CN111855232A - A fully automatic vehicle chassis electronic measuring instrument - Google Patents

Abstract

The invention discloses a fully automatic vehicle chassis electronic measuring instrument, which comprises a multi-joint mechanical arm, a probe and a positioning device are installed on the movable end of the mechanical arm, and a mechanical control device is arranged below the fixed end of the mechanical arm for controlling the mechanical arm. A displacement compensation mechanism for the arm to move and rotate in a wide range, a camera device 4 is installed on the displacement compensation mechanism, a mobile workbench is set below the displacement compensation mechanism, and a control terminal is set in the mobile workbench, and the control terminal It is electrically connected with the robotic arm, the positioning device, the displacement compensation mechanism, and the camera device. This measuring instrument can automatically detect the chassis of the car to be repaired conveniently and flexibly, reduce the workload of workers, determine the maintenance position through two precise positioning, and expand the detection range of the mechanical arm by the displacement compensation mechanism, reducing the positioning caused by the movement of the mobile work platform. error and improve the positioning accuracy.

Description

A fully automatic vehicle chassis electronic measuring instrument

technical field

The invention belongs to the technical field of vehicle chassis electronic measurement, in particular to a fully automatic vehicle chassis electronic measurement instrument.

Background technique

The chassis of the car is the benchmark of the whole car. After the accident and deformation, it is necessary to obtain the data of the chassis to facilitate correction. The traditional automotive chassis electronic measuring instruments have high requirements for technicians, and the operation steps are cumbersome and labor-intensive, and the operation efficiency is low. In recent years, the extensive application of industrial robots has received extensive attention, especially in the assembly of complete vehicles, but it is rarely used in the field of automobile maintenance. If a robot is used to develop a chassis measurement device that replaces manual labor, it can not only reduce the error caused by human factors, but also shorten the cycle of automobile chassis repair, which is conducive to the realization of standardized measurement. How to reduce the measurement error caused by the accumulation of fit clearance through the mechanism optimization design is the key to the design. At present, there is no automated equipment for measuring the data of the automobile chassis. Therefore, it is necessary and meaningful to develop an automated chassis measuring instrument.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to aim at the shortcomings of the above-mentioned prior art, and to provide an instrument and equipment for automatic and automatic measurement of vehicle chassis. Small measurement time makes chassis inspection convenient and efficient.

In order to realize the above-mentioned technical purpose, the technical scheme adopted in the present invention is:

A fully automatic vehicle chassis electronic measuring instrument, which includes a multi-joint mechanical arm, a probe and a positioning device are installed on the mobile end of the mechanical arm, and a device for controlling the mechanical arm is arranged below the fixed end of the mechanical arm. A displacement compensation mechanism that can move and rotate in a range to reduce the accumulation of matching tolerances and ensure the stability of the position of the robot arm. A camera device is installed on the displacement compensation mechanism. A control terminal is arranged in the stage, and the control terminal is electrically connected with the mechanical arm, the positioning device, the displacement compensation mechanism and the camera device.

In order to optimize the above technical solutions, the specific measures taken also include:

Further, the robotic arm includes a rotating base, a first steering robotic arm, a second robotic arm, a third robotic arm and a probe arm, the probe is mounted on the end of the probe arm, and the rotating base is mounted on the first steering robotic arm. At the bottom end of the arm, an angle sensor for detecting the coordinates of the current position is installed at the joints between the arms, and the angle sensor is electrically connected with the control terminal to control the precise positioning of the mechanical arm.

Further, the camera device is used to capture the actual image of the vehicle chassis and determine the range to be detected, the positioning device is used to precisely locate the measuring point detected by the probe, and both the positioning device and the camera device use a camera.

Further, the displacement compensation mechanism includes a rotating platform, the rotating platform is arranged above the mobile workbench, a translation track is arranged on the upper surface of the rotating platform, a rotating base is slidably arranged on the translation track, and the upper end of the rotating platform is installed with a In the camera device, the lower end of the rotating platform is provided with a groove, and a driving mechanism for controlling the rotation of the rotating platform is installed in the groove.

Further, a horizontal screw rod is installed in the translation track, the rotating base is inserted and fixed on the screw rod, one end of the screw rod is installed with a first step motor, and the screw rod is sleeved on the output of the first step motor. On the shaft, the rotation of the lead screw drives the rotating base to move in the axial direction of the lead screw.

Further, the driving mechanism includes a second stepping motor, the output shaft of the second stepping motor is connected to a pinion, the pinion gear is connected to a large gear, the large gear is connected to a ring gear, and the ring gear is fixedly installed on the on the inner side wall of the groove.

Further, a number of limit guide wheels are arranged around the rotating platform on the upper surface of the mobile worktable to keep the rotating platform running smoothly.

Further, a drawer is opened on the side wall of the mobile workbench, a folding computer rack is placed in the drawer, a control terminal is placed on the folding computer rack, the folding computer rack is connected and fixed with the drawer through a telescopic bracket, and the control terminal adopts a PC. computer.

Further, the lower end of the moving table is provided with a brakeable universal wheel.

Further, several tool boxes are also opened on the side wall of the mobile workbench, and handles are provided at both ends of the mobile workbench.

Beneficial effects of the present invention:

The invention can conveniently and flexibly perform automatic detection on the chassis of the vehicle to be repaired, reduce the workload of workers, and improve the detection accuracy; the maintenance position is determined by two precise positioning of the visual image, and the positioning error caused by the movement of the mobile working platform is reduced; The displacement compensation of the rotating platform mechanism replaces the large-scale action of the robot arm, which avoids the measurement error caused by the accumulation of tolerances, improves the detection accuracy, expands the detection range of the robot arm, and prolongs the service life of the robot arm.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the exploded structure schematic diagram of the mechanical arm;

Fig. 3 is the structural representation of mobile workbench;

Fig. 4 is the structural representation of the rotating platform;

FIG. 5 is a schematic structural diagram of a translation track.

Reference numerals are: robotic arm 1, rotating base 1-1, first steering robotic arm 1-2, second robotic arm 1-3, third robotic arm 1-4, probe arm 1-5, probe 2 , positioning device 3, camera device 4, mobile table 5, rotating platform 6, translation track 7, screw 8, first stepper motor 9, second stepper motor 10, pinion 11, large gear 12, ring gear 13. Limiting guide wheel 14, drawer 15, folding computer rack 16, telescopic bracket 17, brakeable universal wheel 18, tool box 19, handle 20.

Detailed ways

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

As shown in Figure 1 and Figure 5, the present invention is a fully automatic vehicle chassis electronic measuring instrument, the rotating base 1-1 of the mechanical arm 1 is slidably installed on the translation track 7, and the translation track 7 includes a cover plate, a base and The base, a horizontal screw 8 is installed between the cover plate of the translation track 7 and the base, the screw 8 passes through the base, the base is threadedly connected to the rotating base 1-1, and one end of the screw 8 is connected to the first step motor 9, the rotating base 1-1 is driven by the screw 8 to move on the translation track 7, the translation track 7 is fixed on the rotating platform 6, and the rotating platform 6 is precisely controlled by the second stepping motor 10 to rotate.

A mobile workbench 5 is arranged below the rotating platform 6, handles 20 are provided on both sides of the mobile workbench 5, and the lower end of the mobile workbench 5 is provided with a brakeable universal wheel 18, and the handle 20 is pushed to control the mobile workbench 5 to move to a position. At the corresponding position, open the brakeable universal wheel 18 for fixing. There are four brakeable universal wheels 18 in total, which is convenient for moving and transferring the measuring instrument. When the brake of the brakeable universal wheel 18 is opened, the machine can be restricted from moving and avoid it. Vibration offset is generated during the working process, so as not to affect the measurement accuracy.

A drawer 15 and a number of tool boxes 19 are arranged below the mobile workbench 5 , and a folding computer rack 16 is placed in the drawer 15 , and a control terminal is placed on the folding computer rack 16 , which saves space in a folded state when not in operation. The folding computer rack 16 is connected and fixed with the drawer 15 through the telescopic bracket 17, and the control terminal adopts a PC computer.

The camera device 4 and the positioning device 3 in the present invention provide precise monitoring and positioning for the probe of the robot arm, and the concentric circle positioning is realized by inserting the probe 2 into the bolt hole of the vehicle chassis, which is convenient to measure the position parameters of the screw hole of the frame after deformation, so that the Post-comparison repair correction.

As shown in Figure 2, it is composed of various structures of the robotic arm 1, including a rotating base 1-1, a first steering robotic arm 1-2, a second robotic arm 1-3, a third robotic arm 1-4, and a probe arm 1-5. Probe 2; the movable joints of the robotic arm 1 are connected and fixed by rotating shafts, each rotating shaft is controlled by a drive motor, and the drive motor is electrically connected to the control terminal, and the displacement parameters are recorded by stepping pulses and displayed in real time. The monitoring points captured by the camera device 4 and the positioning device 3 are compared and verified with the standard data stored in the control terminal. At the same time, combined with the angle data of each robotic arm collected by the angle sensor (not shown), the precise control of the robotic arm 1 is realized.

As shown in Figures 3-4, the second stepper motor 10 is installed in the groove on the lower surface of the rotating platform 6, the output shaft of the second stepper motor 10 is engaged with the pinion gear 11, and the pinion gear 11 gear is engaged with the large gear 12, The large gear 12 gear meshes with the ring gear 13, the ring gear 13 is fixedly installed on the inner side wall of the groove, the large gear 12 is sleeved on the rotating shaft, the lower end of the rotating shaft is fixed in the groove, and the rotating shaft and the large gear 12 are connected. Rolling bearings are installed between.

By driving the second stepping motor 10, the pinion gear 11 is driven to be transmitted to the large gear 12, and then the ring gear 13 is driven to rotate together with the rotating platform 6 to realize the rotation of the rotating platform 6. A limit guide wheel 14 is provided for anti-collision reinforcement, limiting the horizontal displacement of the rotating platform 6, ensuring the positioning accuracy of the rotating platform 6 during the working process, and at the same time combining the translation track 7 on the rotating platform 6 to expand the working range of the robotic arm .

The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions that belong to the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims (10)

1. A fully automatic vehicle chassis electronic measuring instrument is characterized in that, comprising: a multi-joint mechanical arm (1), a probe (2) and a positioning device (3) are installed on the mobile end of the mechanical arm (1) ), a displacement compensation mechanism for controlling the large-scale movement and rotation of the mechanical arm (1) is provided below the fixed end of the mechanical arm (1), and a camera device (4) is installed on the displacement compensation mechanism, and the displacement compensation A mobile workbench (5) is arranged below the mechanism, and a control terminal is arranged in the mobile workbench (5), and the control terminal is connected with the mechanical arm (1), the positioning device (3), the displacement compensation mechanism, and the camera device (4). ) electrical connection. 2. A fully automatic vehicle chassis electronic measuring instrument according to claim 1, characterized in that: the mechanical arm (1) comprises a rotating base (1-1), a first steering mechanical arm (1-2) , a second robotic arm (1-3), a third robotic arm (1-4) and a probe arm (1-5), the probe (2) is installed at the end of the probe arm (1-5), so The rotating base (1-1) is installed on the bottom end of the first steering mechanical arm (1-2), and an angle sensor for detecting the coordinates of the current position is installed at the joints between the arms, and the angle sensor is electrically connected to the control terminal , control the precise positioning of the robotic arm (1). 3. A kind of fully automatic vehicle chassis electronic measuring instrument according to claim 1, it is characterized in that: described camera device (4) is used for photographing the actual image of vehicle chassis and determining the range to be detected, the positioning The device (3) is used to precisely locate the measuring point detected by the probe (2), and both the positioning device (3) and the camera device (4) use a camera. 4. A fully automatic vehicle chassis electronic measuring instrument according to claim 2, characterized in that: the displacement compensation mechanism comprises a rotating platform (6), and the rotating platform (6) is arranged on the mobile workbench (5). ), a translation track (7) is provided on the upper surface of the rotating platform (6), a rotating base (1-1) is slidably provided on the translation track (7), and a camera is installed on the upper end of the rotating platform (6). In the device (4), the lower end of the rotating platform (6) is provided with a groove, and a driving mechanism for controlling the rotation of the rotating platform (6) is installed in the groove. 5. A fully automatic vehicle chassis electronic measuring instrument according to claim 4, characterized in that: a horizontal screw rod (8) is installed in the translation track (7), and the rotating base (1-1 ) is inserted and fixed on the lead screw (8), one end of the lead screw (8) is installed with the first step motor (9), and the lead screw (8) is sleeved on the output shaft of the first step motor (9). , the rotation of the screw rod (8) drives the rotating base (1-1) to move axially along the screw rod (8). 6. A fully automatic vehicle chassis electronic measuring instrument according to claim 4, characterized in that: the driving mechanism comprises a second stepping motor (10), and the output shaft of the second stepping motor (10) The pinion (11) is connected, the pinion (11) is connected to the large gear (12), the large gear (12) is connected to the ring gear (13), and the ring gear (13) is fixedly installed in the groove. on the inner side wall. 7. A fully automatic vehicle chassis electronic measuring instrument according to claim 4, characterized in that: the upper surface of the mobile workbench (5) is provided with a number of limit guide wheels (14) around the rotating platform (6). ). 8 . The fully automatic vehicle chassis electronic measuring instrument according to claim 1 , wherein a drawer ( 15 ) is opened on the side wall of the mobile workbench ( 5 ), and a drawer ( 15 ) is placed in the drawer ( 15 ). 9 . A folding computer rack (16), a control terminal is placed on the folding computer rack (16), the folding computer rack (16) is connected and fixed with the drawer (15) through a telescopic bracket (17), and the control terminal adopts a PC computer . 9 . The fully automatic vehicle chassis electronic measuring instrument according to claim 1 , wherein a brakeable universal wheel ( 18 ) is installed at the lower end of the mobile workbench ( 5 ). 10 . 10. A fully automatic vehicle chassis electronic measuring instrument according to claim 1, characterized in that: several tool boxes (19) are arranged on the side wall of the mobile workbench (5), and the mobile workbench ( 5) Both ends are provided with handles (20).

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