CN204228138U - A kind of industrial robot for large parts dimensional measurement - Google Patents

Abstract

The utility model relates to an industrial robot for measuring the size of large parts, including five parts: a mechanical system, a mechanical arm, a contact size detector, a numerical control system, and an electronic system; the mechanical system is composed of three orthogonal linear motion axes X/Y/Z three-direction, including gantry frame 1, beam 2, ram 3 and slide 4; mechanical arm 5 is set on ram 3 and associated with the mechanical system through the numerical control system; mechanical arm 5 is a six-axis mechanical arm; the numerical control system is a six-axis numerical control system, which is the integrated control of X/Y/Z three-axis and six-axis mechanical arms; the electronic system is composed of a grating counting system, a probe signal interface and a computer. The beneficial effects of the utility model are: eliminating the manual operation of each measurement sequence, reducing the work intensity, reducing errors caused by manual detection, and improving the accuracy of measurement data.

Description

An industrial robot for dimension measurement of large parts

technical field

The utility model relates to a robot that mainly realizes the expansion of an industrial mechanical arm and is applied to the automatic measurement of large parts, in particular to an industrial robot used for the size measurement of large parts, which belongs to the field of machinery industry.

Background technique

At present, the main methods of three-dimensional contour measurement of large parts are high-precision contact measurement of three-coordinate machine, contour measurement of laser tracker, high-precision microscopic full-field measurement of laser speckle object contour, and two-coordinate measurement of 3D imaging technology. Among these many measurement methods, laser speckle object profile measurement has the highest accuracy, which belongs to non-contact and full-field measurement, and has high measurement speed, but its measurement range is small. The three-coordinate machine has high measurement accuracy, but it can only perform contact measurement, and the measurement speed is slow and the measurement range is small. Generally, for large parts, the contour measurement of the laser tracker and the two-coordinate measurement of the 3D imaging technology are generally used, but the entire operation process requires the manual operation of the inspector, especially for large parts with complex curved surfaces, which requires higher operating skills of the inspectors. , The workload of personnel operation is heavy. Then, how to provide a kind of automatic measuring equipment with high measuring precision is the purpose of the research of this utility model.

Contents of the invention

In order to overcome the deficiencies of the existing technology, the utility model provides an industrial robot for measuring the size of large parts, which solves the problem of data collection during the measurement process due to the manual operation errors of the inspectors in the existing large parts size detection process. The error and the problem of reducing the accuracy of the measurement data. In the process of part size inspection, the equipment with high measurement accuracy, large range and automation can improve the accuracy of measurement data and reduce the intensity of measurement work.

An industrial robot for measuring the size of large parts, including five parts: mechanical system, mechanical arm, contact size detector, numerical control system, and electronic system; the mechanical system is composed of three orthogonal linear motion axes. /Y/Z three directions, including gantry frame, beam, ram and slide seat; the mechanical arm is set on the ram and associated with the mechanical system through the numerical control system; the mechanical arm is a six-axis mechanical arm; The numerical control system described above is a nine-axis numerical control system, which is an integrated control of X/Y/Z three-axis and six-axis mechanical arms; the electronic system is composed of a grating counting system, a probe signal interface and a computer.

The bottom of the mechanical arm is provided with a contact size detector.

The gantry frame constitutes an X-guided rail system and is fixed on the workbench; the beam constitutes a Y-guided rail system; the ram is arranged on a sliding seat to constitute a Z-guided rail system.

The X/Y/Z three directions are driven by the numerical control system through the private motor and the rack and pinion mechanism, which can realize three-axis linkage.

The beneficial effects of the utility model are: eliminating the manual operation of each measurement sequence, reducing the work intensity, reducing the error caused by manual detection, and improving the accuracy of the measurement data.

Description of drawings

Fig. 1 is the device schematic diagram of the present utility model;

Fig. 2 is the partial enlarged view of device of the present utility model;

Fig. 3 is a technical flow chart of the utility model;

Among them: gantry frame 1, beam 2, ram 3, sliding seat 4, mechanical arm 5, contact size detector 6.

Detailed ways

Below according to accompanying drawing 1, accompanying drawing 2, accompanying drawing 3 the utility model is further analyzed.

An industrial robot used for dimension measurement of large parts, including mechanical system, mechanical arm 5, contact size detector 6, numerical control system, and electronic system; the mechanical system consists of three orthogonal linear motion axes X/ Y/Z three-direction, including gantry frame 1, beam 2, ram 3 and slide 4; mechanical arm 5 is set on ram 3 and associated with the mechanical system through the numerical control system; mechanical arm 5 is a six-axis mechanical arm; The numerical control system is a six-axis numerical control system, which is an integrated control of X/Y/Z three-axis and six-axis mechanical arms; the electronic system is composed of a grating counting system, a probe signal interface and a computer. The bottom of the mechanical arm 5 is provided with a contact size detector 6 . The gantry frame 1 constitutes the X-guided rail system and is fixed on the workbench; the beam 2 constitutes the Y-guided rail system; the ram 3 is set on the sliding seat 4 to constitute the Z-guided rail system. The X/Y/Z three directions are driven by the CNC system through the private motor and the rack and pinion mechanism, which can realize three-axis linkage.

When working: step 1, complete the 3D data model of the large parts to be inspected in the computer, on the one hand, the post-processing software generates macro program codes according to the parts size inspection requirements, on the one hand, it is directly associated with the measurement software; step 2, the control system According to the program code to control the three directions of the mechanical system, the mechanical arm 5 and the contact size detector 6 on the ram 3 are moved to the predetermined position through the actuator, and the areas that cannot be reached by the X/Y/Z axis are controlled by the mechanical arm 5. The contact size detector 6 moves to the position of the component to be tested; step 3, the contact between the contact size detector 6 at the bottom of the mechanical arm 5 and the part to be tested generates a starting signal and feeds it back to the control system, and the measurement analysis software extracts the position from the control system Coordinates, and the statistical analysis of the test data is completed by the measurement software, and finally the size data report is formed in the computer.

The utility model adopts a gantry frame (12000mm×2000mm×3500mm) with high repeat positioning accuracy (0.2mm), cooperates with a high-performance six-axis mechanical arm, a safe and reliable mechanical clamping device, and an advanced nine-axis numerical control system and professional detection. The device and software realize the large-scale and automatic dimensional measurement of large parts, especially large parts with complex curved surfaces. The component size requirements are: within 12000mm*2000mm*3500mm, and the shape can be measured if there is no inner cavity with a diameter less than 478mm.

Claims (4)

1. An industrial robot for measuring the size of large parts, characterized in that: it includes five major parts of a mechanical system, a mechanical arm, a contact size detector, a numerical control system, and an electronic system; the mechanical system consists of three orthogonal The linear motion axis constitutes the X/Y/Z three directions, including the gantry frame, the beam, the ram and the sliding seat; the mechanical arm is arranged on the ram and is associated with the mechanical system through the numerical control system; the mechanical arm is Six-axis mechanical arm; the numerical control system is a nine-axis numerical control system, which is an integrated control of X/Y/Z three-axis and six-axis mechanical arms; the electronic system is composed of a grating counting system, a probe signal interface and a computer . 2. An industrial robot for measuring the size of large parts according to claim 1, characterized in that: the bottom of the mechanical arm is provided with a contact size detector. 3. An industrial robot for measuring the size of large parts according to claim 1, characterized in that: the gantry frame constitutes an X guide rail system and is fixed on the workbench; the crossbeam constitutes a Y guide rail System; the ram is set on the sliding seat to form a Z guide rail system. 4. An industrial robot for measuring the size of large parts according to claim 1, characterized in that: said X/Y/Z three directions are driven by a numerical control system through a private motor and a rack and pinion mechanism, and can be Realize three-axis linkage.