block (3013), and the slip ring mechanism (302) is connected with the swinging shaft (303).
5. The attitude adjusting device for the surface coating thickness detection end effector as claimed in claim 4, wherein the slip ring mechanism (302) comprises a longitudinal sliding table connecting seat (3021), a rotating shaft (3022) and a slip ring (3024), the longitudinal sliding table connecting seat (3021) is mounted on the second slider (3013), the slip ring (3024) is connected with the longitudinal sliding table connecting seat (3021) through the rotating shaft (3022), a through hole for restraining the swinging shaft (303) is formed in the slip ring (3024), the end of the swinging shaft (303) extends into the through hole, and the swinging shaft (303) is perpendicular to the rotating shaft (3022).
6. The attitude adjustment device for a surface coating thickness detecting end effector as claimed in claim 5, wherein a lubrication sleeve (3025) is provided in said through hole, and an end portion of the swing shaft (303) protrudes into the lubrication sleeve (3025).
7. The attitude adjustment device for the surface coating thickness detecting end effector as claimed in claim 4 or 5, wherein a rotation axis of the screw (3012) is perpendicular to and intersects with a rotation axis of the output end of the rotation driving means (201).
8. The attitude adjusting device for the end effector for detecting the thickness of the coating on the surface of the coating according to claim 1, wherein the swing support mechanism (304) comprises a swing support mechanism support (3041), an angle swing device (3043) and a swing shaft sleeve (3044), the support mechanism support (3041) is fixedly installed on the sliding mechanism (1), the angle swing device (3043) is fixed on the swing support mechanism support (3041), the angle swing device (3043) can swing on the swing support mechanism support (3041), the swing shaft sleeve (3044) is installed on the angle swing device (3043), the swing shaft sleeve (3044) can rotate relative to the angle swing device (3043), and the swing shaft (303) penetrates through the swing shaft sleeve (3044) and is fixedly connected with the swing shaft sleeve (3044).
9. The attitude adjusting device for the end effector for detecting the thickness of the coating on the surface of the object is characterized in that the other end of the swinging shaft (303) is provided with an end effector connecting flange (305), the end effector connecting flange (305) can be connected with the end effector (4) for detecting the thickness, a distance fine adjustment mechanism (306) is arranged on the end effector connecting flange (305), the output end of the distance fine adjustment mechanism (306) is provided with a fine adjustment mechanism connecting rod (307), and the fine adjustment mechanism connecting rod (307) can enable a measuring sensor in the end effector (4) for measuring the thickness to reach a preset distance with the surface of the object to be measured.
10. The attitude adjusting apparatus for a surface coating thickness detecting end effector as claimed in claim 9, wherein the distance fine-adjustment mechanism (306) employs a hydraulic cylinder, an air cylinder or a ball screw, which is provided coaxially with the end effector attachment flange (305).
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| CN111136686B (en) | 2021-01-19 |
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