CN112817003A - Flexible three-dimensional space positioning mechanism and positioning method - Google Patents
Flexible three-dimensional space positioning mechanism and positioning method Download PDFInfo
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- CN112817003A CN112817003A CN202011631401.9A CN202011631401A CN112817003A CN 112817003 A CN112817003 A CN 112817003A CN 202011631401 A CN202011631401 A CN 202011631401A CN 112817003 A CN112817003 A CN 112817003A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000000149 penetrating effect Effects 0.000 abstract description 3
- 238000011900 installation process Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005206 flow analysis Methods 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a flexible three-dimensional space positioning mechanism and a positioning method, wherein the flexible three-dimensional space positioning mechanism comprises a base, a tool positioning seat is arranged on the left half part of the top of the base, a servo motor system is arranged below the tool positioning seat in a penetrating manner, and the servo motor system is used for adjusting the position of a positioning tool in the tool positioning seat; the right half part of the top of the base is a Y-direction adjusting mechanism, a positioning feedback platform is arranged on the Y-direction adjusting mechanism, the left side of the positioning feedback platform is movably connected with a laser ranging generator, and the laser ranging generator is used for detecting dynamic displacement generated in the moving process of the positioning tool and feeding back the dynamic displacement to the servo motor system. The invention can realize the quick and accurate positioning of the positioning tool, eliminate the errors in the manual measurement and installation processes and simultaneously improve the positioning efficiency.
Description
Technical Field
The invention relates to a positioning device, in particular to a flexible three-dimensional space positioning mechanism and a positioning method.
Background
With the continuous development of the manufacturing industry, the demand of automatic positioning and assembling of various products for small batch in the manufacturing industry is increasing day by day, and the demand of flexible positioning and assembling is continuously expanded in industrial production. Aiming at the problems of poor positioning precision, long working period, high labor cost, poor product consistency and the like of a radar three-dimensional space framework spherical joint in a certain military factory, a three-dimensional space flexible rapid positioning method is provided.
At present to three-dimensional space's locate mode, the artifical initial reference point that confirms on the horizontal table face, according to the equipment drawing size, through with the initial reference point after converting, obtain X, Y dot coordinates of horizontal plane, the manual work is drawn a line through the steel rule and is confirmed the position point, again through Z axle direction and the conversion of initial reference point, obtain Z direction coordinate, draw a line through the steel rule, the manual work passes through the lead screw height-adjusting to accomplish single-point three-dimensional space's location. According to the production flow analysis of a certain military factory, the marking and positioning time of a single product is 2 days, which occupies half of the production time of the product, and the problems of wrong positioning, over-positioning, insufficient production rhythm, poor product size consistency, high labor cost and the like exist.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a flexible three-dimensional space positioning mechanism and a positioning method, which can realize quick and accurate positioning and can feed back and record measurement data.
The technical scheme is as follows: the invention comprises a flexible three-dimensional space positioning mechanism which comprises a base, wherein a tool positioning seat is arranged on the left half part of the top of the base, a servo motor system is arranged below the tool positioning seat in a penetrating manner, and the servo motor system is used for adjusting the position of a positioning tool in the tool positioning seat; the right half part of the top of the base is a Y-direction adjusting mechanism, a positioning feedback platform is arranged on the Y-direction adjusting mechanism, the left side of the positioning feedback platform is movably connected with a laser ranging generator, and the laser ranging generator is used for detecting dynamic displacement generated in the moving process of the positioning tool and feeding back the dynamic displacement to the servo motor system.
The positioning feedback platform is characterized in that a Z-direction adjusting mechanism is vertically installed on the left side of the positioning feedback platform, and a plurality of concave grooves are formed in the surface, in contact with the laser ranging generator, of the Z-direction adjusting mechanism along the length direction and used for adjusting the installation height of the laser ranging generator.
A plurality of concave grooves are formed in the Y-direction adjusting mechanism along the Y direction, and the positioning feedback platform moves along the concave grooves to adjust the position of the laser ranging generator in the Y direction.
The positioning feedback platform is of a Z-shaped structure.
The invention also comprises a flexible three-dimensional space positioning method, which comprises the following steps:
placing a positioning tool in a tool positioning seat, and enabling a servo motor system to return the positioning tool to zero in the Z-axis direction; meanwhile, the laser ranging generator feeds back a zero return state to form closed-loop control with the servo motor system;
secondly, the control system introduces a space coordinate point into the servo motor system, and the servo motor system adjusts the positioning tool in the Z-axis direction according to the introduced space coordinate point; meanwhile, the laser ranging generator detects the dynamic displacement in the adjusting process of the positioning tool and feeds the dynamic displacement back to the control system;
after converting the dynamic displacement detected by the laser ranging generator, the control system compares the dynamic displacement with the introduced Z-axis coordinate point, and feeds back a comparison result to the servo motor system through closed-loop control;
and fourthly, when the comparison result shows that the dynamic displacement is the same as the lead-in value, the servo motor stops acting to finish the quick positioning in the Z-axis direction.
And the control system performs coordinate point conversion on the dynamic displacement according to the displacement absolute value to the space point in the space Z-axis direction.
Has the advantages that: compared with the prior art, the invention has the beneficial effects that: (1) the method has the advantages that the rapid and accurate positioning is realized, errors generated in the manual measurement and installation process are eliminated, and the efficiency is 10 times that of manual positioning; (2) the device has the advantages of self-calibration function, simple structure, strong environmental adaptability and high precision.
Drawings
Fig. 1 is a schematic structural diagram of the flexible three-dimensional space positioning mechanism of the invention.
Detailed Description
The invention is described in further detail below with reference to specific embodiments and the attached drawings.
As shown in fig. 1, the flexible three-dimensional space positioning mechanism of the invention comprises a Z-direction adjusting mechanism 1, a positioning feedback platform 2, a Y-direction adjusting mechanism 3, a laser ranging generator 4, a tooling positioning seat 5, a servo motor system 6 and a base 7. The left half part of the top of the base 7 is provided with a tool positioning seat 5, a servo motor system 6 is arranged below the tool positioning seat 5 in a penetrating mode, when a positioning tool is placed in the tool positioning seat 5, the servo motor system 6 is located in the center below the positioning tool, and the positioning tool is driven to move through rotation of the servo motor system 6 so as to adjust the position of the positioning tool in the tool positioning seat 5. The right half part on the top of the base 7 is a Y-direction adjusting mechanism 3, in this embodiment, a plurality of concave grooves are formed in the Y-direction adjusting mechanism 3 along the Y direction, a positioning feedback platform 2 is arranged on the Y-direction adjusting mechanism 3, and the positioning feedback platform 2 moves along the concave grooves. The positioning feedback platform 2 is of a Z-shaped structure, and a Z-direction adjusting mechanism 1 is vertically installed on the left side of the top of the positioning feedback platform 2 and is fixed through bolts. The laser ranging generator 4 is installed on the left side of the Z-direction adjusting mechanism 1, a plurality of concave grooves are processed on one surface, in contact with the laser ranging generator 4, of the Z-direction adjusting mechanism 1 along the length direction, and the laser ranging generator 4 ascends or descends along the concave grooves to adjust the installation height of the laser ranging generator 4. When the positioning feedback platform 2 moves along the concave groove of the Y-direction adjusting mechanism 3, the laser ranging generator 4 is driven to move, and the position adjustment of the laser ranging generator 4 in the Y direction can be realized.
The invention also comprises a flexible three-dimensional space positioning method, which comprises the following steps:
placing a positioning tool in a tool positioning seat, wherein the positioning tool is in an initial posture of incoming materials; the servo motor system returns the Z-axis direction of the positioning tool to zero; meanwhile, the laser ranging generator 4 feeds back the zero returning state to form closed-loop control with the servo motor system 6;
secondly, the control system leads spatial coordinate point parameters of the geometric center of a node ball in the skeleton workpiece in off-line programming into the servo motor system 6, and the servo motor system 6 rotates in the Z-axis direction according to the led spatial coordinate point to adjust the positioning tool; meanwhile, the laser ranging generator 4 detects dynamic displacement in the adjusting process of the positioning tool, so that the movement distance in the Z direction is obtained and fed back to the control system;
the control system converts the dynamic displacement detected by the laser ranging generator 4 according to the space point in the space Z-axis direction by the displacement absolute value, compares the dynamic displacement with a Z-axis coordinate point which is theoretically led in, and feeds back the comparison result to the servo motor system 6 through closed-loop control;
and fourthly, when the comparison result shows that the dynamic displacement is the same as the lead-in value, the servo motor stops acting to finish the quick positioning in the Z-axis direction.
Claims (6)
1. The utility model provides a flexible three-dimensional space positioning mechanism, includes base (7), its characterized in that: a tool positioning seat (5) is arranged on the left half part of the top of the base (7), a servo motor system (6) penetrates through the lower part of the tool positioning seat (5), and the servo motor system (6) is used for adjusting the position of a positioning tool in the tool positioning seat (5); the positioning tool is characterized in that the right half part of the top of the base (7) is a Y-direction adjusting mechanism (3), a positioning feedback platform (2) is arranged on the Y-direction adjusting mechanism (3), the left side of the positioning feedback platform (2) is movably connected with a laser ranging generator (4), and the laser ranging generator (4) is used for detecting dynamic displacement generated in the moving process of the positioning tool and feeding the dynamic displacement back to a servo motor system (6).
2. The flexible three-dimensional space positioning mechanism according to claim 1, characterized in that: the positioning feedback platform (2) is vertically provided with a Z-direction adjusting mechanism (1) on the left side, and one surface, contacting the laser ranging generator (4), of the Z-direction adjusting mechanism (1) is provided with a plurality of concave grooves along the length direction for adjusting the installation height of the laser ranging generator (4).
3. The flexible three-dimensional positioning mechanism of claim 1, wherein: a plurality of concave grooves are formed in the Y direction of the Y direction adjusting mechanism (3), and the positioning feedback platform (2) moves along the concave grooves to adjust the position of the laser ranging generator (4) in the Y direction.
4. The flexible three-dimensional positioning mechanism according to any one of claims 1 to 3, wherein: the positioning feedback platform (2) is of a Z-shaped structure.
5. A method for positioning by using the flexible three-dimensional space positioning mechanism of claim 1, which comprises the following steps:
the positioning tool is placed in a tool positioning seat (5), and a servo motor system (6) returns the positioning tool to zero in the Z-axis direction; meanwhile, the laser ranging generator (4) feeds back the zero returning state to form closed-loop control with the servo motor system (6);
secondly, the control system introduces a spatial coordinate point into the servo motor system (6), and the servo motor system (6) adjusts the positioning tool in the Z-axis direction according to the introduced spatial coordinate point; meanwhile, a laser ranging generator (4) detects dynamic displacement in the adjusting process of the positioning tool and feeds the dynamic displacement back to the control system;
after converting the dynamic displacement detected by the laser ranging generator (4), the control system compares the dynamic displacement with the introduced Z-axis coordinate point, and feeds back the comparison result to the servo motor system (6) through closed-loop control;
and fourthly, when the comparison result shows that the dynamic displacement is the same as the lead-in value, the servo motor stops acting to finish the quick positioning in the Z-axis direction.
6. The flexible three-dimensional spatial localization method of claim 5, characterized in that: and (III) the control system performs coordinate point conversion on the dynamic displacement according to the displacement absolute value to the space point in the space Z-axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011631401.9A CN112817003A (en) | 2020-12-31 | 2020-12-31 | Flexible three-dimensional space positioning mechanism and positioning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011631401.9A CN112817003A (en) | 2020-12-31 | 2020-12-31 | Flexible three-dimensional space positioning mechanism and positioning method |
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| Publication Number | Publication Date |
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| CN112817003A true CN112817003A (en) | 2021-05-18 |
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| CN202011631401.9A Pending CN112817003A (en) | 2020-12-31 | 2020-12-31 | Flexible three-dimensional space positioning mechanism and positioning method |
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Citations (7)
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|---|---|---|---|---|
| CN104698983A (en) * | 2014-12-29 | 2015-06-10 | 西北工业大学 | System and method for controlling pre-positioning flexible tool of wallboard assembly of airplane |
| CN105397382A (en) * | 2014-09-09 | 2016-03-16 | 株式会社神户制钢所 | Double end supported positioner and method of monitoring the driving thereof |
| CN207223194U (en) * | 2017-09-29 | 2018-04-13 | 苏州天奇安激光设备有限公司 | Precise laser automatic soldering device |
| CN108262566A (en) * | 2016-12-30 | 2018-07-10 | 天津市卡梅尔科技发展有限公司 | A kind of solid state laser for Metal Cutting |
| CN110805800A (en) * | 2019-11-27 | 2020-02-18 | 浙江理工大学 | Full-automatic lifting platform for dispensing and control method thereof |
| CN210705191U (en) * | 2019-02-04 | 2020-06-09 | 南兴装备股份有限公司 | Gantry numerical control machining center and control system thereof |
| US20200356075A1 (en) * | 2017-11-02 | 2020-11-12 | Festool Gmbh | Method for machining a workpiece |
-
2020
- 2020-12-31 CN CN202011631401.9A patent/CN112817003A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397382A (en) * | 2014-09-09 | 2016-03-16 | 株式会社神户制钢所 | Double end supported positioner and method of monitoring the driving thereof |
| CN104698983A (en) * | 2014-12-29 | 2015-06-10 | 西北工业大学 | System and method for controlling pre-positioning flexible tool of wallboard assembly of airplane |
| CN108262566A (en) * | 2016-12-30 | 2018-07-10 | 天津市卡梅尔科技发展有限公司 | A kind of solid state laser for Metal Cutting |
| CN207223194U (en) * | 2017-09-29 | 2018-04-13 | 苏州天奇安激光设备有限公司 | Precise laser automatic soldering device |
| US20200356075A1 (en) * | 2017-11-02 | 2020-11-12 | Festool Gmbh | Method for machining a workpiece |
| CN210705191U (en) * | 2019-02-04 | 2020-06-09 | 南兴装备股份有限公司 | Gantry numerical control machining center and control system thereof |
| CN110805800A (en) * | 2019-11-27 | 2020-02-18 | 浙江理工大学 | Full-automatic lifting platform for dispensing and control method thereof |
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