CN202041176U - Industrial site tracking instrument and automatic robot measurement system - Google Patents
Industrial site tracking instrument and automatic robot measurement system Download PDFInfo
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- CN202041176U CN202041176U CN2011201417517U CN201120141751U CN202041176U CN 202041176 U CN202041176 U CN 202041176U CN 2011201417517 U CN2011201417517 U CN 2011201417517U CN 201120141751 U CN201120141751 U CN 201120141751U CN 202041176 U CN202041176 U CN 202041176U
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Abstract
The utility model provides an industrial site tracking instrument and automatic measurement robot system which can solve the problem that the instant and high-efficient measurement can not be performed on an industrial site in the prior art. The industrial site tracking instrument and automatic robot measurement system comprises a laser tracking instrument, an industrial robot and a robot controller, wherein a reflection target of the laser tracking instrument is mounted at the tail end of a mechanical arm of the industrial robot, and measuring elements are mounted on the reflection target. A tracked objective is mounted at the tail end of the mechanical arm of the industrial robot, the industrial robot is taken as a moving carrier for driving the reflection target and other measuring elements to move, and the tracking instrument is used for performing real-time tracking on the position of the reflection target and simultaneously is matched with the industrial robot for measuring the size of a workpiece. The measurement mode of the target can not only realize measurement on the industrial site, but also realize automatic measurement and greatly improve the measurement efficiency.
Description
Technical field
The utility model belongs to field of measuring technique, specifically, relates to a kind of measuring system that industry spot is carried out automatic measurement that is implemented in.
Background technology
Along with in the production run to the progressively raising of quality control requirement, processing and manufacture process requirement are more monitored whole process, more and more measurement need be finished in process of production, thereby pinpoints the problems in time; Simultaneously because and the cooperation of productive temp, the efficient of measuring has also been proposed requirement, the user wishes to utilize existing hardware facility to finish measurement fast more.Bigger for this measurement demand, particularly outstanding with the big workpiece of carrying inconvenience.
Measurement for workpiece at present mainly contains following two kinds of measurement patterns:
1, large-scale three-dimensional coordinates measurement promptly adopts three coordinate measuring machine that workpiece is measured.The advantage of this measurement pattern is can realize automatic measurement by software programming, the efficiency of measurement of raising workpiece; Shortcoming is, because three coordinate measuring machine all has strict requirement to environment, temperature, vibrations, if environmental baseline does not meet the demands, the resulting measurement result of measuring machine can't guarantee real effectiveness, so three-dimensional coordinates measurement all need be measured in measuring chamber, can't measure immediately at the scene, workshop, then the feedback to measurement result has hysteresis quality;
2, laser tracker manual measurement promptly is put on the workpiece by hand-held target mirror of operator or 6D gauge head, calculates the coordinate figure of actual spot of measurement on the workpiece by the reflector position on target mirror or the 6D gauge head.The advantage of this measurement pattern is, laser tracker is an a portable large-scale metrology system, is suitable for the workshop in-site measurement, and is low to environment requirement; Shortcoming is, the measurement pattern of laser tracker itself is a manual measurement, and this metering system flexible operation is applicable to that the short run at scene, workshop is measured fast, but for the batch detection of similar workpiece, because can not automatic measurement, efficient is lower.
Summary of the invention
The utility model provides a kind of industry spot tracker and robot automation's measuring system, can solve the problem that can not carry out immediately in industry spot, efficiently measure that prior art exists.
For reaching the purpose that solves the problems of the technologies described above, the utility model is achieved by the following technical solutions:
A kind of industry spot tracker and robot automation's measuring system, comprise laser tracker, industrial robot and robot controller, the reflection target of described laser tracker is installed in the mechanical arm end of described industrial robot, and described reflecting target is put on measuring sensor is installed.
In the technical solution of the utility model, also have following additional technical feature:
Described industry spot tracker and robot automation's measuring system also comprise moving guide rail, and described moving guide rail is fixed on the basal plane of industry spot.
Described reflecting target is designated as target mirror or 6D gauge head.
Described measuring sensor is chaining pin or contactless gauge head.
Described measuring sensor screw threads for fastening is installed in described reflecting target and puts on.
Described industry spot tracker and robot automation's measuring system also comprise security protection system.
Compared with prior art, advantage of the present utility model and good effect are: 1, the utility model is installed in tracking target the mechanical arm end of industrial robot, with the artificial mobile vehicle of industrial machine, drive reflection target and other measuring sensors and move, tracker carries out real-time follow-up to the reflection target, cooperates with industrial robot simultaneously, to workpiece calibration, this measurement pattern has not only realized measuring in industry spot, has realized automatic measurement simultaneously, has improved efficiency of measurement greatly; The automatic control system of most advanced and sophisticated Robotics that 2, the utility model is integrated, and characteristics such as the efficiency of measurement height of laser tracker, speed are fast, efficient, precision height, the help client finishes the surveying work to large-scale workpiece fast, realization is to control of part production run and quality analysis, in automatic measuring system, the Laser Tracking instrument system not only can be measured automatically, and has realized that a tractor driver is moving, the function of automatic dual-purpose, and tracker can be removed and carry out other manual measurement work; 3, the utility model is low to environmental requirement, need not the user and builds special measuring chamber environment for use is controlled, and has reduced system cost; 4, the utility model measuring system can be worked out a plurality of processs of measurement as required and measures, and applicability is wide.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment industry spot tracker and robot automation's measuring system;
Wherein: 1, laser tracker; 2, industrial robot; 3, reflection target; 4, mechanical arm; 5, chaining pin; 6, moving guide rail; 7, robot controller; 8, security protection system.
Embodiment
For the purpose, technical scheme and the advantage that make the utility model embodiment clearer, below in conjunction with the accompanying drawing among the utility model embodiment, technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
With reference to shown in Figure 1, present embodiment industry spot tracker and robot automation's measuring system, comprise laser tracker 1 and industrial robot 2, the reflection target 3 of laser tracker 1 is installed in the end of the mechanical arm 4 of industrial robot 2, on the reflection target 3 measuring sensor is installed also.
Reflection target 3 can be target mirror or 6D gauge head in the present embodiment, measuring sensor adopts chaining pin 5, and the mode of screw threads for fastening is adopted in the installation of reflection target 3 and chaining pin 5, certainly, can select other measuring sensor (as contactless gauge head) and mounting means for use, present embodiment does not limit this yet.
Laser tracker 1 is meant the instrument that is equipped with reflection target 3 with laser for the range finding means, it is furnished with the angle measurement mechanism that rotates around two axles simultaneously, form a complete spherical coordinates measuring system, can measure static target with it, follow the tracks of and measure the combination of moving target or static target and moving target.Its principle of work is: the laser that laser tracker 1 is sent is injected emission target 3 places, and emission target 3 is reflected back into laser tracker 1 with laser by former road simultaneously, by the cooperate tracking measurement of realizing tracker of laser with angular encoder.
The reflection target 3 of laser tracker 1 and chaining pin 5 constitute the dress detection system, be installed in the end of mechanical arm 4, the configuration of detection system can be carried out limber hook up according to Testing requirement, comprises measurement length, probe diameter etc. can realize the direct measurement under the different angles; Industrial robot 2 carries detection system, and survey is touched in the measuring position that arrives appointment, and software will touch measuring point and note to carry out subsequent analysis; After finished a measuring position, industrial robot 2 mobile detection systems touched location to the next one and put.In this process, measuring route can realize by the automatic programming of industrial robot 2.
For satisfying the measurement requirement of large-size workpiece, enlarge measurement range, improve the automatic measurement degree, present embodiment industry spot tracker and robot automation's measuring system also comprise moving guide rail 6, moving guide rail 6 is fixed on the basal plane of industry spot.Industrial robot 2 moves to each measuring position automatically on moving guide rail 6 under the operation control program control of robot controller 7.
For playing the security protection effect, prevent that the industry spot workman is strayed into the measuring system perform region, influence is measured normally carries out or the workman is caused potential safety hazard, and present embodiment industry spot tracker and robot automation's measuring system also comprise security protection system 8.Security protection system 8 can be for being arranged on measuring system protective fence all around, also can be the pick-up unit that directly is provided with (as photoelectric sensor etc.) at the edge of measuring system perform region, if someone is close, pick-up unit produces detection signal and is sent to robot controller 7, and control robot quits work.
The above, it only is preferred embodiment of the present utility model, be not to be the restriction of the utility model being made other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the equivalent embodiment of equivalent variations.But every technical solutions of the utility model content that do not break away to any simple modification, equivalent variations and remodeling that above embodiment did, still belongs to the protection domain of technical solutions of the utility model according to technical spirit of the present utility model.
Claims (6)
1. an industry spot tracker and robot automation's measuring system, it is characterized in that: comprise laser tracker, industrial robot and robot controller, the reflection target of described laser tracker is installed in the mechanical arm end of described industrial robot, and described reflecting target is put on measuring sensor is installed.
2. industry spot tracker according to claim 1 and robot automation's measuring system, it is characterized in that: described industry spot tracker and robot automation's measuring system also comprise moving guide rail, and described moving guide rail is fixed on the basal plane of industry spot.
3. industry spot tracker according to claim 1 and robot automation's measuring system is characterized in that: described reflecting target is designated as target mirror or 6D gauge head system.
4. industry spot tracker according to claim 1 and robot automation's measuring system is characterized in that: described measuring sensor is chaining pin or contactless gauge head.
5. according to each described industry spot tracker and robot automation's measuring system in the claim 1 to 4, it is characterized in that: described measuring sensor screw threads for fastening is installed in described reflecting target and puts on.
6. industry spot tracker according to claim 5 and robot automation's measuring system is characterized in that: described industry spot tracker and robot automation's measuring system also comprise security protection system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201417517U CN202041176U (en) | 2011-05-06 | 2011-05-06 | Industrial site tracking instrument and automatic robot measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201417517U CN202041176U (en) | 2011-05-06 | 2011-05-06 | Industrial site tracking instrument and automatic robot measurement system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202041176U true CN202041176U (en) | 2011-11-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201417517U Expired - Lifetime CN202041176U (en) | 2011-05-06 | 2011-05-06 | Industrial site tracking instrument and automatic robot measurement system |
Country Status (1)
| Country | Link |
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| CN (1) | CN202041176U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621998A (en) * | 2012-04-20 | 2012-08-01 | 深圳市元创兴科技有限公司 | Photoelectric tracking system and method |
| CN103940336A (en) * | 2014-03-21 | 2014-07-23 | 海克斯康测量技术(青岛)有限公司 | Automatic optical measurement system with multi-station feeding and discharging lines |
| CN104096820A (en) * | 2013-04-10 | 2014-10-15 | 北京机械工业自动化研究所 | Ear line placing device and method for casting mold |
| CN107511848A (en) * | 2017-08-30 | 2017-12-26 | 埃伏斯智能科技（上海）有限公司 | A kind of industrial robot intelligent tracking system |
-
2011
- 2011-05-06 CN CN2011201417517U patent/CN202041176U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621998A (en) * | 2012-04-20 | 2012-08-01 | 深圳市元创兴科技有限公司 | Photoelectric tracking system and method |
| CN104096820A (en) * | 2013-04-10 | 2014-10-15 | 北京机械工业自动化研究所 | Ear line placing device and method for casting mold |
| CN104096820B (en) * | 2013-04-10 | 2016-08-31 | 北京机械工业自动化研究所 | The tramline placing device of a kind of casting mould and method |
| CN103940336A (en) * | 2014-03-21 | 2014-07-23 | 海克斯康测量技术(青岛)有限公司 | Automatic optical measurement system with multi-station feeding and discharging lines |
| CN107511848A (en) * | 2017-08-30 | 2017-12-26 | 埃伏斯智能科技（上海）有限公司 | A kind of industrial robot intelligent tracking system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20111116 |
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| CX01 | Expiry of patent term |