CN108458663A - Robot measuring device and its measurement method - Google Patents
Robot measuring device and its measurement method Download PDFInfo
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- CN108458663A CN108458663A CN201810059634.2A CN201810059634A CN108458663A CN 108458663 A CN108458663 A CN 108458663A CN 201810059634 A CN201810059634 A CN 201810059634A CN 108458663 A CN108458663 A CN 108458663A
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- robot
- measured
- measuring device
- measurement
- mandril
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- 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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
- G01B11/12—Measuring arrangements characterised by the use of optical techniques for measuring diameters internal diameters
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- 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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
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Abstract
The present invention provides a kind of robot measuring device, the robot measuring device includes：Multi-axis robot；Location structure, the position for positioning part to be measured, and the location information of the part to be measured is fed back into the multi-axis robot；Measurement structure is installed on the mechanical arm of the multi-axis robot, and the multi-axis robot drives the measurement structure to move at the part to be measured according to the location information of the part to be measured；Sensor is set in the measurement structure, the size for measuring part to be measured.The position of part to be measured is automatically positioned using vision positioning structure, and the location information of part to be measured is fed back into robot；Robot drives measurement structure to move at part to be measured, and the size of part to be measured is detected by sensor；Measurement accuracy can be improved in this way, ensure the follow-up assembling quality of part to be measured.The present invention also provides a kind of robot measurement methods.
Description
Technical field
The present invention relates to measuring device technical fields, more particularly to a kind of robot measuring device and its measurement method.
Background technology
Currently, wheel is the critical component of rolling stock to wheel, axle, it is directly related to the normal operation and peace of vehicle
Entirely.And wheel inner holes and axle journal diameter measurement it is accurate whether, directly determine wheel and axle, the apolegamy of bearing and vehicle
The press fitting quality of wheel, bearing.But there are measurement accuracy caused by complicated, measurement is inconvenient is not high for current measuring device
The problem of, influence the accuracy of measurement result.
Invention content
Based on this, it is necessary to which for current measuring device, there are measurement accuracy caused by complicated, measurement is inconvenient is not high
The problem of, a kind of simple in structure, operation robot convenient for installation and maintenance and high certainty of measurement measuring device is provided, while also carrying
For a kind of robot measurement method using above-mentioned robot measuring device.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of robot measuring device, the robot measuring device include：
Multi-axis robot；
Location structure, the position for positioning part to be measured, and the location information of the part to be measured is fed back into the multiaxis
Robot；
Measurement structure is installed on the mechanical arm of the multi-axis robot, and the multi-axis robot is according to the part to be measured
Location information drive the measurement structure to move at the part to be measured；
Sensor is set in the measurement structure, the size for measuring part to be measured.
The measurement structure includes hole measuring head and is set on the hole measuring head in one of the embodiments,
Self-centering unit, the self-centering unit be used for the hole measuring head centralized positioning.
In one of the embodiments, the self-centering unit include actuator, transmission component and centering component, it is described
Actuator is installed on the hole measuring head, the transmission component drive connection actuator and the centering component, institute
It states centering component to be movably mounted on the hole measuring head, it is described fixed that the actuator is driven by the transmission component
Heart component overlaps the axis of the hole measuring head with the axis of the part endoporus to be measured.
The transmission component includes shaft and pivoted arm in one of the embodiments, one end of the pivoted arm and the drive
Moving part is hinged, and the other end of the pivoted arm and the shaft are affixed, and the shaft is in axial direction rotationally worn in described
Hole measurement head stretches out, and the centering component is installed in the shaft.
The centering component includes turntable and multiple is slidably set to the hole measuring in one of the embodiments,
Mandril on head, the turntable are installed in the shaft, and the outer profile of the turntable has multiple equally distributed protrusions, more
A mandril is corresponding with multiple protrusions respectively；
The actuator drives the shaft rotate and drives the turntable rotation by the pivoted arm, the turntable it is convex
It rises and is in contact with the mandril and the mandril stretching is made to abut to the inner wall of the part endoporus to be measured.
Line slide rail is set on the hole measuring head in one of the embodiments, the mandril is mounted slidably
In on the line slide rail.
The quantity of the mandril is 2n in one of the embodiments, and wherein n >=2, the 2n mandrils uniformly divide
Cloth, two neighboring end of the mandril far from the turntable exist between being projected on the axial direction of the shaft it is default between
Away from opposite two ends of the mandril far from the turntable project coincidence on the axial direction of the shaft.
The centering component further includes idler wheel in one of the embodiments, and the idler wheel is set to the mandril and institute
It states on one end that protrusion is in contact.
The centering component further includes draw springs in one of the embodiments, one end of the draw springs
It is connected on the mandril, the other end of the draw springs is connected on the hole measuring head.
The measurement structure further includes connecting seat and compensation mechanism, the connecting seat installation in one of the embodiments,
In on the hole measuring head, the compensation device is installed on the connecting seat, the compensation mechanism and the robot
Mechanical arm connects.
The compensation mechanism includes connecting flange, rotary part and multiple compensation elastic components in one of the embodiments,
The connecting flange is connected on the mechanical arm of the robot, and one end of the rotary part is connected to the connecting flange,
The other end of the rotary part connects the connecting seat, and multiple compensation elastic components are in axial direction uniformly distributed in described
Between connecting flange and the connecting seat.
The compensation mechanism further includes multiple adjustable end caps in one of the embodiments, multiple adjustable end caps point
It is not set to the both ends of the compensation elastic component.
The hole measuring head includes disk and outer cover, the self-centering unit installation in one of the embodiments,
In on the disk, the outer cover is set on the disk, and is enclosed and set the self-centering unit setting；
Multiple through-holes are opened up on the outer cover, multiple through-holes correspond to multiple mandrils, the turntable rotation respectively
So that the mandril is stretched out the through-hole, and is abutted with the inner wall of the part endoporus to be measured.
In one of the embodiments, the measurement structure include measurement bay, horicontal motion mechanism, vertical and straight movement mechanism and
Link, the horicontal motion mechanism are set on the measurement bay with being horizontally movable, and the vertical and straight movement mechanism is set to
On the horicontal motion mechanism, the sensor is set on the link；
The horicontal motion mechanism can drive the vertical and straight movement mechanism to move in the horizontal direction, the vertical and straight movement machine
Structure can also drive the link vertically moving, and the sensor is made to move to the both sides of the part to be measured.
The horicontal motion mechanism includes horizontal motor, is set on the measurement bay in one of the embodiments,
Horizontal linear guide rail and the transition bracket slided along the horizontal linear guide rail, the horizontal motor are set to the measurement bay
On, the horizontal motor drives the transition bracket to be moved along the horizontal linear guide rail；
The vertical and straight movement mechanism includes vertical motor and the vertical straight line guide rail being set on the transition bracket, institute
It states vertical motor to be set in the transition frame, the link is connected on the vertical straight line guide rail, the vertical motor
The link is driven to be moved along the vertical straight line guide rail.
The quantity of the link is two in one of the embodiments, and two links are symmetrically disposed on institute
It states in vertical and straight movement mechanism, the quantity of the sensor is at least two, and at least two sensors are respectively arranged at two
On the link；
The vertical and straight movement mechanism drives two links to synchronize and moves downward, and two links is made to be located at institute
State the both sides of part to be measured.
The measurement structure further includes approaching switch in one of the embodiments, described to be symmetrically disposed on close to switch
On the measurement bay, the limit for limiting the horizontal motor horizontal movement.
The robot measuring device further includes AGV waggons in one of the embodiments, and the multi-axis robot is set
It is placed on the AGV waggons, the AGV waggons drive the multi-axis robot and the measurement structure to move to described wait for
It surveys at part；
The sensor is laser sensor.
A kind of robot measurement method is applied to the robot measuring device as described in any of the above-described technical characteristic, described
Robot measurement method includes the following steps：
The position of part to be measured is acquired to obtain the location information of the part to be measured；
The location information of the part to be measured is fed back into multi-axis robot；
Controlling the multi-axis robot according to the positional information drives the measurement structure to move at the part to be measured；
Control sensor measurement at least once；
The measurement data of the sensor is acquired to obtain the size of the part to be measured.
After adopting the above technical scheme, beneficial effects of the present invention are：
The robot measuring device and its measurement method of the present invention carries out the position of part to be measured using vision positioning structure
Automatic positioning, and the location information of part to be measured is fed back into robot；Robot drives measurement structure to move at part to be measured, and
The size of part to be measured is detected by the sensor in measurement structure；There are complicated, surveys for the current measuring device of effective solution
The not high problem of measurement accuracy caused by amount is inconvenient ensures the accuracy of measurement result to improve measurement accuracy, and then ensures to wait for
Survey the follow-up assembling quality of part.
Description of the drawings
Fig. 1 is the structural representation that the robot measuring device of one embodiment of the invention measures the endoporus of part to be measured
Figure；
Fig. 2 is the main view schematic cross-sectional view of measurement structure in robot measuring device shown in FIG. 1；
Fig. 3 is the elevational schematic view that measurement structure shown in Fig. 2 removes outer cover；
Fig. 4 is the schematic front view that measurement structure shown in Fig. 2 removes outer cover；
Fig. 5 is the stereogram of the robot measuring device of another embodiment of the present invention；
Fig. 6 be in robot measuring device shown in fig. 5 in measurement structure installation vision positioning structure and sensor it is vertical
Body figure；
Wherein：
100- robots measuring device；
110- multi-axis robots；
120- vision positioning structures；
130- measurement structures；
131- hole measuring heads；1311- disks；1312- outer covers；
132- self-centering units；1321- actuators；1322- transmission components；13221- pivoted arms；13222- shafts；
13223- bearings；1323- centering components；13231- turntables；13232- mandrils；13233- line slide rails；13234- idler wheels；
13235- draw springs；
133- connecting seats；
134- compensation mechanisms；1341- connecting flanges；1342- rotary parts；1343- compensates elastic component；1344- is adjustable end
Cap；
131'- measurement bays；
132'- horicontal motion mechanisms；1321'- horizontal motors；1322'- horizontal linear guide rails；
133'- transition brackets；
134'- vertical and straight movements mechanism；The vertical motors of 1341'-；1342'- vertical straight line guide rails；
135'- links；
The close switches of 136'-；
140- laser sensors；
The excessive flanges of 150-；150'- ring flanges；
160- robots mounting base；160'-AGV waggons；
170- calibration structures；
200,200'- parts to be measured.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, by the following examples, it and combines attached
The robot measuring device and its measurement method of the present invention is further elaborated in figure.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1 and Fig. 5, the present invention provides a kind of robot measuring device 100, which uses
In the size for measuring part to be measured, the diameter such as endoporus or outer diameter of a circle.The robot measuring device 100 of the present invention is mainly used
In the wheel of detection locomotive, the diameter of bore of bearing and detection wheel to the outside diameter of axle journal, to ensure that testing result is accurate
Reliably, and then ensure the press fitting quality of part such as wheel, bearing to be measured etc. part.Certainly, robot measuring device of the invention
100 are not limited to the detection of the endoporus and outside diameter of locomotive part, it may also be used for other parts with endoporus and outer circle
The detection of size.
In the present invention, robot measuring device 100 includes multi-axis robot 110, vision positioning structure 120, measures knot
Structure 130 and sensor.Measurement structure 130 is installed on the mechanical arm of multi-axis robot 110, and multi-axis robot 110 can drive
Measurement structure 130 moves at part to be measured.Multi-axis robot 110 is for realizing vision positioning structure 120 and measurement structure 130
Movement driving.Measurement structure 130 is used to measure the diameter of bore or outside diameter of part to be measured, and measurement structure 130 is set to multiaxis
On the output end of robot 110.Sensor is set in measurement structure 130, the size for measuring part to be measured.Multi-axis robot
110 there are multiple rotary shafts being connected in series with, i.e. multi-axis robot 110 to have multiple degree of freedom, and what is be connected in series in addition is multiple
The working space of rotary shaft is big, enables to the mechanical arm of multi-axis robot 110 that can move to any position, and then band in this way
Dynamic measurement structure 130 moves at part to be measured, to realize the detection of part diameter of bore or outside diameter to be measured.It is appreciated that
It is that multi-axis robot 110 is usually four axis, five axis, six-joint robot, to meet the motion requirement of different occasions.
Vision positioning structure 120 is used to position the position of part to be measured, and the location information of part to be measured is fed back to multiaxis machine
Device people 110.It is understood that vision positioning structure 120 can be installed on the mechanical arm of multi-axis robot 110, can also pacify
Loaded in measurement structure 130.Certainly, in the other embodiment of the present invention, vision positioning structure 120 can be also independently arranged,
Vision positioning structure 120 moves at part to be measured when use, and vision positioning structure 120 is far from part to be measured after the completion of use.Vision
The location information of the part to be measured for identification of location structure 120 such as identifies the center of part to be measured, with realize part to be measured is carried out it is accurate
The location information of part to be measured can be fed back to multi-axis robot 110 by centralized positioning, then, vision positioning structure 120；Multiaxis machine
Device people 110 drives measurement structure 130 to be moved according to the location information that vision positioning structure 120 is fed back.When measuring diameter of bore,
Multi-axis robot 110 drives measurement structure 130 to extend into the endoporus of part to be measured；When measuring outside diameter, multi-axis robot
110 drive measurement structures 130 are located at the outside of part to be measured.Then pass through the sensor measurement outside diameter in measurement structure 130
Or diameter of bore.Preferably, sensor is laser sensor 140, realize that diameter of bore and outer circle are straight by laser sensor 140
The measurement of diameter, laser sensor 140 are non-contact sensor, and the measuring cell in laser sensor 140 is hardly damaged, moreover,
Data acquisition is rapid, substantially reduces the working time.Exemplary, vision positioning structure 120 includes video camera, and passes through video camera
It takes pictures to part to be measured, realizes that the center of part to be measured is accurately positioned.Certainly, in the other embodiment of the present invention,
Vision positioning structure 120 includes but not limited to camera etc..
When robot measuring device 100 measures the diameter of bore of part to be measured, vision positioning structure 120 may be provided at multiaxis
On the mechanical arm of robot 110, when vision positioning structure 120 carries out true center positioning to the endoporus of part to be measured, positioning accuracy
It is high to be not necessarily to independent up to 0.02mm so that the drive of multi-axis robot 110 measurement structure 130 be accurate and is easy to stretch into endoporus
Wheel centralising device and wheel positioning device are set, and high degree of automation is easy to operate, convenient for installation and maintenance.Robot surveys
When measuring outside diameter measurement of the device 100 to part to be measured, vision positioning structure 120 may be disposed in measurement structure 130, and vision is fixed
When bit architecture 120 carries out true center positioning to the center of part to be measured, positioning accuracy height is up to 0.02mm so that multi-axis robot
110 drive measurement structures 130 are accurately placed to required measurement position, are not necessarily to that complicated mechanical structure etc. is arranged in this way,
While saving space so that operating process simplifies, and high degree of automation is convenient for installation and maintenance.
The robot measuring device 100 of the present invention is realized using multi-axis robot 110 drives the movement of measurement structure 130 to realize
The measurement of outside diameter or diameter of bore can increase the intelligence of robot measuring device 100 in this way so that robot measures
100 high degree of automation of device improves measurement efficiency.Moreover, multi-axis robot 110 can drive vision positioning structure 120 and
Measurement structure 130 moves, and disclosure satisfy that different needs of work.In addition, coordinating vision positioning structure by multi-axis robot 110
120, it when the measurement of measurement structure 130 and sensor realization diameter of bore or outside diameter, is treated using vision positioning structure 120
The position for surveying part is automatically positioned, and the location information of part to be measured is fed back to robot；Robot drives measurement structure 130
It moves at part to be measured, and detects the size of part to be measured by the sensor in measurement structure 130；Effective solution measures at present
Measurement accuracy is not high caused by device has complicated, measurement inconvenience, to improve measurement accuracy, ensures measurement result
Accuracy, and then ensure the follow-up assembling quality of part to be measured.Moreover, the automation of the robot measuring device 100 of the present invention
Degree is high, and operation is convenient for installation and maintenance.
There can be certain difference due to measuring diameter of bore and measurement structure 130 when measuring outside diameter, distinguish herein
To measure diameter of bore when measurement structure 130 concrete structure and measure outside diameter when measurement structure 130 concrete structure into
Row describes one by one.
Referring to Fig. 1 to Fig. 4, in one embodiment of this invention, robot measuring device 100 measures the interior of part 200 to be measured
The endoporus of bore dia, part to be measured 200 here includes but not limited to the endoporus etc. of the endoporus of wheel, bearing.
As a kind of embodiment, measurement structure 130 is including hole measuring head 131 and is set to hole measuring head 131
On self-centering unit 132, self-centering unit 132 be used for hole measuring head 131 centralized positioning.In sensor is set to
On hole measurement head 131.After vision positioning structure 120 is accurately positioned the endoporus center of part 200 to be measured, multi-axis robot
110 drive hole measuring heads 131 are extend into the endoporus of part 200 to be measured, by self-centering unit 132 so that hole measuring head
131 while centralized positioning is accurate, ensures that the axis of hole measuring head 131 is overlapped with the axis of 200 endoporus of part to be measured, avoids
Hole measuring head 131 is tilted to a direction, then detects 200 diameter of bore of part to be measured by sensor again, ensures sensor
Measurement result is accurate.In the present embodiment, multi-axis robot 110 is four axis robots, and sensor is laser sensor 140.
Exemplary, hole measuring head 131 includes disk 1311 and outer cover 1312, and self-centering unit 132 is installed on disk
On 1311, outer cover 1312 is set on disk 1311, and is enclosed and set the setting of self-centering unit 132.Disk 1311 is for installing certainly
Dynamic centering machine 132 and laser sensor 140, outer cover 1312 can be provide with laser sensor 140 and part self-centering machine
Structure 132.Setting irradiation hole on outer cover 1312, the laser that laser sensor 140 emits can be broken forth and receive by irradiating hole, with
Realize the detection to diameter of bore.It is understood that the quantity of laser sensor 140 is two, two laser sensors 140
It is arranged along same radial direction, and corresponding irradiation hole is set on outer cover 1312.In this way, two transmittings of laser sensor 140 swash
The i.e. detectable diameter of bore of light, waits for that hole measuring head 131 stretches into after the completion of 200 endoporus of part to be measured and self-centering, directly acquires
One-shot measurement can be completed in 140 data of laser sensor.Moreover, it is same to be rotated by 90 ° completion by the mechanical arm of multi-axis robot 110
Second of measurement in one section.The average value of survey calculation institute value is the diameter in the section twice, this measures institute twice
The half of the absolute value of the difference of value is the circularity in the section.
Further, self-centering unit 132 includes actuator 1321, transmission component 1322 and centering component 1323, is driven
Moving part 1321 is installed on hole measuring head 131,1322 drive connection actuator 1321 of transmission component and centering component 1323, fixed
Heart component 1323 is movably mounted on hole measuring head 131, and actuator 1321 drives centering group by transmission component 1322
Part 1323 overlaps in the axle center of hole measuring head 131 with the axle center of 200 endoporus of part to be measured.Actuator 1321 is self-centering unit
132 power source, transmission component 1322 can transmit the power of actuator 1321, and centering component 1323 can realize that endoporus is surveyed
Measure the centralized positioning of head 131.Multi-axis robot 110 drives hole measuring head 131 to be deep into the endoporus of part 200 to be measured, drives
Part 1321 drives transmission component 1322 to move, and then transmission component 1322 drives centering component 1323 to move so that centering component
1323 move relative to hole measuring head 131, to feel relieved to hole measuring head 131 so that the axis of hole measuring head 131
It is overlapped with the axis of 200 endoporus of part to be measured.Then, 200 diameter of bore of part to be measured is detected by laser sensor 140, in guarantee
Bore dia measurement result is accurate.Preferably, actuator 1321 can be cylinder, the cylinder body of cylinder is set to hole measuring head 131
On, the external part of cylinder is then connect with transmission component 1322, to drive transmission component 1322 to move；Certainly, the present invention its
In his embodiment, actuator 1321 can also be magnet, motor etc..Exemplary, it is remote that actuator 1321 is set to disk 1311
Side from outer cover 1312, transmission component 1322, which in axial direction wears disk 1311 and is deep into outer cover 1312, encloses the chamber set
In, centering component 1323 is installed on transmission component 1322, and in outer cover 1312.
Still further, transmission component 1322 includes shaft 13222 and pivoted arm 13221, one end of pivoted arm 13221 and driving
Part 1321 is hinged, and the other end and shaft 13222 of pivoted arm 13221 are affixed, and shaft 13222 in axial direction rotationally wears interior
Hole measurement head 131 stretches out, and centering component 1323 is installed in shaft 13222.Pivoted arm 13221 can rise with the cooperation of shaft 13222
To the effect for transmitting movement, and then centering component 1323 is driven to move.Exemplary, shaft 13222 in axial direction wears endoporus
The disk 1311 of measurement head 131 is extend into outer cover 1312, installation centering component 1323 in shaft 13222.Optionally, shaft
13222 are installed on by bearing 13223 on hole measuring head 131, can avoid in this way shaft 13222 rotate when and hole measuring
It is interfered between first 131 disk 1311, ensures that 13222 stability of rotation of shaft is reliable, and then ensure that centering component 1323 is fixed
The heart is accurate.
Further, centering component 1323 includes turntable 13231 and multiple is slidably set on hole measuring head 131
Mandril 13232, turntable 13231 is installed in shaft 13222, and the outer profile of turntable 13231 has multiple equally distributed convex
It rises, multiple mandrils 13232 are corresponding with multiple protrusions respectively.Actuator 1321 drives shaft 13222 to rotate by pivoted arm 13221
And turntable 13231 is driven to rotate, the protrusion of turntable 13231 is in contact with mandril 13232 and mandril 13232 is made to stretch out and abuts to waiting for
It surveys on the inner wall of 200 endoporus of part.On turntable 13231 it is multiple protrusion be the identical curve of round trip, adjacent two
It is recessed portion between protrusion.When component 1323 of feeling relieved does not feel relieved to part 200 to be measured, the end of mandril 13232, which is located at, to be turned
In the recessed portion of disk 13231；When centering component 1323 feels relieved to part 200 to be measured, actuator 1321 passes through 13221 band of pivoted arm
Turn axis 13222 rotate, and then shaft 13222 drive turntable 13231 rotate, due to mandril 13232 end always with turntable
13231 outer profile abuts, and mandril 13232 and the contact position of turntable 13231 become protrusion by the recessed portion of turntable 13231,
Turntable 13231 can gradually eject mandril 13232 outward in the process, until the other end of mandril 13232 and part 200 to be measured
The inner wall of endoporus abuts, and ensures hole measuring head 131 while centralized positioning is accurate so that the axis of hole measuring head 131
It is overlapped with the axis of 200 endoporus of part to be measured, avoids hole measuring head 131 oblique to a certain lateral deviation.It is understood that turntable
It is keyed by connecting between 13231 and shaft 13222 or is interference fitted connection etc..
Fig. 4 is that measurement structure removes the main structure diagram after outer cover 1312, to show that mandril 13232 abuts part to be measured
The position of 200 endoporus.Optionally, the quantity of mandril 13232 is 2n, and wherein n >=2,2n mandril 13232 is uniformly distributed, phase
Adjacent two ends of the mandril 13232 far from turntable 13231 exist between project on the axial direction of shaft 13222 preset between
Away from opposite two ends of the mandril 13232 far from turntable 13231 project coincidence on the axial direction of shaft 13222.That is phase
The distance of adjacent two mandrils 13232 end far from turntable 13231 to disks 1311 is different, and two opposite mandrils 13232 are remote
It is identical with a distance from the end of turntable 13231 to disk 1311.That is, the outer end of adjacent mandril 13232 is in Fig. 4 institutes
Show the projection of vertical direction on the section of different height, the outer end vertical direction shown in Fig. 4 of opposite mandril 13232
Projection positioned at sustained height section on.It can ensure hole measuring head 131 in this way while centralized positioning is accurate, endoporus
The axis of measurement head 131 is overlapped with the axis of 200 endoporus of part to be measured, avoids hole measuring head 131 oblique to a certain lateral deviation.Example
, raised quantity is four on turntable 13231, and four protrusions are uniformly distributed, and the quantity of corresponding mandril 13232 is also four
It is a, and be arranged in a one-to-one correspondence with four protrusions.Distinguish the positions a and b shown in Fig. 4, a, b two in two groups of ends of mandril 13232
Position is not on same section, to ensure that the axis of hole measuring head 131 is overlapped with the axis of 200 endoporus of part to be measured, avoids interior
Hole measurement head 131 is oblique to a certain lateral deviation.When 13231 protrusion of turntable jacks up mandril 13232, the another of mandril 13232 is enabled to
One end is stretched out, and is abutted with the endoporus of part 200 to be measured, and the end of four mandrils 13232 is held out against by the positions a and b respectively.It is optional
Ground opens up multiple through-holes on outer cover 1312, and multiple through-holes correspond to multiple mandrils 13232 respectively, and the rotation of turntable 13231 makes mandril
13232 stretch out through-hole, and are abutted with the inner wall of 200 endoporus of part to be measured.
Referring to Fig. 1 to Fig. 4, optionally, line slide rail 13233, mandril are set on the disk 1311 of hole measuring head 131
13232 are slidably disposed on line slide rail 13233.Mandril 13232 can be moved in a straight line along line slide rail 13233, be protected
The movement locus for demonstrate,proving mandril 13232 is accurate, and then ensures that centering is accurate and reliable.Again optionally, centering component 1323 further includes rolling
Wheel 13234, idler wheel 13234 are set on one end that mandril 13232 is in contact with protrusion.Idler wheel 13234 can reduce mandril
Excessive wear between 13232 and turntable 13231 ensures performance.Again optionally, centering component 1323 further includes stretching bullet
Property part 13235, one end of draw springs 13235 is connected on mandril 13232, the other end connection of draw springs 13235
In on the disk 1311 of hole measuring head 131.Draw springs 13235 generate drawing force always so that mandril 13232 leads to always
Idler wheel 13234 is crossed to be connected on the outer profile of turntable 13231.Exemplary, draw springs 13235 are extension spring.
As a kind of embodiment, measurement structure 130 further includes connecting seat 133 and compensation mechanism 134, connecting seat 133
It is installed on the disk 1311 of hole measuring head 131, compensation device is installed on connecting seat 133, compensation mechanism 134 and multiaxis machine
The mechanical arm of device people 110 connects.Compensation mechanism 134 can freely swing so that the axis of hole measuring head 131 and part to be measured
200 interior axially bored line height overlaps, and avoids the mechanical arm and hole measuring head of multi-axis robot 110 during centralized positioning
The 131 misaligned formation negative direction active force of axis so that axle center registration is high, and failure rate is low.
Further, compensation mechanism 134 includes connecting flange 1341, rotary part 1342 and multiple compensation elastic components
1343, connecting flange 1341 is connected on the mechanical arm of multi-axis robot 110, and one end of rotary part 1342 is connected to connection method
Orchid 1341, the other end of rotary part 1342 is connect with connecting seat 133, and multiple compensation elastic components 1343 in axial direction uniformly divide
It is distributed between connecting flange 1341 and connecting seat 133.Rotary part 1342 enables to connecting seat 133 and hole measuring thereon
First 131 can freely swing, while the amplitude of fluctuation of connecting seat 133 is limited by multiple compensation elastic components 1343 so that endoporus
Measurement head 131 is in quick condition, and is finely tuned according to the centering state of self-centering unit 132 and ensure hole measuring head 131
Axis is overlapped with the axis of 200 endoporus of part to be measured.Exemplary, the quantity of compensation elastic component 1343 is six, and compensates elastic component
1343 be compressed spring or rubber spring.Moreover, rotary part 1342 can be universal joint, swivel bearing or other can be real
The structure being now rotatably connected.
Still further, compensation mechanism 134 further includes multiple adjustable end caps 1344, multiple adjustable end caps 1344 are respectively set
In the both ends of compensation elastic component 1343.Adjustable end cap 1344 can finely tune the precompression of corresponding compensation elastic component 1343, to protect
It demonstrate,proves hole measuring head 131 and is in vertical state.
As a kind of embodiment, robot measuring device 100 further includes excessive flange 150, and measurement structure 130 passes through
Excessive flange 150 is installed on indirectly on the mechanical arm of multi-axis robot 110；The connection of i.e. excessive flange 150 and compensation mechanism 134
Flange 1341 is connected, and realizes that hole measuring head 131 and self-centering unit 132 are installed on the mechanical arm of multi-axis robot 110
On.Moreover, vision positioning structure 120 is also installed on excessive flange 150.
The robot measuring device 100 of the present invention can be used for measuring the diameter of bore of part 200 to be measured on production line, into one
Step ground, robot measuring device 100 further includes robot mounting base 160, and multi-axis robot 110 is set to robot mounting base
On 160.Moreover, robot mounting base 160 is set to the side of production line, with the diameter of bore to part 200 to be measured on production line
It is detected, certainly, robot mounting base 160 of the invention or AGV trolleies (Automated Guided Vehicle,
Automated guided vehicle), drive multi-axis robot 110 to move to any test position by AGV trolleies, it is convenient to part to be measured
200 detection.Moreover, robot measuring device 100 further includes calibration structure 170, calibration structure 170 is set to robot installation
The side of seat 160, diameter of bore being dimensioned as to be measured part 200 diameter of bore of the calibration structure 170 by calibrating.
The multi-axis robot 110 of robot measuring device 100 in the present embodiment carries vision positioning structure 120 and runs to
Above the pipeline of part 200 to be measured, vision positioning structure 120 takes pictures to the endoporus of part 200 to be measured, passes through computer system software
Calculate the exact position of 200 endoporus of part to be measured.Then multi-axis robot 110 carries accurate stretch into of hole measuring head 131 and waits for
It surveys in 200 endoporus of part, it is not necessary to which individual wheel centering and positioning device, easy to operate, high degree of automation, installation maintenance are set
It is convenient.
Moreover, 1312 outer diameter of outer cover that includes of hole measuring head 131 is smaller 5mm than the bore inner diameter of part 200 to be measured or so, make
Hole measuring head 131 stretch into part 200 to be measured endoporus be easy, after stretching into 200 endoporus of part to be measured, self-centering unit 132
Actuator 1321 acts, and so that turntable 13231 is rotated by the transmission of pivoted arm 13221 and shaft 13222, and then turntable 13231
Protrusion push the mandril 13232 for being pressed on 13231 outer round surface of turntable to hold out against the inner wall of 200 endoporus of part to be measured simultaneously, due to
13232 end of mandril holds out against position on the position a and b of two sections, it is ensured that hole measuring head 131 is accurate in centralized positioning
While so that the axis of hole measuring head 131 is overlapped with axially bored line in part 200 to be measured, avoids hole measuring head 131 to a certain
Direction tilts.The advantages of being freely swung using compensation mechanism 134 during centralized positioning, realizes hole measuring head 131
Axle center is overlapped with the axle center height of 200 endoporus of part to be measured, and avoids the mechanical arm of multi-axis robot 110 during centralized positioning
With the misaligned formation radial reaction force of 131 axis of hole measuring head, axle center registration is high, and failure rate is low.
Then, robot measuring device 100 along diametric two laser sensors of same by waiting for endoporus survey
Amount head 131 stretches into after the completion of 200 endoporus self-centering of part to be measured, and primary survey can be completed in the data for directly acquiring laser sensor
Amount.Moreover, being rotated by 90 ° second of measurement for completing same section by the mechanical arm of multi-axis robot 110.Survey calculation twice
The average value of institute's value is the diameter in the section, this half for measuring the absolute value of the difference of institute's value twice is this section
The circularity in face.
Referring to Fig. 5 and Fig. 6, in another embodiment of the invention, robot measuring device 100 measures outside part 200' to be measured
The outer circle of circular diameter, part 200' to be measured here includes but not limited to axle journal, dust guard seat etc..
As a kind of embodiment, measurement structure 130 includes measurement bay 131', horicontal motion mechanism 132', vertical fortune
Motivation structure 134' and link 135', horicontal motion mechanism 132' are set on measurement bay 131' with being horizontally movable, vertical to transport
Motivation structure 134' is set on horicontal motion mechanism 132', and link 135' is set on vertical and straight movement mechanism 134', sensor
It is set on link 135'.Horicontal motion mechanism 132' can drive vertical and straight movement mechanism 134' to move in the horizontal direction, erect
Straight motion 134' can also drive link 135' vertically moving, and sensor is made to move to part 200' such as axis to be measured
The both sides of neck.Measurement bay 131' plays bearer connection, other parts of measurement structure 130 are set in measurement bay 131'.
Horicontal motion mechanism 132' is set in measurement bay 131', and can be moved horizontally in measurement bay 131'；Vertical and straight movement machine
Structure 134' is set on horicontal motion mechanism 132', and horicontal motion mechanism 132' drives vertical and straight movement mechanism 134' in measurement bay
It is moved horizontally in 131', moreover, vertical and straight movement mechanism 134' can drive the link 135' of installation sensor to do lifting fortune
It is dynamic so that sensor is placed to the position measured needed for part 200' to be measured, is waited for by the sensor realization on link 135'
Survey the detection of part 200' outside diameters.Moreover, measurement bay 131' is connect with the output end of multi-axis robot 110, multi-axis robot
110 drive measurement structures 130 move to the both sides of part 200' such as axle journals to be measured, and by the sensor in measurement structure 130 into
Row outside diameter detects.Exemplary, multi-axis robot 110 is six-joint robot, and sensor is laser sensor 140.
Exemplary, the quantity of link 135' is two, and two link 135' are symmetrically disposed on vertical and straight movement mechanism
On 134', the quantity of laser sensor 140 is at least two, and at least two laser sensors 140 are respectively arranged at two connections
On frame 135'.Vertical and straight movement mechanism 134' drives two link 135' to synchronize decline, and two link 135' can be made to be located at
The both sides of part 200' axle journals to be measured.
Further, horicontal motion mechanism 132' include horizontal motor 1321', the level that is set on measurement bay 131' it is straight
Line guide rail 1322' and the transition bracket 133' slided along horizontal linear guide rail 1322', horizontal motor 1321' are set to measurement
On frame 131', horizontal motor 1321' drives transition bracket 133' to be moved along horizontal linear guide rail 1322'.Vertical and straight movement mechanism
134' includes the vertical motor 1341' and vertical straight line guide rail 1342' being set on transition bracket 133', vertical motor
1341' is set on transition bracket 133', and link 135' is connected on vertical straight line guide rail 1342', and vertical motor 1341' drives
Dynamic link 135' is moved along vertical straight line guide rail 1342'.Horizontal motor 1321' drivings transition bracket 133' is led along horizontal linear
Rail 1322' slidings, and then vertical motor 1341' and vertical straight line guide rail 1342' is driven to move horizontally, to realize to part to be measured
The detection of 200' such as axle journal different cross section diameters；Vertical motor 1341' is drivingly connected frame 135' and is transported along vertical straight line guide rail 1342'
It is dynamic, the detection of part 200' outside diameters to be measured is realized by the laser sensor 140 on two link 135'.
In the present embodiment, when part 200' to be measured is axle journal and dust guard seat, setting two is sharp on each link 135'
Optical sensor 140, to be detected simultaneously to the outside diameter of axle journal and dust guard seat.It is measured to axle journal outside diameter
When, four laser sensors 140 disclosure satisfy that the measurement request of axle journal and dust guard seat.When measurement, laser sensor 140 is radial
The outer surface of scanning axle journal and dust guard seat up and down, it is diameter dimension to take and calculate data maximums.Pass through 140 energy of laser sensor
It enough realizes that data acquisition is rapid, the working time is greatly reduced.Certainly, in the other embodiment of the present invention, can also pass through
Robot measuring device 100 is symmetrically disposed on the both sides of part 200' to be measured, while straight to the outer circle of two side shaft journals of part 200' to be measured
Diameter measures.
Optionally, measurement structure 130 further includes approaching switch 136', is set on measurement bay 131' close to switch 136',
Limit for limit levels motor 1321' horizontal movements.The corresponding position that measurement bay 131' is set to close to switch 136' is made
For the front and back limit of horizontal motor 1321' horizontal movements.It is exemplary, the left and right of transition bracket 133' is set to close to switch 136'
Both sides, when horizontal motor 1321' drivings transition bracket 133' is moved horizontally, horizontal motor 1321' drives transition bracket 133'
When moving to left side extreme position, horizontal motor 1321' is set to stop operating close to switch 136' actions；Horizontal motor 1321' bands
When dynamic transition bracket 133' moves to right limit position, so that horizontal motor 1321' is stopped operating close to switch 136' actions, keep away
Exempt from the operation of horizontal direction overtravel, ensures the reliability of movement.
As a kind of embodiment, robot measuring device 100 further includes AGV waggon 160', multi-axis robot 110
It is set on AGV waggons 160', AGV waggons 160' drives multi-axis robot 110 and measurement structure 130 to move to part to be measured
At 200'.Multi-axis robot 110 and measurement structure 130 is driven to move to any required part to be measured by AGV waggons 160'
Subject to, meet the measurement demand of different occasions.
Optionally, it is connect with the mechanical arm of multi-axis robot 110 in order to facilitate measurement structure 130, robot measuring device
100 further include ring flange 150', and measurement structure 130 is installed on by ring flange 150' on the mechanical arm of multi-axis robot 110.And
And vision positioning structure 120 is installed in measurement structure 130, and the central axis of vision positioning structure 120 is located at measurement structure
On 130 symmetrical centre section, overlapped with centre of location axis with ensureing to measure symmetrical centre section.
The robot measuring device 100 of the present embodiment is walked by AGV waggons 160' to the position of part 200' to be measured, more
Axis robot 110 carries measurement structure 130 and vision positioning structure 120 runs to the shaft end distance to a declared goal apart from part 200' to be measured
Position, the video camera for being included by vision positioning structure 120 is to storing such as wheel shaft ends part 200' to be measured in orbit
It takes pictures, the centre of location position of part 200' to be measured is calculated by computer system software, then multi-axis robot 110 carries
Measurement structure 130 is accurately placed to required measurement position and is measured to part 200' such as axle journal and dust guard seat to be measured.It measures
After completing a part 200' measurement to be measured, the position of the next part 200' to be measured stored in the 160' walkings to track of AGV waggons
It is measured.The structure of the robot measuring device 100 of the present invention is simple, occupies little space, and operating process simplifies,
High degree of automation, it is convenient for installation and maintenance.
Moreover, measurement structure 130 is placed to after measuring position, horizontal motor 1321' driving transition bracket 133' operations
Sectional position is measured to first, then vertical motor 1341' is drivingly connected holder 135' or more operations three times, laser sensor
140 scannings obtain three curves, calculate this section journal diameter maximum value to every curve by upper computer software, take three
The average value of secondary maximum value measures diameter value for the first time as the section；Then, multi-axis robot 110 drives measurement structure 130
It is rotated by 90 ° centered on part 200' to be measured such as center line of journal (being the center of vision positioning structure 120), scanning again obtains
Three curves simultaneously calculate the section and measure diameter value for the second time, measure the average value of diameter value twice as the diameter of section
Value measures the half of the difference of diameter value as the section circularity twice.Repeat the above steps to part 200' such as axle journals to be measured
Two diameter of sections and dust guard seat diameter measure.
The present invention also provides a kind of robot measurement method, the robot measuring device being applied in any of the above-described embodiment
100, robot measurement method includes the following steps：
The position of part to be measured is acquired to obtain the location information of part to be measured；
The location information of part to be measured is fed back into multi-axis robot 110；
Controlling multi-axis robot 110 according to location information drives measurement structure 130 to move at part to be measured；
Control sensor measurement at least once；
The measurement data of sensor is acquired to obtain the size of part to be measured.
The robot measuring device 100 of the present invention takes pictures to the position of part to be measured by vision positioning structure 120, to obtain
The location information of part to be measured such as identifies the center of part to be measured, and true center positioning is carried out to part to be measured to realize；Then, vision is fixed
The location information of part to be measured can be fed back to multi-axis robot 110 by bit architecture 120；Multi-axis robot 110 drives measurement structure
130 move according to the location information that vision positioning structure 120 is fed back, and move at part to be measured；By in measurement structure 130
The scanning of laser sensor 140 is completed to measure, and the data acquired according to laser sensor 140 can determine the size of part to be measured.It can
With understanding, when laser sensor 140 scans multiple, the average value of multiple measurement results is the diameter of part to be measured.
It is understood that the progress such as also external operation equipment such as computer of robot measuring device 100 of the present invention are certainly
Dynamic control and acquisition and the processing etc. for realizing data.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the record scope of this specification.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (19)
1. a kind of robot measuring device, which is characterized in that the robot measuring device includes：
Multi-axis robot；
Location structure, the position for positioning part to be measured, and the location information of the part to be measured is fed back into the multi-axis machine
People；
Measurement structure is installed on the mechanical arm of the multi-axis robot, and the multi-axis robot is according to the position of the part to be measured
Confidence breath drives the measurement structure to move at the part to be measured；
Sensor is set in the measurement structure, the size for measuring part to be measured.
2. robot measuring device according to claim 1, which is characterized in that the measurement structure includes hole measuring head
And it is set to the self-centering unit on the hole measuring head, the self-centering unit is used in the hole measuring head
The heart positions.
3. robot measuring device according to claim 2, which is characterized in that the self-centering unit includes driving
Part, transmission component and centering component, the actuator are installed on the hole measuring head, the transmission component drive connection institute
Actuator and the centering component are stated, the centering component is movably mounted on the hole measuring head, the actuator
Drive the centering component by the axis of the axis of the hole measuring head and the part endoporus to be measured by the transmission component
It overlaps.
4. robot measuring device according to claim 3, which is characterized in that the transmission component includes shaft and turns
Arm, one end of the pivoted arm is hinged with the actuator, and the other end of the pivoted arm and the shaft are affixed, and the shaft is along axis
It rotationally wears the hole measuring head to direction to stretch out, the centering component is installed in the shaft.
5. robot measuring device according to claim 4, which is characterized in that the centering component includes turntable and multiple
The mandril being slidably set on the hole measuring head, the turntable are installed in the shaft, the outer profile of the turntable
With multiple equally distributed protrusions, multiple mandrils are corresponding with multiple protrusions respectively；
The actuator drives the shaft rotate and the turntable is driven to rotate by the pivoted arm, the protrusion of the turntable and
The mandril is in contact and the mandril is made to stretch out and abuts to the inner wall of the part endoporus to be measured.
6. robot measuring device according to claim 5, which is characterized in that straight line is arranged on the hole measuring head and slides
Rail, the mandril are slidably disposed on the line slide rail.
7. robot measuring device according to claim 5, which is characterized in that the quantity of the mandril is 2n, wherein n
>=2, the 2n mandrils are uniformly distributed, and two neighboring end of the mandril far from the turntable is in the axial direction side of the shaft
There is default spacing, axial direction of opposite two ends of the mandril far from the turntable in the shaft between projection upwards
It projects and overlaps on direction.
8. robot measuring device according to claim 5, which is characterized in that the centering component further includes idler wheel, institute
Idler wheel is stated to be set on one end that the mandril is in contact with the protrusion.
9. robot measuring device according to claim 5, which is characterized in that the centering component further includes tensile elasticity
One end of part, the draw springs is connected on the mandril, and the other end of the draw springs is connected to the endoporus
In measurement head.
10. according to claim 2 to 9 any one of them robot measuring device, which is characterized in that the measurement structure is also wrapped
Connecting seat and compensation mechanism are included, the connecting seat is installed on the hole measuring head, and the compensation device is installed on the company
On joint chair, the compensation mechanism is connect with the mechanical arm of the robot.
11. robot measuring device according to claim 10, which is characterized in that the compensation mechanism includes connection method
Blue, rotary part and multiple compensation elastic components, the connecting flange are connected on the mechanical arm of the robot, the rotating part
One end of part is connected to the connecting flange, and the other end of the rotary part connects the connecting seat, multiple compensation bullets
Property part is in axial direction uniformly distributed between the connecting flange and the connecting seat.
12. robot measuring device according to claim 11, which is characterized in that the compensation mechanism further include it is multiple can
End cap, multiple adjustable end caps is adjusted to be respectively arranged at the both ends of the compensation elastic component.
13. robot measuring device according to claim 5, which is characterized in that the hole measuring head include disk and
Outer cover, the self-centering unit are installed on the disk, and the outer cover is set on the disk, and enclose set it is described automatic
Centering machine is arranged；
Multiple through-holes are opened up on the outer cover, multiple through-holes correspond to multiple mandrils respectively, and the turntable rotation makes institute
It states mandril and stretches out the through-hole, and abutted with the inner wall of the part endoporus to be measured.
14. robot measuring device according to claim 1, which is characterized in that the measurement structure includes measurement bay, water
Flat motion, vertical and straight movement mechanism and link, the horicontal motion mechanism are set to the measurement bay with being horizontally movable
On, the vertical and straight movement mechanism is set on the horicontal motion mechanism, and the sensor is set on the link；
The horicontal motion mechanism can drive the vertical and straight movement mechanism to move in the horizontal direction, and the vertical and straight movement mechanism is also
The link can be driven vertically moving, the sensor is made to move to the both sides of the part to be measured.
15. robot measuring device according to claim 14, which is characterized in that the horicontal motion mechanism includes level
Motor, the horizontal linear guide rail being set on the measurement bay and the transition bracket along horizontal linear guide rail sliding, institute
It states horizontal motor to be set on the measurement bay, the horizontal motor drives the transition bracket to transport along the horizontal linear guide rail
It is dynamic；
The vertical and straight movement mechanism includes vertical motor and the vertical straight line guide rail being set on the transition bracket, described perpendicular
Straight motor is set in the transition frame, and the link is connected on the vertical straight line guide rail, the vertical motor driving
The link is moved along the vertical straight line guide rail.
16. the robot measuring device according to claims 14 or 15, which is characterized in that the quantity of the link is two
A, two links are symmetrically disposed in the vertical and straight movement mechanism, and the quantity of the sensor is at least two, at least
Two sensors are respectively arranged on two links；
The vertical and straight movement mechanism drives two links to synchronize and moves downward, and two links is made to be located at described wait for
Survey the both sides of part.
17. robot measuring device according to claim 15, which is characterized in that the measurement structure further includes close opens
It closes, described to be symmetrically disposed on the measurement bay close to switch, the limit for limiting the horizontal motor horizontal movement.
18. according to the robot measuring device described in claim 1,2 or 14, which is characterized in that the robot measuring device
Further include AGV waggons, the multi-axis robot is set on the AGV waggons, and the AGV waggons drive the multiaxis
Robot and the measurement structure move at the part to be measured；
The sensor is laser sensor.
19. a kind of robot measurement method, which is characterized in that be applied to such as claim 1 to 18 any one of them robot
Measuring device, the robot measurement method include the following steps：
The position of part to be measured is acquired to obtain the location information of the part to be measured；
The location information of the part to be measured is fed back into multi-axis robot；
Controlling the multi-axis robot according to the positional information drives the measurement structure to move at the part to be measured；
Control sensor measurement at least once；
The measurement data of the sensor is acquired to obtain the size of the part to be measured.
Priority Applications (2)
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| CN201810059634.2A CN108458663B (en) | 2018-01-22 | 2018-01-22 | Robot measuring device and measuring method thereof |
| CN202010897538.2A CN112066898B (en) | 2018-01-22 | 2018-01-22 | Robot measuring device and measuring method thereof |
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| CN112276926A (en) * | 2020-11-03 | 2021-01-29 | 张梅 | Mechanical arm driving mechanism |
| CN112461128A (en) * | 2020-11-09 | 2021-03-09 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Impeller welding mold detection device and method |
| CN113654776A (en) * | 2021-07-22 | 2021-11-16 | 重庆锦鹏得祥机电设备有限公司 | Valve body hole data automatic acquisition device |
| CN114034479A (en) * | 2021-11-10 | 2022-02-11 | 西安航天动力试验技术研究所 | In-situ measurement system and method for low-temperature profile of key component of low-temperature equipment |
| CN114034479B (en) * | 2021-11-10 | 2023-11-24 | 西安航天动力试验技术研究所 | Low Wen Xingmian in-situ measurement system and method for key components of low-temperature equipment |
| CN114216401A (en) * | 2021-12-13 | 2022-03-22 | 苏州肯美特设备集成有限公司 | Diameter measuring device for semiconductor material device |
| CN114216401B (en) * | 2021-12-13 | 2024-01-05 | 苏州肯美特设备集成股份有限公司 | Diameter measuring device for semiconductor material device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112066898A (en) | 2020-12-11 |
| CN112066898B (en) | 2022-05-24 |
| CN108458663B (en) | 2020-10-13 |
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