Connecting mechanism folding gap digital measurement system based on robot automatic control

Abstract

The invention relates to a connecting mechanism folding gap digital measurement system based on robot automatic control, which comprises a workbench (1), a clamping mechanism, a data acquisition mechanism and a data measurement mechanism are arranged on the workbench (1), and a force clamping mechanism is further arranged beside the workbench (1); the data acquisition mechanism is in electric signal connection with the clamping mechanism, the data measurement mechanism and the force clamping mechanism; the device is used for automatically measuring the displacement generated by the gap of the connecting mechanism under the condition that the connecting mechanism is subjected to rated tension and thrust, and automatic data acquisition is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of digital measurement technology field based on the folding gap digital measurement system of connecting mechanism of robot automatic control. BACKGROUND

[0002] At present, connecting mechanism (such as air rudder) needs to be folded under the rated force Gap measurement, and manual testing method exists artificial force inaccuracy, gap measurement difficult problem, in order to improve measurement efficiency and accuracy, develop the digital measurement system based on the measurement connecting mechanism under the force generated gap size of robot automatic control. SUMMARY

[0003] The present application aims to provide a kind of digital measurement system based on the folding gap of connecting mechanism of robot automatic control, for the swing gap generated under the condition of rated tension and thrust of connecting mechanism, realize the automatic acquisition of data.

[0004] A kind of digital measurement system based on the folding gap of connecting mechanism of robot automatic control, including workbench 1, workbench 1 is provided with clamping mechanism, data acquisition mechanism and data measurement mechanism, workbench 1 is also provided with force holding mechanism;Data acquisition mechanism is respectively connected with clamping mechanism, data measurement mechanism and force holding mechanism respectively electric signal; When working, the connecting shaft 22 of connecting mechanism 200 is fixedly clamped in the clamping mechanism on workbench, the connecting mechanism surface 21 connected to the connecting shaft 22 is sequentially applied by force holding mechanism Set push force and tension, and the distance of connecting mechanism surface 21 deviating from original position is measured by data measurement mechanism when force is applied, and data acquisition mechanism stores the value of push force and tension and the distance value deviating from central position under the action of force of connecting mechanism surface 21, to be used for judging the performance of connecting mechanism 200.

[0005] Force holding mechanism includes robot 2, the end of robot 2 is provided with six-dimensional force sensor 3, and the end of six-dimensional force sensor 3 is connected with clamping jaw 5.

[0006] Clamping mechanism includes clamping cylinder 12, and the telescopic end of clamping cylinder 12 is opposite to the back edge of main square block 13;The bottom of main square block 13 is provided with main sliding block 14, main sliding block 14 is installed on main slide rail 15, main slide rail 15 is arranged on base 16 and parallel with the side edge of main square block 13, and base 16 is arranged on workbench 1; The side of the main square block 13 is fixedly connected with the straight waist of the main trapezoidal block 23, the oblique waist of the main trapezoidal block 23 is matched with the oblique waist of the slave trapezoidal block 25, and the straight waist of the slave trapezoidal block 25 is fixedly connected with one side of the slave square block 27; the slave square block 27 is provided with the slave sliding block 20 at the bottom, the slave sliding block 20 is installed on the slave sliding rail 19, the slave sliding rail 19 is arranged on the base 16 and is parallel to the rear edge of the slave square block 27; The other side of the slave square block 27 is fixedly connected with one side of the movable clamping block 26, the other side of the movable clamping block 26 is processed with a semicircular clamping groove 24, the movable clamping block 26 is matched with the fixed clamping block 6, and the fixed clamping block 6 is processed with a semicircular clamping groove 24 on the side opposite to the movable clamping block 26; the slave square block 27 is fixedly provided with a bolt, one end of the reset tension spring 10 is connected with the bolt; the other end of the reset tension spring 10 is connected with the fixed seat 11, and the fixed seat 11 is arranged on the workbench 1.

[0007] The data measurement mechanism comprises a bottom plate, a driving motor 9 is installed on the bottom plate, a driving shaft of the driving motor 9 is connected with a lead screw 7, the lead screw 7 is provided with a moving nut 8, the moving nut 8 is connected with a mounting frame 18, and the mounting frame 18 is provided with a contact type displacement sensor 17.

[0008] The data acquisition mechanism comprises a computer and a touch screen 4, and the computer is matched with a keyboard and a mouse.

[0009] The six-dimensional force sensor 3 is used for measuring the size of the applied thrust or pulling force, the clamping jaw 5 is used for contacting the product and applying the thrust or pulling force, the clamping mechanism is used for clamping and positioning the product, the displacement sensor is used for measuring the gap of the connecting mechanism under the condition of twice force application, and the data acquisition mechanism completes the acquisition and processing of the force and data.

[0010] The present application has the advantages that: The present application is used for automatically measuring the displacement of the gap of the connecting mechanism under the condition that the connecting mechanism is subjected to the rated pulling force and thrust force, and automatically acquiring the data. The robot in the present application is an execution mechanism for applying force, the six-dimensional force sensor is used for measuring the size of the applied thrust or pulling force, the clamping jaw is used for contacting the product and applying the thrust or pulling force, the clamping mechanism is used for clamping and positioning the product, the displacement sensor is used for measuring the displacement of the connecting mechanism surface due to the gap under the condition of twice force application, and the data acquisition mechanism completes the acquisition and processing of the force and displacement data. The rated thrust force is first applied on the connecting mechanism surface, the displacement sensor value is read, the rated pressure is then applied, the displacement sensor value is read again, and the difference between the two displacement sensor readings is the displacement due to the gap of the connecting mechanism surface. BRIEF DESCRIPTION OF DRAWINGS Figure 1 Fig. 1 is a structural schematic diagram of the present application.

[0011] Figure 2 1. This is a schematic diagram of the main structure of the present invention.

[0012] Figure 3 This is a schematic diagram showing the structural relationship between the clamping mechanism, data measurement mechanism, holding mechanism, and the connection mechanism to be measured in this invention.

[0013] Figure 4 The diagram shows the top view of the structural relationship between the clamping mechanism, data measurement mechanism, and force application mechanism of this invention.

[0014] Figure 5 Figure 1 is a schematic diagram showing the direction of force during the operation of this invention.

[0015] Figure 6 A schematic diagram of the structure of the connection mechanism 200 to be measured in this invention.

[0016] Figure 7 This is a flowchart of the workflow of the present invention.

[0017] In the diagram: 1 is the workbench, 2 is the robot, 3 is the six-dimensional force sensor, 4 is the touch screen, 5 is the gripper, 6 is the fixed clamping block, 7 is the lead screw, 8 is the moving nut, 9 is the drive motor, 10 is the reset spring, 11 is the fixed base, 12 is the clamping cylinder, 13 is the main square block, 14 is the main slider, 15 is the main slide rail, 16 is the base, 17 is the contact displacement sensor, 18 is the mounting bracket, 19 is the slave slide rail, 20 is the slave slider, 21 is the connecting mechanism surface, 22 is the connecting mechanism shaft, 23 is the main trapezoidal block, 24 is the semi-circular clamping groove, 25 is the slave trapezoidal block, 26 is the movable clamping block, and 27 is the slave square block. Detailed implementation method: A digital measurement system for folding gaps in a connecting mechanism based on robot automatic control includes a worktable, a clamping mechanism, a data acquisition mechanism, and a data measurement mechanism on the worktable, and a force-supporting mechanism is provided next to the worktable.

[0018] As a further improvement of the present invention, the force-applying mechanism includes a robot, the end of which is provided with a six-dimensional force sensor, and the end of the six-dimensional force sensor is connected to a gripper.

[0019] As a further improvement of the present invention, the clamping mechanism includes a clamping cylinder, the telescopic end of which faces the rear side of the main square block. A main slider is provided at the bottom of the main square block, and the main slider is mounted on a main slide rail. The main slide rail is set on a base and parallel to the side of the main square block. The base is set on a worktable. The side of the main square block is fixedly connected to the straight waist of the main trapezoidal block. The inclined waist of the main trapezoidal block fits against the inclined waist of the secondary trapezoidal block. The straight waist of the secondary trapezoidal block is fixedly connected to one side of the secondary square block. A secondary slider is provided at the bottom of the secondary square block and is mounted on a secondary slide rail. The secondary slide rail is set on the base and parallel to the rear side of the secondary square block. The other side of the secondary square block is fixedly connected to one side of the movable clamping block. A semi-circular clamping groove is machined on the other side of the movable clamping block. The movable clamping block is matched with a fixed clamping block. A semi-circular clamping groove is machined on the side of the fixed clamping block that faces the movable clamping block.

[0020] As a further improvement of the present invention, a pin is fixed to the front of the square block, and one end of a reset spring is connected to the pin. The other end of the reset spring is connected to a fixed seat, which is set on the workbench.

[0021] As a further improvement of the present invention, the force data measurement mechanism includes a base plate, on which a drive motor is mounted. The drive shaft of the drive motor is connected to a lead screw, and a movable nut is provided on the lead screw. The movable nut is connected to a mounting frame, and a contact displacement sensor is provided on the mounting frame.

[0022] As a further improvement of the present invention, the force data acquisition mechanism includes a touch screen, which is equipped with a keyboard and a mouse.

[0023] Example: A digital measurement system for folding gaps in a connecting mechanism based on robot automatic control includes a worktable 1, on which a clamping mechanism, a data acquisition mechanism, and a data measurement mechanism are provided, and a force-supporting mechanism is provided next to the worktable 1.

[0024] The force-applying mechanism includes a robot 2, and a six-dimensional force sensor 3 is installed at the end of the robot 2. The end of the six-dimensional force sensor 3 is connected to the gripper 5.

[0025] The clamping mechanism includes a clamping cylinder 12, the telescopic end of which faces the rear of the main square block 13. A main slider 14 is located at the bottom of the main square block 13 and is mounted on a main slide rail 15. The main slide rail 15 is mounted on a base 16 and parallel to the side of the main square block 13. The base 16 is mounted on a worktable 1. The side of the main square block 13 is fixedly connected to the straight waist of the main trapezoidal block 23. The inclined waist of the main trapezoidal block 23 fits against the inclined waist of the secondary trapezoidal block 25. The straight waist is fixedly connected to one side of the square block. A slider is provided at the bottom of the square block. The slider is mounted on the slide rail 19. The slide rail 19 is set on the base 16 and is parallel to the rear side of the square block. The other side of the square block is fixedly connected to one side of the movable clamping block 26. A semi-circular clamping groove 24 is machined on the other side of the movable clamping block 26. The movable clamping block 26 is matched with a fixed clamping block 6. A semi-circular clamping groove 24 is machined on the side of the fixed clamping block 6 opposite to the movable clamping block 26.

[0026] A pin is fixed to the front of the square block, and one end of a reset spring 10 is connected to the pin. The other end of the reset spring 10 is connected to a fixed seat 11, which is set on the workbench 1.

[0027] The data measurement mechanism includes a base plate, on which a drive motor 9 is mounted. The drive shaft of the drive motor 9 is connected to a lead screw 7. A movable nut 8 is provided on the lead screw 7. The movable nut 8 is connected to a mounting frame 18. A contact displacement sensor 17 is provided on the mounting frame 18.

[0028] The data acquisition mechanism includes a touchscreen 4, which is equipped with a keyboard and mouse.

[0029] In this invention, a six-dimensional force sensor 3 is used to measure the magnitude of the applied pushing or pulling force, a gripper 5 is used to contact the product and apply the pushing or pulling force, a clamping mechanism is used to clamp and position the product, a displacement sensor is used to measure the gap between the connecting mechanisms under two force application states, and a data acquisition mechanism completes the acquisition and processing of force and data.

[0030] The working process is explained in detail using the connecting mechanism surface 21 as an example.

[0031] First, the six-dimensional force sensor 3 and the gripper 5 are installed at the end of the robot 2. The connecting mechanism surface 21 is placed vertically, and the connecting mechanism shaft 22 at the bottom of the connecting mechanism surface 21 is inserted between the two semi-circular clamping slots 24. When the clamping cylinder 12 is activated, its telescopic end extends outward and contacts the rear side of the main square block 13, continuing to apply pressure. This causes the main square block 13 to move forward along the main slide rail 15 via the main slider 14. In this way, the main square block 13 will drive the main trapezoidal block 23 to move forward. Since the inclined waist of the main trapezoidal block 23 is in contact with the inclined waist of the secondary trapezoidal block 25, the main trapezoidal block 23 will apply a pushing force to the side of the secondary square block via the secondary trapezoidal block 25. The direction of this pushing force is perpendicular to the side of the secondary square block. Thus, the secondary square block will move towards the connecting mechanism surface 21 along the secondary slide rail 19 via the secondary slider. In this way, the semi-circular clamping groove 24 of the movable clamping block 26, which is fixedly connected to the secondary square block, will cooperate with the semi-circular clamping groove 24 of the fixed clamping block 6 to firmly clamp and fix the connecting mechanism shaft 22.

[0032] After the connecting mechanism shaft 22 is clamped and fixed, the robot 2 adjusts its posture to ensure that the z2 axis of the six-dimensional force sensor 3 is in the same direction as the y1 axis of the connecting mechanism surface 21. The robot 2 moves along the positive direction of the y1 axis of the connecting mechanism surface 21, applying a pushing force. The six-dimensional force sensor 3 collects data in real time. When the applied force reaches the rated force, the robot 2 stops moving. The drive motor 9 rotates, causing the lead screw 7 to rotate, which in turn drives the moving nut 8 to move along the lead screw 7 towards the connecting mechanism surface 21, compressing the displacement sensor probe by a certain displacement (greater than 5mm) and then stopping. The displacement sensor value is read at this time. Subsequently, the robot 2 moves in the opposite direction, applying a pulling force to the connecting mechanism surface 21. The displacement sensor value changes. When the pulling force reaches the required level, the displacement sensor reading is read again. The difference between the two readings is the measured value of the gap of the connecting mechanism surface 21.

[0033] After the test is completed, the extension end of the clamping cylinder retracts, so that the pushing force from the square block is no longer applied. At this time, the reset spring 10 is activated, pulling the square block back, thereby causing the movable clamping block 26 to disengage from the connecting mechanism shaft 22, making it easy to remove the connecting mechanism.

[0034] A digital measurement system for folding gaps in a connecting mechanism based on robot automatic control is characterized by including a worktable, a clamping mechanism, a data acquisition mechanism, and a data measurement mechanism on the worktable, and a force-supporting mechanism next to the worktable.

[0035] The force-applying mechanism includes a robot, with a six-dimensional force sensor at the end of the robot, and the end of the six-dimensional force sensor is connected to a gripper.

[0036] The clamping mechanism includes a clamping cylinder, the telescopic end of which faces the rear of the main square block. A main slider is provided at the bottom of the main square block and is mounted on a main slide rail. The main slide rail is mounted on a base and parallel to the side of the main square block. The base is mounted on a worktable. The side of the main square block is fixedly connected to the straight waist of the main trapezoidal block. The inclined waist of the main trapezoidal block fits against the inclined waist of the secondary trapezoidal block. The straight waist of the secondary trapezoidal block is fixedly connected to one side of the secondary square block. A secondary slider is provided at the bottom of the secondary square block and is mounted on a secondary slide rail. The secondary slide rail is mounted on the base and parallel to the rear of the secondary square block. The other side of the secondary square block is fixedly connected to one side of the movable clamping block. A semi-circular clamping groove is machined on the other side of the movable clamping block. The movable clamping block is matched with a fixed clamping block. A semi-circular clamping groove is machined on the side of the fixed clamping block that faces the movable clamping block.

[0037] A pin is fixed to the front of the square block, and one end of a reset spring is connected to the pin. The other end of the reset spring is connected to a fixed base, which is set on the workbench.

[0038] The data measurement mechanism includes a base plate, on which a drive motor is mounted. The drive shaft of the drive motor is connected to a lead screw. A movable nut is provided on the lead screw. The movable nut is connected to a mounting frame. A contact displacement sensor is provided on the mounting frame.

[0039] The data acquisition mechanism includes a touch screen, which is equipped with a keyboard and mouse.

[0040] The clamping mechanism is used for clamping and positioning the product. The force-applying mechanism uses a robot-controlled gripper to apply pushing or pulling force. A six-dimensional force sensor measures the magnitude of the applied pushing or pulling force, and a displacement sensor measures the displacement of the connecting mechanism due to the gap under two force application states. The data acquisition mechanism completes the acquisition and processing of force and displacement data.

Claims

1. A robot automatic control-based connecting mechanism folding gap digital measurement system, comprising a workbench (1), a clamping mechanism, a data acquisition mechanism and a data measurement mechanism being arranged on the workbench (1), and a force holding mechanism being arranged beside the workbench (1); the data acquisition mechanism is electrically connected with the clamping mechanism, the data measurement mechanism and the force holding mechanism respectively; In operation, the connecting shaft (22) of the connecting mechanism (200) to be measured is fixedly clamped in the clamping mechanism on the workbench, the connecting mechanism surface (21) connected with the connecting shaft (22) is sequentially subjected to a set pushing force and a set pulling force by the force holding mechanism, and the distance of the connecting mechanism surface (21) from the original position when the force is applied is measured by the data measurement mechanism; the data acquisition mechanism acquires and stores the values of the pushing force and the pulling force and the distance of the connecting mechanism surface (21) from the central position under the action of the force, so as to judge the performance and quality of the connecting mechanism (200).

2. The system according to claim 1, wherein the system is characterized in that, The force holding mechanism comprises a robot (2), the end of the robot (2) is provided with a six-dimensional force sensor (3), and the end of the six-dimensional force sensor (3) is connected with a clamping jaw (5).

3. The robot automatic control-based connecting mechanism folding gap digital measurement system according to claim 1 or 2, characterized in that the clamping mechanism comprises a clamping cylinder (12), the extension end of the clamping cylinder (12) is opposite to the rear edge of a main square block (13); the bottom of the main square block (13) is provided with a main sliding block (14), the main sliding block (14) is installed on a main sliding rail (15), the main sliding rail (15) is arranged on a base (16) and is parallel to the side edge of the main square block (13), and the base (16) is arranged on the workbench (1); the side edge of the main square block (13) is fixedly connected with the straight waist of a main trapezoidal block (23), the oblique waist of the main trapezoidal block (23) is attached to the oblique waist of a slave trapezoidal block (25), and the straight waist of the slave trapezoidal block (25) is fixedly connected with one side edge of a slave square block (27); the bottom of the slave square block (27) is provided with a slave sliding block (20), the slave sliding block (20) is installed on a slave sliding rail (19), the slave sliding rail (19) is arranged on the base (16) and is parallel to the rear edge of the slave square block (27); the other side edge of the slave square block (27) is fixedly connected with one side edge of a movable clamping block (26), the other side edge of the movable clamping block (26) is processed with a semicircular clamping groove (24), the movable clamping block (26) is matched with a fixed clamping block (6), the side edge of the fixed clamping block (6) opposite to the movable clamping block (26) is processed with a semicircular clamping groove (24); a latch is fixedly arranged on the front edge of the slave square block (27), one end of the latch is connected with a return tension spring (10), the other end of the return tension spring (10) is connected with a fixing base (11), and the fixing base (11) is arranged on the workbench (1).

4. The system according to claim 1 or 2 or 3, characterized in that, The data measurement mechanism comprises a bottom plate, a driving motor (9) is installed on the bottom plate, the driving shaft of the driving motor (9) is connected with a lead screw (7), the lead screw (7) is provided with a moving nut (8), the moving nut (8) is connected with a mounting bracket (18), and the mounting bracket (18) is provided with a contact type displacement sensor (17).

5. The system for digital measurement of the folding gap of a connecting mechanism according to claim 1 or 2 or 3 or 4, characterized in that, The data acquisition mechanism comprises a computer and a touch screen (4), and the computer is also equipped with a keyboard and a mouse.

6. The system for digital measurement of the folding gap of a connecting mechanism based on automatic control of a robot according to claim 2, characterized in that the six-dimensional force sensor (3) is used to measure the magnitude of the applied pushing or pulling force, the clamping jaw (5) is used to contact the product and apply the pushing or pulling force, the clamping mechanism is used for clamping and positioning the product, the displacement sensor is used to measure the gap of the connecting mechanism in the two force application states, and the data acquisition mechanism is used to complete the acquisition and processing of the force and data.

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