Axial and angular floating tool for contact measurement sensors and measurement method

Abstract

The application discloses a kind of contact measurement sensor axial and angular floating tool and measurement method, the contact measurement sensor axial and angular floating tool described in the application includes axial floating unit, angular floating unit and contact measurement sensor, wherein the structure of axial floating unit can make contact measurement sensor move along the axial direction, and the axial spring of axial floating unit can make contact measurement sensor contact to the surface of measured part with certain contact force;Angular floating unit can make contact measurement sensor swing within a certain angle range, and automatically perpendicular to the surface of workpiece when contacting with workpiece;The measurement method includes contacting the surface of measured part and sticking to the surface of measured part and automatically aligning measured point normal direction.This method based on actual part, automatically aligning measured point normal direction, improves the problem that there is larger error between existing theoretical normal direction based on part theoretical model or measurement data and actual normal direction, and measurement efficiency is low.

Description

Technical Field

[0001] The embodiments of the present invention belong to the field of contact measurement, and more specifically, relate to a contact measurement sensor with axial and angular floating fixtures and measurement methods. Background Technology

[0002] For example, contact measurement of coating thickness refers to a measurement method in which the measuring sensor is in direct contact with the surface of the part being measured. In the process of measurement, the contact measuring sensor often needs to be attached and precisely perpendicular to the area of ​​the part being measured in order to obtain accurate measurement results.

[0003] Currently, the typical contact measurement process is handheld, where a person holds the measuring instrument, applies a certain force to it against the surface of the part, and adjusts the angle of the contact measurement sensor, relying on their sense of touch to make it perpendicular to the surface being measured. In automated measurement operations, for planar measurements, the contact measurement sensor can be connected to a linear motion mechanism to contact the area being measured on the part, and the contact force can be controlled by a force sensor or buffer device. For complex curved surfaces, i.e., parts with constantly changing curvature, it is necessary to know the normal of the part's measurement point in advance, and use an industrial robot to change the pose of the contact measurement sensor so that the contact measurement sensor is perpendicular to the measurement point before taking the measurement.

[0004] Currently, the main methods for predicting the normals of the measured points on a part are based on theoretical models of the part or visual measurements of the part's outline. However, complex curved surfaces are difficult to measure, and the measurement accuracy is low, resulting in an error between the theoretical normal and the actual normal of the part. At the same time, the absolute positional accuracy error of the robot will exacerbate the error between the theoretical and actual normals, making it impossible to guarantee that the contact measurement sensor is precisely perpendicular to the measured surface of the part, thus generating measurement errors. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a contact-type measuring sensor with axial and angular floating fixtures and a measurement method. This enables automatic location of the measured point when measuring complex curved surface parts using this contact-type measuring sensor with axial and angular floating fixtures.

[0006] This method solves the problem of low measurement accuracy caused by the difficulty in accurately locating the normal direction of the measured point on complex curved parts.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A contact measurement sensor axial and angular floating fixture includes a contact measurement sensor, an angular floating unit for mounting the contact measurement sensor and causing the contact measurement sensor to swing within a certain angle range in the angular direction, and an axial floating unit for fixing the radial position of the contact measurement sensor and causing the contact measurement sensor to move within a certain range in the axial direction; wherein, the axial floating unit and the angular floating unit are connected by a linear guide component extending from the axial floating unit.

[0009] The axial floating unit includes a fixed part of the linear guide assembly and a movable part of the linear guide assembly. The movable part of the linear guide assembly is in contact with the inner wall of the fixed part of the linear guide assembly. The axial position change of the contact measuring sensor is realized by the sliding of the movable part of the linear guide assembly within the fixed part of the linear guide assembly.

[0010] The angular floating unit includes a sensor fixture and a radial spherical bearing. The top of the sensor fixture can be used to mount a contact measurement sensor so that the contact measurement sensor is coaxial with the sensor fixture, and the bottom is fixedly connected to the radial spherical bearing. The radial spherical bearing enables the sensor fixture to change its angular position.

[0011] The axial and angular floating units respectively realize the axial and angular position changes of the contact measurement sensor, so that the contact measurement sensor can automatically find the normal of the surface of the measured part after contacting the surface of the measured part.

[0012] Furthermore, the radial spherical bearing includes an inner ring portion of the radial spherical bearing whose bottom is connected to the sensor fixture and an outer ring portion of the radial spherical bearing. The sensor fixture, which is fixedly connected to the inner ring of the radial spherical bearing, swings around the outer ring of the radial spherical bearing.

[0013] Furthermore, the angular floating unit also includes an angular floating frame connected to the moving portion of the linear guide assembly extending from the axial floating unit. The angular floating frame enables the angular floating unit and the axial floating unit to communicate in the contact measurement sensing...

[0014] The instrument is coaxial when it is not in contact with the surface of the part being measured.

[0015] Furthermore, the angular floating unit also includes several elastic reset devices installed and fixed within the angular floating frame, which restore and maintain the horizontal state of the sensor fixture.

[0016] Furthermore, the elastic reset device includes a bottom rod, a top rod, and a middle section of a small spring connected to the bottom and top rods respectively. The top rod presses against the sensor fixture, and the pressure of the sensor fixture is transmitted through the top rod to compress the small spring and transmit the spring force of the compressed small spring to the sensor fixture to restore or maintain its horizontal state.

[0017] Furthermore, the sensor fixture also includes a sensor fixture flange portion, which is held in place by the top of the small rod at the top of the elastic reset device, for receiving the spring force of the small spring of the elastic reset device to restore or maintain the sensor fixture to a horizontal state.

[0018] Furthermore, the axial floating unit includes an axial spring connected to the bottom of the angular floating frame. When the angular floating device is subjected to a contact force on the surface of the part, it moves axially, causing the axial spring to be compressed. The axial position of the angular floating device is restored by the elastic force when the axial spring is compressed.

[0019] Furthermore, the axial floating unit also includes an axial floating component frame connected to the bottom of the axial spring and containing the fixed part of the linear guide component, through which the robotic arm is connected;

[0020] Furthermore, the axial floating unit also includes a limiting device that is threadedly connected to the moving part of the linear guide assembly. The limiting device presses against the fixed part of the linear guide assembly when the contact measuring sensor does not change its axial position, thereby limiting the moving distance of the moving part of the linear guide assembly.

[0021] According to another aspect of the present invention, a measurement method is provided, which utilizes the aforementioned contact measurement sensor with axial and angular floating fixtures, comprising the following steps:

[0022] S1. The contact-type measuring sensor's axial and angular floating fixture moves in a simple linear motion and contacts the surface of the part being measured.

[0023] The axial and angular floating fixtures of the contact measurement sensor are connected to the robot arm, and the robot arm is manipulated to make the contact measurement sensor on the axial and angular floating fixtures contact the surface of the part.

[0024] S2. The axial and angular floating fixtures of the contact measurement sensor are subjected to the contact force generated by the contact between the sensor and the workpiece surface, and are passively moved along the axial direction and oscillated along the angular direction.

[0025] After the axial and angular floating fixture of the contact measurement sensor is subjected to the contact force of the part surface, the relative positional change between the axial spring compression and the limiting device, the fixed part of the linear guide assembly and the moving part of the linear guide assembly realizes that the axial and angular floating fixture of the contact measurement sensor is passively moved along the axial direction by the contact force. The elastic force generated by the compression of the small spring of the elastic reset device and the state change of the radial spherical bearing cause the sensor fixture to swing within a certain angle, thereby causing the axial and angular floating fixture of the contact measurement sensor to be passively oscillating along the angular direction by the contact force.

[0026] S3. The axial and angular floating fixtures of the contact measurement sensor are attached to the surface of the part being measured and automatically aligned with the normal of the measured point to begin measurement.

[0027] After the axial and angular floating fixtures of the contact measurement sensor are in contact with the surface of the part being measured, the radial spherical bearing will swing around the center of the bottom of the sensor fixture under the action of contact force until the contact measurement sensor is perpendicular to the surface being measured and the normal of the surface of the part being measured is found.

[0028] S4. After the measurement is completed, the axial and angular floating fixtures of the contact measuring sensor completely leave the surface of the measured part, and the axial and angular positions of the fixtures are reset.

[0029] After the axial and angular floating fixtures of the contact measurement sensor completely leave the surface of the measured part, the sensor fixtures return to the angular floating assembly under the elastic force of the small spring in the elastic reset device.

[0030] With the frame in a coaxial state, the distance between the angular floating unit and the axial floating unit returns to its maximum state under the action of the compressed axial spring force, preparing for the next measurement.

[0031] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0032] (1) The contact measurement sensor of the present invention has axial and angular floating fixtures that enable the contact measurement sensor to automatically be perpendicular to the surface of the workpiece when it is in contact with the surface of the part being measured. Compared with the method of measuring the outline of the part based on the theoretical model of the part or visual measurement, the steps are simpler and the operation is easier.

[0033] (2) The present invention provides a contact measurement sensor for axial and angular floating fixture measurement. This method, which is based on actual parts and automatically finds the normal of the measured point, can be used for automated measurement of complex curved surface parts. It improves the problem of large error and low measurement efficiency between the theoretical normal obtained based on the theoretical model or measurement data of the part and the actual normal.

[0034] (3) The contact measurement sensor of the present invention has axial and angular floating fixtures that can be installed on a robot arm for industrial measurement, which is suitable for factory workshops and is easier to use.

[0035] (4) The axial and angular floating fixture of the contact measurement sensor of the present invention has a compact structure and an internal elastic reset device that can automatically reset the fixture after use, making it convenient for the next measurement and making the use steps of the axial and angular floating fixture of the contact measurement sensor of the present invention simpler.

[0036] (5) The present invention provides a contact measurement sensor with axial and angular floating fixtures that can be detachably installed. By replacing the sensor, the fixture of the present invention can be adapted to various contact measurement operations. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the axial and angular floating fixture structure of a contact measurement sensor according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the axial floating unit structure of a contact-type measuring sensor axial and angular floating fixture according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the angular floating unit structure of a contact measurement sensor axial and angular floating fixture according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram showing the state of each part before axial and angular floating fixture measurement of a contact measurement sensor according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the state of each part during axial and angular floating tooling measurement using a contact-type measuring sensor according to an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the contact parts surface of a contact-type measuring sensor in the axial and angular directions of a floating fixture, according to an embodiment of the present invention.

[0043] Figure 7 This is a schematic diagram of a contact measurement sensor's axial and angular floating measurement fixture attached to the surface of a part according to an embodiment of the present invention;

[0044] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-axial floating unit, 2-angular floating unit, 3-contact measuring sensor, 11-axial floating assembly frame, 12-limiting device, 13-fixed part of linear guide assembly, 14-moving part of linear guide assembly, 15-axial spring, 21-angular floating assembly frame, 221-inner ring of radial spherical bearing, 222-outer ring of radial spherical bearing, 231-bottom rod of elastic reset device, 232-small spring of elastic reset device, 233-top rod of elastic reset device, 24-sensor fixture, 241-flange part of sensor fixture. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0046] like Figure 1 As shown, the axial and angular floating measurement fixture of the present invention includes an axial floating unit 1, an angular floating unit 2, and a contact measurement sensor 3. The axial floating unit 1 allows the contact measurement sensor 3 to move axially within a certain range and to contact the surface of the part being measured with a certain contact force, so that the contact measurement sensor 3 is in contact with the part being measured. The angular floating unit 2 allows the contact measurement sensor 3 to swing within a certain angle range and automatically become perpendicular to the surface of the workpiece when in contact with it. This realizes that the axial and angular floating measurement fixture of the present invention automatically aligns the normal of the measured point during the measurement of the part.

[0047] like Figure 2As shown, the axial floating unit 1 includes an axial floating component frame 11, a limiting device 12, a linear guide component fixing part 13, a linear guide component moving part 14, and an axial spring 15. The top of the linear guide component moving part 14 is fixed to the angular floating unit 2 and is surrounded by the linear guide component fixing part 13, the limiting device 12, and the axial spring 15. The axial spring 15 is installed between the linear guide component fixing part 13 and the angular floating unit 2. The linear guide component fixing part 12 is fixed to the axial floating component frame 11 by screws, and the inner wall of the linear guide component fixing part 12 is tightly fitted with the linear guide component moving part 14, thereby limiting the radial position of the linear guide component moving part 14. The limiting device 12 is fixed to one end of the linear guide component moving part 14 by a threaded connection. When the axial spring 15 is not compressed, the limiting device 12 presses against the linear guide component fixing part 13, thereby limiting the axial movement of the linear guide component moving part 14. When the limiting device 12 presses against the linear guide component fixing part 13, this is the maximum distance between the axial floating unit 1 and the angular floating unit 2.

[0048] The linear guide assembly moving part 14 is restricted in radial position by the fixed part 13 of the linear guide assembly, and in axial position by the spring 15 and the limiting device 12. The linear guide assembly moving part 14 can slide axially within the compression range of the limiting device 12 and the spring 15. The linear guide assembly moving part 14 is connected to the angular floating unit 2. Therefore, when the angular floating unit is compressed by the contact force of the part surface, the axial spring 15 is compressed and moves in the axial position, but its radial position will not be changed.

[0049] like Figure 3 As shown, the angular floating unit 2 includes an angular floating component frame 21, a radial spherical bearing, an elastic reset device, and a sensor fixture 24. The angular floating component frame 21 is fixed to the linear guide component moving part 14 and contacts the axial spring 15. The sensor fixture has a sensor fixture flange part 241. The radial spherical bearing is installed inside the angular floating component frame 21, and the bottom of the sensor fixture 24 is surrounded by the radial spherical bearing. The middle and bottom parts of the elastic reset device are installed inside the angular floating component frame 21, and the top part extends out and abuts against the sensor fixture flange part.

[0050] The radial spherical bearing includes an inner ring 22l and an outer ring 222. The inner ring 22l has a spherical structure and is fixedly connected to the bottom of the sensor fixture 24. The outer ring 222 has a circular structure and is fixedly connected to the angular floating frame 2l. The sensor fixture 24, which is fixedly connected to the inner ring 22l, swings around the outer ring 222.

[0051] The elastic reset device includes a bottom rod 23l, a top rod 233, and a middle elastic reset device miniature spring 232 connected at both ends to the bottom rod 23l and the top rod 233, respectively. The elastic force provided by the compression of the elastic reset device miniature spring 232 and the elastic reset device top rod 233 transmitting the elastic force to the sensor tooling flange portion 24l restores the sensor tooling 24 to a horizontal state and maintains the horizontal state of the sensor tooling 24.

[0052] The contact measurement sensor 3 is mounted on the sensor fixture 24, enabling the contact measurement sensor to...

[0053] 3. Coaxial with sensor fixture 24; the angular floating component frame 2l is fixed to the linear guide component moving part 14, and is compressed by the axial spring 15, so that the angular floating unit 2 can move axially within a certain range. The linear guide component moving part 14 is slidably connected to the linear guide component fixed part 13, so that the radial position of the angular floating unit 2 remains unchanged when it moves within the axial range; the radial spherical bearing is a spherical bearing, and the inner ring 22l of the radial spherical bearing fixedly connected to the bottom of the sensor fixture 24 can swing around the outer ring 222 of the radial spherical bearing; the elastic reset device contains a small elastic reset spring 232, which can be compressed within a certain range when subjected to pressure from the sensor fixture flange part 24l. The elastic force of the small elastic reset spring 232 when compressed is transmitted to the sensor fixture flange part 24l by the small rod 233 at the top of the elastic reset device. When not measuring, the elastic reset is in operation. The small spring 232 of the device is slightly compressed by the pressure transmitted from the top rod 233 of the elastic reset device to the sensor fixture flange 24l, and the compression amount of the small spring 232 in each elastic reset device is consistent. The top rod 233 of the elastic reset device transmits the elastic force of the small spring 232 when it is compressed to the sensor fixture flange 24l and presses against the sensor fixture flange 24l, keeping the sensor fixture 24l in a horizontal state. At the end of the measurement, the small spring 232 on the inclined side of the sensor fixture flange 241 is compressed. The top rod 233 of the elastic reset device connected to the compressed small spring 232 transmits the elastic force of the compressed small spring 232 to the inclined side of the sensor fixture flange 241, so that the sensor fixture flange 241 returns to a horizontal state.

[0054] Under the combined action of the radial spherical bearing and the elastic reset device, the sensor fixture 24 can swing within a certain angle range, and automatically become perpendicular to the surface of the part when the contact measuring sensor 3 contacts the surface of the part, and automatically reset after the measurement is completed.

[0055] This invention provides an embodiment for measuring the changes in the state of various parts before and after using a contact-type measuring sensor with an axial and angular floating fixture.

[0056] like Figure 4 As shown, when the contact measuring sensor 3 is not measuring the surface of the part being measured, the angular floating unit 2, under the action of the axial spring 15, causes the linear guide assembly moving part 14, which is fixed to the top of the angular floating unit 2, to be in an extended state. The limiting device 12 then presses against the fixed part 13 of the linear guide assembly, limiting the maximum extension distance of the linear guide assembly moving part. The distance between the angular floating unit 2 and the axial floating unit 1 reaches its maximum. The small spring 232 of the elastic reset device receives pressure from the sensor tooling flange part 241 transmitted by the small rod 233 at the top of the elastic reset device, and is slightly compressed. The sensor tooling flange part 241 remains horizontal under the same elastic force caused by the same amount of compression of several small springs 232 of the elastic reset device.

[0057] like Figure 5 As shown, when the contact sensor 3 measures the surface of the part being measured, the axial spring 15 is compressed to a certain extent under the action of the contact force on the part surface. The moving part 14 of the linear guide assembly slides axially within the fixed part 13 of the linear guide assembly, which reduces the protruding part of the moving part 14 of the linear guide assembly fixed to the angular floating unit 2 at the top, thereby reducing the distance between the angular floating unit 2 and the axial floating unit 1. The inner ring 221 of the radial spherical bearing connected to the bottom of the sensor fixture 24 swings around the outer ring 222 of the radial spherical bearing within a certain angle range, causing the sensor fixture 24, which is fixed to the inner ring 221 of the radial spherical bearing, to swing. The flange part 241 of the inclined sensor fixture presses the inclined elastic reset device, causing the small spring 232 of the elastic reset device inside the elastic reset device to be compressed, while the small spring 232 of the elastic reset device inside the other side elastic reset device slightly elongates.

[0058] This invention provides an embodiment of a method for measuring a part using a contact-type measuring sensor with axial and angular floating fixtures:

[0059] S1. The contact-type measuring sensor moves in a simple linear motion along the axial and angular directions and comes into contact with the surface of the part being measured.

[0060] like Figure 6As shown, when the contact measurement sensor of the present invention is required to measure any part surface using the axial and angular floating fixture, the contact measurement sensor 3 is loaded onto the sensor fixture 24. The end of the robot arm is connected to the axial floating component frame 11 of the contact measurement sensor of the present invention, thereby installing the contact measurement sensor of the present invention. The robot arm is manipulated to make the contact measurement sensor 3 loaded on the sensor fixture 24 of the contact measurement sensor of the present invention contact the part surface.

[0061] S2. The axial and angular floating fixtures of the contact measurement sensor are subjected to the contact force generated by the contact between the sensor and the workpiece surface, and are passively moved along the axial direction and oscillated along the angular direction.

[0062] like Figure 7 As shown, after the contact measurement sensor 3 mounted on the sensor fixture 24 of the axial and angular floating measurement fixture of the present invention comes into contact with the surface of the measured part, the axial spring 15 is passively compressed under the action of the contact force. The limiting device 12 separates from the fixed part 13 of the linear guide assembly, and the moving part 14 of the linear guide assembly slides axially within the fixed part 13 of the linear guide assembly. This reduces the protruding part of the moving part 14 of the linear guide assembly, which is fixed to the angular floating unit 2 at the top, thereby reducing the distance between the angular floating unit 2 and the axial floating unit 1. Thus, through the compression of the axial spring, the relative positional change between the limiting device 12, the fixed part 13 of the linear guide assembly, and the moving part 14 of the linear guide assembly is achieved, and the axial and angular floating fixture of the contact measurement sensor is passively moved axially by the contact force.

[0063] Under the action of contact force, the sensor fixture 24 changes from a coaxial posture with the angular floating component frame 21. The inner ring 221 of the radial spherical bearing connected to the bottom of the sensor fixture 24 swings around the outer ring 222 of the radial spherical bearing within a certain angle range, causing the sensor fixture 24, which is fixed to the inner ring 221 of the radial spherical bearing, to swing. The inclined side sensor fixture flange part 241 presses against the inclined side elastic reset device, causing the small spring 232 of the elastic reset device inside the elastic reset device to be compressed. The small spring 232 of the elastic reset device inside the other side elastic reset device slightly elongates. Through the change in the state of the radial spherical bearing, the sensor fixture 24 carrying the contact measurement sensor 3 swings within a certain angle, thereby causing the axial and angular floating fixtures of the contact measurement sensor to be passively oscillating along the angular direction under the contact force of the surface of the measured part.

[0064] S3. The axial and angular floating fixtures of the contact measurement sensor are attached to the surface of the part being measured and automatically align the normal of the measured point to begin measurement.

[0065] When the contact measurement sensor 3 mounted on the sensor fixture 24 of the contact measurement sensor of the present invention comes into contact with the surface of the part being measured, under the action of the contact force, the contact measurement sensor axial and angular floating fixture swings in the angular direction. The inner ring 22l of the radial spherical bearing fixedly connected to the sensor fixture 24 will swing around the outer ring 222 of the radial spherical bearing until the contact measurement sensor 3 is perpendicular to the surface of the part being measured, so that the contact measurement sensor 3 mounted on the sensor fixture 24 is attached to the surface of the part being measured, thereby the contact measurement sensor 3 automatically becomes perpendicular to the surface of the part being measured and finds the normal direction.

[0066] Therefore, when the contact measurement sensor of the present invention measures the axial and angular measuring fixture of any part surface, it only needs to make simple linear movement, without the need for precise control of the movement displacement or finding the normal of the surface of the measured part.

[0067] S4. After the measurement is completed, the axial and angular floating fixtures of the contact measuring sensor completely leave the surface of the measured part, and the axial and angular positions of the fixtures are reset.

[0068] After the measurement is completed, the robotic arm is manipulated to completely remove the axial and angular floating fixtures of the contact measurement sensor from the surface of the measured part. Simultaneously, the inner ring portion 22l of the radial spherical bearing returns to a horizontal state from its oscillating state when the sensor fixture 24 is in contact with the part surface. As the sensor fixture 24 leaves the surface of the measured part, the flange portion 24l of the sensor fixture returns to a horizontal position under the elastic force of the small spring 232 of the elastic reset device compressed within the tilting side elastic reset device. At the same time, the sensor fixture 24 carrying the contact measurement sensor 3 remains coaxial with the angular floating assembly frame 21. As the contact force with the surface of the measured part disappears, the axial spring 15 relaxes. Under the action of the axial spring 15, the distance between the angular floating unit 2 and the axial floating unit 1 increases. Therefore, the linear guide component moving part 14, which is fixed to the top of the angular floating unit 2, slides on the inner wall of the linear guide component fixed part 13, and the extension of the linear guide component moving part 13 increases. As the extension of the linear guide component moving part 14, which is fixed to the top of the angular floating unit 2, increases, the limiting device 12, which is connected to the linear guide component moving part 14 by the thread, is held in place by the linear guide component fixed part 13, and the linear guide component moving part no longer slides. At this time, the distance between the angular floating unit 2 and the axial floating unit 1 returns to its maximum state, preparing for the next measurement.

[0069] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A floating fixture for a contact-type measuring sensor in the axial and angular directions, characterized in that, include: The system comprises a contact measurement sensor (3), an angular floating unit (2) for mounting the contact measurement sensor (3) and causing the contact measurement sensor (3) to swing within a certain angle range in the angular direction, and an axial floating unit (1) for fixing the radial position of the contact measurement sensor (3) and causing the contact measurement sensor (3) to move within a certain range in the axial direction; wherein the axial floating unit (1) and the angular floating unit (2) are connected by a linear guide assembly moving part (14) extending from the axial floating unit (1); The axial floating unit (1) includes a linear guide assembly fixed part (13) and a linear guide assembly moving part (14). The linear guide assembly moving part (14) is attached to the inner wall of the linear guide assembly fixed part (13). The axial position change of the contact measuring sensor (3) is realized by the linear guide assembly moving part (14) sliding in the linear guide assembly fixed part (13). The angular floating unit (2) includes a sensor fixture (24) and a radial spherical bearing. The top of the sensor fixture (24) can be used to mount a contact measurement sensor (3) so that the contact measurement sensor (3) is coaxial with the sensor fixture (24) and the bottom is fixedly connected to the radial spherical bearing. The angular position of the sensor fixture (24) can be changed through the radial spherical bearing. The axial floating unit (1) and the angular floating unit (2) respectively realize the axial and angular position changes of the contact measuring sensor (3), so that the contact measuring sensor (3) automatically finds the normal of the surface of the measured part after contacting the surface of the measured part. The angular floating unit (2) also includes an angular floating frame (21) connected to the linear guide component moving part (14) extending from the axial floating unit (1). The angular floating frame (21) enables the angular floating unit (2) and the axial floating unit (1) to be coaxial when the contact measuring sensor (3) is not in contact with the surface of the measured part. The angular floating unit (2) also includes several elastic reset devices installed and fixed in the angular floating frame (21), which restore the horizontal state of the sensor fixture (24) and maintain the horizontal state of the sensor fixture (24) through the elastic reset devices; The elastic reset device includes a bottom rod (231), a top rod (233), and a middle elastic reset device miniature spring (232) connected at both ends to the bottom rod (231) and the top rod (233), respectively. The top rod (233) presses against the sensor fixture (24), and the pressure of the sensor fixture (24) is transmitted through the top rod (233) to compress the elastic reset device miniature spring (232) and transmit the elastic force of the compressed elastic reset device miniature spring (232) to the sensor fixture (24) to restore it to a horizontal state or maintain it in a horizontal state. The axial floating unit (1) includes an axial spring (15) connected to the bottom of the angular floating frame (21). When the angular floating unit (2) is subjected to the contact force of the part surface, the axial position of the axial spring (15) is compressed, and the axial position of the angular floating unit (2) is restored by the elastic force when the axial spring (15) is compressed.

2. The contact-type measuring sensor axial and angular floating fixture according to claim 1, characterized in that, The radial spherical bearing includes an inner ring portion (221) of the radial spherical bearing connected to the bottom of the sensor fixture (24) and an outer ring portion (222) of the radial spherical bearing. The sensor fixture (24) fixedly connected to the inner ring (221) of the radial spherical bearing swings around the outer ring (222) of the radial spherical bearing.

3. The axial and angular floating fixture for a contact measurement sensor according to claim 1, characterized in that, The sensor fixture (24) includes a sensor fixture flange (241), which is held in place by the top of the small rod (233) of the elastic reset device, and is used to receive the elastic force of the small spring (232) of the elastic reset device to restore or maintain the sensor fixture (24) to a horizontal state.

4. The axial and angular floating fixture for a contact measuring sensor according to claim 1, characterized in that, The axial floating unit (1) also includes an axial floating component frame (11) connected to the bottom of the axial spring (15) and containing the linear guide component fixing part (13), through which the robotic arm is connected.

5. The axial and angular floating fixture for a contact measuring sensor according to claim 4, characterized in that, The axial floating unit (1) also includes a limiting device (12) that is threadedly connected to the moving part (14) of the linear guide assembly. When the contact measuring sensor (3) does not change its axial position, the limiting device (12) presses against the fixed part (13) of the linear guide assembly and limits the moving distance of the moving part (14) of the linear guide assembly.

6. A method for measuring axial and angular directions using a floating fixture with a contact-type measuring sensor as described in any one of claims 1-5, characterized in that, Includes the following steps: S1. The contact-type measuring sensor's axial and angular floating fixture moves in a simple linear motion and contacts the surface of the part being measured. The contact measurement sensor is connected to the robot arm in the axial and angular floating fixtures. The robot arm is manipulated so that the contact measurement sensor (3) on the contact measurement sensor in the axial and angular floating fixtures comes into contact with the surface of the part. S2. The axial and angular floating fixtures of the contact-type measuring sensor are subjected to contact forces generated by the contact between the sensor and the workpiece surface, and passively move axially and oscillate angularly. After the contact sensor's axial and angular floating fixture is subjected to the contact force of the part surface, the axial spring (15) is compressed and the relative position changes between the limiting device (12), the fixed part (13) of the linear guide assembly, and the moving part (14) of the linear guide assembly realize the passive axial movement of the contact sensor's axial and angular floating fixture under the contact force. The elastic force generated by the compression of the small spring (232) of the elastic reset device and the state change of the radial spherical bearing cause the sensor fixture (24) to swing within a certain angle, thereby causing the contact sensor's axial and angular floating fixture to swing passively along the angular direction under the contact force. S3. The axial and angular floating fixtures of the contact measurement sensor are attached to the surface of the part being measured and automatically aligned with the normal of the measured point to begin measurement. After the axial and angular floating fixtures of the contact measurement sensor are in contact with the surface of the part being measured, the radial spherical bearing will swing around the center of the bottom of the sensor fixture (24) under the action of contact force until the contact measurement sensor (3) is perpendicular to the surface of the part being measured and the normal of the surface being measured is found. S4. After the measurement is completed, the axial and angular floating fixtures of the contact measuring sensor completely leave the surface of the measured part and the axial and angular positions of the fixture are reset. After the axial and angular floating fixtures of the contact measuring sensor completely leave the surface of the measured part, the sensor fixture (24) returns to the coaxial state with the angular floating component frame (2l) under the elastic force of the small spring (232) of the elastic reset device. The distance between the angular floating unit (2) and the axial floating unit (l) returns to the maximum state under the elastic force of the compressed axial spring (l5) to prepare for the next measurement.

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