CN201307564Y - Laser scanning and positioning device - Google Patents
Laser scanning and positioning device Download PDFInfo
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- CN201307564Y CN201307564Y CNU2008201531366U CN200820153136U CN201307564Y CN 201307564 Y CN201307564 Y CN 201307564Y CN U2008201531366 U CNU2008201531366 U CN U2008201531366U CN 200820153136 U CN200820153136 U CN 200820153136U CN 201307564 Y CN201307564 Y CN 201307564Y
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Abstract
The utility model relates to a laser scanning and positioning device. In order to solve the problem of three-dimensional positioning, the utility model adopts the technical scheme that the laser scanning and positioning device comprises an X-Y double-shaft working table and the like; the lower end of a guide column is fixedly connected with a mounting plate, and the guide column is positioned in a guide sleeve and is connected with the guide sleeve in a sliding manner; the guide sleeve is fixedly connected with a top plate; a Z-direction motor is fixedly connected with the mounting plate through a connecting support; the output shaft of the Z-direction motor is connected with the lower end of a threaded rod through a connecting piece, and the upper part of the threaded rod is positioned in a nut; the nut and a laser sensor are respectively and fixedly connected with the top plate; and the output control terminal of an automatic circuit is respectively connected with the terminal of the laser sensor and the terminal of the Z-direction motor. The utility model has the advantages that the laser scanning and positioning device solves the problem of three-dimensional positioning, is high in positioning accuracy, rapid in actions, low in optical and electrical interference.
Description
Technical field
The utility model relates to a kind of production equipment of low pressure disconnect, more particularly relates to a kind of laser scanning location device.
Background technology
Along with the progress of science, the development of technology, the raising day by day of automated production level adopts its cost per unit of large-scale production of pipeline system obviously to reduce; Meanwhile, need scientific and technical personnel constantly to solve many concrete technical problem in the industrial automation production process.
In the manufacture process of low pressure disconnect, need in dynamically, seek the center of workpiece, promptly determine the accurate position of workpiece.For example, when using manipulator that workpiece is processed, when producing, at first needed accurately to find workpiece; For another example, in the process of production low pressure disconnect, screw, the nut that need split on the overload protecting mechanism bimetal leaf of the Central Shanxi Plain are regulated, if the adjusting task is finished by manipulator, so at first the thing that will do is the work of three-dimensional location.
Whether in the technical field of industrial automation, " location " speech includes the following meaning: a usually, detect workpiece and exist; B if workpiece exists, needs to detect the locus of determining the place; C, adjust the locus correlation of actuating mechanism (as manipulator etc.) and workpiece, the spacing that is about to the two is adjusted into special value, and this special value can configure in advance, and X relevant in this three dimensions, Y, Z numerical value is kept in the Based Intelligent Control parts such as computer.
After location work was finished, actuating mechanism can be carried out processing action in the position exactly.
Now by retrieval, in disclosed patent or in the document of other reports, find no the three-dimensional positioning equipment or the mechanism that are fit to production low pressure disconnect.
Summary of the invention
During factory automation production low pressure disconnect, need be in links such as assembling, debugging, detections, carry out the work of three-dimensional location, so that automatic mechanisms such as manipulator, can accurately process operation, if the work of three-dimensional location can not be finished, then work such as the assembling of automation, debugging, detection just can't be carried out.Yet, in existing publication or relevant technology report, find no the three-dimensional placed machine that meets above-mentioned requirements, mechanism etc.
The purpose of this utility model is: a kind of device is provided, and it can solve above-mentioned three-dimensional orientation problem.The utility model proposes following technical scheme.
1. a laser scanning location device comprises: contain the automated circuit of Based Intelligent Control parts, workpiece; Also comprise: have directions X and move the X-Y twin shaft workbench that moves with the Y direction, guide pillar, guide pin bushing is provided with the top board of installing hole, and laser sensor, screw rod, nut, connector, Z connect support to motor;
Described X-Y twin shaft workbench comprises being arranged on upper strata, mounting panel movably;
The lower end and the mounting panel of guide pillar are fixedly connected, and the top of guide pillar is positioned at guide pin bushing and is slidingly connected with guide pin bushing; Guide pin bushing is positioned at the installing hole of top board and is fixedly connected with top board; Z is fixedly connected by connecting support and mounting panel to motor; Z is connected to the output shaft of the motor lower end by connector and screw rod, and the top of screw rod is positioned at nut, and described screw rod and nut thread cooperate; Nut and top board are fixedly connected or nut is fixedly connected by bearing and top board; Laser sensor and top board are fixedly connected or laser sensor is fixedly connected by laser sensor support and top board;
Described automated circuit, its output control terminal is connected to the terminals of motor with terminals, the Z of laser sensor respectively by electric wire.
2. described X-Y twin shaft workbench comprises first motor that drives directions X and move, second motor that driving Y direction moves, and the terminals of first motor and second motor directly link to each other with the output control terminal of described automated circuit by electric wire; Perhaps, described X-Y twin shaft workbench comprises first motor that drives directions X and move, second motor, other electrical equipment that driving Y direction moves; The terminals of first motor and second motor by electric wire link to each other with other electrical equipment, other electrical equipment again the output control terminal by electric wire and described automated circuit by linking to each other;
Described X-Y twin shaft workbench comprises from top to bottom and being provided with: can make the mounting panel that horizontal Y direction moves around, can do the workbench middle level that the horizontal X direction moves around, workbench lower floor.
3. described other electrical equipment is encoder;
Described first motor is first servomotor;
Described X-Y twin shaft workbench comprises and offers externally threaded first rotation axis, first union piece, first supporting base of offering screw, first encoder, paired first guide rail; The screw of the external screw thread of described first rotation axis and first supporting base, the two threaded engagement;
First guide rail is arranged between workbench middle level and the workbench lower floor;
First servomotor and workbench lower floor are fixedly connected; The output shaft of first servomotor is fixedlyed connected with an end of first rotation axis by first union piece; First rotation axis and first supporting base are rotationally connected; First supporting base and workbench middle level are fixedly connected;
Described first encoder, its input by electric wire be connected with the output control terminal of automated circuit, its output is connected by the terminals of electric wire with first servomotor.
4. described other electrical equipment is encoder;
Described second motor is second servomotor;
Described X-Y twin shaft workbench comprises and offers externally threaded second rotation axis, second union piece, second supporting base of offering screw, second encoder, paired second guide rail; The screw of the external screw thread of described second rotation axis and second supporting base, the two threaded engagement;
Second guide rail is arranged between the mounting panel and workbench middle level of X-Y twin shaft workbench;
Second servomotor and workbench middle level are fixedly connected; The output shaft of second servomotor is fixedlyed connected with an end of second rotation axis by second union piece; Second rotation axis and second supporting base are rotationally connected; The mounting panel of second supporting base and X-Y twin shaft workbench is fixedly connected;
Described second encoder, its input by electric wire be connected with the output control terminal of automated circuit, its output is connected by the terminals of electric wire with second servomotor.
5. described guide pillar, guide pin bushing are two secondary or three pairs or fourth officers;
Described two secondary guide pillars, guide pin bushing, for being symmetrical set, central authorities are screw rod;
Described three secondary guide pillars, guide pin bushing are the equidistant setting of isosceles triangle, and the central authorities of isosceles triangle are screw rod;
Described fourth officer guide pillar, guide pin bushing are the equidistant setting of matrix pattern, and the central authorities of matrix pattern are screw rod.
6. described automated circuit comprises the position-limit mechanism that the moving component extreme position is limited;
Described moving component is meant: the mounting panel and the workbench middle level of top board, X-Y twin shaft workbench;
Described position-limit mechanism comprises limiting component; Limiting component is meant the mechanical type limit switch or is meant the photoelectric type limit switch or is meant the induction type limit switch;
Limiting component is arranged on the position at moving component place, and the terminals of limiting component are connected with other terminals by electric wire; Described other terminals are meant the terminals of automated circuit or are meant the motor terminals or are meant the terminals and the motor terminals of automated circuit; Described motor is meant that Z is to motor, first servomotor, second servomotor.
7. described laser scanning location device comprises work support;
Described work support, the one end is connected with workpiece, and the other end and following any is fixedly connected:
A. workbench lower floor;
B., the ground of X-Y twin shaft workbench is installed;
C. system equipment; Described system equipment, it is provided with X-Y twin shaft workbench, and the other end and the system equipment of work support are fixedly connected.
8. described connector is the shaft coupling with damping performance;
Described screw rod and nut are replaced by lead screw pair; Described lead screw pair comprises leading screw, nut seat and ball;
Described Z is to motor, and its output shaft is connected by the lower end of shaft coupling and leading screw, and the top of leading screw is rotationally connected by ball and nut seat; Nut seat and top board are fixedly connected or nut seat is fixedly connected by bearing and top board.
9. described first rotation axis, first supporting base are replaced by first lead screw pair; Described first lead screw pair comprises first leading screw, first nut seat and ball; The output shaft of first servomotor is fixedly connected by an end of first union piece and first leading screw; First leading screw is rotationally connected by the ball and first nut seat; First nut seat and workbench middle level are fixedly connected or first nut seat is fixedly connected by cushion block and workbench middle level;
Described second rotation axis, second supporting base are replaced by second lead screw pair; Described second lead screw pair comprises second leading screw, second nut seat and ball; The output shaft of second servomotor is connected with an end of second leading screw by second union piece; Second leading screw is rotationally connected by the ball and second nut seat; The mounting panel of second nut seat and X-Y twin shaft workbench is fixedly connected or the mounting panel of second nut seat by cushion block and X-Y twin shaft workbench is fixedly connected.
10. the described automated circuit that contains the Based Intelligent Control parts is meant the integrated package that contains CPU in the automated circuit or contains programmable controller or contain the PC computer or contain the Macintosh computer or contain industrial computer;
Described automated circuit comprises power circuit, signal sample circuit, sequence circuit, output control circuit and human-computer dialogue circuit.
11. described laser sensor is the laser sensor that detects distance.
The beneficial effects of the utility model are:
1. can solve three-dimensional orientation problem at X, Y, Z three-dimensional space direction;
2. in the process of location, adjusting, the locus of workpiece is maintained fixed constant, can bring great convenience on flow production line like this, i.e. requirement to front and back operation and equipment reduces greatly;
3. only use a laser sensor, significantly reduce the use amount of laser sensor;
The positioning accuracy height, be swift in motion, light, electrical interference are little, no electromagnetic wave pollutes;
5. moving component adopts guide pillar, guide pin bushing structure, thereby wear-resistant, can bear the high-speed motion of big mass objects, and is shock-resistant; It is convenient to move smooth and easy, maintenance or change guide pin bushing.
Description of drawings
Fig. 1 is the utility model device schematic diagram among the embodiment one;
Fig. 2 is the front view of the X-Y twin shaft workbench among the embodiment two;
Fig. 3 is the left view of Fig. 2;
Fig. 4 is the schematic diagram among the embodiment three;
Fig. 5 is the schematic diagram among the embodiment four.
The number in the figure explanation:
1. workbench lower floor; 2. workbench middle level; 3. mounting panel;
4. connection support; 5. connector; 6. screw rod;
7. top board; 8. bearing; 9. laser sensor support;
10. leading screw; 11. workpiece; 12. laser sensor;
13. nut seat; 14. nut; 15. guide pin bushing;
16.Z to motor; 18. guide pillar; 19. second guide rail;
20. first guide rail; 21. shaft coupling; 22. second rotation axis;
23. second supporting base; 24. second encoder; 25. second servomotor;
26. second union piece; 27. first rotation axis; 28. first supporting base;
29. first encoder; 30. first servomotor; 31. first union piece;
32. front gear; 33. gear stand; 34. final gear.
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.
Embodiment
In industrial automation, the work of three-dimensional location is very important.With regard to the utility model, when automated production low pressure disconnect, may be in links such as assembling, debugging, detections, carry out the work of three-dimensional location, so that automatic mechanisms such as manipulator, can accurately process operation, if the work of three-dimensional location can not be finished, then work such as the assembling of automation, debugging, detection just can't be carried out.
Below, at first laser scanning location device of the present utility model is done overall explanation, introduction and explanation.
A kind of laser scanning location device of the present utility model, its parts and mechanism include respectively: contain the automated circuit of Based Intelligent Control parts, workpiece 11 etc.; Distinguished is that the utility model device also includes: have directions X and move the X-Y twin shaft workbench that moves with the Y direction, guide pillar 18, guide pin bushing 15, be provided with the top board 7 of installing hole, laser sensor 12, screw rod 6, nut 14, connector 5, Z connect support 4 to motor 16.
For above parts and mechanism, their mutual alignment, shape, mechanism's (or structure) are described below.
Described workbench comprises being arranged on upper strata, mounting panel 3 movably.
The lower end of guide pillar 18 and mounting panel 3 are fixedly connected, and the top of guide pillar 18 is positioned at guide pin bushing 15 and is slidingly connected with guide pin bushing 15; Guide pin bushing 15 is positioned at the installing hole of top board 7 and is fixedly connected with top board 7; Z is fixedly connected by connecting support 4 and mounting panel 3 to motor 16; Z is connected to the output shaft of motor 16 lower end by connector 5 and screw rod 6, and the top of screw rod 6 is positioned at nut 14, described screw rod 6 and nut 14 threaded engagement; Nut 14 and top board 7 are fixedly connected or nut 14 is fixedly connected by bearing 8 and top board 7; Laser sensor 12 is fixedly connected with top board 7 or laser sensor 12 is fixedly connected by laser sensor support 9 and top board 7; Described automated circuit, its output control terminal is connected to the terminals of motor 16 with terminals, the Z of laser sensor 12 respectively by electric wire.
For foregoing description, description that can also be is in conjunction with the embodiments understood the utility model device and its operation principle.
Now, need noun of occurring in the above explanation etc. be further described and explain.
A. the automated circuit that contains the Based Intelligent Control parts relates to and need program, and how specifically to program to belong to existing, unusual mature technique, because the length relation has just no longer been launched.But in the embodiment of back, address operation principle, the operational circumstances explanation of some the utility model devices, can be when specifically programming as a reference.
C.Z is meant to motor 16 1 speech: be responsible for driving object and be Z to moving, being the motor of above-below direction motion.
E. adopt guide pillar 18 and guide pin bushing 15, can effectively avoid object to occur stuck phenomenon at the volley, and have the precision height, repeat high conformity, many-sided advantage such as motion is steady, durable in use.
Above, laser scanning location device of the present utility model has been done overall explanation, introduction and explanation.Below, to further technical scheme of the present utility model, describe, introduce and explain.
1. further technical scheme.
Described X-Y twin shaft workbench comprises first motor that drives directions X and move, second motor that driving Y direction moves, and the terminals of first motor and second motor directly link to each other with the output control terminal of described automated circuit by electric wire; Perhaps, described X-Y twin shaft workbench comprises first motor that drives directions X and move, second motor, other electrical equipment that driving Y direction moves; The terminals of first motor and second motor by electric wire link to each other with other electrical equipment, other electrical equipment again the output control terminal by electric wire and described automated circuit by linking to each other;
Described X-Y twin shaft workbench comprises from top to bottom and being provided with: can make the mounting panel 3 that horizontal Y direction moves around, can do the workbench middle level 2 that the horizontal X direction moves around, workbench lower floor 1.
At this further in technical scheme, actually have three motors: one be Z to motor 16, be responsible for driving top board 7 Z to move back and forth up and down; One is second motor, be responsible for to drive workbench mounting panel 3 Y to move back and forth; Also have one to be first motor, be responsible for driving workbench middle level 2 X to move back and forth.
Workbench lower floor 1 can be fixedly connected on the ground; If the utility model device is a certain part of an automation equipment, workbench lower floor 1 also can be fixedly connected in a certain proper site of this equipment; Also have, workbench lower floor 1 also can be installed on the parts, mechanism of a motion, such as: be installed on the manipulator of continuous motion.
2. further technical scheme.
Described other electrical equipment is encoder; Described first motor is first servomotor 30; Described X-Y twin shaft workbench comprises and offers externally threaded first rotation axis 27, first union piece 31, first supporting base 28 of offering screw, first encoder 29, paired first guide rail 20; The screw of the external screw thread of described first rotation axis 27 and first supporting base 28, the two threaded engagement; First guide rail 20 is arranged between workbench middle level 2 and the workbench lower floor 1; First servomotor 30 is fixedly connected with workbench lower floor 1; The output shaft of first servomotor 30 is fixedlyed connected with an end of first rotation axis 27 by first union piece 31; First rotation axis 27 and first supporting base 28 are rotationally connected; First supporting base 28 is fixedly connected with workbench middle level 2; Described first encoder 29, its input by electric wire be connected with the output control terminal of automated circuit, its output is connected by the terminals of electric wire with first servomotor 30.
In this further technical scheme, first rotation axis 27 screws in and passes first supporting base 28, because first supporting base 28 is fixedly connected with workbench middle level 2, so when first servomotor 30 drove 27 rotations of first rotation axis, first supporting base 28 just drove workbench middle level 2 and moves.
The servomotor of Gou Maiing has two kinds in the market, a kind of encoder that carries, another kind be not with encoder, need the client buy supporting encoder separately again.The servomotor that carries encoder is bought in suggestion.
Adopt servomotor and encoder in the technical scheme, its benefit is that servomotor can not lost the step.Because motor servo driver receives the feedback signal of motor encoder, and and command pulse compare, thereby constituted the half-closed loop control of a position.So the step phenomenon can not appear losing in servomotor, each command pulse can obtain reliable response.
3. further technical scheme.
Described other electrical equipment is encoder.Described second motor is second servomotor 25.Described X-Y twin shaft workbench comprises and offers externally threaded second rotation axis 22, second union piece 26, second supporting base 23 of offering screw, second encoder 24, paired second guide rail 19; The screw of the external screw thread of described second rotation axis 22 and second supporting base 23, the two threaded engagement.Second guide rail 19 is arranged between the mounting panel 3 and workbench middle level 2 of X-Y twin shaft workbench.Second servomotor 25 is fixedly connected with workbench middle level 2; The output shaft of second servomotor 25 is fixedlyed connected with an end of second rotation axis 22 by second union piece 26; Second rotation axis 22 and second supporting base 23 are rotationally connected; Second supporting base 23 is fixedly connected with the mounting panel 3 of X-Y twin shaft workbench.Described second encoder 24, its input by electric wire be connected with the output control terminal of automated circuit, its output is connected by the terminals of electric wire with second servomotor 25.
In this further technical scheme, second rotation axis 22 screws in and passes in second supporting base 23, because second supporting base 23 is fixedly connected with the mounting panel 3 of workbench, so when second servomotor 25 drove 22 rotations of second rotation axis, the mounting panel 3 that second supporting base 23 just drives workbench moved.
4. further technical scheme.
Described guide pillar 18, guide pin bushing 15 are two secondary or three pairs or fourth officers.Described two secondary guide pillars 18, guide pin bushing 15, for being symmetrical set, central authorities are screw rod 6.Described three secondary guide pillars 18, guide pin bushing 15 are the equidistant setting of isosceles triangle, and the central authorities of isosceles triangle are screw rod 6.Described fourth officer guide pillar 18, guide pin bushing 15 are the equidistant setting of matrix pattern, and the central authorities of matrix pattern are screw rod 6.
In this further technical scheme, a secondary guide pillar 18, guide pin bushing 15 are meant a guide pillar 18 and a guide pin bushing 15; Two secondary guide pillars 18, guide pin bushing 15 are meant two guide pillars 18 and two guide pin bushings 15; Remaining situation, the rest may be inferred.
No matter guide pillar 18, guide pin bushing 15 are two pairs, or three pairs or fourth officer, it is relatively good that screw rod 6 is arranged on centre, if it is just better to be arranged on the center; When screw rod 6 was arranged on central authorities, it was identical with the distance of the center of each guide pillar 18, guide pin bushing 15; Certainly off-center place a little also still belongs to centre.
Adopt the benefit of the technical program to be, it is wear-resistant that guide pillar 18 adds the structure of guide pin bushing 15, and the precision height can bear the high-speed motion of big mass objects, and is shock-resistant; And, move back and forth smooth and easy, can not be stuck, maintenance or to change guide pin bushing convenient.
5. further technical scheme.
Described automated circuit comprises the position-limit mechanism that the moving component extreme position is limited; Described moving component is meant: the mounting panel 3 and the workbench middle level 2 of top board 7, X-Y twin shaft workbench; Described position-limit mechanism comprises limiting component; Limiting component is meant the mechanical type limit switch or is meant the photoelectric type limit switch or is meant the induction type limit switch; Limiting component is arranged on the position at moving component place, and the terminals of limiting component are connected with other terminals by electric wire; Described other terminals are meant the terminals of automated circuit or are meant the motor terminals or are meant the terminals and the motor terminals of automated circuit; Described motor is meant that Z is to motor 16, first servomotor 30, second servomotor 25.
Can know according to introduction than the front, the utility model device can be provided with three motors, is respectively: be responsible for to drive workbench middle level 2 do X to first motor of motion, be responsible for driving workbench mounting panel 3 do Y to second motor of motion, be responsible for driving top board 7 at Z to the Z that moves up and down to motor 16.Under the normal open state or under the abnormal condition in Control Failure, all need the utility model device is carried out the position limitation protection of moving component.
The thinking of position limitation protection is, to entering the moving component of extreme position, cuts off the power supply of relevant drive motors, this motor stopped immediately, no longer drive motion components continues to move; But at this moment, can allow this motor backward rotation, withdraw from the zone of extreme position, after this, motor can recover to rotate and reverse normally.
In order to realize the thinking of above-mentioned position limitation protection, the concrete mode of connection of limiting component can be diversified.
6. further technical scheme.
Described laser scanning location device comprises work support;
Described work support, the one end is connected with workpiece 11, and the other end and following any is fixedly connected:
A. workbench lower floor 1;
B., the ground of X-Y twin shaft workbench is installed;
C. system equipment; Described system equipment, it is provided with X-Y twin shaft workbench, and the other end and the system equipment of work support are fixedly connected.The utility model device can be installed in the system equipment, perhaps says, the utility model device can be a certain part in the big system equipment, and therefore, the other end of work support also can be fixedly mounted on the proper site of this system equipment.
7. further technical scheme.
Described connector 5 is for having the shaft coupling 21 of damping performance.Described screw rod 6 and nut 14 are replaced by lead screw pair; Described lead screw pair comprises leading screw 10, nut seat 13 and ball.Described Z is to motor 16, and its output shaft is connected by the lower end of shaft coupling 21 and leading screw 10, and the top of leading screw 10 is rotationally connected by ball and nut seat 13; Nut seat 13 and top board 7 are fixedly connected or nut seat 13 is fixedly connected by bearing 8 and top board 7.
Further in technical scheme, adopt shaft coupling 21 as connector at this, its benefit has: can absorbing vibration, reduce distortion power influence, reduce wear, be rotated the push-and-pull campaign more smoothly.
Use lead screw pair,, can obviously reduce the loss of power because ball participates in rotating.
8. further technical scheme.
Described first rotation axis 27, first supporting base 28 are replaced by first lead screw pair; Described first lead screw pair comprises first leading screw, first nut seat and ball; The output shaft of first servomotor 30 is fixedly connected by an end of first union piece 31 and first leading screw; First leading screw is rotationally connected by the ball and first nut seat; First nut seat and workbench middle level 2 are fixedly connected or first nut seat is fixedly connected by cushion block and workbench middle level 2.Described second rotation axis 22, second supporting base 23 are replaced by second lead screw pair; Described second lead screw pair comprises second leading screw, second nut seat and ball; The output shaft of second servomotor 25 is connected with an end of second leading screw by second union piece 26; Second leading screw is rotationally connected by the ball and second nut seat; The mounting panel 3 of second nut seat and X-Y twin shaft workbench is fixedly connected or the mounting panel 3 of second nut seat by cushion block and X-Y twin shaft workbench is fixedly connected.
Said above, used lead screw pair,, can obviously reduce the loss of power because ball participates in rotating.
There is the lead screw pair product of a lot of models, specification to sell on the market.If buy ready-made product, the height dimension of nut seat etc. not necessarily meet the requirements, and need to use cushion block to install.If customize to producer, the height dimension of nut seat can be made on request, so just can save cushion block.
9. further technical scheme.
The described automated circuit that contains the Based Intelligent Control parts is meant the integrated package that contains CPU in the automated circuit or contains programmable controller or contain the PC computer or contain the Macintosh computer or contain industrial computer.Described automated circuit comprises power circuit, signal sample circuit, sequence circuit, output control circuit and human-computer dialogue circuit.
Use a computer or the like, except can participating in control, commander, simultaneously can also carry out communication, so that whole system is carried out synchronously, co-ordination with other devices of manufacturing system to the utility model device.
In this further technical scheme, in the human-computer dialogue circuit, display screen, keyboard can be set; Display screen can show the ruuning situation that the utility model device is real-time, online, and operating personnel can select to wish the information content of understanding by keyboard, can also or revise relevant technical parameter by keyboard to set up, even revise software program.
10. further technical scheme.
Described laser sensor 12 is the laser sensors that detect distance.
Embodiment one
In conjunction with Fig. 1, describe.Earlier the label among Fig. 1 is described: the 1st, workbench lower floor; The 2nd, the workbench middle level; The 3rd, mounting panel; The 4th, connect support; The 5th, connector; The 6th, screw rod; The 7th, top board; The 8th, bearing; The 9th, the laser sensor support; The 11st, workpiece; The 12nd, laser sensor; The 14th, nut; The 15th, guide pin bushing; The 16th, Z is to motor; The 18th, guide pillar; 19 is second guide rails; 20 is first guide rails.
In the present embodiment, as seen from Figure 1, a part of parts and the mechanism of X-Y twin shaft workbench have: workbench lower floor 1, workbench middle level 2; Mounting panel 3, first guide rail 20, second guide rail 19.
The lower end of guide pillar 18 and mounting panel 3 are fixedly connected, and the upper end of guide pillar 18 is positioned at guide pin bushing 15 and is slidingly connected with guide pin bushing 15.Guide pin bushing 15 is positioned at the installing hole of top board 7 and is fixedly connected with top board 7.Z is fixedly connected by connecting support 4 and mounting panel 3 to motor 16.Z is connected to the output shaft of motor 16 lower end by connector 5 and screw rod 6, and the top screw-in of screw rod 6 is in nut 14.Nut 14 is fixedly connected by bearing 8 and top board 7; Laser sensor 12 is fixedly connected by laser sensor support 9, bearing 8 and top board 7.Workpiece 11 is arranged on the top of laser sensor 12.
In the present embodiment, used industrial computer in the automated circuit.The output control terminal of automated circuit is connected to the terminals of motor 16 with terminals, the Z of laser sensor 12 respectively by electric wire.
Mainly be the contents such as structure of having introduced present embodiment utility model device above.Below several operational circumstances of utility model device are done simple the description.
Before the utility model device action, workpiece 11 is installed in the top of laser sensor 12, and program and parameter relevant in the computer are all imported or called.Behind the utility model device action, when workbench middle level 2 seesaws and mounting panel 3 when doing side-to-side movement, the scanning of also making X and Y direction with laser sensor 12 simultaneously detects, and a scan-data that obtains is deposited in the computer.These data can be learnt the utility model device before action or in the action or after the release, the relative distance of laser sensor 12 and workpiece 11 after machine is handled as calculated.
Wherein, detect and to have or not workpiece 11, detect the numerical value of the directions X of workpiece 11, the numerical value of Y direction, be by laser sensor 12 earlier the emission certain frequencies laser beam, rely on the return situation of laser of detection of reflected to detect then.
Detect the numerical value of Z direction, i.e. the distance of laser sensor 12 measuring workpieces 11, its principle is that laser is measured its two-way time after target workpiece 11 is launched, multiply by the light velocity again and promptly obtain coming and going distance.
The space relative value of known current workpiece 11 is X1, Y1, Z1;
The dreamboat space relative value of workpiece 11 is X2, Y2, Z2;
Each correction numerical value: Δ X=X2-X1, Δ Y=Y2-Y1, Δ Z=Z2-Z1;
Above-mentioned numerical value is preserved or is calculated by computer, and after obtaining correction numerical value, computer and automated circuit are sent action command, the driving electric energy is provided to motor 16 to X-Y twin shaft workbench and Z, reach the space relative value of dreamboat.
Need to prove that the utility model device can be according to circumstances, thereby the space relative value that new dreamboat constantly is set is constantly regulated the location.
The utility model device detect through scanning the X obtain low pressure disconnect outline (or border) to, Y to numerical value and Z to distance values, and with each numerical value preservation, the X that obtains target's center more as calculated to, Y to new numerical value, call simultaneously Z to the numerical value that prestores, at last by the new numerical value and the numerical value running fix that prestores.
Embodiment two
Present embodiment is to illustrate a kind of concrete X-Y twin shaft workbench situation.Describe in conjunction with Fig. 2, Fig. 3.Fig. 2 is the front view of present embodiment, the left view that Fig. 3 is Fig. 2.
Earlier the label among the figure is described: the 1st, workbench lower floor; The 2nd, the workbench middle level; The 3rd, mounting panel; 20 is first guide rails; 22 is second rotation axiss; 23 is second supporting bases; 24 is second encoders; 25 is second servomotors; 26 is second union pieces; 27 is first rotation axiss; 28 is first supporting bases; 29 is first encoders; 30 is first servomotors; 31 is first union pieces.
In the present embodiment, two servomotors all are by encoder and electric wire, link to each other with the output control terminal of automated circuit; And contain computer in the automated circuit.
In the X-Y of present embodiment twin shaft workbench, two kinematic systems are arranged, one be drive system that directions X moves, another is to drive the system that the Y direction moves; These two kinematic system principles are identical, so as long as introduce one of them.
In driving the system that directions X moves, comprising: offer externally threaded first rotation axis 27, offer first supporting base 28, first encoder 29 of screw, the first paired guide rail 20;
Drive the system that the Y direction moves, the system principle that moves with the driving directions X is identical, no longer repeats to give unnecessary details.
Embodiment three
Below, describe in conjunction with Fig. 4.Earlier the label among the figure is described: the 1st, workbench lower floor; The 2nd, the workbench middle level; The 3rd, mounting panel; 19 is second guide rails; 20 is first guide rails; 27 is first rotation axiss; 28 is first supporting bases; 29 is first encoders; 30 is first servomotors; The 32nd, front gear; The 33rd, gear stand; The 34th, final gear.
As shown in Figure 4, gear stand 33 is fixedlyed connected with the workbench low layer, and the output shaft of the front gear 32 and first servomotor 30 is fixedly connected, and final gear 34 not only had been rotationally connected with gear stand 33, but also be fixedly connected with an end of first rotation axis 27.
When automated circuit by first encoder 29 when first servomotor 30 is given an order, following a series of actions takes place in succession: first servomotor 30 rotates → front gear 32 rotations → final gears 34 rotate → the first rotation axis 27 rotation → the first supporting bases and move in the workbench middle level.
In the present embodiment, substituted first union piece (31) with transmission mechanism.Transmission mechanism can also adopt chain-drive mechanism or tape handler except adopting the gear drive.
Adopt the benefit of transmission mechanism to have: transmission mechanism can be designed to deceleration type, the benefit of bringing thus has: can accomplish that very fine location regulates, and can be with the servomotor of micropower, drive moving of heavy object.
Embodiment four
Below, describe in conjunction with Fig. 5.Earlier the label among the figure is described: the 3rd, mounting panel; The 4th, connect support; The 7th, top board; The 10th, leading screw; The 13rd, nut seat; The 15th, guide pin bushing; The 16th, Z is to motor; The 18th, guide pillar; The 21st, shaft coupling.Z has carried encoder to motor 16.
In the present embodiment, use fourth officer guide pillar 18, guide pin bushing 15 altogether, be the equidistant setting of matrix pattern, the center of matrix pattern is a leading screw 10.The lower end of guide pillar 18 and mounting panel 3 are fixedly connected, and the upper end of guide pillar 18 is positioned at guide pin bushing 15 and is slidingly connected with guide pin bushing 15; Guide pin bushing 15 is fixedly connected with top board 7; Z is fixedly connected by connecting support 4 and mounting panel 3 to motor 16; Z is connected to the output shaft of motor 16 lower end by shaft coupling 21 and leading screw 10, and the top of leading screw 10 is not by ball and nut seat 13 be rotationally connected (ball draws among the figure); Nut seat 13 and top board 7 are fixedly connected.
When automated circuit by encoder to Z when motor 16 is given an order, take place in succession following a series of actions: Z to motor 16 rotate → transmit by shaft coupling 21 back, leading screw 10 rotate → participation at ball under, nut seat 13 rises or decline → top board 7 moves up or move down.
Embodiment five
In the present embodiment, the utility model device is installed on the manipulator.
X-Y twin shaft workbench does not have four legs, workbench lower floor 1 directly and a certain platform part on the manipulator be fixedly connected; The lower end of work support also is fixedly connected with above-mentioned platform, and workpiece 11 has been installed in the upper end of work support.
On the top board 7 of utility model device, be provided with production operation mechanism.Manipulator is when carrying out work, earlier undertaken on a large scale, significantly move, promptly carry out preliminary location, enter a pre-set space scope that precision is rough by manipulator itself, and then by the utility model device detect, meticulous adjustment location, carry out operation by production operation mechanism at last.
Claims (11)
1. a laser scanning location device comprises: contain the automated circuit of Based Intelligent Control parts, workpiece (11); It is characterized in that, comprising: have directions X and move the X-Y twin shaft workbench that moves with the Y direction, guide pillar (18), guide pin bushing (15), be provided with the top board (7) of installing hole, laser sensor (12), screw rod (6), nut (14), connector (5), Z connect support (4) to motor (16);
Described X-Y twin shaft workbench comprises being arranged on upper strata, mounting panel (3) movably;
The lower end of guide pillar (18) and mounting panel (3) are fixedly connected, and the top of guide pillar (18) is positioned at guide pin bushing (15) and is slidingly connected with guide pin bushing (15); Guide pin bushing (15) is positioned at the installing hole of top board (7) and is fixedly connected with top board (7); Z is fixedly connected by connecting support (4) and mounting panel (3) to motor (16); Z is connected to the output shaft of motor (16) lower end by connector (5) and screw rod (6), and the top of screw rod (6) is positioned at nut (14), described screw rod (6) and nut (14) threaded engagement; Nut (14) and top board (7) are fixedly connected or nut (14) is fixedly connected by bearing (8) and top board (7); Laser sensor (12) is fixedly connected with top board (7) or laser sensor (12) is fixedly connected by laser sensor support (9) and top board (7);
Described automated circuit, its output control terminal is connected to the terminals of motor (16) with terminals, the Z of laser sensor (12) respectively by electric wire.
2. a kind of laser scanning location device according to claim 1 is characterized in that:
Described X-Y twin shaft workbench comprises first motor that drives directions X and move, second motor that driving Y direction moves, and the terminals of first motor and second motor directly link to each other with the output control terminal of described automated circuit by electric wire; Perhaps, described X-Y twin shaft workbench, comprise first motor that drives directions X and move, drive second motor, other electrical equipment that the Y direction moves, the terminals of first motor and second motor by electric wire link to each other with other electrical equipment, other electrical equipment again the output control terminal by electric wire and described automated circuit by linking to each other;
Described X-Y twin shaft workbench comprises from top to bottom and being provided with: can make the mounting panel (3) that horizontal Y direction moves around, can do the workbench middle level (2) that the horizontal X direction moves around, workbench lower floor (1).
3. a kind of laser scanning location device according to claim 2 is characterized in that:
Described other electrical equipment is encoder;
Described first motor is first servomotor (30);
Described X-Y twin shaft workbench comprises first supporting base (28) offering externally threaded first rotation axis (27), first union piece (31), offer screw, first encoder (29), paired first guide rail (20); The screw of the external screw thread of described first rotation axis (27) and first supporting base (28), the two threaded engagement;
First guide rail (20) is arranged between workbench middle level (2) and the workbench lower floor (1);
First servomotor (30) is fixedly connected with workbench lower floor (1); The output shaft of first servomotor (30) is fixedlyed connected with an end of first rotation axis (27) by first union piece (31); First rotation axis (27) and first supporting base (28) are rotationally connected; First supporting base (28) is fixedly connected with workbench middle level (2);
Described first encoder (29), its input by electric wire be connected with the output control terminal of automated circuit, its output is connected by the terminals of electric wire with first servomotor (30).
4. a kind of laser scanning location device according to claim 2 is characterized in that:
Described other electrical equipment is encoder;
Described second motor is second servomotor (25);
Described X-Y twin shaft workbench comprises second supporting base (23) offering externally threaded second rotation axis (22), second union piece (26), offer screw, second encoder (24), paired second guide rail (19); The screw of the external screw thread of described second rotation axis (22) and second supporting base (23), the two threaded engagement;
Second guide rail (19) is arranged between the mounting panel (3) and workbench middle level (2) of X-Y twin shaft workbench;
Second servomotor (25) is fixedly connected with workbench middle level (2); The output shaft of second servomotor (25) is fixedlyed connected with an end of second rotation axis (22) by second union piece (26); Second rotation axis (22) and second supporting base (23) are rotationally connected; Second supporting base (23) is fixedly connected with the mounting panel (3) of X-Y twin shaft workbench;
Described second encoder (24), its input by electric wire be connected with the output control terminal of automated circuit, its output is connected by the terminals of electric wire with second servomotor (25).
5. a kind of laser scanning location device according to claim 1 is characterized in that: described guide pillar (18), guide pin bushing (15) are two secondary or three pairs or fourth officers;
Described two secondary guide pillars (18), guide pin bushing (15), for being symmetrical set, central authorities are screw rod (6);
Described three secondary guide pillars (18), guide pin bushing (15) are the equidistant setting of isosceles triangle, and the central authorities of isosceles triangle are screw rod (6);
Described fourth officer guide pillar (18), guide pin bushing (15) are the equidistant setting of matrix pattern, and the central authorities of matrix pattern are screw rod (6).
6. a kind of laser scanning location device according to claim 1 and 2 is characterized in that: described automated circuit comprises the position-limit mechanism that the moving component extreme position is limited;
Described moving component is meant: the mounting panel (3) of top board (7), X-Y twin shaft workbench and workbench middle level (2);
Described position-limit mechanism comprises limiting component; Limiting component is meant the mechanical type limit switch or is meant the photoelectric type limit switch or is meant the induction type limit switch;
Limiting component is arranged on the position at moving component place, and the terminals of limiting component are connected with other terminals by electric wire; Described other terminals are meant the terminals of automated circuit or are meant the motor terminals or are meant the terminals and the motor terminals of automated circuit; Described motor is meant that Z is to motor (16), first servomotor (30), second servomotor (25).
7. a kind of laser scanning location device according to claim 1 and 2 is characterized in that: described laser scanning location device comprises work support;
Described work support, the one end is connected with workpiece (11), and the other end and following any is fixedly connected:
A. workbench lower floor (1);
B., the ground of X-Y twin shaft workbench is installed;
C. system equipment; Described system equipment, it is provided with X-Y twin shaft workbench, and the other end and the system equipment of work support are fixedly connected.
8. a kind of laser scanning location device according to claim 1 is characterized in that:
Described connector (5) is for having the shaft coupling (21) of damping performance;
Described screw rod (6) and nut (14) are replaced by lead screw pair; Described lead screw pair comprises leading screw (10), nut seat (13) and ball;
Described Z is to motor (16), and its output shaft is connected by the lower end of shaft coupling (21) and leading screw (10), and the top of leading screw (10) is rotationally connected by ball and nut seat (13); Nut seat (13) and top board (7) are fixedly connected or nut seat (13) is fixedly connected by bearing (8) and top board (7).
9. according to claim 3 or 4 described a kind of laser scanning location devices, it is characterized in that:
Described first rotation axis (27), first supporting base (28) are replaced by first lead screw pair; Described first lead screw pair comprises first leading screw, first nut seat and ball; The output shaft of first servomotor (30) is fixedly connected by the end of first union piece (31) with first leading screw; First leading screw is rotationally connected by the ball and first nut seat; First nut seat and workbench middle level (2) are fixedly connected or first nut seat is fixedly connected by cushion block and workbench middle level (2);
Described second rotation axis (22), second supporting base (23) are replaced by second lead screw pair; Described second lead screw pair comprises second leading screw, second nut seat and ball; The output shaft of second servomotor (25) is connected with an end of second leading screw by second union piece (26); Second leading screw is rotationally connected by the ball and second nut seat; The mounting panel (3) of second nut seat and X-Y twin shaft workbench is fixedly connected or the mounting panel (3) of second nut seat by cushion block and X-Y twin shaft workbench is fixedly connected.
10. a kind of laser scanning location device according to claim 1 is characterized in that:
The described automated circuit that contains the Based Intelligent Control parts is meant the integrated package that contains CPU in the automated circuit or contains programmable controller or contain the PC computer or contain the Macintosh computer or contain industrial computer;
Described automated circuit comprises power circuit, signal sample circuit, sequence circuit, output control circuit and human-computer dialogue circuit.
11. a kind of laser scanning location device according to claim 1 is characterized in that:
Described laser sensor (12) is the laser sensor that detects distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201531366U CN201307564Y (en) | 2008-09-18 | 2008-09-18 | Laser scanning and positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201531366U CN201307564Y (en) | 2008-09-18 | 2008-09-18 | Laser scanning and positioning device |
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| Publication Number | Publication Date |
|---|---|
| CN201307564Y true CN201307564Y (en) | 2009-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201531366U Expired - Lifetime CN201307564Y (en) | 2008-09-18 | 2008-09-18 | Laser scanning and positioning device |
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| CN (1) | CN201307564Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797701A (en) * | 2010-01-18 | 2010-08-11 | 北京航空航天大学 | On-line non-contact laser stereo scanning detection device for internal screw threads of tubing coupling |
| CN101677045B (en) * | 2008-09-18 | 2012-03-28 | 上海工程技术大学 | Laser scanning location device |
| CN106125774A (en) * | 2016-08-31 | 2016-11-16 | 华南理工大学 | Biaxial synchronous motion control device based on laser displacement sensor feedback and method |
| CN109794422A (en) * | 2019-04-04 | 2019-05-24 | 溧阳市新力机械铸造有限公司 | A kind of workshop part positioning system based on apriltag |
-
2008
- 2008-09-18 CN CNU2008201531366U patent/CN201307564Y/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101677045B (en) * | 2008-09-18 | 2012-03-28 | 上海工程技术大学 | Laser scanning location device |
| CN101797701A (en) * | 2010-01-18 | 2010-08-11 | 北京航空航天大学 | On-line non-contact laser stereo scanning detection device for internal screw threads of tubing coupling |
| CN101797701B (en) * | 2010-01-18 | 2012-12-05 | 北京航空航天大学 | On-line non-contact laser stereo scanning detection device for internal screw threads of tubing coupling |
| CN106125774A (en) * | 2016-08-31 | 2016-11-16 | 华南理工大学 | Biaxial synchronous motion control device based on laser displacement sensor feedback and method |
| CN106125774B (en) * | 2016-08-31 | 2023-09-26 | 华南理工大学 | Double-shaft synchronous motion control device and method based on laser displacement sensor feedback |
| CN109794422A (en) * | 2019-04-04 | 2019-05-24 | 溧阳市新力机械铸造有限公司 | A kind of workshop part positioning system based on apriltag |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20090909 Effective date of abandoning: 20080918 |