Body-aware three-coordinate measuring device

Abstract

The present application relates to the technical field of measuring equipment, and discloses a body intelligent three-coordinate measuring equipment, which comprises a cabinet, a measuring system and a positioning and clamping tool, the mounting part of the cabinet is provided with a plurality of groups of positioning and clamping tools along the axial direction thereof, the positioning and clamping tool comprises a plurality of clamping assemblies arranged in a circumferential array and a vacuum generator, the plurality of clamping assemblies form a clamping space, the clamping assembly comprises a telescopic pipe, a vacuum chuck, an electronic valve and a control unit, the telescopic pipe is provided with a gas flow channel along the axial direction thereof, and the exhaust port of the telescopic pipe is in communication with the vacuum suction port of the vacuum generator; the vacuum chuck is installed at the gas inlet of the telescopic pipe and located at the side close to the clamping space; the electronic valve is installed in the telescopic pipe and used for controlling the on-off of the gas flow channel; and the control unit is connected with the measuring system, the telescopic pipe, the vacuum generator and the electronic valve. The positioning and clamping tool of the measuring equipment forms a "perception-cognition-action" closed loop control to adaptively adjust the surface to be clamped of the workpiece.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of measuring equipment, in particular to a body-intelligent three-coordinate measuring equipment. BACKGROUND

[0002] The three-coordinate measuring instrument is a precision measuring instrument that detects workpieces according to a probe system and returns workpiece surface measurement data for analysis and processing within a three-dimensionally measurable space range, which is widely used in surface profile scanning, hole position error measurement, etc. of fixture equipment, automobile parts and precision products. However, the tool fixture used by the traditional measuring instrument cannot adaptively adjust the surface to be clamped according to the shape profile and mounting position of the workpiece, such as fan blades, shaft parts and special-shaped structural parts (complex shape profile), etc. Therefore, a special fixture needs to be configured for each clamping and fixing, which not only is complicated to operate and has high use cost, but also has installation error (mainly caused by manual assembly error and wear of parts) during reciprocating switching, which is difficult to ensure the measurement accuracy. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a body-intelligent three-coordinate measuring equipment to solve the technical problems mentioned in the prior art.

[0004] The body-intelligent three-coordinate measuring equipment comprises a cabinet, a measuring system and a positioning and clamping tool installed on the cabinet, and a plurality of sets of positioning and clamping tools are arranged along the axial direction of the mounting position of the cabinet. The positioning and clamping tool comprises a plurality of sets of clamping assemblies arranged in a circumferential array and a vacuum generator connected to the exhaust port of each set of clamping assemblies, the vacuum generator is used to exhaust the air inside the clamping assembly and make it reach a preset vacuum value to adsorb and clamp the surface to be clamped of the workpiece, a plurality of sets of clamping assemblies are installed on the cabinet and form a clamping space in the axial direction of the mounting position of the cabinet, and the clamping assembly comprises:

[0005] A telescopic pipe is provided with a gas flow channel along the axial direction, and the exhaust port of the telescopic pipe is in communication with the vacuum adsorption port of the vacuum generator;

[0006] A vacuum chuck is installed at the air inlet of the telescopic pipe and located on the side close to the clamping space;

[0007] An electronic valve is installed in the telescopic pipe for controlling the on-off of the gas flow channel;

[0008] A control unit is connected with the measuring system, the telescopic pipe, the vacuum generator and the electronic valve; wherein the control unit is provided with a data processing module, and the data processing module is configured to:

[0009] Constructing a workpiece contour structure model, and associating a clamping azimuth angle;

[0010] Generating a perturbation function based on a constrained dynamic motion primitive framework, optimizing a vacuum chuck pose and a vacuum start-stop strategy;

[0011] The instruction distribution module issues instructions to the adaptive adjustment unit and the clamping assembly.

[0012] Optionally, the telescopic pipe comprises:

[0013] The fixed pipe and the bellows pipe are connected to each other, and two ends of the bellows pipe extend to form mounting bosses;

[0014] A plurality of guide rods are located on the outer circumferential side of the bellows pipe, and two ends of each guide rod are connected to opposite faces of two mounting bosses;

[0015] A reset spring is sleeved on the outer circumferential side of the bellows pipe, and two ends of the reset spring extend to be connected to the two mounting bosses;

[0016] An electromagnet is arranged on the bellows pipe or the fixed pipe and located at one end close to the clamping space.

[0017] Optionally, the positioning and clamping tool further comprises a fixing disc, and the fixing disc is in the shape of an annular, rectangular or polygonal frame structure;

[0018] The fixing disc is internally hollow, and an exhaust port of the telescopic pipe penetrates the fixing disc and communicates with the inside of the fixing disc;

[0019] A connecting hole is formed on the outer circumferential side of the fixing disc, and a vacuum suction port of the vacuum generator is connected to the connecting hole through a pipeline.

[0020] Optionally, the mounting part of the cabinet is provided with at least two groups of positioning and clamping tools along the axial direction thereof, and an adaptive adjustment unit is arranged between the two groups of positioning and clamping tools, and the adaptive adjustment unit comprises:

[0021] A telescopic assembly is arranged between the two adjacent groups of positioning and clamping tools, and is used for adjusting the mounting spacing between the two adjacent groups of positioning and clamping tools, and the telescopic assembly is arranged as any one of an electric push rod, an air cylinder and a hydraulic cylinder;

[0022] An edge contour measurement assembly is arranged on the uppermost positioning and clamping tool, and is used for measuring the edge contour information of a workpiece in real time.

[0023] The telescopic assembly and the edge profile measurement assembly are connected to the control unit, the control unit controls any one or more of the telescopic assembly outputs until the actual edge profile information of the workpiece measured by the edge profile measurement assembly is consistent with the preset edge profile information of the workpiece; the preset edge profile information of the workpiece is set to: the actual measurement distance is greater than or equal to the distance between the detection head of the edge profile measurement assembly and the center axis of the clamping space; or, any one or more specified contour profiles of the workpiece are taken as the preset edge profile information of the workpiece.

[0024] Optionally, the edge profile measurement assembly comprises a height adjusting structure and a self-positioning detection sensor mounted on the output end of the height adjusting structure, and a signal measurement end of the self-positioning detection sensor is arranged perpendicularly to the center axis of the clamping space along the extension line direction;

[0025] The self-positioning detection sensor is a laser detection head and / or a displacement detection sensor.

[0026] Optionally, the height adjusting structure comprises:

[0027] A threaded rod and a limiting rod arranged in parallel to each other, adjacent ends of the threaded rod and the limiting rod are mounted on the positioning and clamping tool, and a scale line is arranged on the outer surface of the limiting rod along the axial direction of the limiting rod;

[0028] A mounting plate arranged on the outer periphery of the threaded rod and the limiting rod, the mounting plate is threadedly connected with the threaded rod, the mounting plate is slidably connected with the limiting rod, and the self-positioning detection sensor is mounted on the mounting plate.

[0029] Optionally, the control unit comprises:

[0030] A storage module configured with a database, the database stores preset edge profile information of the workpiece, and a unique number, a preset clamping azimuth angle and an opening area of the corresponding vacuum chuck set for each clamping assembly;

[0031] A data acquisition module connected to the measurement system and the self-adaptive adjusting unit, configured to receive the workpiece contour profile information collected by the measurement system and the workpiece edge profile information collected by the self-adaptive adjusting unit in real time;

[0032] A data processing module connected to the data acquisition module and the storage module, the data processing module has:

[0033] A conversion unit configured to convert a dynamic motion transformation set into a constrained dynamic motion transformation set by internalizing clamping operation constraints through a perturbation function; and solve a nonlinear optimization problem of the constrained dynamic motion transformation set to generate clamping control parameters.

[0034] an output unit for issuing control instructions to the positioning and clamping tool to drive at least one of the following execution actions: adjusting the clamping distance by the electric push rod of the telescopic assembly, controlling the vacuum chuck to adhere to the curved surface of the workpiece by the electromagnet, starting and stopping the vacuum generator, and turning on and off the electronic valve;

[0035] The method for transforming the dynamic motion transformation set into a constrained dynamic motion transformation set is as follows:

[0036] obtaining a dynamic motion transformation set associated with the workpiece clamping task, the dynamic motion transformation set comprising: a workpiece clamping point coincidence surface function representing the association between the clamping initial pose and the target pose;

[0037] The constraint function obtained based on the historical clamping data contains a weight-adjustable parameter;

[0038] The dynamic motion transformation set is transformed into a constrained dynamic motion transformation set by defining a perturbation function, wherein the perturbation function is associated with a set of clamping operation constraints, and the clamping operation constraints include at least one of the following: a maximum contact stress constraint of the vacuum chuck and the workpiece surface, a mechanical limit constraint of the telescopic stroke of the clamping assembly, and a pose coordination constraint of multi-chuck coordinated clamping;

[0039] The constraint function contains a weighted combination of radial basis functions, and the weights are obtained from historical clamping data by local weighted regression;

[0040] The perturbation function is constructed by adding an obstacle function, which converts the clamping operation constraints into at least one differentiable mathematical representation, including:

[0041] A contact area constraint function: associated with the opening area of the vacuum chuck and the tangential coincidence area of the workpiece surface;

[0042] A pose deviation constraint function: associated with the error between the real-time profile detected by the edge profile measurement assembly and the preset profile;

[0043] Wherein, solving the nonlinear optimization problem includes: minimizing the norm of the perturbation function min wherein, Zi is the perturbation function component, representing the correction amount of the i-th constraint to the original trajectory;

[0044] The norm min satisfies the dynamic system constraint:

[0045] ;

[0046] wherein, y is the vacuum chuck pose state, is the vacuum chuck motion velocity vector, is the motion acceleration vector of the vacuum chuck, g is the target pose, k2 is a convergence speed coefficient, and k1 is a damping coefficient, is a constraint function obtained based on historical motion data, x is a phase variable, and ζ(x) is the disturbance function;

[0047] The norm min satisfies the inequality constraint: , is the barrier function;

[0048] The clamping operation constraint is obtained in real time by a multi-modal perception system, and includes:

[0049] A line structured light vision module collects a three-dimensional profile of the workpiece;

[0050] A six-axis force sensor detects the contact stress of the vacuum chuck;

[0051] An environmental compensation sensor monitors vibration and temperature drift errors;

[0052] The data processing module determines whether the real-time collected workpiece edge profile information is consistent with the preset workpiece edge profile information from the storage module; if not, a first instruction is generated, which is used to control the plurality of telescopic assemblies to output synchronously or in a set order until the actual measurement of the workpiece edge profile information by the edge profile measurement assembly is consistent with the preset workpiece edge profile information; if so, a second instruction is generated, which is used to control all the telescopic assemblies to maintain the current state; and / or, according to the received workpiece contour profile information, a contour line structure model is constructed, and each clamping assembly corresponding number and clamping azimuth angle are associated in the contour line structure model to simulate training to calculate the tangential coincidence area of the vacuum chuck on the workpiece contour profile, the tangential coincidence area is set as the contact area between the vacuum chuck and the workpiece contour profile; at the same time, the opening area of the vacuum chuck with the corresponding number is called from the database and it is determined whether it is less than the calculated tangential coincidence area;

[0053] If the opening area of the vacuum chuck is less than the calculated tangential coincidence area, a third instruction is generated, which is used to control the telescopic tube of the corresponding clamping assembly to output against the workpiece and the electronic valve to be opened, and at the same time, the vacuum generator is started;

[0054] If the opening area of the vacuum chuck is less than or equal to the calculated tangential coincidence area, a fourth instruction is generated, which is used to control the telescopic tube of the corresponding clamping assembly to output against the workpiece and the electronic valve to be in a closed state;

[0055] An instruction distribution module connected to the data processing module, the adaptive adjustment unit and the clamping assembly, configured to distribute the first instruction and the second instruction to the adaptive adjustment unit, and distribute the third instruction and the fourth instruction to the clamping assembly.

[0056] Optionally, the measurement system comprises:

[0057] A fixing ring sleeved on the outer circumferential side of the clamping space, an installation groove being formed on the inner circumferential side of the fixing ring, and a groove being formed on the inner wall of the installation groove away from the opening side thereof;

[0058] A gear ring rotatably installed in the installation groove, an installation portion being provided on the inner circumferential side of the gear ring and extending out of the installation groove;

[0059] A gear installed in the groove and engaged with the gear ring;

[0060] A first motor installed on the fixing ring, and an output shaft of the first motor penetrating the fixing ring and coaxially connected with the gear;

[0061] An intelligent probe library provided on the installation portion, the intelligent probe library comprising one or more of an integrated contact trigger probe, a white light confocal probe and an ultrasonic thickness measurement module;

[0062] An axial displacement mechanism provided between the fixing ring and the cabinet and configured to drive the fixing ring to move along the axial direction of the clamping space.

[0063] Optionally, the axial displacement mechanism comprises:

[0064] A plurality of guide columns provided on the outer circumferential side of the clamping space, one end of each guide column being installed on the cabinet and the other end extending above the fixing ring;

[0065] A limiting block installed on the outer circumferential side of the fixing ring, the limiting block being in sliding connection with the guide columns;

[0066] A lead screw provided in parallel with the guide columns, one end of the lead screw penetrating the fixing ring and extending to the side close to the cabinet, and the lead screw being in threaded connection with the fixing ring;

[0067] A second motor installed on the cabinet or the lowermost positioning and clamping tool, an output shaft of the second motor being connected with the end portion of the lead screw.

[0068] Optionally, the positioning and clamping tool is configured with a single control mode and a parallel control mode;

[0069] Single control mode: each group of clamping assemblies is independently controlled;

[0070] Parallel control mode: after associating all the clamping assemblies according to the set control logic, connecting them to the control unit, the control unit dynamically adjusts the running state of each group of clamping assemblies based on the detection information of the measurement system.

[0071] The present application can produce beneficial effects, including:

[0072] The body intelligent three-coordinate measuring equipment provided by the present application, in actual operation, installs the workpiece in the clamping space of the cabinet, detects the clamping surface profile information of the workpiece through the measurement system and feeds back to the control unit, and the control unit controls the clamping assembly that can closely fit the clamping surface of the workpiece to perform the clamping task of the workpiece according to the detection result. Specifically, first, according to the clamping sequence, control multiple telescopic pipes to output in turn or synchronously to abut the vacuum chuck on the clamping surface of the workpiece, then start the vacuum generator, and open the corresponding electronic valve, through the vacuum generator to exhaust the air in the telescopic pipe and make it reach the preset vacuum value (suction force ≤200N), so as to stably adsorb the vacuum chuck on the clamping surface of the workpiece, complete the clamping task. It is worth mentioning that the positioning and clamping tool of the measuring equipment forms a "perception-cognition-action" closed loop control to realize self-adaptive adjustment of the clamping surface of the workpiece; for example, for fan blades, shaft parts, special-shaped structural parts, etc., the corresponding clamping assembly can be selected to perform the clamping task according to the shape profile information, realize accurate positioning and clamping, and ensure the subsequent measurement accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1 The structure diagram of the body intelligent three-coordinate measuring equipment of the present application in the clamping state;

[0074] Figure 2 The structure diagram of the positioning and clamping tool and the measurement system in the present application Figure 1 ;

[0075] Figure 3 The structure diagram of another embodiment in the present application Figure 2 ;

[0076] Figure 4 The enlarged view of the measurement system in the present application Figure 1 ;

[0077] Figure 5 The structure diagram of the telescopic pipe in the present application Figure 2 ;

[0078] Figure 6 The internal structure diagram in the present application Figure 5 ;

[0079] Figure 7The schematic diagram of the control unit of the body intelligent three-coordinate measuring device in the application;

[0080] In the figure: 1, cabinet, 2, positioning and clamping tool, 21, clamping assembly, 211, telescopic pipe, 2111, fixed pipe, 2112, corrugated pipe, 2113, guide rod, 2114, return spring, 2115, electromagnet, 212, vacuum chuck, 213, electronic valve, 22, fixed disc, 23, self-adaptive adjusting unit, 231, threaded rod, 232, limiting rod, 233, mounting plate, 234, self-positioning detection sensor, 235, telescopic assembly, 3, measuring system, 31, fixed ring, 311, mounting groove, 312, groove, 32, gear ring, 33, gear, 34, first motor, 35, intelligent probe library, 36, axial displacement mechanism, 361, guide column, 362, limiting block, 363, lead screw, 364, second motor, 4, vacuum generator, 5, control unit, 51, storage module, 52, data acquisition module, 53, data processing module, 54, instruction distribution module. DETAILED DESCRIPTION

[0081] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0082] Please refer to Figure 1As shown, the present application provides a body intelligence three-coordinate measuring equipment, which comprises a cabinet 1, a measuring system 3 and a positioning and clamping tool 2 installed on the cabinet 1, and a plurality of sets of positioning and clamping tools 2 are arranged along the axis direction of the mounting part of the cabinet 1, the positioning and clamping tool 2 comprises a plurality of sets of clamping assemblies 21 arranged in a circumferential array and a vacuum generator 4 connected with the exhaust port of each set of clamping assemblies 21, the vacuum generator 4 is used for exhausting the air inside the clamping assembly 21 and making it reach a preset vacuum value to adsorb and clamp the surface to be clamped of the workpiece, the plurality of sets of clamping assemblies 21 are installed on the cabinet 1 and form a clamping space in the axis direction of the mounting part of the cabinet 1 for installing the workpiece, the clamping assembly 21 comprises a telescopic pipe 211, a vacuum chuck 212, an electronic valve 213 and a control unit 5; wherein the telescopic pipe 211 is provided with a gas flow channel along the axis direction thereof, and the exhaust port of the telescopic pipe 211 is communicated with the vacuum adsorption port of the vacuum generator 4; the vacuum chuck 212 is installed at the air inlet of the telescopic pipe 211 and located at the side close to the clamping space, which is convenient for contacting with the surface to be clamped of the workpiece, and then realizing adsorption and clamping under the action of negative pressure; the electronic valve 213 is installed in the telescopic pipe 211, which is used for controlling the on-off of the gas flow channel, so as to select the telescopic pipe 211 which needs to be adsorbed and clamped by the vacuum generator 4 according to the actual demand; the control unit 5 is connected with the measuring system 3, the telescopic pipe 211, the vacuum generator 4 and the electronic valve 213. Among them, the control unit 5 is provided with a data processing module 53, which is configured to: construct a workpiece contour structure model, associate a clamping azimuth angle; generate a disturbance function based on a constrained dynamic motion primitive framework, optimize the vacuum chuck pose and vacuum start-stop strategy; the instruction distribution module 54 issues instructions to the self-adaptive adjusting unit 23 and the clamping assembly 21. In the actual operation process, the workpiece is installed in the clamping space of the cabinet 1, the contour profile information of the surface to be clamped of the workpiece is detected by the measuring system 3 and fed back to the control unit 5, and the control unit 5 controls the clamping assembly 21 which can closely fit the surface to be clamped of the workpiece to perform the clamping task of the workpiece according to the detection result. Specifically, first, control the plurality of telescopic pipes 211 to output the vacuum chuck 212 to abut against the surface to be clamped of the workpiece in turn or synchronously according to the clamping sequence, then start the vacuum generator 4, and open the corresponding electronic valve 213, exhaust the air in the telescopic pipe 211 through the vacuum generator 4 and make it reach a preset vacuum value (adsorption force ≤200N), so as to stably adsorb the vacuum chuck 212 on the surface to be clamped of the workpiece, and complete the clamping task. It is worth noting that: the positioning and clamping tool 2 of the measuring equipment forms a "perception-cognition-action" closed loop control to realize self-adaptive adjustment of the surface to be clamped of the workpiece; for example, for fan blades, shaft parts, special-shaped structural parts, etc., the corresponding clamping assembly 21 can be selected to perform the clamping task according to the contour profile information, so as to realize accurate positioning and clamping and ensure the subsequent measurement accuracy.

[0083] Further, as shown in Figure 5 and Figure 6 , the telescopic tube 211 includes a fixed tube 2111 and a bellows tube 2112 connected with each other, and a plurality of guide rods 2113, return springs 2114 and electromagnets 2115 (residual magnetism ≤0.5 mT); wherein, two ends of the bellows tube 2112 extend to the periphery to form mounting bosses; the guide rods 2113 are located on the outer periphery side of the bellows tube 2112, and two ends thereof are connected with opposite faces of the two mounting bosses respectively; specifically, when the guide rods 2113 are of an integral structure, one end thereof is fixedly connected with one of the mounting bosses, and the other end penetrates the remaining mounting boss and is slidably connected therewith, while extending the guide rods 2113 to the outside of the fixed tube 2111 to ensure the effective telescopic length thereof; when the guide rods 2113 are of a telescopic structure, as shown in Figure 5 and Figure 6 , two ends thereof are fixedly connected with the two mounting bosses respectively. The return springs 2114 are sleeved on the outer periphery side of the bellows tube 2112, and two ends thereof extend to be fixedly connected with the two mounting bosses; the electromagnets 2115 are arranged on the bellows tube 2112 or the fixed tube 2111, and are located at one end close to the clamping space, for being attracted to the surface of the workpiece to be detected after being powered on, so as to stretch the telescopic tube 211 to abut the vacuum chuck 212 on the surface of the workpiece to be clamped, to realize automatic positioning; after the measurement is completed, the electromagnets 2115 are controlled to be powered off, and the telescopic tube 211 is driven to reset under the elastic restoring force of the return springs 2114. In the above, the positioning and clamping tool 2 adopts a combination of the vacuum chuck 212 (the maximum adsorption force is 200 N) and the magnetic clamp (residual magnetism ≤0.5 mT), which can realize non-damage clamping of the workpiece.

[0084] Further, as shown in Figure 2 and Figure 3 , the positioning and clamping tool 2 further includes a fixed disc 22, which is of a frame structure of an annular, rectangular or polygonal shape; the inside of the fixed disc 22 is of a hollow structure, and the exhaust ports of the plurality of clamping assemblies 21 penetrate the fixed disc 22 and communicate with the inside thereof; a connecting hole is formed on the outer periphery of the fixed disc 22, and the vacuum adsorption port of the vacuum generator 4 is connected with the connecting hole through a pipeline. In the above, the exhaust ports of the plurality of clamping assemblies 21 are communicated through the fixed disc 22, which can realize one control of multiple, effectively reduce the pipeline distribution, and improve the air tightness of the pipeline; meanwhile, the electronic valve 213 is matched to realize the hierarchical control of the plurality of clamping assemblies 21.

[0085] Further, as shown in Figure 2As shown, the mounting part of the cabinet 1 is provided with at least two sets of positioning and clamping tools 2 along the axial direction thereof, and an adaptive adjustment unit 23 is mounted between the two sets of positioning and clamping tools 2. The adaptive adjustment unit 23 comprises a telescopic assembly 235 and an edge profile measurement assembly. The telescopic assembly 235 is mounted between the two adjacent sets of positioning and clamping tools 2, and is used to adjust the mounting spacing between the two adjacent sets of positioning and clamping tools 2. Specifically, the telescopic assembly 235 is provided as any one of an electric push rod, a pneumatic cylinder and a hydraulic cylinder. The edge profile measurement assembly is mounted on the uppermost positioning and clamping tool 2, and is used to measure the edge profile information of the workpiece in real time. The telescopic assembly 235 and the edge profile measurement assembly are respectively connected to a control unit 5. The control unit 5 controls the output of any one or more telescopic assemblies 235 until the actual measurement of the edge profile information of the workpiece by the edge profile measurement assembly is consistent with the preset edge profile information of the workpiece. The preset edge profile information of the workpiece is set as: the actual measurement distance is greater than or equal to the distance between the detection head of the edge profile measurement assembly and the center axis of the clamping space; or any one or more specified contour profiles of the workpiece are taken as the preset edge profile information of the workpiece.

[0086] In the embodiment, before clamping the workpiece installed in the clamping space, the top edge profile or the specified contour profile of the workpiece is detected by the edge profile measurement assembly, and the mounting spacing between the two adjacent sets of positioning and clamping tools 2 is dynamically adjusted by synchronously controlling the output of the telescopic assembly 235 according to the detection result, so as to adaptively adjust the effective detection range of the measurement system 3. This can be applied to detect the same to-be-detected part of products with different specifications and sizes, so that the position of the positioning and clamping tool 2 does not need to be manually adjusted during the detection process, and the installation error is reduced. For different series of products with the same structure, the product heights are inconsistent. Therefore, the top edge profile of the workpiece can be taken as the preset edge profile information of the workpiece, and the top edge profile of the workpiece is measured in real time by the edge profile measurement assembly, so as to dynamically adjust the clamping part of the positioning and clamping tool 2.

[0087] Further, as shown in FIG. 2, the telescopic assembly 235 is provided as a pneumatic cylinder, and the control unit 5 controls the output of the telescopic assembly 235 until the actual measurement of the edge profile information of the workpiece by the edge profile measurement assembly is consistent with the preset edge profile information of the workpiece. Figure 2As shown, the edge profile measurement assembly comprises a height adjusting structure and a self-positioning detection sensor 234 mounted at the output end of the height adjusting structure, and the signal measurement end of the self-positioning detection sensor 234 is arranged perpendicular to the central axis of the clamping space in the extension direction; the self-positioning detection sensor 234 is arranged as a laser detection head and / or a displacement detection sensor. In the above, the height adjusting structure comprises a mounting plate 233 and a threaded rod 231 and a limiting rod 232 arranged parallel to each other, and the adjacent end of the threaded rod 231 and the limiting rod 232 is mounted on the positioning and clamping tool 2, and the limiting rod 232 is provided with a scale line on the outer surface along the axial direction; the mounting plate 233 is arranged on the outer periphery of the threaded rod 231 and the limiting rod 232, wherein the mounting plate 233 is threadedly connected with the threaded rod 231, the mounting plate 233 is slidingly connected with the limiting rod 232, and the self-positioning detection sensor 234 is fixedly mounted on the mounting plate 233. Specifically, according to the actual measurement requirements, the mounting distance between the self-positioning detection sensor 234 and the positioning and clamping tool 2 can be adjusted by rotating the threaded rod 231, so as to change the clamping position of the positioning and clamping tool 2 on the workpiece surface, and the displacement size of the self-positioning detection sensor 234 can be clearly observed through the scale line arranged on the limiting rod 232, so that the displacement amount of the self-positioning detection sensor 234 does not need to be repeatedly measured during the adjustment process.

[0088] In some embodiments, the self-positioning detection sensor 234 can also be configured as a multi-modal perception system, which comprises a heterogeneous sensor cluster and a sensor fusion unit, wherein the heterogeneous sensor cluster comprises a line structured light vision module (precision ±0.01 mm), a six-dimensional force sensor (range ±50 N, resolution 0.01 N), a ToF camera (depth of field 0.5-5 m), and an environmental compensation sensor (temperature and humidity / vibration), so as to enrich the diversity of detection data, so as to be suitable for detecting the edge profile information of workpieces with complex shapes such as holes, special-shaped curved surfaces, and stepped surfaces; the sensor fusion unit is connected to the line structured light vision module, the six-dimensional force sensor, the ToF camera, and the environmental compensation sensor, and adopts Kalman filtering and D-S evidence theory, which is used for fusion processing of multiple groups of detection data, can realize time and space synchronization and noise suppression of multi-source data, and improves the measurement accuracy.

[0089] In the above, the positioning and clamping tool 2 is configured with a single control mode and a parallel control mode; as Figure 2 As shown, the lower positioning and clamping tool 2 adopts the single control mode: each clamping assembly 21 is independently controlled. When the special-shaped structural part is placed in the mounting space, it is not possible to utilize Figure 3The support base shown at the bottom of the clamping space is used for positioning and clamping. When any group of clamping assemblies 21 is controlled to be powered synchronously and adsorbed on the surface of the workpiece for pre-positioning, the workpiece can be adjusted in the horizontal direction. After the installation position of the workpiece is adjusted, the vacuum generator 4 is controlled to exhaust the air inside the telescopic pipe 211, so that the workpiece is firmly fixed at the specified position by the vacuum chuck 212, and the positioning and clamping are realized. Figure 2 The positioning and clamping tool 2 shown at the top adopts a parallel control mode: all clamping assemblies 21 are connected to the control unit 5 after being associated according to the set control logic. The control unit 5 dynamically adjusts the operating state of each group of clamping assemblies 21 based on the detection information of the measurement system 3.

[0090] Further, as Figure 7As shown, the control unit 5 is configured with a storage module 51, a data acquisition module 52, a data processing module 53, and an instruction distribution module 54 based on the control logic set in the parallel control mode; wherein the storage module 51 is configured with a database, which stores preset workpiece edge contour information and a unique number set for each clamping assembly 21, a preset clamping orientation angle, and an opening area of the corresponding vacuum chuck 212. The data acquisition module 52 is connected to the measurement system 3 and the adaptive adjustment unit 23, for receiving the workpiece shape contour information collected by the measurement system 3 and the workpiece edge contour information collected by the adaptive adjustment unit 23 in real time. The data processing module 53 is connected to the data acquisition module 52 and the storage module 51, and the data processing module 53 determines whether the real-time collected workpiece edge contour information is consistent with the preset workpiece edge contour information by calling the preset workpiece edge contour information from the storage module 51; if not, a first instruction is generated, which is used to control the synchronous output or the sequential output of the plurality of telescopic assemblies 235 in a set order until the actual measurement of the workpiece edge contour information by the edge contour measurement assembly is consistent with the preset workpiece edge contour information; if so, a second instruction is generated, which is used to control all telescopic assemblies 235 to maintain the current state; and / or, a contour line structure model is constructed according to the received workpiece shape contour information, such as workpiece feature semantic segmentation based on YOLOv8 neural network, combined with octree algorithm to construct a lightweight three-dimensional model; and the corresponding number and clamping orientation angle of each clamping assembly 21 are associated in the contour line structure model for simulation training to calculate the tangential coincidence area of the vacuum chuck 212 on the workpiece shape contour, and the tangential coincidence area is set as the contact area between the vacuum chuck 212 and the workpiece shape contour; at the same time, the opening area of the vacuum chuck 212 corresponding to the number is called from the database and it is determined whether it is less than the calculated tangential coincidence area; if the opening area of the vacuum chuck 212 is less than the calculated tangential coincidence area, a third instruction is generated, which is used to control the output of the telescopic pipe 211 of the corresponding clamping assembly 21 to resist against the workpiece and the electronic valve 213 to be opened, while the vacuum generator 4 is started; if the opening area of the vacuum chuck 212 is less than or equal to the calculated tangential coincidence area, a fourth instruction is generated, which is used to control the output of the telescopic pipe 211 of the corresponding clamping assembly 21 to resist against the workpiece and the electronic valve 213 to be in a closed state. The instruction distribution module 54 is connected to the data processing module 53, the adaptive adjustment unit 23, and the clamping assembly 21, for issuing the first instruction and the second instruction to the adaptive adjustment unit 23, and issuing the third instruction and the fourth instruction to the clamping assembly 21.

[0091] In the above, the data processing module 53 has a transformation unit and an output unit, the transformation unit is used to transform the dynamic motion transformation set into a constrained dynamic motion transformation set, and the clamping operation constraints are internalized through a disturbance function; solving the nonlinear optimization problem of the constrained dynamic motion transformation set to generate the clamping control parameters. The output unit issues control instructions to the positioning and clamping tool 2 to drive at least one of the following execution actions: adjusting the clamping distance of the telescopic assembly 235, controlling the vacuum chuck 212 to adhere to the workpiece curved surface through the electromagnet 2115, and starting and stopping the vacuum generator 4 and opening and closing the electronic valve 213.

[0092] In the above, the method of transforming the dynamic motion transformation set into a constrained dynamic motion transformation set is as follows:

[0093] Obtaining a dynamic motion transformation set associated with a workpiece clamping task, the dynamic motion transformation set including: a workpiece clamping point coincidence surface function representing the association between the clamping initial pose and the target pose;

[0094] The constraint function obtained based on the historical clamping data contains adjustable weight parameters;

[0095] Transform the dynamic motion transformation set into a constrained dynamic motion transformation set by defining a disturbance function, wherein the disturbance function is associated with a set of clamping operation constraints, and the clamping operation constraints include at least one of the following: a maximum contact stress constraint between the vacuum chuck 212 and the workpiece surface, a mechanical limit constraint of the telescopic stroke of the clamping assembly 21, and a pose coordination constraint of multi-chuck coordinated clamping;

[0096] Wherein, the constraint function contains a weighted combination of radial basis functions, and the weights are obtained from historical clamping data by local weighted regression;

[0097] The disturbance function is constructed by adding an obstacle function, and the obstacle function converts the clamping operation constraints into at least one differentiable mathematical representation, including:

[0098] Contact area constraint function: associated with the opening area of the vacuum chuck 212 and the tangential coincidence area of the workpiece curved surface;

[0099] The pose deviation constraint function is associated with the error between the real-time profile detected by the edge profile measurement component and the preset profile.

[0100] In the above, solving the nonlinear optimization problem includes: minimizing the norm of the disturbance function min Wherein, Zi is the disturbance function component, representing the correction amount of the i-th constraint to the original trajectory;

[0101] The norm min Satisfies the dynamic system constraint:

[0102] ;

[0103] wherein y is a vacuum chuck pose state, is a vacuum chuck motion velocity vector, is a vacuum chuck motion acceleration vector, g is a target pose, k2 is a convergence speed coefficient, and k1 is a damping coefficient, is a constraint function based on historical motion data, x is a phase variable, and ζ(x) is the disturbance function;

[0104] norm min satisfies inequality constraints: , is an obstacle function.

[0105] In the above, the clamping operation constraints are acquired in real time by a multi-modal perception system, including:

[0106] a line structured light vision module collects a three-dimensional profile of the workpiece;

[0107] a six-dimensional force sensor detects contact stress of the vacuum chuck 212;

[0108] an environmental compensation sensor monitors vibration and temperature drift errors.

[0109] In some embodiments, the calculation method of the tangential coincident area of the vacuum chuck 212 on the workpiece contour profile is as follows: a plurality of measuring points are arranged along the opening edge line of the vacuum chuck 212, and the number of coincidences with the measuring points on the vacuum chuck 212 is obtained in the profile line structure model. If the number of coincidences is exactly the same as the number of measuring points or greater than a preset value, it is determined that the opening area of the vacuum chuck 212 is less than the calculated tangential coincident area; otherwise, it is determined that the opening area of the vacuum chuck 212 is greater than or equal to the calculated tangential coincident area.

[0110] Further, as Figure 4As shown, the measurement system 3 comprises a fixed ring 31, a gear ring 32, a gear 33, a first motor 34, an intelligent probe library 35, and an axial displacement mechanism 36. The fixed ring 31 is sleeved on the outer circumferential side of the clamping space. An installation groove 311 is formed on the inner circumferential side of the fixed ring 31. A groove 312 is formed on the inner wall of the installation groove 311 away from the opening side thereof. The gear ring 32 is rotationally installed in the installation groove 311. An installation portion is provided on the inner circumferential side of the gear ring 32 and extends out of the installation groove 311. The gear 33 is installed in the groove 312 and is engaged with the gear ring 32. The first motor 34 is installed on the fixed ring 31. The output shaft of the first motor 34 penetrates through the fixed ring 31 and is coaxially connected with the gear 33. The intelligent probe library 35 is provided on the installation portion. The intelligent probe library 35 comprises one or more of an integrated contact trigger probe, a white light confocal probe, and an ultrasonic thickness measurement module. The axial displacement mechanism 36 is provided between the fixed ring 31 and the cabinet 1 and is used to drive the fixed ring 31 to move along the axial direction of the clamping space. It should be noted that the measurement system 3 has a circumferential and axial double-layer movement mechanism, which can enable the surface of the workpiece to be measured in all directions. Specifically, when measuring along the circumferential direction, the first motor 34 is started to control the gear 33 to drive the gear ring 32 to rotate. At this time, the gear ring 32 drives the intelligent probe library 35 to measure along the outer circumferential side of the workpiece. When measuring along the axial direction, the axial displacement mechanism 36 is controlled to drive the fixed ring 31 to move along the axial direction of the clamping space.

[0111] As shown in the above, Figure 2 and Figure 3 As shown, the axial displacement mechanism 36 comprises a plurality of guide columns 361, a limiting block 362, a lead screw 363, and a second motor 364. The guide columns 361 are provided on the outer circumferential side of the clamping space. One end of each guide column 361 is fixedly installed on the cabinet 1, and the other end extends above the fixed ring 31. The limiting block 362 is fixedly installed on the outer circumferential side of the fixed ring 31 and is in sliding connection with the guide columns 361. The lead screw 363 is parallel to the guide columns 361. One end of the lead screw 363 penetrates through the fixed ring 31 and extends to the side close to the cabinet 1. The lead screw 363 is in threaded connection with the fixed ring 31. The second motor 364 is installed on the cabinet 1 or the lowermost positioning and clamping tool 2. The output shaft of the second motor 364 is connected with the end portion of the lead screw 363. Specifically, the second motor 364 drives the lead screw 363 to rotate, so that the lead screw 363 drives the fixed ring 31 to slide up and down along the outer circumferential side of the guide columns 361, thereby driving the intelligent probe library 35 to realize axial measurement of the workpiece. It should be noted that the axial displacement mechanism 36 in the present application can also adopt a linear displacement module, such as an electric push rod, a pneumatic cylinder or a hydraulic cylinder, and other structures with linear reciprocating movement, and is not limited to the content described in the present application. Meanwhile, in order to improve the control accuracy, the first motor 34 and the second motor 364 preferably adopt a servo stepper motor.

[0112] In the present embodiment,Figure 2 As shown, a limiting block 362 is also arranged at the inner side of the fixing disc 22, and the limiting block 362 is in sliding connection with the guide column 361, so that the fixing disc 22 and the fixing ring 31 are bidirectionally positioned through the guide column 361, and the compactness and stability of the equipment can be enhanced.

Claims

1. A body-intelligent three-coordinate measuring device, comprising a cabinet (1), and a measuring system (3) and a positioning and clamping tooling (2) installed on the cabinet (1), characterized in that, The mounting part of the cabinet (1) is provided with at least two groups of positioning and clamping tools (2) along the axial direction thereof, and an adaptive adjusting unit (23) is mounted between the two groups of positioning and clamping tools (2). The positioning and clamping tool (2) comprises a plurality of clamping assemblies (21) arranged in a circumferential array and a vacuum generator (4) connected with the exhaust port of each group of clamping assemblies (21). The vacuum generator (4) is used for exhausting the air inside the clamping assembly (21) and making it reach a preset vacuum value to adsorb and clamp the surface of the workpiece to be clamped. A plurality of clamping assemblies (21) are mounted on the cabinet (1) and located in the axial direction of the mounting part of the cabinet (1) to form a clamping space. The clamping assembly (21) comprises: A telescopic pipe (211) provided with a gas flow channel along the axial direction thereof, and the exhaust port of the telescopic pipe (211) is communicated with the vacuum adsorption port of the vacuum generator (4); A vacuum chuck (212) mounted at the air inlet of the telescopic pipe (211) and located on the side close to the clamping space; An electronic valve (213) mounted in the telescopic pipe (211) for controlling the on-off of the gas flow channel; A control unit (5) connected with the measuring system (3), the telescopic pipe (211), the vacuum generator (4) and the electronic valve (213); wherein the control unit (5) is provided with a data processing module (53), and the data processing module (53) is configured to: construct a workpiece contour structure model, and associate a clamping azimuth angle; generate a disturbance function based on a constrained dynamic motion primitive framework, optimize the vacuum chuck pose and vacuum start-stop strategy; an instruction distribution module (54) issues instructions to the adaptive adjusting unit (23) and the clamping assembly (21); The adaptive adjusting unit (23) comprises: A telescopic assembly (235) mounted between adjacent two groups of positioning and clamping tools (2) for adjusting the mounting spacing between the adjacent two groups of positioning and clamping tools (2); An edge contour measurement assembly for real-time measurement of workpiece edge contour information; The telescopic assembly and the edge contour measurement assembly are respectively connected to the control unit (5), and the control unit (5) controls the output of any one or more telescopic assemblies until the actual measurement of the workpiece edge contour information by the edge contour measurement assembly is consistent with the preset workpiece edge contour information; the preset workpiece edge contour information is set as: the actual measurement distance is greater than or equal to the distance between the detection head of the edge contour measurement assembly and the center axis of the clamping space; or any one or more specified contour profiles of the workpiece are taken as the preset workpiece edge contour information.

2. The embodied intelligent coordinate measuring device according to claim 1, wherein, The telescopic pipe (211) comprises: A fixed pipe (2111) and a corrugated pipe (2112) connected with each other, and the two ends of the corrugated pipe (2112) extend outward to form mounting bosses; A plurality of guide rods (2113) are located on the outer periphery of the bellows (2112), and the two ends thereof are connected with the opposite faces of the two mounting bosses, respectively; A reset spring (2114) is sleeved on the outer periphery of the bellows (2112), and the two ends thereof extend to be connected with the two mounting bosses; An electromagnet (2115) is arranged on the bellows (2112) or the fixed tube (2111) and located at one end close to the clamping space.

3. The embodied intelligent coordinate measuring device of claim 1, wherein, The positioning and clamping tool (2) further comprises a fixing disc (22), which is shaped as a ring, a rectangle or a polygonal frame structure; The inside of the fixing disc (22) is a hollow structure, and the exhaust port of the telescopic tube (211) penetrates through the fixing disc (22) and communicates with the inside thereof; A connecting hole is formed on the outer periphery of the fixing disc (22), and the vacuum suction port of the vacuum generator (4) is connected with the connecting hole through a pipeline.

4. The embodied intelligent coordinate measuring device of claim 2, wherein, The telescopic assembly (235) is any one of an electric push rod, an air cylinder and a hydraulic cylinder; The edge profile measurement assembly is installed on the uppermost positioning and clamping tool (2).

5. The embodied intelligent coordinate measuring device according to claim 4, wherein, The edge profile measurement assembly comprises a height adjusting structure and a self-positioning detection sensor (234) installed on the output end of the height adjusting structure, and the signal measurement end of the self-positioning detection sensor (234) is arranged perpendicularly to the central axis of the clamping space; The self-positioning detection sensor (234) is a laser detection head and / or a displacement detection sensor.

6. The embodied intelligent coordinate measuring device according to claim 5, wherein, The height adjusting structure comprises: Threaded rods (231) and limit rods (232) arranged in parallel to each other, adjacent ends of the threaded rods (231) and the limit rods (232) are installed on the positioning and clamping tool (2), and a scale line is arranged on the outer surface of the limit rod (232) along the axial direction thereof; An installation plate (233) is arranged on the outer periphery of the threaded rods (231) and the limit rods (232), the installation plate (233) is threadedly connected with the threaded rods (231), the installation plate (233) is slidably connected with the limit rods (232), and the self-positioning detection sensor (234) is installed on the installation plate (233).

7. The embodied intelligent coordinate measuring device of claim 4, wherein, The control unit (5) comprises: A storage module (51) configured with a database, the database stores preset workpiece edge profile information, a unique number set for each clamping assembly (21), a preset clamping orientation angle and an opening area of the corresponding vacuum chuck (212); A data acquisition module (52) connected with the measurement system (3) and the self-adaptive adjusting unit (23) for receiving workpiece shape profile information collected by the measurement system (3) and workpiece edge profile information collected by the self-adaptive adjusting unit (23) in real time; A data processing module (53) connected to the data acquisition module (52) and the storage module (51), the data processing module (53) has: a transformation unit configured to transform a dynamic motion transformation set into a constrained dynamic motion transformation set by internalizing a clamping operation constraint via a perturbation function; solve a nonlinear optimization problem of the constrained dynamic motion transformation set to generate a clamping control parameter; an output unit configured to issue a control instruction to the positioning and clamping tool (2) to drive at least one of the following execution actions: an electric push rod of the telescopic assembly (235) to adjust a clamping distance, an electromagnet (2115) to control a vacuum chuck (212) to adhere to a workpiece curved surface, a vacuum generator (4) to start and stop, and an electronic valve (213) to turn on and off; wherein the method of transforming the dynamic motion transformation set into the constrained dynamic motion transformation set comprises: obtaining a dynamic motion transformation set associated with a workpiece clamping task, the dynamic motion transformation set comprising: a workpiece clamping point coincidence surface function representing an association between a clamping initial pose and a target pose; a constraint function obtained based on historical clamping data, containing a weight-adjustable parameter; transforming the dynamic motion transformation set into a constrained dynamic motion transformation set by defining a perturbation function, wherein the perturbation function is associated with a set of clamping operation constraints, and the clamping operation constraints comprise at least one of the following: a maximum contact stress constraint of the vacuum chuck (212) and the workpiece surface, a mechanical limit constraint of the telescopic stroke of the clamping assembly (21), and a pose coordination constraint of multi-chuck coordinated clamping; wherein the constraint function contains a weighted combination of radial basis functions, and the weights are obtained from historical clamping data by local weighted regression; the perturbation function is constructed by adding an obstacle function, which converts the clamping operation constraint into at least one differentiable mathematical representation, including: a contact area constraint function: associated with the opening area of the vacuum chuck (212) and the tangential coincidence area of the workpiece curved surface; a pose deviation constraint function: associated with the error between the real-time profile detected by the edge profile measurement assembly and the preset profile; where solving the nonlinear optimization problem comprises minimizing a norm of the perturbation function where, is a perturbation function component, representing a modification of the original trajectory by the i-th constraint; The norm Satisfying dynamic system constraints: ; wherein y is a vacuum chuck pose state, is a vacuum chuck motion velocity vector, is a vacuum chuck motion acceleration vector, g is a target pose, k2 is a convergence velocity coefficient, and k1 is a damping coefficient, is a constraint function based on historical motion data, x is a phase variable, is the disturbance function; The norm satisfying inequality constraints: , is the barrier function; wherein the clamping operation constraint is obtained in real time by a multi-modal perception system, including: a line structured light vision module to collect a three-dimensional profile of the workpiece; a six-axis force sensor to detect the contact stress of the vacuum chuck (212); an environment compensation sensor to monitor vibration and temperature drift error; The data processing module judges whether the real-time collected workpiece edge profile information is consistent with the preset workpiece edge profile information from the storage module (51), and if not, generates a first instruction for controlling the telescopic components to synchronously output or sequentially output in a set order until the actual measured workpiece edge profile information of the edge profile measuring assembly is consistent with the preset workpiece edge profile information; if so, a second instruction is generated for controlling all the telescopic components to maintain the current state; and / or, a contour line structure model is constructed according to the received workpiece shape profile information, and the number and clamping orientation angle of each clamping assembly (21) are associated in the contour line structure model to simulate training and calculate the tangential coincidence area of the vacuum chuck (212) on the workpiece shape profile, the tangential coincidence area being set as the contact area between the vacuum chuck (212) and the workpiece shape profile; meanwhile, the opening area of the vacuum chuck (212) of the corresponding number is called from the database and judged whether it is smaller than the calculated tangential coincidence area; If the opening area of the vacuum chuck (212) is smaller than the calculated tangential coincidence area, a third instruction is generated for controlling the telescopic pipe (211) of the corresponding clamping assembly (21) to output against the workpiece and the electronic valve (213) to be opened, while the vacuum generator (4) is started; If the opening area of the vacuum chuck (212) is smaller than or equal to the calculated tangential coincidence area, a fourth instruction is generated for controlling the telescopic pipe (211) of the corresponding clamping assembly (21) to output against the workpiece and the electronic valve (213) to be in a closed state; An instruction distribution module (54) connected to the data processing module (53), the self-adaptive adjusting unit (23) and the clamping assembly (21) is used to distribute the first instruction and the second instruction to the self-adaptive adjusting unit (23), and distribute the third instruction and the fourth instruction to the clamping assembly (21).

8. The embodied intelligent coordinate measuring device of claim 1, wherein, The measurement system (3) comprises: A fixed ring (31) is sleeved on the outer circumferential side of the clamping space, an installation groove (311) is formed on the inner circumferential side of the fixed ring (31), and a groove (312) is formed on the inner wall of the installation groove (311) away from the opening side thereof; A gear ring (32) is rotatably installed in the installation groove (311), and an installation portion is provided on the inner circumferential side of the gear ring (32) extending out of the installation groove (311); A gear (33) is installed in the groove (312) and meshes with the gear ring (32); A first motor (34) is installed on the fixed ring (31), and the output shaft of the first motor (34) penetrates the fixed ring (31) and is coaxially connected with the gear (33); An intelligent probe library (35) is arranged on the mounting portion, and the intelligent probe library (35) comprises one or more of an integrated contact trigger probe, a white light confocal probe and an ultrasonic thickness measurement module; An axial displacement mechanism (36) is arranged between the fixed ring (31) and the cabinet (1) and is used to drive the fixed ring (31) to move along the axial direction of the clamping space.

9. The embodied intelligent coordinate measuring device according to claim 8, wherein, The axial displacement mechanism (36) comprises: A plurality of guide columns (361) are arranged on the outer circumferential side of the clamping space, one end of the guide column (361) is mounted on the cabinet (1), and the other end extends above the fixed ring (31); A limiting block (362) is mounted on the outer circumference of the fixed ring (31), and the limiting block (362) is in sliding connection with the guide column (361); A lead screw (363) is arranged in parallel with the guide column (361), one end of the lead screw (363) penetrates through the fixed ring (31) and extends to the side close to the cabinet (1), and the lead screw (363) is in threaded connection with the fixed ring (31); A second motor (364) is mounted on the cabinet (1) or the lowermost positioning and clamping tooling (2), and the output shaft of the second motor (364) is connected with the end of the lead screw (363).

10. The embodied intelligent coordinate measuring device of claim 1, wherein, The positioning and clamping tooling (2) is configured with a single control mode and a parallel control mode; Single control mode: each group of clamping assemblies (21) is independently controlled; Parallel control mode: all the clamping assemblies (21) are connected to the control unit (5) after being associated according to a set control logic, and the control unit (5) dynamically adjusts the operating state of each group of clamping assemblies (21) based on the detection information of the measurement system (3).

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