CN221066007U - Measuring device - Google Patents

Abstract

The utility model provides a measuring device, which comprises a measuring robot, a clamp system and an optical tracker assembly, wherein the clamp system comprises a plurality of clamp robots and a plurality of clamp devices, and the clamp devices are respectively detachably arranged at the tail ends of the clamp robots; the fixture device comprises a switching part and a fixture module, wherein the robot switching part is detachably connected with the tail end of the fixture robot, and the fixture module is arranged on the fixture switching part. The measuring device disclosed by the utility model has the advantages that the clamp system is compatible with flexible clamping of various parts, the types of the clamps of the parts can be reduced, the cost is saved, the clamp change time can be reduced, the measuring efficiency of the parts is greatly improved, and the loss caused by the abandoned clamps in the process of product update can be avoided.

Description

Measuring device

Technical Field

The utility model belongs to the technical field of measurement, and particularly relates to structural improvement of a measuring device.

Background

The detection is an essential link in production and manufacture, is an important component part in six main factors affecting the quality of products, such as people, machines, materials, methods, rings and measurement, and can detect quality problems in time and improve the consistency of production according to detection data.

In the detection systems of various industries at present, most of detected products are in various types, and in the process of detecting the products, positioning and fixing operations are needed to improve the precision and stability of the detection systems. In order to improve the compatibility of the detection system, the detection system for each industry generally aims at a plurality of problems such as multiple types of fixtures, complex design structure, long design period, high processing cost, long processing and manufacturing period, time and labor consumption in disassembly and assembly, transfer equipment, large occupied storage space, complex fixture management, large storage and maintenance pressure and the like of the special detection fixtures for each product.

For example, in the automobile industry, parts to be detected in one vehicle type project include four doors, engine covers, trunk covers, side walls, white bodies, chassis and the like, and the parts such as inner plates, outer plates, welding parts and the like are detected, so that the problems of high cost, slow detection beat, large occupied area, high labor intensity and the like of manufacturing detection brackets are caused. In addition, along with the replacement of new vehicle models, the detection support of the old vehicle models needs to be stored or scrapped, so that more serious waste is caused.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model provides the measuring device which can reduce the types of the clamps of the parts to be measured, save the cost, reduce the clamp change time and improve the measuring efficiency.

In order to solve the technical problems, the utility model adopts the technical scheme that the measuring device comprises:

the measuring robot is provided with a measuring sensor and a tracking target at the tail end;

A gripper system including a plurality of gripper robots and a plurality of gripper devices, the plurality of gripper devices being detachably mounted on distal ends of the plurality of gripper robots, respectively; the fixture device comprises a switching part and a fixture module, wherein the switching part comprises a robot switching part and a fixture switching part which are connected into a whole, the robot switching part is detachably connected with the tail end of the fixture robot, and the fixture module is arranged on the fixture switching part;

An optical tracker assembly including an optical tracker for tracking a tracking target and a measurement sensor of the measurement robot tip in real time.

In some embodiments of the utility model, the measurement robot and the optical tracker assembly are located on opposite sides of the fixture system, respectively.

In some embodiments of the utility model, the optical tracker assembly further comprises a post, the optical tracker being mounted on a top surface of the post.

In some embodiments of the utility model, the jig system further comprises a work platform having a horizontal support surface on which the jig robot is disposed; and a turntable is arranged below the working platform and used for driving the working platform to rotate.

In some embodiments of the present utility model, the robot adaptor is connected to a central portion of the fixture adaptor, the fixture adaptor has a plurality of mounting portions, the plurality of mounting portions are disposed around a central periphery of the fixture adaptor, and at least a part of the mounting portions are respectively provided with a fixture module.

In some embodiments of the utility model, a plurality of the mounting portions are circumferentially equispaced about a center of the clip transition.

In some embodiments of the present utility model, the fixture module includes a fixture body and a fixture mount, the fixture body is mounted on the fixture mount, the fixture mount is mounted on the mounting portion, and a first positioning component for positioning the part to be tested is provided on the fixture mount.

In some embodiments of the present utility model, the clamp body is a quick clamp, and the clamp mounting seat is further provided with a second positioning component matched with the quick clamp; and in the clamping state, the part to be detected is positioned by the first positioning part and the second positioning part, and is clamped between the compression end of the quick clamp and the second positioning part.

In some embodiments of the present utility model, the first positioning component is two positioning clamping plates that are oppositely arranged, a V-shaped positioning groove is formed at the top of the positioning clamping plate, and the second positioning component is located between the two positioning clamping plates and is oppositely arranged with the pressing end of the quick clamp.

In some embodiments of the utility model, the mounting positions of the first and second positioning members on the clamp mount are adjustable.

Compared with the prior art, the utility model has the following advantages and positive effects:

According to the measuring device, the clamp system is provided with the plurality of clamp robots and the plurality of clamp devices, the plurality of clamp devices are respectively and detachably arranged at the tail ends of the plurality of clamp robots, the clamp robots drive the plurality of clamp devices to move, the positions of the clamp devices can be adjusted, clamping requirements of different parts are met, namely flexible clamping of various parts is compatible, the types of clamps of the parts can be reduced, cost is saved, clamp replacement time can be reduced, the measuring efficiency of the parts is greatly improved, and loss caused by abandoned clamps when products are updated can be avoided.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

FIG. 1 is a schematic diagram of a measuring device according to an embodiment of the present utility model;

FIG. 2 is an enlarged view of the portion A of FIG. 1;

FIG. 3 is a schematic diagram of a fixture system according to an embodiment of the present utility model;

Fig. 4 is an enlarged view of the B part structure of fig. 3;

FIG. 5 is a schematic view of a fixture device according to an embodiment of the present utility model;

FIG. 6 is a schematic view of a clamp device according to another embodiment of the present utility model;

FIG. 7 is an exploded view of the left clamp module of FIG. 5;

FIG. 8 is a schematic view of an embodiment of a clip adapter of the clip device of the present utility model;

FIG. 9 is a schematic view of another embodiment of a clip adapter of the clip device of the present utility model;

FIG. 10 is a schematic view of a clamp adapter of another embodiment of the clamp device of the present utility model;

Fig. 11 is a schematic structural view of a working platform with a turntable according to an embodiment of the present utility model.

Reference numerals:

1. A measuring robot; 1-1, a measuring sensor; 1-2, target; 1-3, a ball cage frame;

2. A clamp system; 100. a jig robot; 200. a clamp device; 210. a switching part; 211. a robot switching part; 212. a clamp switching part; 213. a mounting part; 220. a clamp module; 221. a manual clamp body; 222. a clamp mounting seat; 223. a first positioning member; 224. a second positioning member; 225. v-shaped positioning groove; 226. a slit hole; 227. spherical positioning protrusions; 228. a compacting end; 300. a working platform; 310. a horizontal support surface; 320. a support leg; 330. a turntable;

3. An optical tracker assembly; 3-1, an optical tracker; 3-2, stand columns;

4. And the parts to be tested.

Detailed Description

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

Referring to fig. 1-7, in some embodiments of the utility model, a measurement device includes a measurement robot 1, a clamp system 2, and an optical tracker assembly 3.

Wherein, the end of the measuring robot 1 is provided with a measuring sensor 1-1 and a tracking target 1-2. The measuring robot 1 carries the measuring sensor 1-1 and the tracking target 1-2 to move so that the measuring sensor 1-1 and the tracking target 1-2 perform non-contact detection on a target detection point on the surface of the part 4 to be measured. The measuring sensor 1-1 and the tracking target 1-2 adopt the prior art, specifically, the measuring sensor 1-1 can be a spectral confocal sensor, a laser displacement sensor, an ultrasonic distance sensor, an infrared distance sensor and the like, the tracking target 1-2 is a plurality of target balls distributed on the ball cage-shaped frame 1-3, and the measuring sensor 1-1 is installed inside the ball cage-shaped frame 1-3.

The optical tracker assembly 3 includes an optical tracker 3-1, the optical tracker 3-1 providing a tracking area within which tracking targets and measuring sensors 1-1 of the end of the measuring robot are tracked and positioned in real time, ensuring high accuracy dynamic measurements in the shop field (vibration, noise, etc.) or in the ambient environment. The optical tracker 3-1 may alternatively be an existing optical tracking 3D scanner.

The jig system 2 includes a plurality of jig robots 100 and a plurality of jig devices 200, the plurality of jig devices 200 being detachably mounted on distal ends of the plurality of jig robots 100, respectively; each of the jig devices 200 includes a coupling member 210 and a jig module 220, the coupling member 210 includes a robot coupling part 211 and a jig coupling part 212 coupled as one body, the robot coupling part 211 is detachably coupled to the end of the jig robot 100, and the jig module 220 is mounted on the jig coupling part 212.

The plurality of clamp robots 100 respectively carry the plurality of clamp devices 200 to move to corresponding positions, so that clamping and positioning of corresponding parts can be realized, and compared with a clamp system arranged on a stand column in the prior art, the flexible clamp system in the embodiment of the utility model can adjust the position of the clamp device 200, is compatible with flexible clamping of various parts, can reduce the types of clamps of the parts, saves cost, can reduce clamp change time, improves the measurement efficiency of the parts, and can avoid loss caused by clamp abandonment during product update; the variety of the clamp is few, and the clamp is convenient to store and maintain.

Specifically, the number of the clamp robots 100 is determined according to the structural size of the part 4 to be tested, the clamp robots 100 can be specifically cooperative robots or industrial robots, and through electric and program control, the linkage of a plurality of clamp robots 100 can be realized, and a plurality of clamp devices 200 can be driven to reach a preset clamping position through one-key operation; the number of the jig devices 200 may be greater than the number of the jig robots 100 to form a jig library so as to detach and replace different jig devices 200 according to the specific parts 4 to be tested. The adapting part 210 may be an integral structure, i.e. the robot adapting part 211 and the fixture adapting part 212 are an integral structural part; or may be a split structure, that is, the robot adapter 211 and the clamp adapter 212 are two separate components and are connected into a whole through corresponding connection structures. As shown in fig. 3 to 5, the robot adapter 211 is fastened to the distal end of the jig robot 100 by a plurality of screws, and the jig adapter 212 is fastened to the robot adapter 211 by a plurality of screws.

The fixture adapting portion 212 has a plurality of mounting portions 213, the plurality of mounting portions 213 are disposed around the periphery of the connection portion between the fixture adapting portion 212 and the robot adapting portion 211, and at least a part of the mounting portions 213 are respectively provided with a set of fixture modules 220. Each set of clamping device 200 has a plurality of clamping modules 220, and the plurality of clamping modules 220 can have the same structure but different installation directions on the corresponding installation portions 213, or the plurality of clamping modules 220 can have different installation directions, and the structure can also be different, so that the flexible clamping function of the utility model is further expanded.

Further, the measuring robot 1 and the optical tracker assembly 3 are respectively located at two opposite sides of the fixture system 2, so that the lens detection range of the optical tracker 3-1 covers the working space of the measuring robot 1, and the measuring accuracy is ensured.

The optical tracker component 3 further comprises a post 3-2, and the optical tracker 3-1 is mounted on the top surface of the post 3-2.

The fixture system 2 further includes a work platform 300, the work platform 300 having a horizontal support surface 310, the fixture robot 100 being disposed on the horizontal support surface 310 for ease of overall handling, field assembly, and adjustment of placement positions. The work platform 300 may also be provided with a plurality of legs 320, the legs 320 having a height adjustment function to level the horizontal support surface 310.

In some embodiments, referring to fig. 11, a turntable 330 may be further disposed below the working platform 300, and is used to drive the working platform 310 to rotate, so as to drive the fixture robot 100 on the working platform 300, the fixture device 200 on the fixture robot 100, and the clamped components to integrally rotate, so that in the detection process, after the components are clamped in place, the working platform 300 can be driven to rotate by the turntable 330, and multi-angle display of the components is realized, so as to further facilitate detection. The turntable 330 may specifically adopt a turntable structure in the prior art, which includes a turntable and a driving mechanism for driving the turntable to rotate, and the working platform 300 is integrally mounted on the turntable of the turntable 330.

Further, the robot transferring part 211 is connected to the central portion of the jig transferring part 212, and the plurality of mounting parts 213 are enclosed at the central periphery of the jig transferring part 212.

Referring to fig. 8 to 10, and referring to fig. 4 to 6, the clamp switching part 212 has a plate structure, the mounting part 213 has a plate structure coplanar with the clamp switching part 212, and the plurality of mounting parts 213 are uniformly distributed along the circumference with the center of the clamp switching part 212 as the center, so as to facilitate the machining and adjustment of the clamp module 220. Taking two, three, and four mounting portions 213 as examples, the clamp adapter 212 is correspondingly shaped like a Chinese character 'i', a triangle, and a cross. Each mounting portion 213 may be provided with a set of clamp modules 220, or only some of the mounting portions 213 may be provided with clamp modules 220, which may be flexibly selected according to specific clamping requirements.

As for the jig module 220, as shown in fig. 5 to 7, it includes a jig main body 221 and a jig mount 222, the jig main body 221 is mounted on the jig mount 222, the jig mount 222 is mounted on the mounting portion 213, and the jig module 220 is further mounted on the jig transfer portion 212. Meanwhile, a first positioning component 223 for positioning the part 4 to be tested is arranged on the clamp mounting seat 222 so as to roughly position the clamping of the part 4 to be tested.

The clamp main body 221 may be an existing clamp main body, the clamp main bodies 221 of the plurality of clamp modules 220 may be the same or different, and the structure of the clamp mounting seat 222 may be the same or different, so as to improve the clamping diversity. The clamp mounting seat 222 can facilitate the installation of the clamp main body 221 on the mounting portion 213 on one hand, and on the other hand, the clamp main body 221 is not convenient to change the structural shape due to the fact that the existing clamp main body is selected for use, the clamp mounting seat 222 can be self-made, the installation direction of the clamp main body 221 relative to the mounting portion 213 can be changed by adopting different clamp mounting seats 222, and meanwhile, the clamping compatibility of the clamp system 2 to different parts is further enhanced by combining the movement of the clamp robot 100.

Further, the fixture mounting seat 222 may also be detachably mounted on the mounting portion 213, so that the fixture module 220 may be detachably replaced, so that a proper fixture module 220 may be selected according to different parts 4 to be tested, and in particular, may be fastened and mounted on the mounting portion 213 by using screws. The fixture mounts 222 of each fixture module 220 may be configured differently to accommodate different parts to be tested. As shown in fig. 5 to 7, the clamp mounting bases 222 of one set of clamp modules 220 are in a block shape, and the clamp mounting bases 222 of the other set of clamp modules 220 are in a bent plate shape.

The clamp body 221 may be a quick clamp, or a pneumatic or electric clamp, which is not particularly limited herein. For the quick clamp, the clamp mounting seat 222 is also provided with a second positioning component 224 matched with the quick clamp; in the clamping state, the part 4 to be measured is positioned by the first positioning part 223 and the second positioning part 224 and is clamped between the pressing end 228 of the quick clamp and the second positioning part 224, namely, the second positioning part 224 not only plays a role in coarsely positioning the part 4 to be measured, but also is matched with the quick clamp to clamp the part 4 to be measured together.

The first positioning components 223 of each fixture module 220 have different structures, and the second positioning components 224 have different structures, so as to position different parts 4 to be tested.

As shown in fig. 5 and 7, for the parts with thin edges such as a car door and a car cover, the first positioning part 223 is two positioning clamping plates which are oppositely arranged, a V-shaped positioning groove 225 is formed at the top of the positioning clamping plate, the bottom surface of the V-shaped positioning groove 225 is an arc surface, the V-shaped positioning groove 225 is used for positioning the edges of the parts, and the edges of the parts fall into the arc surface at the bottom of the V-shaped positioning groove 225 along the V-shaped positioning groove 225, so that the parts are positioned in the vertical direction shown in fig. 5 and 7. For the second positioning member 224, which may be a block-like structure, disposed opposite the compression end 228 of the quick clamp, the second positioning member 224 is positioned between two positioning clips.

In some embodiments, the mounting positions of the first positioning component 223 and the second positioning component 224 on the fixture mounting seat 222 can be adjusted, for example, the first positioning component 223 can be horizontally adjusted, and the second positioning component 224 can be vertically adjusted, so as to adjust the positioning positions of the components up and down, left and right, and adapt to the positioning of specific components better.

Specifically, the positions of the first positioning member 223 and the second positioning member 224 are adjusted by forming elongated holes 226 in the first positioning member 223 and the second positioning member 224, respectively, and the first positioning member 223 and the second positioning member 224 are fastened and mounted by screws through the corresponding elongated holes 226.

Further, the second positioning member 224 is formed with a spherical positioning protrusion 227, as shown in fig. 7, the spherical positioning protrusion 227 has a smaller size, so that the second positioning member can be conveniently attached to the plane of the component; meanwhile, the compacting end 228 of the quick clamp is provided with a rubber head to reduce the extrusion of parts.

For the parts with positioning holes, as shown in fig. 6, the first positioning parts 223 are positioning columns, and are matched with the positioning holes of the parts to realize coarse positioning. Accordingly, the second positioning member 224 may be a plate-like structure integrally formed with the bent plate-like jig positioning seat.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (10)

1. A measurement device, comprising:

the measuring robot is provided with a measuring sensor and a tracking target at the tail end;

A gripper system including a plurality of gripper robots and a plurality of gripper devices, the plurality of gripper devices being detachably mounted on distal ends of the plurality of gripper robots, respectively; the fixture device comprises a switching part and a fixture module, wherein the switching part comprises a robot switching part and a fixture switching part which are connected into a whole, the robot switching part is detachably connected with the tail end of the fixture robot, and the fixture module is arranged on the fixture switching part;

An optical tracker assembly including an optical tracker for tracking a tracking target and a measurement sensor of the measurement robot tip in real time.

2. The measuring device according to claim 1, wherein,

The measurement robot and the optical tracker assembly are located on opposite sides of the fixture system, respectively.

3. The measuring device according to claim 2, wherein,

The optical tracker assembly further includes a post, the optical tracker being mounted on a top surface of the post.

4. The measuring device according to claim 1, wherein,

The fixture system further comprises a working platform with a horizontal supporting surface, wherein the fixture robot is arranged on the horizontal supporting surface; and a turntable is arranged below the working platform and used for driving the working platform to rotate.

5. The measuring device according to claim 1, wherein,

The robot switching part is connected to the central part of the clamp switching part, the clamp switching part is provided with a plurality of mounting parts, the mounting parts are arranged around the central periphery of the clamp switching part, and at least one part of the mounting parts is respectively provided with a clamp module.

6. The measuring apparatus according to claim 5, wherein,

The mounting parts are uniformly distributed along the circumference around the center of the clamp switching part.

7. The measuring apparatus according to claim 5, wherein,

The fixture module comprises a fixture main body and a fixture mounting seat, wherein the fixture main body is mounted on the fixture mounting seat, the fixture mounting seat is mounted on the mounting part, and a first positioning part for positioning the part to be tested is arranged on the fixture mounting seat.

8. The measuring apparatus according to claim 7, wherein,

The clamp main body is a quick clamp, and the clamp mounting seat is also provided with a second positioning component matched with the quick clamp; and in the clamping state, the part to be detected is positioned by the first positioning part and the second positioning part, and is clamped between the compression end of the quick clamp and the second positioning part.

9. The measuring device of claim 8, wherein the measuring device comprises a sensor,

The first locating component is two locating clamping plates which are oppositely arranged, a V-shaped locating groove is formed in the top of each locating clamping plate, and the second locating component is located between the two locating clamping plates and is oppositely arranged with the compressing end of the quick clamp.

10. The measuring device of claim 8, wherein the measuring device comprises a sensor,

The mounting positions of the first positioning component and the second positioning component on the fixture mounting seat are adjustable.