CN112683123A - Detection module, measurement device and measurement method - Google Patents
Detection module, measurement device and measurement method Download PDFInfo
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- CN112683123A CN112683123A CN202011557472.9A CN202011557472A CN112683123A CN 112683123 A CN112683123 A CN 112683123A CN 202011557472 A CN202011557472 A CN 202011557472A CN 112683123 A CN112683123 A CN 112683123A
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- 238000001514 detection method Methods 0.000 title claims abstract description 134
- 238000005259 measurement Methods 0.000 title abstract description 24
- 238000000691 measurement method Methods 0.000 title abstract description 5
- 230000000903 blocking effect Effects 0.000 claims description 55
- 238000000034 method Methods 0.000 claims description 9
- 210000000707 wrist Anatomy 0.000 description 70
- 229910000831 Steel Inorganic materials 0.000 description 10
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- 230000001939 inductive effect Effects 0.000 description 3
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- 238000009434 installation Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
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Abstract
The invention relates to the field of measurement of cantilever production, in particular to a detection module, a measurement device and a measurement method.
Description
Technical Field
The invention relates to the field of measurement of cantilever production, in particular to a detection module, a measurement device and a measurement method.
Background
The overhead contact system of the electrified railway passenger dedicated line adopts a passenger dedicated line and a steel cantilever system of a common speed railway in a large number, the cantilever is used as an important part in a support structure of the steel cantilever system, needs to be matched with other parts of the cantilever system in the aspects of specification, material, performance, interface mode and the like, and needs to ensure the safety performance of the cantilever system while requiring simple installation, the demand of the cantilever is very large, the processing precision is high, the length of a pipe fitting needs to be measured on a cantilever production line, and a photoelectric sensor is usually adopted in the prior art aiming at the length measurement of the pipe fitting, such as a steel pipe length measuring system disclosed by the invention of No. CN201620100837.8 and the name of the steel pipe length measuring system, and comprises at least one group of photoelectric sensing assemblies, and the photoelectric sensing assemblies comprise a transmitting photoelectric sensor and a receiving photoelectric sensor which are arranged in pairs; the steel pipe advancing track is arranged between the transmitting photoelectric sensor and the receiving photoelectric sensor, when the steel pipe advancing length measuring device starts to act, the encoder starts to count until the photoelectric sensing component senses the length, the controller controls the encoder to stop counting, the controller is used for obtaining the length value of the steel pipe according to the difference between the length value from the sensed photoelectric sensing component to the starting position of the pushing component and the advancing length transmitted by the steel pipe advancing length measuring device, but the steel pipe length measuring system cannot be suitable for the length measurement of the wrist arm, because lugs are machined on part of the wrist arm, holes are formed in the lugs, through holes are also formed in the wrist arm, when the photoelectric sensing component is used for measuring, emitted light possibly penetrates through one side of the tips of the lugs or the holes, so that the measured information cannot be fed back accurately, in addition, the directions of the lugs and the holes on the pipe fitting need to be positioned in the processing process of the wrist arm, so that the next station can be processed, the length measuring device in the prior art can only realize the function of length measurement, has single function and is not suitable for a cantilever processing production line. In addition, the steel pipe length measuring system is limited by the sensitivity of the sensing device, so that the measuring accuracy is not high.
Disclosure of Invention
In order to solve the technical problem that errors are easily generated in the process of detecting the length of the wrist arm by using a detection device in the prior art, the invention provides a detection module, which solves the technical problem. The technical scheme of the invention is as follows:
the utility model provides a detection module, is including blockking module and position detection module, block the module and be configured into slidable mounting, under the initial condition block the module and be located one side of the walking route of testee, during operation block the module and remove extremely with spacing on the walking route the testee, simultaneously position detection module detects the feedback the positional information of testee
According to one embodiment of the invention, the blocking module comprises: the fixing piece is fixedly assembled on the sliding seat, and a through sliding channel is formed on the fixing piece; the first end of the blocking piece is provided with a limiting bulge, the limiting bulge is larger than the caliber of the sliding channel, and the second end of the blocking piece penetrates through the sliding channel and can protrude out of the fixing piece; the elastic piece is located in the sliding channel and is configured on the blocking piece to provide a resetting force for the blocking piece.
According to one embodiment of the invention, the position detection module is located on one side of the fixing member, and the second end of the blocking member moves into the detection range of the position detection module under the action of an external force.
In order to solve the technical problems of complex structure and low measurement precision of the measurement device in the prior art, the invention also provides a measurement device, and for this purpose, the invention adopts the following technical scheme:
a measurement device, comprising: two groups of the detection modules; the clamping module is used for clamping a measured object and is configured to slide along a walking path of the measured object.
According to one embodiment of the invention, the gripping module is configured as a gripper sliding along the travel path.
According to an embodiment of the present invention, the two sets of detection modules are a first detection module and a second detection module, respectively, the first detection module is disposed on the fixed base, the second detection module is disposed on the sliding table, and the sliding table is further disposed with a chuck.
According to an embodiment of the invention, a lug detection module is further slidably mounted on the fixed seat, the lug detection module comprises at least two laser ranging sensors, the two laser ranging sensors are arranged on the same horizontal plane, emitted light of the two laser ranging sensors can be incident on the surface of the lug, and the chuck is configured to rotate the chuck.
According to an embodiment of the present invention, the apparatus further includes a hole detection module including a laser sensor arranged in a circumferential direction of the traveling path, an exit light of the laser sensor being capable of passing through a hole in the object to be measured, the chuck being configured as a spin chuck.
According to one embodiment of the invention, a slide rail is arranged on the fixed seat, the first detection module is slidably assembled with the slide rail, and the lug detection module is slidably assembled with the slide rail.
A measuring method, using the measuring device, for configuring two sets of detecting modules along the walking path, includes:
the first detection module yields to enable the first end of the object to be detected to contact with the second detection module, then the second detection module yields, and the object to be detected travels along the traveling path by a distance L1, so that the object to be detected is clamped by the clamping module;
the first detection module abdicating is carried out so that the first end of the object to be detected is firstly contacted with the second detection module, and then the second detection module abdicating is carried out;
the object to be measured continues to travel a distance L2 along the travel path until the second end of the object to be measured passes through the first detection module;
the object to be measured reversely walks until the second end of the object to be measured contacts the first detection module, and the reverse walking distance L3 of the object to be measured is calculated;
and calculating the length L of the measured object, wherein L is L1+ L2-L3.
Based on the technical scheme, the invention can realize the following technical effects:
1. the detection module comprises a blocking module and a position detection module, wherein the blocking module and the position detection module are matched with each other to detect the position of a wrist arm with a lug, particularly, an external driving piece drives the wrist arm to move along a walking path, the wrist arm is blocked and limited after contacting the blocking module, and simultaneously the position detection module detects and feeds back position information of the wrist arm, compared with the prior art, when the photoelectric sensing assembly is used for measurement, light emitted by the photoelectric sensing assembly possibly passes through one side or a hole of the tip end of the lug, so that the measurement information cannot be accurately fed back, and measurement errors are caused, the invention can measure the position of the wrist arm by enabling the other end of the blocking module to enter a detection range of the position detection module through collision of the wrist arm with one end of the blocking module, so that the tip end or hole structure is not formed on the blocking module, and further, the possibility that the light can pass through one side or the hole of the tip end, resulting in measurement errors. Further, the blocking module is configured to be installed in a sliding mode, specifically, the blocking module is located on one side of a walking path of the cantilever in an initial state, the blocking module moves to the walking path to block the limiting cantilever in work, and after the position detection module transmits detection information, the blocking module leaves the walking path, so that the blocking module cannot interfere the movement of the cantilever to a next work station.
2. The blocking module comprises a fixing part, a blocking part and an elastic part, wherein the fixing part is fixedly assembled on a sliding seat, a through sliding channel is formed on the fixing part, a limiting bulge is formed at the first end of the blocking part, the limiting bulge is larger than the caliber of the sliding channel, so that the blocking part is abutted against the fixing part after being abutted against by a measured object, the second end of the blocking part penetrates through the sliding channel and can protrude out of the fixing part, further, the elastic part is positioned in the sliding channel, the elastic part is arranged on the blocking part, after one end of the blocking part is contacted by a wrist arm, the other end of the blocking part enters the detection range of the position detection module, the position detection module detects the position information of the feedback wrist arm, and after the wrist arm and the blocking part are separated from the contact, the elastic part provides acting force to reset the blocking part, and
3. the measuring device comprises two groups of detection modules and a clamping module, wherein the clamping module is configured to slide along the walking path of a measured object, and the clamping module is used for clamping the measured object to respectively contact the two groups of detection modules to measure the length of the measured object. Specifically, the two groups of detection modules are respectively a first detection module and a second detection module, an external driving piece clamps a detected object to move towards the second detection module, the first detection module moves in a way that the first end of the detected object is firstly contacted with the second detection module, then the second detection module moves in a way that the detected object moves along the moving path by a distance L1, so that the detected object is clamped by the clamping module; the object to be detected continues to travel the distance L2 along the travel path until the second end of the object to be detected passes through the first detection module; the clamping module clamps the object to be detected to move towards the first detection module, the object to be detected reversely walks until the second end of the object to be detected is contacted with the first detection module, and the reverse walking distance L3 of the object to be detected is calculated; the length L of the measured object can thus be calculated, L-L1 + L2-L3.
4. The measuring device also comprises a lug detection module and a chuck, wherein the lug detection module is slidably mounted on the fixed seat by means of a mounting frame and a slide rail, the lug detection module comprises at least two laser ranging sensors, the two laser ranging sensors are arranged on the same horizontal plane, emitted light can be incident on the surface of the lug, the chuck is configured to be a rotating chuck, the two laser ranging sensors can detect that the distances from the two laser ranging sensors to the surface of the lug are equal to determine the position of the lug, and if the distances are unequal, the rotating chuck drives an object to be measured to rotate until the distances are equal to realize the positioning of the lug.
5. The measuring device also comprises a hole detection module, wherein the hole detection module comprises a laser sensor, the laser sensor is arranged on the circumferential direction of the walking path, when light emitted by the laser sensor is emitted to the surface of the measured object, the distance from the laser sensor to the surface of the measured object is detected, the rotating chuck drives the measured object to rotate within the range of the distance from the laser sensor to the measured object set by the background monitor, light emitted by the laser sensor can penetrate through the hole in the measured object to detect the exceeding range, the rotating chuck drives the measured object to rotate and then rotate, the distance from the laser sensor to the measured object is detected to be within the set range, and the background monitor records the rotating angle so that the subsequent work station can rapidly assemble the workpiece and the measured object by using the rotating angle.
Drawings
FIG. 1 is a schematic structural diagram of a detection module;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a schematic structural view of a clamping module;
FIG. 4 is a schematic structural view of a carrier assembly;
FIG. 5 is a schematic view of a lug detection module;
FIG. 6 is a schematic view of a structure of the lug detecting module engaged with the first detecting module;
FIG. 7 is a schematic view of the structure of the engagement of the lug detection module, the chuck and the clamping module;
FIG. 8 is a schematic view of a measuring path of a measured object;
FIG. 9 is a schematic view of a hole positioning step;
in the figure:
1-a blocking module; 11-a fixing member; 111-a slide channel; 12-a barrier; 121-a limiting bulge; 122-a stop; 13-an elastic member; 2-a position detection module; 3-a clamping module; 31-a support assembly; 311-vertical support bars; 312-transverse support bar; 32-a jaw; 321-a mounting plate; 3211-a guide; 33-a jaw drive module; 34-a carrier; 4-a first detection module; 41-a first mount; 42-a second slider; 43-a slide rail; 44-a first mount drive module; 5-a second detection module; 51-a sliding seat; 52-sliding seat driving module; 53-a first slider; 54-a guide rail; 6-a sliding table; 61-a chuck; 611 — a rotation driving module; 62-a slipway drive module; 63-a carrier assembly; 631-a V-wheel drive module; 632-V-shaped carrier wheels; 633-a carrier; 6331-sliding groove; 634-a stop lever; 7-a lug detection module; 71-laser ranging sensor; 72-a mounting frame; 73-a second mount; 74-a second mount drive; 75-a third slider; 76-a fixed seat; 8-a well detection module; 9-the object to be tested; 91-lug.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1-2, the detection module of this embodiment includes a blocking module 1 and a position detection module 2, the blocking module 1 and the position detection module 2 cooperate with each other to detect the position of the object 9, the object 9 to be detected in this embodiment is set as a cantilever, specifically, the external driving member drives the cantilever to move along the walking path, when the cantilever contacts one end of the blocking module 1, the end is blocked and limited, the other end of the blocking module 1 enters the detection range of the position detection module 2, and the position detection module 2 detects and feeds back the position information of the cantilever.
Generally, a lug 91 and a hole are formed on the wrist arm, and a tip structure is formed on the lug 91, in the prior art, when the measurement is performed by using the photoelectric sensing component, light emitted by the photoelectric sensing component may pass through the tip side of the lug 91 of the wrist arm or the hole on the wrist arm, so that the position information of the wrist arm cannot be accurately recorded in a feedback manner, and the measurement error is caused; in the embodiment, the position of the wrist is detected by indirectly matching the blocking module 1 and the position detection module 2 instead of directly matching the position detection module 2 and the wrist to detect the position, and no tip or hole structure is formed on the blocking module 2, so that the problem that the detection device 1 is easy to generate errors in the detection process of the length of the wrist is solved.
Further, the blocking module 1 in this implementation is set to be a sliding assembly to avoid interfering with the movement of the cantilever, specifically, the blocking module 1 is located on one side of the walking path of the cantilever in an initial state, the blocking module 1 moves to the walking path to block the limiting cantilever in work, and after the position detection module 2 transmits detection information, the blocking module 1 leaves the walking path, so that the blocking module 1 does not interfere with the movement of the cantilever to the next work station.
As shown in fig. 2 and 7, the blocking module 1 of the present embodiment includes a fixed component 11, a blocking component 12 and an elastic component 13, where the fixed component 11 and the blocking component 12 form a sliding fit, specifically, a sliding channel 111 is formed on the fixed component 11, a limiting protrusion 121 is formed at a first end of the blocking component 12, the limiting protrusion 121 is larger than the caliber of the sliding channel 111, a second end of the blocking component 12 passes through the sliding channel 111 and can protrude out of the fixed component 11, preferably, a limiting component 122 is disposed at a second end of the blocking component 12, so that the blocking component 12 cannot be separated from the sliding channel 111 when sliding along the sliding channel 111, and further, the elastic component 13 of the present embodiment is disposed in the sliding channel 111 and on the blocking component 12, preferably, the elastic component 13 is a spring and is sleeved on the blocking component 12, and the spring can provide a force to.
Further, the stop module 1 of this embodiment mutually supports with position detection module 2 and can incessantly detect the positional information of cantilever, specifically, position detection module 2 sets up the one side at mounting 11, be close to the second end that blocks 12, under the exogenic action, after cantilever and spacing arch 121 collided, make and block 12 and slide in slide channel 111, the second end that blocks 12 like this can move to the detection range of position detection module 2 in, the positional information of position detection module 2 feedback record cantilever, after cantilever and spacing arch 121 break away from the contact, the spring provides the reset force and makes and block 12 and reset to the initial position, so that carry out the position measurement of next cantilever. The position detection module 2 is not limited to an inductive sensor, and may be configured to feed back information for recording the position of the wrist.
In order to enable the fixing member 11 to be capable of avoiding the wrist arm, the fixing member 11 of the present embodiment is fixedly assembled on the sliding seat 51, the sliding seat 51 is slidably assembled on the guide rail 54 by the first slider 53, the sliding seat 51 is further provided with a sliding seat driving module 52, and the sliding seat driving module 52 drives the sliding seat 51 and the fixing member 11 thereon to reciprocate along the guide rail 54, so as to avoid interfering the movement of the wrist arm to the next station. The sliding seat driving module 52 is not limited to an air cylinder, and can drive the sliding seat 51 and the devices thereon to move.
In order to solve the problem that the length measuring device in the prior art can only realize the length measuring function, has single function, and is not suitable for a cantilever processing production line, as shown in fig. 1, 3, 7 and 8, the embodiment further provides a measuring device, wherein the measuring device comprises two groups of detection modules and clamping modules 3, and the two groups of detection modules and the clamping modules 3 are mutually matched to realize the measurement of the length of the cantilever. Specifically, the two groups of detection modules are a first detection module 4 and a second detection module 5 respectively, the clamping module 3 is configured to slide along a walking path of the cantilever, preferably, the clamping module 3 is set as a gripper, an external driving element clamps the cantilever to move towards the second detection module 5, the first detection module 4 is abducted to enable the first end of the cantilever to be firstly contacted with the second detection module 5, then the second detection module 5 is abducted, and the cantilever travels along the walking path for a distance L1 to enable the cantilever to be clamped by the gripper; then the wrist continues to travel the distance L2 along the travel path until the second end of the wrist passes the first detection module 4; then the mechanical claw clamps the cantilever to move towards the first detection module 4, the cantilever travels reversely until the second end of the cantilever is contacted with the first detection module 4, and the reverse travel distance L3 of the cantilever is calculated; this allows the calculation of the length of the wrist L, L-L1 + L2-L3.
In order to realize the abdicating wrist arm of the first detecting module 4, as shown in fig. 6 and 7, the first detecting module 4 of the present embodiment is configured on the fixing base 76 in a sliding manner, the first detecting module 4 is fixedly assembled on the first mounting base 41, the first mounting base 41 is assembled on the sliding rail 43 in a sliding manner by the second slider 42, the first mounting base 41 is further provided with a first mounting base driving module 44, and the first mounting base driving module 44 drives the first mounting base 41 and the first detecting module 4 thereon to reciprocate along the sliding rail 43 for abdicating. The first mounting seat driving module 44 is not limited to an air cylinder, and may be configured to drive the first mounting seat 41 and the upper device to move.
According to an embodiment of the present invention, the clamping module 3 of the present embodiment may also be in other forms, for example, as shown in fig. 3 and 7, the clamping module 3 includes a supporting component 31, a clamping jaw 32 and a clamping jaw driving module 33, the supporting component 31 includes at least two vertical supporting rods 311 and at least three horizontal supporting rods 312, two ends of the horizontal supporting rods 312 are respectively fixedly connected with the two vertical supporting rods 311, the three horizontal supporting rods 312 are arranged on the two vertical supporting rods 311 at intervals, so that the supporting component 31 forms a frame structure, the clamping jaws 32 and the clamping jaw driving module 33 are arranged in at least two groups, the two groups of clamping jaws 32 and the clamping jaw driving module 33 are arranged opposite to each other by the two vertical supporting rods 311, telescopic ends of the clamping jaw driving module 33 are fixedly connected with the vertical supporting rods 311 by the bearing members 34, telescopic ends of the clamping jaw driving module 33 pass through the vertical supporting rods, the two clamping jaws 32 are driven by two clamping jaw driving modules 33 to move relatively to clamp the wrist arm. The clamping jaw driving module 33 is not limited to be motor-driven, and can drive the clamping jaw 32 to clamp the object to be measured.
In order to better clamp the cantilever, the clamping jaw 32 of the embodiment is arranged in a V shape, so that when the cantilever is clamped, two oblique edges of the V-shaped clamping jaw 32 have clamping force on the cantilever, and the clamping can be firmer; in addition, at least two groups of guide members 3211 are arranged on the mounting plate 321, the at least two groups of guide members 3211 are symmetrically arranged in parallel relative to the clamping jaw driving module 33, one end of each guide member 3211 is fixedly connected with the mounting plate 321, and the other end protrudes out of the vertical supporting rod 311, so that the clamping jaws 32 can keep balance when being driven to move; an inductive sensor is arranged on the carrier 34 at the non-telescopic end close to the jaw drive module 33, and the inductive sensor can monitor whether the jaw drive module 33 retreats in place.
As shown in fig. 7, the measuring device of the present embodiment further includes a chuck 61 and a sliding table 6, the chuck 61 and the sliding table 6 are mutually matched to clamp the conveying wrist, specifically, the chuck 61 is disposed on the sliding table 6, the chuck 61 is located between the fixed seat 76 and the clamping module 3, the sliding table 6 is further configured with a sliding table driving module 62, the chuck 61 clamps the wrist, and the sliding table driving module 62 drives the sliding table 6 and the upper chuck 61 to reciprocate on the traveling path. The sliding table driving module 62 can be selected from motors without limitation, and can drive the sliding table 6 to move.
Further, the chuck 61 is configured as a rotation chuck, and the rotation chuck 61 includes a rotation driving module 611, and the rotation driving module 611 can drive the chuck 61 to rotate. Preferably, the rotation driving module 611 is provided as a motor which drives the chuck 61 to rotate by means of a belt.
As shown in fig. 5, 6 and 7, according to an embodiment of the present invention, the measuring device of this embodiment further includes a lug detecting module 7, the lug detecting module 7 and the chuck 61 are matched to position the lug 91, specifically, the lug detecting module 7 includes at least two laser distance measuring sensors 71 and a mounting bracket 72, the at least two laser distance measuring sensors 71 are respectively and fixedly mounted on the two mounting brackets 72, the two mounting brackets 72 are arranged in parallel, the two laser distance measuring sensors 71 are arranged on the same horizontal plane, light emitted from the laser distance measuring sensors 71 can be incident on the surface of the lug 91 to feed back data, when the position of the lug 91 is positioned, the wrist is clamped by the chuck 61, light emitted from the two laser distance measuring sensors 71 is incident on the wrist, the back monitor detects that the distances from the two laser distance measuring sensors 71 to the surface of the lug 91 are unequal, the rotation driving module 611 drives the chuck 61 and the wrist thereon to rotate, when the background monitor detects that the distances from the two laser ranging sensors 71 to the surface of the lug 91 are equal, the rotation driving module 611 stops driving the chuck 61 and the upper wrist thereof to rotate, and meanwhile, the servo motor of the rotation driving module 611 records the rotation angle, i.e. the quadrant angle, and feeds the rotation angle back to the background monitor, so that the subsequent stations can use the data.
Further, the lug detection module 7 of the present embodiment is slidably assembled on the fixing seat 76, specifically, the mounting frame 72 and the second mounting seat 73 of the lug detection module 7 are fixedly assembled, the second mounting seat 73 is slidably assembled on the slide rail 43 by means of the third slider 75, the second mounting seat 73 is further provided with a second mounting seat driving module 73, and the second mounting seat driving module 73 drives the second mounting seat 73 and the upper lug detection module 7 thereof to reciprocate along the slide rail 43, so that the interference of the movement of the wrist arm along the walking path can be avoided. The second mounting seat driving module 73 can be selected from an unlimited air cylinder and can drive the second mounting seat 73 to move.
As can be seen from the above description, as shown in fig. 6, the first detection module 4 and the lug detection module 7 of the present embodiment are both assembled with the slide rail 43 in a sliding manner, and the first detection module 4 and the lug detection module 7 are assembled in an integrated manner, so as to simplify the structure of the measurement apparatus and save the installation space.
As shown in fig. 3, 7 and 9, the measuring device of the present embodiment further includes a hole detecting module 8, the hole detecting module 8 includes a laser sensor, the laser sensor is disposed in the circumferential direction of the walking path, the hole detecting module 8 can detect the position of the hole through the laser sensor, specifically, the laser sensor is fixedly mounted on the transverse supporting rod 312, after the chuck 61 clamps the wrist arm, the chuck moves toward the holding module 3 under the action of the sliding table driving module 62, when the wrist arm passes through the position of the laser sensor, the light emitted from the laser sensor will be incident on the surface of the wrist arm, so that the distance between the laser sensor and the wrist arm can be detected, as shown in fig. 9, for easy understanding, fig. 9 is a cross-sectional view of the wrist arm viewed from the right side, and the hole detecting step is as follows: the rotation driving module 611 drives the chuck 61 and the upper arm thereof to rotate, and when the light emitted by the laser sensor passes through the position of the upper hole of the wrist, the distance between the laser sensor and the wrist is detected to exceed a set range; step two: the rotation driving module 611 then drives the chuck 61 and the upper arm thereof to rotate counterclockwise, detects a critical point where the distance between the laser sensor and the upper arm is within a set range, which indicates that the laser sensor has rotated to the edge position of one side of the hole, and calculates a rotation angle α 1 according to the number of rotations of the servo motor of the rotation driving module 611; step three: the rotation driving module 611 then drives the chuck 61 and the upper arm thereof to rotate clockwise, detects a critical point at which the distance between the laser sensor and the upper arm is again within a set range, and indicates that the laser sensor has rotated to the edge position on the other side of the hole, and in the process, calculates a rotation angle α 2 according to the number of revolutions of the servo motor of the rotation driving module 611; step four: the angle of the hole is calculated to be α 2 according to the data fed back from the servo motor, and then the chuck 61 only needs to rotate counterclockwise by α 2/2, which is the position of the central axis of the hole, and at the same time, the servo motor of the rotation driving module 611 records the rotation angle, i.e., the quadrant angle, and feeds back the rotation angle to the background monitor, so that the subsequent station can use the data.
In order to support the wrist arm when the wrist arm is conveyed to the clamping module 3 through the chuck 61, as shown in fig. 4 and 7, in this example, a bearing assembly 63 is arranged between the chuck 61 and the clamping module 3, the bearing assembly 63 can support the wrist arm, specifically, the bearing assembly 63 is fixedly assembled on the sliding table 6 and located on a walking path of the wrist arm, the bearing assembly 63 includes a V-shaped bearing wheel 632 and a V-shaped wheel driving module 631, a telescopic end of the V-shaped wheel driving module 631 is fixedly assembled with the bearing frame 633, the V-shaped bearing wheel 632 is fixedly assembled on the bearing frame 633, and when the support is needed, the V-shaped wheel driving module 631 drives the bearing frame 633 and the V-shaped bearing wheel 632 thereon to move upward in a vertical direction to support the wrist arm; when not needed, the V-wheel drive module 631 drives the carrier 633 and the V-wheel 632 thereon downward in a vertical direction to avoid interfering with the movement of the wrist along the walking path. V-wheel drive module 631 is optional but not limited to cylinder drive
Further, sliding grooves 6331 are formed on two sides of the bearing frame 633, a limit rod 634 is disposed in each sliding groove 6331, two ends of the V-shaped bearing wheel 632 are disposed on the limit rod 634 and form a sliding connection, and the V-shaped bearing wheel 632 slides in the limit rod 634 along a vertical direction to adjust a height, so as to adapt to wrists with different sizes.
Based on the above structure, the working principle of the detection module, the measurement apparatus and the measurement method of the present embodiment is as follows:
the measuring device of the embodiment sequentially measures the length, positions the lug 91 and positions the hole of the measured object 9, and the specific process is as follows:
measuring length: an external driving piece clamps and conveys the wrist arm to penetrate through the chuck 61, and the first end of the wrist arm contacts the second detection module 5, so that the second detection module 5 acquires first position information of the wrist arm; then the second detection module 5 yields, the external driving element continues to clamp and convey the wrist arm, so that the first end of the wrist arm passes over the bearing assembly 63 and is clamped by the clamping module 3, meanwhile, the revolution number of the servo motor of the external driving element can be converted into the walking distance L1 of the wrist arm, the clamping module 3 clamps the wrist arm to continue to walk along the walking path until the second end of the wrist arm passes over the first detection module 4, and the revolution number of the motor of the clamping jaw driving module 33 for driving the wrist arm to walk in the reverse direction can be converted into the walking distance L2 of the wrist arm in the reverse direction; the centre gripping module 3 again centre gripping drive cantilever backward walking, the quadrant angle of the motor of clamping jaw drive module 33 is calculated, until the second end of cantilever and the contact of first detection module 4, first detection module 4 acquires the second positional information of cantilever, and the revolution number of the motor of the clamping jaw drive module 33 of the backward walking of drive cantilever simultaneously can be converted into the distance L3 of the backward walking of cantilever, can obtain the length of cantilever through the formula calculation.
Lug positioning: after the length measurement is completed, the wrist still stays at the original position, the first detection module 4 gives way, the second mounting seat driving module 73 drives the second mounting seat and the lug detection module 7 thereon to move to the detection position facing the lug 91, the chuck 61 clamps the wrist, the clamping module 3 loosens the wrist, the light emitted by the laser ranging sensor 71 of the lug detection module 7 is incident on the surface of the lug 91, the rotary driving module 611 drives the chuck 61 and the upper wrist thereof to rotate, when the background monitor detects that the distances from the two laser ranging sensors 71 to the surface of the lug 91 are equal, the rotation driving module 611 stops driving the chuck 61 and the upper wrist thereof to rotate, while the servo motor of the rotation driving module 611 registers the angle of rotation i.e. the quadrant angle, and fed back to the background monitor for subsequent stations to use the data so that the position of the locating lug 91 is completed.
Hole positioning: after the lug is positioned, the rotary driving module 611 then drives the chuck 61 and the upper wrist arm thereof to rotate, light emitted by the laser sensor fixedly assembled on the transverse supporting rod 312 is emitted to the surface of the wrist arm, the laser sensor detects and feeds back the distance between the laser sensor and the wrist arm, the rotary driving module is rotated along with the chuck 61, the background monitor monitors that the distance between the laser sensor and the wrist arm is in a set range firstly, then the distance exceeds the set range and is in the set range, meanwhile, the servo motor of the rotary driving module 611 records the rotating angle, namely the image limit angle, and feeds back the rotating angle to the background monitor, so that the subsequent work station uses the data, and thus, the position positioning of the hole of the positioning wrist arm is completed. The clamping chuck 61 loosens the clamped cantilever, the clamping module 3 clamps the cantilever, and the cantilever is conveyed to the next work station under the action of the external driving module.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. The utility model provides a detect module, its characterized in that, is including blocking module (1) and position detection module (2), block module (1) and be configured into slidable mounting, under the initial condition block module (1) and be located one side of the walking route of testee (9), the during operation block module (1) and remove extremely with spacing on the walking route testee (9), simultaneously position detection module (2) detect the feedback the positional information of testee (9).
2. The detection module according to claim 1, characterized in that said blocking module (1) comprises:
the fixing piece (11) is fixedly assembled on the sliding seat (51), and a through sliding channel (111) is formed in the fixing piece (11);
a limiting bulge (121) is formed at a first end of the blocking piece (12), the limiting bulge (121) is larger than the caliber of the sliding channel (111), and a second end of the blocking piece (12) penetrates through the sliding channel (111) and can protrude out of the fixing piece (11);
the elastic piece (13) is located in the sliding channel (111), and the elastic piece (13) is configured on the blocking piece (12) and provides a resetting force for the blocking piece (12).
3. The detection module according to claim 2, wherein the position detection module (2) is located on one side of the fixing member (11), and the second end of the blocking member (12) moves into the detection range of the position detection module (2) under the action of external force.
4. A measuring device, comprising:
two sets of detection modules according to any one of claims 1 to 3;
a clamping module (3), the clamping module (3) being configured to clamp an object to be measured (9), the clamping module (3) being configured to slide along a path of travel of the object to be measured (9).
5. A measuring device according to claim 4, characterized in that the gripping module (3) is configured as a gripper sliding along a walking path.
6. The measuring device according to claim 4, wherein the two sets of detecting modules are respectively a first detecting module (4) and a second detecting module (5), the first detecting module (4) is disposed on the fixing base (76), the second detecting module (5) is disposed on the sliding table (6), and the sliding table (6) is further disposed with a chuck (61).
7. The measuring device according to claim 6, characterized in that a lug detection module (7) is further slidably mounted on the fixed seat (76), the lug detection module (7) comprises at least two laser distance measuring sensors (71), the two laser distance measuring sensors (71) are arranged on the same horizontal plane and the emitted light can be incident on the surface of the lug (91), and the chuck (61) is configured as a rotating chuck.
8. The measuring device according to claim 6, further comprising a hole detection module (8), the hole detection module (8) comprising a laser sensor arranged in the circumferential direction of the path of travel, the laser sensor emitting light that can pass through a hole in the object under test (9), the chuck (61) being arranged as a rotating chuck.
9. The measuring device according to claim 7, characterized in that a slide rail (43) is arranged on the fixed seat (76), the first detection module (4) is slidably assembled with the slide rail (43), and the lug detection module (7) is slidably assembled with the slide rail (43).
10. A measuring method using the measuring apparatus of claim 4, wherein two sets of detecting modules are disposed along the traveling path, comprising:
the first detection module (4) yields to enable the first end of the object to be detected (9) to be contacted with the second detection module (5) firstly, then the second detection module (5) yields, and the object to be detected (9) travels along the traveling path by a distance L1 so that the object to be detected (9) is clamped by the clamping module (3);
the object to be measured (9) continues to travel a distance L2 along the travel path until the second end of the object to be measured (9) passes over the first detection module (4);
the object to be measured (9) travels reversely until the second end of the object to be measured (9) contacts the first detection module (4), and the reverse travel distance L3 of the object to be measured (9) is calculated;
and calculating the length L of the measured object (9), wherein L is L1+ L2-L3.
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