CN209783556U - Compliant device, pneumatic measuring device and pneumatic measuring system - Google Patents
Compliant device, pneumatic measuring device and pneumatic measuring system Download PDFInfo
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- CN209783556U CN209783556U CN201921005908.6U CN201921005908U CN209783556U CN 209783556 U CN209783556 U CN 209783556U CN 201921005908 U CN201921005908 U CN 201921005908U CN 209783556 U CN209783556 U CN 209783556U
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Abstract
The utility model provides a gentle and agreeable device, pneumatic measuring device and pneumatic measurement system relates to the pneumatic measurement technology field, and gentle and agreeable device includes: the device comprises a base body, a first repelling part, a second repelling part and an operating rod; the first end of the base body is provided with a limiting ring, and the limiting ring is connected with the base body; the first repelling part is arranged at the first end of the base body, the second repelling part is connected with the base body, and a repelling force is arranged between the first repelling part and the second repelling part; the operating rod penetrates through the limiting ring, one end of the operating rod is connected with the first repelling part, and the other end of the operating rod is used for connecting a measuring head of the pneumatic measuring instrument; the action bars and first repulsion portion can move to the direction of second repulsion portion along spacing ring, and the external diameter of action bars and the external diameter of first repulsion portion all are less than the internal diameter of base member. Because the robot has little position and orientation deviation, the measuring head and the part to be measured are located the chamfer butt of the hole edge that awaits measuring, because gentle and agreeable device is to the measuring head, the measuring head can not appear blocking phenomenon with the part to be measured.
Description
Technical Field
The utility model belongs to the technical field of the pneumatic measuring technique and specifically relates to a gentle and agreeable device, pneumatic measuring device and pneumatic measurement system are related to.
Background
There is a linear relationship between the values of the pressure and flow of the compressed air and the value of the gap of the gas outflow path, and a pneumatic measuring instrument made using this relationship is called a pneumatic gauge. The pneumatic measuring instrument has the advantages of simple structure, simple and convenient operation, high measuring precision, capability of realizing non-contact measurement and the like, and is widely applied to the measurement of the inner diameter of a part hole and the outer diameter of a shaft. When taking pneumatic measurement appearance to measure the internal diameter size in part hole, traditional measuring method is by manual operation, and the manual work snatchs the part, assembles the hole of part and the gauge head of pneumatic measurement appearance, and it is downthehole to make the gauge head insert the part, and the gauge head is provided with a plurality of fumaroles, and the fumarole of gauge head is jet-propelled to the part pore wall to make pneumatic measurement appearance accomplish the measurement to the internal diameter size in part hole, however, in big batch measurement occasion, there is the big problem of staff's work load.
Along with the improvement of industrial automation and intelligent horizontally to and the enterprise reduces the consideration of human cost, measure the occasion in batches, utilize the robot to replace and snatch the part by hand, accomplish the assembly of part hole and gauge head, make pneumatic measuring instrument accomplish the measurement to the internal diameter size in part hole, reduction staff's that can be great work load.
In order to obtain higher measurement precision, the gap between a measuring head of the pneumatic measuring instrument and a hole to be measured of a part needs to be controlled to be smaller, usually within tens of micrometers, in the process of performing measurement by a robot, the part hole and the measuring head are assembled essentially by assembling a hole and a shaft, and because the gap between the measuring head of the pneumatic measuring instrument and the hole to be measured is very small, when the robot grabs the part to complete the assembly of the part hole and the measuring head, the robot easily abuts the measuring head and the chamfer at the edge of the hole to be measured due to small pose deviation, so that the clamping resistance occurs between the measuring head and the part to be measured, the measuring head cannot enter the hole to be measured, and the measurement of the inner diameter of the part hole cannot be completed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a gentle and agreeable device, pneumatic measuring device and pneumatic measurement system to when the robot that exists among the solution prior art snatchs the assembly that the part was accomplished part hole and gauge head, the small position appearance deviation of robot all can arouse the gauge head and await measuring and appear blocking between the part, leads to the unable entering of gauge head to wait to survey the hole, and then can't accomplish the problem to the measurement of the internal diameter size in part hole.
The utility model provides a gentle and agreeable device, gentle and agreeable device includes: the device comprises a base body, a first repelling part, a second repelling part and an operating rod;
The base body is cylindrical, a limiting ring is arranged at the first end of the base body, and the limiting ring is connected with the base body;
The first repelling part is arranged at the first end of the base body, the limiting ring is used for limiting the first repelling part in the base body, the second repelling part is arranged at the second end of the base body and connected with the base body, and a repelling force is arranged between the first repelling part and the second repelling part;
the operating rod penetrates through the limiting ring, one end of the operating rod is connected with the first repelling part, and the other end of the operating rod is used for being connected with a measuring head of the pneumatic measuring instrument;
the operating rod and the first repelling part can move towards the second repelling part along the limiting ring, and when the distance between the first repelling part and the second repelling part is reduced, the repelling force between the first repelling part and the second repelling part is increased;
the outer diameter of the operating rod and the outer diameter of the first repelling part are both smaller than the inner diameter of the base body.
Further, the first repelling portion is a first magnet, and the second repelling portion is a second magnet.
further, the first repelling part is a first magnet;
The second repelling part comprises a cover body and a second magnet, the cover body covers the second end of the base body, the cover body is connected with the base body, the second magnet is located at one end, close to the first magnet, of the cover body, and the second magnet is connected with the cover body.
Further, the operating rod is T-shaped;
the operating rod comprises a transverse plate and a vertical rod, and one end of the vertical rod is connected with the transverse plate;
The montant wears to establish the spacing ring, the diaphragm set up in the base member, just the external diameter of diaphragm is less than the internal diameter of base member, the spacing ring be used for with the diaphragm restriction is in the base member.
Furthermore, a boss is arranged on the inner side of the first end of the base body and connected with the base body;
the lug boss is in clearance fit with the transverse plate.
Further, one end, far away from the limiting ring, of the boss is provided with a first chamfer.
furthermore, a second chamfer is arranged at one end, close to the vertical rod, of the transverse plate.
Further, one end, far away from the vertical rod, of the transverse plate is provided with a third chamfer.
Further, the base body is provided with a mounting part;
the installation department with the base member is connected, the installation department is used for being connected with the external world.
when the flexible device provided by the utility model is used, the measuring head is connected with one end of the operating rod far away from the first repelling part, and the base body of the flexible device is fixed with the external structure; the robot grabs and moves the part to be measured to the position of the measuring head, aligns the hole to be measured of the part to be measured with the measuring head, moves the part to be measured towards the direction of the measuring head until the measuring head is inserted into the hole to be measured, and measures the inner diameter of the hole to be measured.
when the robot has small pose deviation, the measuring head is abutted with a chamfer at the edge of the hole to be measured of the part to be measured, and at the moment, the axis of the measuring head is parallel to the axis of the hole to be measured; because the robot continuously gives the part to be measured a power to the gauge head direction to can promote gauge head, action bars and first repulsion portion to the direction of second repulsion portion, at this moment, the gauge head receives the decurrent repulsion force that first repulsion portion and second repulsion portion produced, and the chamfer of the part to be measured gives the gauge head a power of slant upwards and a frictional force along chamfer slant upwards, and give a anticlockwise moment of torsion of gauge head, make gauge head, action bars and first repulsion portion rotate along the axial lead of gauge head, because the external diameter of action bars and the external diameter of first repulsion portion all are less than the internal diameter of base member again, thereby make the axial lead of gauge head and the axial lead of the hole to be measured produce the contained angle.
the robot continuously gives a force to the part to be measured in the direction of the measuring head, so that an included angle between the axis of the measuring head and the axis of the hole to be measured is gradually increased, when the axis of the measuring head is parallel to the chamfer inclined plane, the robot pushes the measuring head into the hole to be measured until the measuring head and the hole to be measured have two contact points, at the moment, the first contact point gives an upward oblique force N1 and an upward oblique friction force F1 to the measuring head, the second contact point gives a downward oblique force N2 and an upward oblique friction force F2 to the measuring head, the measuring head is further subjected to gravity G due to the repulsion action between the first repulsion part and the second repulsion part giving a downward oblique repulsion force F to the measuring head, at the moment, the robot continuously gives a force to the part to be measured in the direction of the measuring head, and when the sum of the force N2, the gravity and the repulsion force is greater than the sum of the forces of N1, the F67, The operating rod and the first repelling part rotate along the axial lead of the measuring head, so that the included angle between the axial lead of the measuring head and the axial lead of the hole to be measured is reduced until the axial lead of the measuring head is parallel to the axial lead of the hole to be measured.
and because the plurality of gas injection holes of the measuring head inject gas simultaneously, the closer the outer wall of the measuring head is to the hole wall to be measured, the larger the reaction force of the gas received by the measuring head is, therefore, the axial lead of the measuring head can be aligned with the axial lead of the hole to be measured, so that the pneumatic measuring instrument can accurately measure the hole diameter of the hole to be measured.
Therefore, even if the measuring head abuts against the chamfer at the edge of the hole to be measured of the part to be measured due to the small pose deviation of the robot, the clamping phenomenon between the measuring head and the part to be measured cannot occur due to the compliant action of the compliant device on the measuring head, and the measuring head can smoothly enter the hole to be measured to accurately measure the inner diameter of the hole to be measured.
The utility model also provides a pneumatic measuring device, pneumatic measuring device include pneumatic measuring instrument with gentle and agreeable device.
The utility model also provides a pneumatic measuring system, which comprises a robot, a controller, a first camera, a second camera and the pneumatic measuring device;
the position of the axis of the measuring head is preset in the controller;
the first camera is arranged on a manipulator of the robot and connected with the controller, the first camera is used for acquiring position information of a part to be detected and transmitting the information to the controller, and the controller controls the manipulator to capture the part to be detected;
The second camera is fixedly arranged relative to the measuring head;
the position information of the second camera is preset in the controller, the controller controls the manipulator to move the grabbed part to be measured to the second camera, the second camera is used for acquiring the position information of the axial lead of the hole to be measured of the part to be measured and transmitting the information to the controller, the controller is used for calculating the distance between the position of the axial lead of the measuring head and the position of the axial lead of the hole to be measured, the controller controls the manipulator to move the part to be measured to be right below the measuring head, and the axial lead of the measuring head is aligned with the axial lead of the hole to be measured.
compared with the prior art, the pneumatic measuring device and the pneumatic measuring system have the same advantages as the compliant device, and are not described again.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a compliance device according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a pneumatic measuring device according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a compliance device provided in an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a substrate in a compliant device according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of an operating rod in a compliant device according to an embodiment of the present invention;
fig. 6 is a schematic view of the pneumatic measuring device according to the embodiment of the present invention in contact with the chamfer of the edge of the hole to be measured of the part to be measured;
fig. 7 is a schematic view of the pneumatic measuring device according to the embodiment of the present invention contacting with a point of a hole to be measured of a part to be measured;
Fig. 8 is a schematic diagram of the pneumatic measuring device provided in the embodiment of the present invention when contacting with two points of the hole to be measured of the part to be measured.
icon: 1-a substrate; 11-a spacing ring; 12-a boss; 121-first chamfer; 13-a first threaded hole; 2-a first repelling part; 21-a first via; 3-a second repelling part; 31-a cover body; 311-a second via; 312-a second threaded hole; 32-a second magnet; 321-a third via; 4-operating lever; 41-a transverse plate; 411-second chamfer; 412-third chamfer; 42-vertical bar; 43-a fourth via; 5-an installation part; 51-mounting holes; 6-measuring a head; 61-gas injection holes; 7-parts to be tested; 71-the well to be tested.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a compliance device according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a pneumatic measuring device according to an embodiment of the present invention; FIG. 3 is a cross-sectional view of a compliance device provided in an embodiment of the present invention; fig. 6 is a schematic view of the pneumatic measuring device according to the embodiment of the present invention in contact with the chamfer of the edge of the hole to be measured of the part to be measured; fig. 7 is a schematic view of the pneumatic measuring device according to the embodiment of the present invention contacting with a point of a hole to be measured of a part to be measured; fig. 8 is a schematic diagram of the pneumatic measuring device provided in the embodiment of the present invention when contacting with two points of the hole to be measured of the part to be measured.
The compliant device provided by this embodiment includes: the device comprises a base body 1, a first repelling part 2, a second repelling part 3 and an operating rod 4; the base body 1 is cylindrical, a limiting ring 11 is arranged at the first end of the base body 1, and the limiting ring 11 is connected with the base body 1;
The first repelling part 2 is arranged at the first end of the base body 1, the limiting ring 11 is used for limiting the first repelling part 2 in the base body 1, the second repelling part 3 is arranged at the second end of the base body 1, the second repelling part 3 is connected with the base body 1, and a repelling force is arranged between the first repelling part 2 and the second repelling part 3; the operating rod 4 penetrates through the limiting ring 11, one end of the operating rod 4 is connected with the first repelling part 2, and the other end of the operating rod 4 is used for being connected with a measuring head 6 of the pneumatic measuring instrument; the operating rod 4 and the first repelling part 2 can move along the limiting ring 11 towards the second repelling part 3, and when the distance between the first repelling part 2 and the second repelling part 3 is reduced, the repelling force between the first repelling part 2 and the second repelling part 3 is increased; the outer diameter of the operating rod 4 and the outer diameter of the first repelling part 2 are both smaller than the inner diameter of the base body 1.
When the compliant device provided by the embodiment is used, the measuring head 6 is connected with one end of the operating rod 4, which is far away from the first repelling part 2, and the base body 1 of the compliant device is fixed with an external structure; the robot grabs and moves the part 7 to be measured to the position of the measuring head 6, aligns the hole 71 to be measured of the part 7 to be measured with the measuring head 6, and moves the part 7 to be measured towards the direction of the measuring head 6 until the measuring head 6 is inserted into the hole 71 to be measured, and measures the inner diameter of the hole 71 to be measured.
When the robot has small pose deviation, the measuring head 6 is abutted with a chamfer at the edge of the hole 71 to be measured of the part 7 to be measured, and at the moment, the axis of the measuring head 6 is parallel to the axis of the hole 71 to be measured; the robot continuously provides a force to the measuring head 6 direction for the part 7 to be measured, so that the measuring head 6, the operating rod 4 and the first repelling part 2 can be pushed to the second repelling part 3 direction, at the moment, the measuring head 6 is subjected to downward repelling force generated by the first repelling part 2 and the second repelling part 3, a slant upward force and a slant upward friction force along a chamfering surface are provided for the measuring head 6 at the chamfering position of the part 7 to be measured, a counterclockwise torque is provided for the measuring head 6, so that the measuring head 6, the operating rod 4 and the first repelling part 2 rotate along the axial lead of the measuring head 6, and an included angle is generated between the axial lead of the measuring head 6 and the axial lead of the hole 71 to be measured because the outer diameter of the operating rod 4 and the outer diameter of the first repelling part 2 are smaller than the inner diameter of the base body 1.
the robot continuously gives a force to the part 7 to be measured in the direction of the measuring head 6, so that the included angle between the axis of the measuring head 6 and the axis of the hole 71 to be measured gradually increases, when the axis of the measuring head 6 is parallel to the chamfer inclined plane, the robot pushes the measuring head 6 into the hole 71 to be measured, the measuring head 6 and the hole wall of the hole 71 to be measured have a contact point, because the robot continuously gives a force to the part 7 to be measured in the direction of the measuring head 6 until the measuring head 6 and the hole 71 to be measured have two contact points, at the moment, the first contact point gives an upward oblique force N1 and an upward oblique friction force F1 to the measuring head 6, the second contact point gives a downward oblique force N2 and an upward friction force F2 to the measuring head 6, because the repulsion between the first repulsion part 2 and the second repulsion part 3 gives a downward repulsive force F to the measuring head 6, the measuring head 6 is also subjected to gravity G, at the moment, the robot continuously gives a force to, when the sum of the N2 and the gravity and the repulsive force is larger than the sum of the N1, the F1 and the F2, the N2 gives the measuring head 6 a clockwise torque, so that the measuring head 6, the operating rod 4 and the first repelling part 2 rotate along the axis of the measuring head 6, and the included angle between the axis of the measuring head 6 and the axis of the hole to be measured 71 is reduced until the axis of the measuring head 6 is parallel to the axis of the hole to be measured 71.
since the plurality of gas ejection holes 61 of the probe 6 eject gas simultaneously, the closer the outer wall of the probe 6 is to the wall of the hole 71 to be measured, the greater the reaction force of the gas received by the probe 6, and therefore, the axis line of the probe 6 can be aligned with the axis line of the hole 71 to be measured, so that the air gauge can accurately measure the aperture size of the hole 71 to be measured.
Therefore, even if the robot has a small pose deviation, the measuring head 6 abuts against the chamfer at the edge of the hole to be measured 71 of the part to be measured 7, due to the compliant action of the compliant device on the measuring head 6, the measuring head 6 and the part to be measured 7 cannot be blocked, and the measuring head 6 can smoothly enter the hole to be measured 71 to accurately measure the inner diameter of the hole to be measured 71.
Further, in order to provide a stable repulsive force between the first repulsive portion 2 and the second repulsive portion 3 and increase the repulsive force between the first repulsive portion 2 and the second repulsive portion 3 as the distance between the first repulsive portion 2 and the second repulsive portion 3 becomes smaller, in the compliance device provided in the present embodiment, as shown in fig. 3, the first repulsive portion 2 is a first magnet and the second repulsive portion 3 is a second magnet 32.
The first magnet and the second magnet 32 have the same magnetic properties on their facing surfaces.
The second magnet 32 is connected with the second end of the base body 1 in a clamping, riveting or other mode.
The edge of second magnet 32 has seted up the fixed orifices, and first screw hole 13 has been seted up to the second end of base member 1, wears to establish fixed orifices and first screw hole 13 through the screw, makes second magnet 32 be connected with base member 1.
The first magnet is connected with the operating rod 4 in a clamping, riveting and other modes.
The first through hole 21 is formed in the first magnet, the fourth through hole 43 is formed in the operating rod 4, the measuring head 6 is provided with a threaded hole, and the first through hole 21, the fourth through hole 43 and the threaded hole are sequentially penetrated through by screws, so that the screws are in threaded connection with the measuring head 6.
Further, in order to provide a stable repulsive force between the first repulsive portion 2 and the second repulsive portion 3, and as the distance between the first repulsive portion 2 and the second repulsive portion 3 becomes smaller, the repulsive force between the first repulsive portion 2 and the second repulsive portion 3 increases, in the compliance device provided in this embodiment, as shown in fig. 3, the first repulsive portion 2 is a first magnet; the second repelling part 3 comprises a cover 31 and a second magnet 32, the cover 31 covers the second end of the base 1, the cover 31 is connected with the base 1, the second magnet 32 is located at one end of the cover 31 close to the first magnet, and the second magnet 32 is connected with the cover 31.
The first magnet and the second magnet 32 have the same magnetic properties on their facing surfaces.
The cover body 31 and the base body 1 can be connected in a clamping, riveting and other modes; the cover 31 and the base 1 may be screwed together.
the center of the cover 31 is provided with a second threaded hole 312, the center of the second magnet 32 is provided with a third through hole 321, and the third through hole 321 and the second threaded hole 312 are sequentially penetrated through by screws, so that the second magnet 32 is connected with the cover 31.
A plurality of second through holes 311 are opened at the edge of the cover 31, a plurality of first threaded holes 13 are opened at the second end of the base 1, and screws sequentially penetrate through the second through holes 311 and the first threaded holes 13, so that the cover 31 is connected with the base 1.
Fig. 5 is a cross-sectional view of the operation rod 4 in the compliant device provided by the embodiment of the present invention.
Further, when the robot provides a force to the part 7 to be measured in the direction of the measuring head 6, in order to enable the operating rod 4 and the first repelling part 2 to move along the limiting ring 11 in the direction of the second repelling part 3, the second repelling part 3 and the operating rod 4 can generate torsion in the base body 1, so that an included angle can be generated between the axis of the measuring head 6 and the axis of the hole 71 to be measured, so as to exert a compliant action on the measuring head 6, in the compliant device provided in this embodiment, as shown in fig. 3 and 5, the operating rod 4 is T-shaped; the operating rod 4 comprises a transverse plate 41 and a vertical rod 42, and one end of the vertical rod 42 is connected with the transverse plate 41; the vertical rod 42 penetrates through the limiting ring 11, the transverse plate 41 is arranged in the base body 1, the outer diameter of the transverse plate 41 is smaller than the inner diameter of the base body 1, and the limiting ring 11 is used for limiting the transverse plate 41 in the base body 1.
because the outer diameter of the transverse plate 41 is smaller than the inner diameter of the base body 1, and the outer diameter of the first repelling part 2 is smaller than the inner diameter of the base body 1, when the measuring head 6 is in the hand, the second repelling part 3 and the operating rod 4 can be twisted and swung in the base body 1, so that the measuring head 6 is compliant, the measuring head 6 smoothly enters the hole 71 to be measured of the part 7 to be measured, and the inner diameter of the hole 71 to be measured is accurately measured.
A boss 12 is arranged on the inner side of the first end of the base body 1, and the boss 12 is connected with the base body 1; the boss 12 is in clearance fit with the cross plate 41.
Fig. 4 is a cross-sectional view of a substrate 1 in a compliant device according to an embodiment of the present invention.
further, in order to make the operating rod 4 when the torsion pendulum takes place in the base member 1, it is softer when conflicting with base member 1 inner wall for diaphragm 41, avoid diaphragm 41 and base member 1 inner wall to take place to damage, in the compliance device that this embodiment provided, as shown in fig. 4, the one end that spacing ring 11 was kept away from to boss 12 is provided with first chamfer 121.
When the robot gives the part 7 that awaits measuring a power to gauge head 6 direction, gauge head 6, action bars 4 and first repulsion portion 2 are all promoted and are removed to second repulsion portion 3 direction, when gauge head 6 receives the combined action of moment of torsion and power, take place to twist pendulum at the in-process that removes to second repulsion portion 3 direction, because boss 12 is kept away from the one end of spacing ring 11 and is provided with first chamfer 121, can remove along the inclined plane of chamfer when diaphragm 41 removes to boss 12 top, thereby avoid appearing the problem that boss 12 and diaphragm 41's contact surface takes place to damage.
Further, in order to make the operating rod 4 generate torsion in the base body 1, the transverse plate 41 is softer when colliding with the inner wall of the base body 1, and the transverse plate 41 and the inner wall of the base body 1 are prevented from being damaged, in the compliance device provided by this embodiment, as shown in fig. 3 and 5, one end of the transverse plate 41 close to the vertical rod 42 is provided with a second chamfer 411.
When the robot gives the part 7 that awaits measuring to a power to gauge head 6 direction, gauge head 6, action bars 4 and first repulsion portion 2 all are promoted and are removed to second repulsion portion 3 direction, when gauge head 6 receives the combined action of moment of torsion and power, take place to twist pendulum at the in-process that removes to second repulsion portion 3 direction, because boss 12 is kept away from the one end of spacing ring 11 and is provided with first chamfer 121, the one end that diaphragm 41 is close to montant 42 is provided with second chamfer 411, when diaphragm 41 removed to boss 12 top, can make the second chamfer 411 of diaphragm 41 move along with the inclined plane of the first chamfer 121 of boss 12, thereby avoid appearing the problem that boss 12 and diaphragm 41's contact surface takes place to damage.
Further, in order to make the operating rod 4 generate torsion in the base body 1, the transverse plate 41 is softer when colliding with the inner wall of the base body 1, and the transverse plate 41 and the inner wall of the base body 1 are prevented from being damaged, in the compliance device provided by this embodiment, as shown in fig. 3 and 5, a third chamfer 412 is provided at one end of the transverse plate 41 away from the vertical rod 42.
when the robot gives the part 7 that awaits measuring a power to gauge head 6 direction, gauge head 6, action bars 4 and first repulsion portion 2 are all promoted and are removed to second repulsion portion 3 direction, when gauge head 6 receives the sharing of moment of torsion and power, take place to turn round pendulum to the in-process that second repulsion portion 3 direction removed, when the upper surface of diaphragm 41 contradicts with the inner wall of base member 1, owing to be provided with third chamfer 412 in the one end of keeping away from montant 42 at diaphragm 41, consequently, can make the inclined plane of third chamfer 412 of diaphragm 41 and the laminating of base member 1 inner wall, avoid diaphragm 41 and base member 1 inner wall to take place to damage.
Further, in order to enable the compliant device to be stably connected with an external structure, in the compliant device provided in this embodiment, as shown in fig. 1-2, a mounting portion 5 is provided on the base 1; the mounting portion 5 is connected to the base 1, and the mounting portion 5 is used for connection to the outside.
The mounting portion 5 may be provided with a mounting hole 51 through which the mounting hole 51 and an external structure are inserted by a bolt, so that the compliant device is stably connected with the external structure.
Further, in order to avoid the problem that the measuring head 6 cannot enter the hole to be measured 71 and the inner diameter of the hole to be measured cannot be measured due to the fact that the measuring head 6 and the part to be measured 7 are blocked due to small pose deviation of the robot when the pneumatic measuring device is used for detecting the inner diameter of the hole to be measured 71 of the part to be measured 7, the pneumatic measuring device provided by the embodiment comprises a pneumatic measuring instrument and the compliance device provided by the embodiment.
When the pneumatic measuring device is used for detecting the inner diameter of the hole 71 to be measured of the part 7 to be measured, when the robot has small pose deviation, the measuring head 6 and the part 7 to be measured are abutted to the chamfer at the edge of the hole 71 to be measured, and due to the flexible action of the flexible device on the measuring head 6, the clamping phenomenon between the measuring head 6 and the part 7 to be measured cannot occur, so that the measuring head 6 can smoothly enter the hole 71 to be measured to accurately measure the inner diameter of the hole 71 to be measured.
Further, in order to avoid the problem that the measuring head 6 cannot enter the hole 71 to be measured and the measurement of the inner diameter of the hole cannot be completed due to the fact that the measuring head 6 cannot enter the hole 71 to be measured because of the jamming between the measuring head 6 and the part 7 to be measured caused by the small pose deviation of the robot when the pneumatic measurement system is used for detecting the inner diameter of the hole 71 to be measured, the pneumatic measurement system provided by the embodiment comprises the robot, the controller, the first camera, the second camera and the pneumatic measurement device; the position of the axis line of the measuring head 6 is preset in the controller; the first camera is arranged on a manipulator of the robot and connected with the controller, the first camera is used for acquiring position information of the part 7 to be detected and transmitting the information to the controller, and the controller controls the manipulator to capture the part 7 to be detected; the second camera is fixedly arranged relative to the measuring head 6; the position information of the second camera is preset in the controller, the controller controls the manipulator to move the grabbed part 7 to be measured to the second camera, the second camera is used for acquiring the position information of the axis of the hole 71 to be measured of the part 7 to be measured and transmitting the information to the controller, the controller is used for calculating the distance between the position of the axis of the measuring head 6 and the position of the axis of the hole 71 to be measured, the controller controls the manipulator to move the part 7 to be measured to be under the measuring head 6, and the axis of the measuring head 6 is aligned with the axis of the hole 71 to be measured.
When the pneumatic measuring system is used for detecting the inner diameter of the hole 71 to be measured of the part 7 to be measured, firstly, the mounting part 5 of the compliance device is stably connected with an external structure, and the second camera is stably connected with the external structure, so that the second camera is fixedly arranged relative to the measuring head 6.
The first step is as follows: and (5) a hole searching stage. The position of the axis line of the measuring head 6 is preset in the controller; the first camera is used for acquiring position information of the part 7 to be detected and transmitting the information to the controller, and the controller controls the manipulator to grab the part 7 to be detected; the position information of the second camera is preset in the controller, the controller controls the manipulator to move the grabbed part 7 to be measured to the second camera, the second camera is used for acquiring the position information of the axis of the hole 71 to be measured of the part 7 to be measured and transmitting the information to the controller, the controller is used for calculating the distance between the position of the axis of the measuring head 6 and the position of the axis of the hole 71 to be measured, the controller controls the manipulator to move the part 7 to be measured to be under the measuring head 6, and the axis of the measuring head 6 is aligned with the axis of the hole 71 to be measured.
The second step is that: and chamfering the contact stage. When searching for the hole, the robot causes small posture deviation, so that the measuring head 6 is abutted with the chamfer of the to-be-measured part 7 at the edge of the to-be-measured hole 71. The measuring head 6 is pushed into the hole 71 to be measured through the flexible action of the flexible device, so that the measuring head 6 has a contact point with the inner wall of the hole 71 to be measured.
the third step: a point contact stage. Because the robot continuously gives a force to the part 7 to be measured in the direction of the measuring head 6, the measuring head 6 continuously moves towards the inside of the hole 71 to be measured until the measuring head 6 and the hole 71 to be measured have two contact points.
the fourth step: two-point contact stage. The axial lead of the measuring head 6 is parallel to the axial lead of the hole to be measured 71 through the flexible action of the flexible device.
The fifth step: the plurality of gas injection holes 61 of the measuring head 6 inject gas simultaneously, and the closer the outer wall of the measuring head 6 is to the wall of the hole 71 to be measured, the greater the reaction force of the gas received by the measuring head 6, so that the axis line of the measuring head 6 can be aligned with the axis line of the hole 71 to be measured, so that the air-gauge can accurately measure the aperture size of the hole 71 to be measured.
when the pneumatic measuring system is used for detecting the inner diameter of the hole 71 to be measured of the part 7 to be measured, when the robot has small pose deviation, the measuring head 6 and the part 7 to be measured are abutted to the chamfer at the edge of the hole 71 to be measured, and due to the flexible action of the flexible device on the measuring head 6, the clamping phenomenon between the measuring head 6 and the part 7 to be measured cannot occur, so that the measuring head 6 can smoothly enter the hole 71 to be measured to accurately measure the inner diameter of the hole 71 to be measured.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. a compliant device, comprising: the device comprises a base body, a first repelling part, a second repelling part and an operating rod;
the base body is cylindrical, a limiting ring is arranged at the first end of the base body, and the limiting ring is connected with the base body;
the first repelling part is arranged at the first end of the base body, the limiting ring is used for limiting the first repelling part in the base body, the second repelling part is arranged at the second end of the base body and connected with the base body, and a repelling force is arranged between the first repelling part and the second repelling part;
The operating rod penetrates through the limiting ring, one end of the operating rod is connected with the first repelling part, and the other end of the operating rod is used for being connected with a measuring head of the pneumatic measuring instrument;
the operating rod and the first repelling part can move towards the second repelling part along the limiting ring, and when the distance between the first repelling part and the second repelling part is reduced, the repelling force between the first repelling part and the second repelling part is increased;
the outer diameter of the operating rod and the outer diameter of the first repelling part are both smaller than the inner diameter of the base body.
2. The compliant device of claim 1 wherein the first repelling portion is a first magnet and the second repelling portion is a second magnet.
3. The compliant device of claim 1 wherein the first repelling portion is a first magnet;
The second repelling part comprises a cover body and a second magnet, the cover body covers the second end of the base body, the cover body is connected with the base body, the second magnet is located at one end, close to the first magnet, of the cover body, and the second magnet is connected with the cover body.
4. The compliant device of claim 2 or 3 wherein the lever is T-shaped;
The operating rod comprises a transverse plate and a vertical rod, and one end of the vertical rod is connected with the transverse plate;
the montant wears to establish the spacing ring, the diaphragm set up in the base member, just the external diameter of diaphragm is less than the internal diameter of base member, the spacing ring be used for with the diaphragm restriction is in the base member.
5. The compliant device of claim 4 wherein the first end of the base is provided with a boss on the inside thereof, the boss being connected to the base;
The lug boss is in clearance fit with the transverse plate.
6. The compliant device of claim 5 wherein the end of the boss distal from the stop collar is provided with a first chamfer.
7. The compliant device of claim 4 wherein the end of the cross plate adjacent to the vertical bar is provided with a second chamfer;
And a third chamfer is arranged at one end of the transverse plate, which is far away from the vertical rod.
8. the compliant device of claim 1 wherein the substrate has a mounting portion disposed thereon;
The installation department with the base member is connected, the installation department is used for being connected with the external world.
9. A pneumatic measuring device comprising a pneumatic gauge and a compliant device according to any of claims 1 to 8.
10. A pneumatic measuring system comprising a robot, a controller, a first camera, a second camera, and the pneumatic measuring device of claim 9;
the position of the axis of the measuring head is preset in the controller;
The first camera is arranged on a manipulator of the robot and connected with the controller, the first camera is used for acquiring position information of a part to be detected and transmitting the information to the controller, and the controller controls the manipulator to capture the part to be detected;
The second camera is fixedly arranged relative to the measuring head;
the position information of the second camera is preset in the controller, the controller controls the manipulator to move the grabbed part to be measured to the second camera, the second camera is used for acquiring the position information of the axial lead of the hole to be measured of the part to be measured and transmitting the information to the controller, the controller is used for calculating the distance between the position of the axial lead of the measuring head and the position of the axial lead of the hole to be measured, the controller controls the manipulator to move the part to be measured to be right below the measuring head, and the axial lead of the measuring head is aligned with the axial lead of the hole to be measured.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300461A (en) * | 2020-04-29 | 2020-06-19 | 郑州轻工业大学 | Internal-support type operation self-adaptive flexible manipulator for fragile thin-wall cylindrical inner wall workpiece |
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2019
- 2019-06-28 CN CN201921005908.6U patent/CN209783556U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300461A (en) * | 2020-04-29 | 2020-06-19 | 郑州轻工业大学 | Internal-support type operation self-adaptive flexible manipulator for fragile thin-wall cylindrical inner wall workpiece |
| CN111300461B (en) * | 2020-04-29 | 2021-05-28 | 郑州轻工业大学 | Internal-support type operation self-adaptive flexible manipulator for fragile thin-wall cylindrical inner wall workpiece |
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