CN207263146U - Complex-curved measuring device based on six degree of freedom auxiliary robot - Google Patents
Complex-curved measuring device based on six degree of freedom auxiliary robot Download PDFInfo
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- CN207263146U CN207263146U CN201721041938.3U CN201721041938U CN207263146U CN 207263146 U CN207263146 U CN 207263146U CN 201721041938 U CN201721041938 U CN 201721041938U CN 207263146 U CN207263146 U CN 207263146U
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Abstract
A kind of complex-curved measuring device based on six degree of freedom auxiliary robot, is made of action executing system, control system and detection system three parts, and action executing system is connected with detection system and controls them to move by control system, it is characterised in that：Action executing system includes traversing axis, slide, support base, swing arm one, swing arm two, swing arm three, probe working group's angle rotation axis and probe posture rotation axis.During the progressive molding lathe use of autonomous Design, it can in real time be measured using the utility model and shape the complex-curved three-dimensional coordinate data of steel plate, to examine the forming effect of progressive molding lathe, realize the on-line measurement to shaping steel plate complex three-dimensional curved surface, improve the efficiency and precision of measurement.The utility model can also be that the shaping detection of other field be offered reference and directive significance in addition to available for measurement progressive molding lathe shaping steel plate.
Description
Technical field
A kind of mechanical processing measuring device is the utility model is related to, it is particularly a kind of to machine complex-curved measuring device.
Background technology
At present, though there is certain research for coordinate measuring apparatus both at home and abroad, still there are many drawbacks.Existing measuring instrument
The standardized platform equipment of universal non-three degree of freedom, can not be adapted to complex-curved on-line measurement, use scope has bright
Aobvious limitation.It is universal for the technical barrier of current coordinate measuring apparatus generally existing narrow application range, existing measuring apparatus
For three-coordinates measuring machine, its measurement range has obvious limitation.In addition, three-coordinates measuring machine employs the structure of planer-type
Scheme, equipment volume is larger, comparatively laborious using process, can not realize and align in progressive molding lathe small space internal shaping
The on-line measurement of process steel plate.Although new optical three-coordinate measuring instrument measurement accuracy is higher, instrument is to work on the spot
The requirement of environment is very high, can not be suitable for the working environment of progressive molding lathe.
Utility model content
In order to solve the above-mentioned deficiency of the prior art, the purpose of this utility model is to provide a kind of based on six degree of freedom auxiliary
The complex-curved measuring device of robot.The measuring device has six-freedom degree, can be used for measuring complex-curved three-dimensional
Coordinate data, hence it is evident that improve the scope of application.
The purpose of this utility model is realized by following mode：
A kind of complex-curved measuring device based on six degree of freedom auxiliary robot, by action executing system, control system
Formed with detection system three parts, action executing system is connected with detection system and controls them to move by control system, it is special
Sign is：
Action executing system includes traversing axis, slide, support base, swing arm one, swing arm two, swing arm three, probe working group angle
Spend rotation axis and probe posture rotation axis；Swing arm one, swing arm two, swing arm three are hinged successively and then are connected by swing arm one and support base
Connect, support base and traversing axis connection, traversing axis move under the action of ball screw along slide, swing arm three and probe working group angle
Degree rotation axis connection, probe working group's angle rotation axis and probe posture rotation axis connection, action executing system is using servo electricity
Machine drives, its motion control is realized by control system.
The purpose of this utility model can be realized with following manner：Control system includes monitor and switch board；Monitor
The man-machine interface of control system interaction is provided, monitors the motion state of action executing system in real time；Switch board include cabinet and
Industrial personal computer, motion control card and the servo drive system being installed in cabinet, to ensure to be to action executing system and detection
The accurate control of system.
Detection system is made of servomotor, harmonic speed reducer, fixture and probe；Probe is fixed on action by fixture and holds
In the probe posture rotation axis of row system.
Action executing system makes probe position using the driving adjustment swing arm one, swing arm two, the angle of swing arm three of servomotor
In optimal measurement angle；The complex-curved three-dimensional coordinate data of shaping steel plate is obtained using probe and is transferred to the people of monitor
Machine interface.After the measurement has been completed, action executing system adjusts swing arm one, swing arm two, swing arm three under the action of control system
Position and probe measurement angle, proceed by measurement next time.
Control system adjusts the angle of head angle rotation axis by servo-driver, and is subtracted by servomotor and harmonic wave
Fast device adjusts the angle of probe posture rotation axis, and probe is adjusted and arrives optimal detection position, to obtain optimal measurement effect.
Switch board bottom is provided with pulley, and measuring device is moved to designated position using pulley before measurement work starts
And it is fixed, start the on-line measurement to shaping steel plate；In the non-measured working time, measuring device is moved to other positions, is saved
Save the working space of progressive molding lathe.
The beneficial effects of the utility model are：During the progressive molding lathe use of autonomous Design, this practicality is utilized
New can measure in real time shapes the complex-curved three-dimensional coordinate data of steel plate, to examine the shaping of progressive molding lathe to imitate
Fruit, realizes the on-line measurement to shaping steel plate complex three-dimensional curved surface, improves the efficiency and precision of measurement.The utility model except
Can also be that meaning is offered reference and instructed in the shaping detection of other field outside available for measurement progressive molding lathe shaping steel plate
Justice.
Brief description of the drawings
Fig. 1 the utility model stereochemical structure and working state figure
Fig. 2 the utility model structure diagrams
Fig. 3 is the utility model detection system partial schematic diagram
Embodiment
Reference numeral：1st, progressive molding lathe, 2, Hydraulic support platform, 3, shaping steel plate, 4, control system, 5, action holds
Row system, 6, monitor, 7, switch board, 8, traversing axis, 9, slide, 10, support base, 11, swing arm one, 12, swing arm two, 13, pendulum
Arm three, 14, probe orientation rotation axis, 15, probe posture rotation axis, 16, servomotor, 17, harmonic speed reducer, 18, fixture,
19th, pop one's head in.
The technical problems to be solved in the utility model is that design is a kind of based on the complex-curved of six degree of freedom auxiliary robot
Measuring device.During the progressive molding lathe use of autonomous Design, the measurement auxiliary machine designed by the utility model is utilized
Device people can measure in real time shapes the complex-curved three-dimensional coordinate data of steel plate, to examine the shaping of progressive molding lathe to imitate
Fruit.
The utility model mainly solves following technical barrier：
Firstth, the features of shape of progressive molding lathe shaping steel plate is fully analyzed, with reference to the structure shape of progressive molding lathe
Formula, there is provided suitable for the complex-curved solution of detection shaping steel plate.
Secondth, by the seamless combination with existing progressive molding lathe, the on-line measurement to shaping steel plate curved surface, letter are realized
Change the flow of measurement, so as to improve work efficiency.
The complex-curved measuring device based on six degree of freedom auxiliary robot of the utility model design, realizes to shaping
The on-line checking of steel plate 3.
Referring to attached drawing, the utility model is by this three big core of action executing system 5, control system 4 and detection system
Form.
Action executing system 5 include traversing axis 8, slide 9, support base 10, swing arm 1, swing arm 2 12, swing arm 3 13,
Probe working group angle rotation axis 14, probe posture rotation axis 15.Power actuation system is driven using servomotor, it moves control
System is realized by control system 4.
Control system 4 includes monitor 6 and switch board 7.Monitor 6 provides the man-machine interface of the interaction of control system 4,
And the motion state of action executing system 5 can be monitored in real time.Switch board 7 contains industrial personal computer, motion control card, servo and drives
Dynamic system etc., ensure that the accurate control to action executing system 5.
Detection system (referring to Fig. 3) is made of servomotor 16, harmonic speed reducer 17, fixture 18 and probe 19.Probe 19
It is the core component of detection system, function is stepped up by the realization of fixture 18 probe 19.
The course of work of the six degree of freedom progressive molding machine tool measuring auxiliary robot is illustrated by taking Fig. 1 as an example below.
Steel plate 3 is shaped under the suction-operated of electromagnet in fixed hydraulic support platform 2, and progressive molding lathe 1 is completed
To shape steel plate processing after, using servomotor driving Hydraulic support platform 2 move to lathe Y-axis designated position, start into
The row measurement complex-curved to shaping steel plate 3.
Under the action of control system 4, the action executing system 5 for measuring auxiliary robot utilizes the driving tune of servomotor
The angle of whole mechanical arm, makes probe 19 be located at optimal measurement angle.The traversing axis 8 of auxiliary robot is measured in ball screw
Moved under effect along slide 9, obtain the complex-curved three-dimensional coordinate data of shaping steel plate 3 using probe 19 and be transferred to monitor
6 man-machine interface.After the measurement has been completed, action executing system 5 adjusted under the action of control system 4 mechanical arm position and
The angle of 19 measurements of probe, proceeds by measurement next time.
Probe 19 is fixed in probe posture rotation axis 15 by fixture 18 in detection system (referring to Fig. 3).Control system 4
The angle of head angle rotation axis 14 is adjusted by servo-driver, and is adjusted and visited by servomotor 16 and harmonic speed reducer 17
The angle of head posture rotation axis 15, probe 19 is adjusted and arrives optimal detection position, to obtain optimal measurement effect.
4 bottom of switch board is provided with pulley, is moved to before measurement work starts using pulley by auxiliary robot is measured
Designated position and fixation, start the on-line measurement to shaping steel plate 3.In the non-measured working time, measurement auxiliary robot will
Other positions are moved to, save the working space of progressive molding lathe 1.
The measuring device of the utility model realizes the on-line measurement complex-curved to shaping steel plate 3, simplifies measurement stream
Journey, and greatly improve the efficiency and precision of measurement.The utility model when completing measurement task, the implementation procedure of measurement and
The rational deployment of each mechanical arm, simplifies the flow of measurement.
The utility model can also be the shaping of other field in addition to available for measurement progressive molding lathe shaping steel plate
Detection is offered reference and directive significance.
Claims (4)
- A kind of 1. complex-curved measuring device based on six degree of freedom auxiliary robot, by action executing system (5), control system (4) formed with detection system three parts, action executing system (5) is connected with detection system and controls them by control system (4) Movement, it is characterised in that：Action executing system (5) includes traversing axis (8), slide (9), support base (10), swing arm one (11), swing arm two (12), pendulum Arm three (13), probe working group's angle rotation axis (14) and probe posture rotation axis (15)；Swing arm one (11), swing arm two (12), Swing arm three (13) is hinged successively and then is connected by swing arm one (11) with support base (10), and support base (10) is connected with traversing axis (8), Traversing axis (8) is mobile along slide (9) under the action of ball screw, swing arm three (13) and probe working group's angle rotation axis (14) Connection, probe working group's angle rotation axis (14) and probe posture rotation axis 15 connect, and action executing system (5) is using servo electricity Machine drives, its motion control is realized by control system (4).
- 2. the complex-curved measuring device according to claim 1 based on six degree of freedom auxiliary robot, it is characterised in that： Control system (4) includes monitor (6) and switch board (7)；Monitor (6) provides the man-machine interface of control system (4) interaction, real When monitor action executing system (5) motion state；Switch board (7) includes cabinet and the industrial personal computer being installed in cabinet, fortune Dynamic control card and servo drive system, to ensure the accurate control to action executing system (5) and detection system.
- 3. the complex-curved measuring device according to claim 1 based on six degree of freedom auxiliary robot, it is characterised in that： Detection system is made of servomotor (16), harmonic speed reducer (17), fixture (18) and probe (19)；Probe (19) passes through fixture (18) it is fixed in the probe posture rotation axis (15) of action executing system (5).
- 4. the complex-curved measuring device according to claim 2 based on six degree of freedom auxiliary robot, it is characterised in that： Detection system is made of servomotor (16), harmonic speed reducer (17), fixture (18) and probe (19)；Probe (19) passes through fixture (18) it is fixed in the probe posture rotation axis (15) of action executing system (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721041938.3U CN207263146U (en) | 2017-08-21 | 2017-08-21 | Complex-curved measuring device based on six degree of freedom auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721041938.3U CN207263146U (en) | 2017-08-21 | 2017-08-21 | Complex-curved measuring device based on six degree of freedom auxiliary robot |
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| Publication Number | Publication Date |
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| CN207263146U true CN207263146U (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721041938.3U Active CN207263146U (en) | 2017-08-21 | 2017-08-21 | Complex-curved measuring device based on six degree of freedom auxiliary robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300373A (en) * | 2017-08-21 | 2017-10-27 | 泰安华鲁锻压机床有限公司 | Complex-curved measurement apparatus based on six degree of freedom auxiliary robot |
| CN113048896A (en) * | 2021-04-12 | 2021-06-29 | 南通理工学院 | Wet film measuring device of steel construction coating of hand-held type |
-
2017
- 2017-08-21 CN CN201721041938.3U patent/CN207263146U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300373A (en) * | 2017-08-21 | 2017-10-27 | 泰安华鲁锻压机床有限公司 | Complex-curved measurement apparatus based on six degree of freedom auxiliary robot |
| CN113048896A (en) * | 2021-04-12 | 2021-06-29 | 南通理工学院 | Wet film measuring device of steel construction coating of hand-held type |
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