CN116892895A - Seven-axis robot-based online measurement method - Google Patents
Seven-axis robot-based online measurement method Download PDFInfo
- Publication number
- CN116892895A CN116892895A CN202310907750.6A CN202310907750A CN116892895A CN 116892895 A CN116892895 A CN 116892895A CN 202310907750 A CN202310907750 A CN 202310907750A CN 116892895 A CN116892895 A CN 116892895A
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- Prior art keywords
- axis robot
- measuring
- guide rail
- measurement
- workpiece
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- 238000000691 measurement method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 23
- 239000000463 material Substances 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 6
- 239000004579 marble Substances 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000012958 reprocessing Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims 3
- 230000003595 spectral effect Effects 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000001228 spectrum Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an online measurement method based on a seven-axis robot, which relates to the technical field of workpiece measurement. The invention improves the measuring precision and the measuring efficiency of the workpiece.
Description
Technical Field
The invention relates to the technical field of workpiece measurement, in particular to an online measurement method based on a seven-axis robot.
Background
Currently, the China manufacturing industry is in a transformation and upgrading stage, and with the continuous improvement of the automation degree of domestic enterprises, the market of a robot automation line is larger and larger, and the robot automation line is gradually a main mode of an automation production line. On the one hand, manufacturing industry seeks efficiency and flexible manufacturing; on the other hand, the cost of labor increases, and manufacturing enterprises seek robots to replace the labor.
The traditional online measurement mainly adopts three-coordinate, special measuring tool or customized special online detection equipment, has low detection efficiency and high cost, and cannot meet the requirements of cost control and batch production of factories, so that the current situation is changed by an online measurement method based on a seven-axis robot.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an online measurement method based on a seven-axis robot. The method has the advantages that the workpiece measuring precision and the workpiece measuring efficiency are improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an online measurement method based on a seven-axis robot comprises the following steps:
step one: when the measuring device is used, materials to be processed are placed on the material rack, and the material rack is placed on the measuring platform after being processed by the processing equipment;
step two: the six-foot robots are controlled to move to a position close to the measuring platform along the moving guide rail, the rotating clamps of the six groups of robots are controlled to work, the rotating clamps can clamp the workpieces on the measuring platform, and after the workpieces are clamped, the measuring sensors on the rotating clamps can measure the sizes of the workpieces;
step three, a step of performing; in the process of measuring the workpiece, the six-axis robot can move to one side of the blanking frame along the movable guide rail, when the workpiece is qualified in measurement, the rotating clamp is controlled to be placed on the blanking frame, and when the workpiece is unqualified in measurement, the workpiece can be placed on the blanking frame again for reprocessing until the workpiece is qualified in processing.
The invention further provides that the measuring mode is implemented by a measuring device, and the measuring device consists of a material frame, processing equipment, a rotary clamp, a six-axis robot, a measuring platform, a blanking frame and a movable guide rail.
The invention further provides that the measuring platform and the blanking frame are positioned on one side of the movable guide rail, the processing equipment and the material frame are positioned on the other side of the movable guide rail, the material frame and the blanking frame are arranged oppositely, the inner wall of the movable guide rail is connected with a six-axis robot in a sliding manner, and the tail end of a flange of the six-axis robot is connected with the rotary clamp.
The invention further provides that the rotary clamp comprises a measuring sensor and a clamping jaw, the measuring sensor and the clamping jaw can respectively measure or clamp and put workpieces, and the measuring sensor supports a contact or non-contact measuring head and an optical sensor.
The invention further provides that the six-axis robot is a universal industrial robot, and the model of the six-axis robot is BRTIRUS1510A.
The invention further provides that the measuring platform consists of a top plate and a base, wherein the top plate is positioned above the base, and the base is made of marble.
The invention further provides that the movable guide rail is a seventh shaft of the robot, the movable guide rail is driven by a servo motor, and the movable guide rail is provided with a grating ruler for position closed loop.
The invention further provides that the measuring sensor can be selected from a trigger gauge head, a scanning gauge head, a point laser sensor, a line laser sensor, a point spectrum confocal sensor and a line spectrum confocal sensor.
The beneficial effects of the invention are as follows:
1. the cost is reduced, high-precision measurement can be achieved by utilizing a general industrial robot, and high-cost measuring equipment is not required to be installed;
2. the efficiency is improved, the flexibility of the industrial robot is utilized to realize the rapid switching of the workpiece and the measuring sensor, and meanwhile, the processing and the measuring are supported;
3. the robot clamping measurement sensor finishes standard ball calibration or hand-eye calibration, so that the online measurement accuracy is improved;
4. the on-line measurement can realize the quality closed loop of the production process, early discovery and early prevention, and real intelligent manufacturing.
Drawings
Fig. 1 is a schematic diagram of a measuring device based on an online measuring method of a seven-axis robot according to the present invention.
In the figure: 1. a material rack; 2. processing equipment; 3. rotating the clamp; 4. a six-axis robot; 5. a measurement platform; 6. a blanking frame; 7. and (3) moving the guide rail.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
Embodiments of the present patent are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the patent and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and are therefore not to be construed as limiting the patent.
In the description of this patent, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the terms in this patent will be understood by those of ordinary skill in the art as the case may be.
Referring to fig. 1, an online measurement method based on a seven-axis robot includes the steps of:
step one: when the device is used, materials to be processed are placed on the material rack 1, and the material rack 1 is processed by the processing equipment 2 and then placed on the measuring platform 5;
step two: the six-foot robot 4 is controlled to move to a position close to the measuring platform 5 along the moving guide rail 7, the rotating clamp 3 of the six-foot robot 4 is controlled to work, the rotating clamp 3 can clamp a workpiece on the measuring platform 5, and after the workpiece is clamped, a measuring sensor arranged on the rotating clamp 3 can measure the size of the workpiece;
step three, a step of performing; in the process of measuring the workpiece, the six-axis robot 4 can move to one side of the blanking frame 6 along the moving guide rail 7, when the workpiece is qualified in measurement, the rotating clamp 3 is controlled to be placed on the blanking frame 6, and when the workpiece is unqualified in measurement, the workpiece can be replaced on the material frame 1 for reprocessing until the workpiece is qualified in processing.
In this embodiment, the measuring mode is implemented by a measuring device, which is composed of a material rack 1, a processing device 2, a rotary clamp 3, a six-axis robot 4, a measuring platform 5, a blanking rack 6 and a moving guide rail 7.
In this embodiment, the measuring platform 5 and the blanking frame 6 are located on one side of the moving guide rail 7, the processing equipment 2 and the material frame 1 are located on the other side of the moving guide rail 7, the material frame 6 is arranged opposite to the blanking frame 6, the six-axis robot 4 is slidably connected to the inner wall of the moving guide rail 7, and the flange end of the six-axis robot 4 is connected with the rotating clamp 3.
In this embodiment, the rotating fixture 3 includes a measuring sensor and a clamping jaw, where the measuring sensor and the clamping jaw can respectively measure or pick and put a workpiece, the measuring sensor supports a contact or non-contact measuring head and an optical sensor, the measuring sensor can be a trigger measuring head, a scanning measuring head, a point laser sensor, a line laser sensor, a point spectrum confocal sensor, and a line spectrum confocal sensor, and the workpiece is located in a measuring range of the measuring sensor, so that measuring accuracy is improved.
Further, in the present embodiment, the six-axis robot 4 is a general-purpose industrial robot, and the model of the six-axis robot 4 is BRTIRUS1510A.
In this embodiment, measurement platform 5 comprises roof and base, and the roof is located the top of base, and the material of base is marble, and the base focus of marble material is lower, has improved measurement platform 5's stability.
It should be noted that, in this embodiment, the moving guide rail 7 is a seventh axis of the robot, the moving guide rail 7 is driven by a servo motor, the position of the moving guide rail is closed loop with a grating ruler, an output shaft of the servo motor is connected with a screw rod, an outer wall of the screw rod is sleeved with a sliding block, and the sliding block is connected with the bottom end of the six-axis robot 4.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. An online measurement method based on a seven-axis robot is characterized by comprising the following steps:
step one: when the device is used, materials to be processed are placed on the material rack (1), and the material rack (1) is processed by the processing equipment (2) and then placed on the measuring platform (5);
step two: the six-foot robots (4) are controlled to move to a position close to the measuring platform (5) along the moving guide rail (7), the rotating clamps (3) of the six groups of robots (4) are controlled to work, the rotating clamps (3) can clamp workpieces on the measuring platform (5), and after the workpieces are clamped, the measuring sensors on the rotating clamps (3) can measure the sizes of the workpieces;
step three, a step of performing; in the process of measuring the workpiece, the six-axis robot (4) can move to one side of the blanking frame (6) along the moving guide rail (7), when the workpiece is qualified in measurement, the rotating clamp (3) is controlled to be placed on the blanking frame (6), and when the workpiece is unqualified in measurement, the workpiece can be replaced on the material frame (1) for reprocessing until the workpiece is qualified in processing.
2. The seven-axis robot-based online measurement method according to claim 1, wherein the measurement mode is implemented by a measurement device, and the measurement device consists of a material rack (1), processing equipment (2), a rotary clamp (3), a six-axis robot (4), a measurement platform (5), a blanking rack (6) and a movable guide rail (7).
3. The seven-axis robot-based online measurement method according to claim 1, wherein the measurement platform (5) and the blanking frame (6) are located on one side of the movable guide rail (7), the processing equipment (2) and the material frame (1) are located on the other side of the movable guide rail (7), the material frame (6) and the blanking frame (6) are oppositely arranged, six-axis robots (4) are slidably connected to the inner wall of the movable guide rail (7), and the flange tail ends of the six-axis robots (4) are connected with the rotary clamp (3).
4. A seven-axis robot based on-line measuring method according to claim 3, characterized in that the rotating fixture (3) comprises a measuring sensor and a clamping jaw, which can measure or grip a workpiece, respectively, the measuring sensor supporting a contact or non-contact probe and an optical sensor.
5. The seven-axis robot-based online measurement method according to claim 4, wherein the six-axis robot (4) is a general-purpose industrial robot, and the six-axis robot (4) is of the type BRTIRUS1510A.
6. The seven-axis robot-based online measurement method according to claim 5, wherein the measurement platform (5) is composed of a top plate and a base, the top plate is located above the base, and the base is made of marble.
7. The seven-axis robot-based online measurement method according to claim 6, wherein the moving guide rail (7) is a seventh axis of the robot, the moving guide rail (7) is driven by a servo motor, and a grating ruler is used for position closed loop.
8. The seven-axis robot-based on-line measurement method of claim 4, wherein the measurement sensor is selected from the group consisting of a trigger probe, a scanning probe, a point laser sensor, a line laser sensor, a point spectral confocal sensor, and a line spectral confocal sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310907750.6A CN116892895A (en) | 2023-07-24 | 2023-07-24 | Seven-axis robot-based online measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310907750.6A CN116892895A (en) | 2023-07-24 | 2023-07-24 | Seven-axis robot-based online measurement method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116892895A true CN116892895A (en) | 2023-10-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310907750.6A Pending CN116892895A (en) | 2023-07-24 | 2023-07-24 | Seven-axis robot-based online measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116892895A (en) |
-
2023
- 2023-07-24 CN CN202310907750.6A patent/CN116892895A/en active Pending
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