CN108332667A - A kind of movable type non-contact forecasting device - Google Patents
A kind of movable type non-contact forecasting device Download PDFInfo
- Publication number
- CN108332667A CN108332667A CN201810450444.3A CN201810450444A CN108332667A CN 108332667 A CN108332667 A CN 108332667A CN 201810450444 A CN201810450444 A CN 201810450444A CN 108332667 A CN108332667 A CN 108332667A
- Authority
- CN
- China
- Prior art keywords
- control system
- gantry
- sub
- camera
- pinboard
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of movable type non-contact forecasting device, is related to large scale equipment parts on-line measurement field.AGV trolleies are equipped with servo turntable, servo turntable has been fixed by the bracket gantry three degrees of freedom right angle coordinate mechanical arm, the Z axis sliding block of gantry three degrees of freedom right angle coordinate mechanical arm with to connect cross bar one end affixed, the connection cross bar other end is equipped with pinboard, servo motor is for driving pinboard, camera installing plate is affixed with pinboard, camera installing plate is installed with acquisition camera and laser range finder one, two X-axis modules of gantry three degrees of freedom right angle coordinate mechanical arm are installed with laser range finder two respectively.Original manual measurement is substituted using automation non-contact type on-line measurement, improving measurement accuracy saves manpower, will not occur to measure omission problem.
Description
Technical field
The present invention relates to large scale equipment parts on-line measurement field, especially a kind of mobile non-contact forecasting dress
It sets.
Background technology
Large scale equipment is dispersed with each type component, the installation dimension and the size after working loss of parts, to safety
Production has great significance.Therefore, the real-time measurement of large scale equipment component of machine is very necessary, is especially handed in track
Logical field, is dispersed with each type component on the car body, in order to ensure security reliability, the size of some of which important spare part with
And the installation dimension between parts, need repeated multiple times measurement.At present these measure operations generally all by being accomplished manually,
Target point is measured using tape measure, measurement data record is got off again after measurement, is compared with measurement range value is allowed.
The problem is that manual measurement error is larger, reliability is low, and time-consuming for manual measurement record.In addition, large scale equipment one
As need the target point quantity measured more, manual measurement easy tos produce omission problem.
Invention content
Insufficient existing for background technology to solve, the present invention provides a kind of mobile non-contact forecasting device.
Realize that above-mentioned purpose, the present invention take following technical proposals：A kind of movable type non-contact forecasting device, including
AGV trolleies, servo turntable, gantry three degrees of freedom right angle coordinate mechanical arm, connection cross bar, pinboard, acquisition camera, camera installation
Plate and servo motor, the AGV trolleies upper surface, which horizontally rotates, is equipped with servo turntable, the servo turntable upper surface
It has been fixed by the bracket gantry three degrees of freedom right angle coordinate mechanical arm, the Z of gantry three degrees of freedom right angle coordinate mechanical arm
Axis sliding block with connect that cross bar one end is affixed, the connection cross bar other end vertical rotating is equipped with pinboard, the servo
For driving the pinboard, the camera installing plate and pinboard are affixed, and camera installing plate is installed with adopts motor
Collect camera and laser range finder one, the acquisition camera, laser range finder one and connection cross bar are straight with gantry Three Degree Of Freedom
The X-direction of angular coordinate mechanical arm is consistent, and two X-axis modules and the acquisition camera of gantry three degrees of freedom right angle coordinate mechanical arm face
Proximal end is installed with laser range finder two respectively.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is replaced using automation non-contact type on-line measurement
For original manual measurement, improving measurement accuracy, reliability is high, while saving manpower, reduces labor intensity, avoids artificial survey
Amount is easy the problem of omitting.
Description of the drawings
Fig. 1 is the overall structure axonometric drawing of the mobile non-contact forecasting device of the present invention；
Fig. 2 is the portions the A enlarged drawing of Fig. 1；
Fig. 3 is the front view of the present invention；
Fig. 4 is the left view of the present invention；
Fig. 5 is the vertical view of the present invention；
Fig. 6 is the circuit block diagram of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in the present invention
It states, it is clear that described embodiment is only a part of the embodiment of invention, instead of all the embodiments, based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It shall fall within the protection scope of the present invention.
Specific implementation mode one：As shown in fig. 1~fig. 5, the invention discloses a kind of mobile non-contact forecastings to fill
It sets, including AGV trolleies 1, servo turntable 2, gantry three degrees of freedom right angle coordinate mechanical arm 4, connection cross bar 5, pinboard 6, acquisition
Camera 8, camera installing plate 9 and servo motor 13,1 upper surface of AGV trolleies, which horizontally rotates, is equipped with servo turntable 2,
2 upper surface of servo turntable is fixed with gantry three degrees of freedom right angle coordinate mechanical arm 4, described gantry three by holder 3
The Z axis sliding block of degree of freedom Cartesian robot arm 4 with connect that 5 one end of cross bar is affixed, 5 other end of connection cross bar vertically turns
Dynamic to be equipped with pinboard 6, the servo motor 13 is for driving the pinboard 6, the camera installing plate 9 and switching
Plate 6 is affixed, and camera installing plate 9 is installed with acquisition camera 8 and laser range finder 1, the acquisition camera 8, Laser Measuring
Distance meter 1 and connection cross bar 5 are consistent with the X-direction of gantry three degrees of freedom right angle coordinate mechanical arm 4, and gantry Three Degree Of Freedom is straight
Two X-axis modules of angular coordinate mechanical arm 4 are installed with laser range finder 2 14 respectively with acquisition 8 adjacent end of camera.
Specific implementation mode two：As shown in Fig. 2, present embodiment is made furtherly to specific implementation mode one
Bright, 5 other end of connection cross bar is equipped with horizontal shaft hole, and the pinboard 6 is integrally formed with shaft bar and rotates and connecting
In horizontal shaft hole described in cross bar 5, the servo motor 13 is fixed with cross bar 5 is connect, and 13 output shaft outer end of servo motor is logical
It crosses shaft coupling 12 and the shaft bar described in pinboard 6 is affixed.
Specific implementation mode three：As shown in Fig. 2, present embodiment is made furtherly to specific implementation mode one
Bright, the acquisition camera 8 is equipped with camera lens 10, and the camera lens 10 is equipped with lighting device 11.
Specific implementation mode four：As shown in fig. 6, present embodiment is to specific implementation mode one, specific implementation mode two
Or the further explanation that specific implementation mode three is made, the mobile non-contact forecasting device further includes master control system
System, master control system control have sub-control system one, sub-control system two, sub-control system three and sub-control system four, point
It is (wherein imperial for controlling gantry three degrees of freedom right angle coordinate mechanical arm 4 and servo motor 13 that control system is unified for four axis control systems
Door three degrees of freedom right angle coordinate mechanical arm 4 is three axis, and servo motor 13 is an axis, is total up to four axis), the sub-control system two
For AGV control systems camera 8 is acquired for controlling for controlling AGV trolleies 1, the sub-control system three for data collecting system
And laser range finder 1, the sub-control system four are laser ranging data processing system for controlling two laser range finders
2 14.
Specific implementation mode five：As shown in fig. 6, present embodiment is made furtherly to specific implementation mode four
Bright, the sub-control system four can carry out communication control by two laser range finders 2 14 and servo turntable 2.
The operation principle of the present invention：AGV trolleies 1 are pre-established according to the distribution of the measuring target point of large scale equipment to be measured
Driving path is simultaneously controlled by sub-control system two, and wherein AGV trolleies 1 are horizontal formulates multiple precalculated positions, each pre-determined bit
The corresponding part measuring target point positioned at same vertical region is set, all measuring target points are covered (per adjacent in multiple precalculated positions
The corresponding measuring target point in two precalculated positions is not overlapped), while presetting a datum mark, AGV trolleies 1 in each precalculated position
It is moved along driving path in the known location relative to the large scale equipment to be measured, when AGV trolleies 1 are moved to first pre-determined bit
Stop under the control of sub-control system two when setting, two laser range finders 2 14 incude gantry three freely under the control of sub-control system four
Whether the X-direction for spending Cartesian robot arm 4 is positive opposite with the reference plane of the large scale equipment to be measured, while sub-control system
Four communicate through the progress level angle adjustment of servo turntable 2 with servo turntable 2 to just, sub-control system one controls gantry three certainly later
Designated position is moved to by desired trajectory by degree Cartesian robot arm 4, at this time visual range of the datum mark in acquisition camera 8
Interior, acquisition camera 8 acquires the characteristic image of datum mark, and phase of the datum mark with measuring target point is calculated by master control system analysis
To position relationship, then according to the normal place relationship of each measuring target point and datum mark, gantry three degrees of freedom right angle coordinate
Mechanical arm 4 moves to measuring target point successively, while servo motor 13 being coordinated to carry out vertical angle adjustment, and sub-control system three controls
Laser range finder 1 and acquisition camera 8 acquire the distance and characteristic image of measuring target point, and master control system analysis record is each to be surveyed
The relative coordinate of amount target point and datum mark simultaneously calculates actual measured value, by actual measured value and qualified measured value section into
Row compares and show whether measuring target point is qualified, and AGV trolleies 1 are moved to next precalculated position and repeat the above steps later, directly
To the actual measured value for having acquired whole measuring target points.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in the form of others dress bodies.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all in the meaning and scope of the condition of equivalent of claim by falling
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. a kind of movable type non-contact forecasting device, it is characterised in that：Including AGV trolleies (1), servo turntable (2), gantry
Three degrees of freedom right angle coordinate mechanical arm (4), connection cross bar (5), pinboard (6), acquisition camera (8), camera installing plate (9) and
Servo motor (13), described AGV trolleies (1) upper surface, which horizontally rotates, is equipped with servo turntable (2), the servo turntable
(2) upper surface is fixed with gantry three degrees of freedom right angle coordinate mechanical arm (4) by holder (3), and gantry Three Degree Of Freedom is straight
The Z axis sliding block of angular coordinate mechanical arm (4) with connect that cross bar (5) one end is affixed, described connection cross bar (5) other end vertical rotating
Pinboard (6) is installed, the servo motor (13) is for driving the pinboard (6), the camera installing plate (9)
Affixed with pinboard (6), camera installing plate (9) is installed with acquisition camera (8) and laser range finder one (7), and described adopts
Collect the X-axis of camera (8), laser range finder one (7) and connection cross bar (5) with gantry three degrees of freedom right angle coordinate mechanical arm (4)
Direction is consistent, and the two X-axis modules and acquisition camera (8) adjacent end of gantry three degrees of freedom right angle coordinate mechanical arm (4) are solid respectively
Dingan County is equipped with laser range finder two (14).
2. a kind of mobile non-contact forecasting device according to claim 1, it is characterised in that：The connection is horizontal
Bar (5) other end is equipped with horizontal shaft hole, and the pinboard (6) is integrally formed with shaft bar and rotates described in connection cross bar (5)
Horizontal shaft hole in, the servo motor (13) with to connect cross bar (5) fixed, servo motor (13) output shaft outer end passes through connection
Axis device (12) and the shaft bar described in pinboard (6) are affixed.
3. a kind of mobile non-contact forecasting device according to claim 1, it is characterised in that：The acquisition phase
Machine (8) is equipped with camera lens (10), and the camera lens (10) is equipped with lighting device (11).
4. a kind of mobile non-contact forecasting device according to claim 1,2 or 3, it is characterised in that：Described
Mobile non-contact forecasting device further includes master control system, and master control system control has sub-control system one, sub-control system
System two, sub-control system three and sub-control system four, the sub-control system one are four axis control systems for controlling gantry three freely
Cartesian robot arm (4) and servo motor (13) are spent, the sub-control system two is that AGV control systems are small for controlling AGV
Vehicle (1), the sub-control system three is that data collecting system acquires camera (8) and laser range finder one (7) for controlling, described
Sub-control system four be laser ranging data processing system for control two laser range finders two (14).
5. a kind of mobile non-contact forecasting device according to claim 4, it is characterised in that：The sub-control system
System four can carry out communication control by two laser range finders two (14) and servo turntable (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810450444.3A CN108332667A (en) | 2018-05-11 | 2018-05-11 | A kind of movable type non-contact forecasting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810450444.3A CN108332667A (en) | 2018-05-11 | 2018-05-11 | A kind of movable type non-contact forecasting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108332667A true CN108332667A (en) | 2018-07-27 |
Family
ID=62934667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810450444.3A Withdrawn CN108332667A (en) | 2018-05-11 | 2018-05-11 | A kind of movable type non-contact forecasting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108332667A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109116870A (en) * | 2018-09-14 | 2019-01-01 | 中国科学院长春光学精密机械与物理研究所 | A kind of camera stabilized platform for track detecting |
| CN109539959A (en) * | 2018-08-28 | 2019-03-29 | 哈工大机器人集团(江苏)华粹智能装备有限公司 | A kind of workpiece automation real-time detection apparatus |
| CN109945807A (en) * | 2019-04-29 | 2019-06-28 | 苏州大学 | Non-contact Angle Measurement device and method based on mobile terminal |
| CN111721200A (en) * | 2020-06-18 | 2020-09-29 | 中冶宝钢技术服务有限公司 | Position data measuring device for lower guide roll of fan-shaped section of continuous casting machine and hoisting equipment thereof |
| CN112611344A (en) * | 2020-11-30 | 2021-04-06 | 北京建筑大学 | Autonomous mobile flatness detection method, device and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102798359A (en) * | 2012-08-30 | 2012-11-28 | 首钢京唐钢铁联合有限责任公司 | Non-contact inclination angle measuring device and method |
| CN104085313A (en) * | 2014-07-18 | 2014-10-08 | 安徽中家智锐科技有限公司 | Eight-freedom-degree mechanical arm system of AGV chassis |
| CN104476550A (en) * | 2014-12-05 | 2015-04-01 | 济南鲁智电子科技有限公司 | All-hydraulic autonomous moving manipulator and moving method thereof |
| CN106338245A (en) * | 2016-08-15 | 2017-01-18 | 南京工业大学 | Non-contact movement measuring method for workpiece |
| CN106680290A (en) * | 2017-02-27 | 2017-05-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN206415663U (en) * | 2016-12-27 | 2017-08-18 | 武汉工程大学 | The vertical assistant of electric drill |
| CN206871405U (en) * | 2017-06-13 | 2018-01-12 | 佛山伊贝尔科技有限公司 | A kind of automatic production line |
| CN206913136U (en) * | 2017-03-07 | 2018-01-23 | 青岛科技大学 | A kind of conveyor type mechanical arm AGV dollies |
| CN107830832A (en) * | 2017-10-30 | 2018-03-23 | 北京颐和海纳科技有限公司 | Workpiece profile scanning system and method |
-
2018
- 2018-05-11 CN CN201810450444.3A patent/CN108332667A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102798359A (en) * | 2012-08-30 | 2012-11-28 | 首钢京唐钢铁联合有限责任公司 | Non-contact inclination angle measuring device and method |
| CN104085313A (en) * | 2014-07-18 | 2014-10-08 | 安徽中家智锐科技有限公司 | Eight-freedom-degree mechanical arm system of AGV chassis |
| CN104476550A (en) * | 2014-12-05 | 2015-04-01 | 济南鲁智电子科技有限公司 | All-hydraulic autonomous moving manipulator and moving method thereof |
| CN106338245A (en) * | 2016-08-15 | 2017-01-18 | 南京工业大学 | Non-contact movement measuring method for workpiece |
| CN206415663U (en) * | 2016-12-27 | 2017-08-18 | 武汉工程大学 | The vertical assistant of electric drill |
| CN106680290A (en) * | 2017-02-27 | 2017-05-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN206913136U (en) * | 2017-03-07 | 2018-01-23 | 青岛科技大学 | A kind of conveyor type mechanical arm AGV dollies |
| CN206871405U (en) * | 2017-06-13 | 2018-01-12 | 佛山伊贝尔科技有限公司 | A kind of automatic production line |
| CN107830832A (en) * | 2017-10-30 | 2018-03-23 | 北京颐和海纳科技有限公司 | Workpiece profile scanning system and method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109539959A (en) * | 2018-08-28 | 2019-03-29 | 哈工大机器人集团(江苏)华粹智能装备有限公司 | A kind of workpiece automation real-time detection apparatus |
| CN109539959B (en) * | 2018-08-28 | 2023-09-08 | 哈尔滨严格智慧工厂有限公司 | Automatic real-time detection device for workpiece |
| CN109116870A (en) * | 2018-09-14 | 2019-01-01 | 中国科学院长春光学精密机械与物理研究所 | A kind of camera stabilized platform for track detecting |
| CN109945807A (en) * | 2019-04-29 | 2019-06-28 | 苏州大学 | Non-contact Angle Measurement device and method based on mobile terminal |
| CN111721200A (en) * | 2020-06-18 | 2020-09-29 | 中冶宝钢技术服务有限公司 | Position data measuring device for lower guide roll of fan-shaped section of continuous casting machine and hoisting equipment thereof |
| CN112611344A (en) * | 2020-11-30 | 2021-04-06 | 北京建筑大学 | Autonomous mobile flatness detection method, device and storage medium |
| CN112611344B (en) * | 2020-11-30 | 2023-03-10 | 北京建筑大学 | Autonomous mobile flatness detection method, device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108332667A (en) | A kind of movable type non-contact forecasting device | |
| CN105945948B (en) | A kind of online quick calibrating methods of TCP applied to industrial robot and device | |
| CN101655344B (en) | Method for calibrating spatial coordinate measuring system of electronic theodolite | |
| CN104316001B (en) | Non-reference hole coaxiality error measurement system and measurement method thereof | |
| CN102944188B (en) | A kind of spot scan three dimensional shape measurement system scaling method | |
| CN110355788A (en) | Moving operation machine National People's Congress scale space high-precision on-line proving system | |
| CN105404238A (en) | Probe position linearization calibration method for on-machine laser measurement | |
| CN107421520B (en) | Decoration paying-off device and method based on BIM technology | |
| CN107289876A (en) | Multi-shaft interlocked vision, laser combined type non-contact measurement device for measuring and measuring method | |
| EP3425329A1 (en) | Cnc machine geometry error and accuracy monitoring and evaluation | |
| CN110487179A (en) | Truss-like industrial measuring system and measurement method based on optical tracking scanner and PLC control system | |
| CN111156976A (en) | Position and attitude data measuring system and method of heading machine based on rotary target | |
| CN111156975B (en) | Position and attitude data measuring system and method for development machine | |
| CN110001998A (en) | A kind of Large Aircraft Components frame structure docking guide device and method based on laser ranging | |
| CN105509655A (en) | Moving optical coordinate measuring machine (CMM) vehicle door hinge axis angle measurement apparatus and method | |
| CN111962338A (en) | Intelligent lofting system for high-speed railway ballastless track base | |
| CN106989670A (en) | A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration | |
| CN106646498B (en) | A kind of development machine lateral shift measurement method | |
| CN109062139A (en) | A kind of robot linear axis location error compensation method based on data-driven | |
| CN111473803A (en) | Calibration method for mining laser target | |
| CN107655416A (en) | The apparatus for detecting diameter and detection method of a kind of axle | |
| CN208350013U (en) | A kind of equipment that road is calibrated with laser ranging formula section tester high-precision calibrating | |
| CN111947606B (en) | Tunnel central axis auxiliary measuring device and measuring method thereof | |
| CN208109015U (en) | A kind of movable type non-contact forecasting device | |
| CN209131603U (en) | Double-deck glue road detection device based on laser three-D profile measurer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180727 |