Large-size complex molded surface workpiece measuring device

Abstract

The utility model relates to the technical field of workpiece measurement, in particular to a large-size complex-profile workpiece measuring device, which comprises a moving trolley, the moving trolley is guided to move through a guide rail arranged on the ground, a central control system is arranged in the moving trolley, one side of the moving trolley is provided with a vertical column, and the other side of the moving trolley is provided with a vertical column. A cross beam vertically slides on the stand column, a robot base horizontally slides on the cross beam, a multi-joint robot is arranged on the robot base, and the end of the multi-joint robot is connected with a tracking type three-dimensional scanning system. The tracking type three-dimensional scanning system is used for collecting graphic information of all parts of the surface of a workpiece and transmitting the graphic information to the central control system, and the central control system carries out splicing processing on the collected graphic information to form complete workpiece graphic information.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece measurement, and particularly relates to a measurement device for large-size complex-shaped workpieces. Background Art

[0002] Under the existing technology, in order to meet the development needs of large mining height and high-end hydraulic support manufacturing in the structural parts workshop, for the inspection and detection of sheet metal workpieces with complex shapes and large sizes and weights, a photogrammetry system is generally used for data collection. This measurement method can adapt to the measurement of various large-size complex-shaped workpieces.

[0003] However, in the use of the current photogrammetry system, it needs to be held by workers. Not only is the measurement labor-intensive, but also due to the instability of manual measurement, it may affect the calculation in the later data processing. And for large workpieces, there is also the problem that the coverage of manual data collection is not large enough. Summary of the Invention

[0004] In order to solve the problems of the existing technology, the utility model provides a measurement device for large-size complex-shaped workpieces, which can not only achieve accurate, efficient and automated measurement, but also greatly shorten the inspection planning and inspection efficiency, reduce the manual input, and improve the information processing efficiency of the inspection results.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A measurement device for large-size complex-shaped workpieces includes a mobile trolley. The mobile trolley is guided to move through a guiding track arranged on the ground. A central control system is arranged in the mobile trolley. A column is arranged on one side of the mobile trolley. A cross beam slides vertically on the column. A robot base slides horizontally on the cross beam. A multi-joint robot is arranged on the robot base. A tracking three-dimensional scanning system is connected to the end of the multi-joint robot.

[0007] Preferably, the guiding track is a magnetic tape guiding track. The mobile trolley remotely measures the magnetic tape guiding track through a magnetic position sensor arranged at the bottom, and transmits the direction of the collected magnetic tape guiding track to the central control system. The central control system controls the driving mechanism of the mobile trolley to drive the wheels to move.

[0008] Preferably, a first rotating shaft is arranged on the robot base. The root of the multi-joint robot is rotatably connected to the first rotating shaft to realize the overall rotation of the entire multi-joint robot.

[0009] Preferably, the multi-joint robot includes a first joint, a second joint, a third joint, a fourth joint and a fifth joint. The bottom of the first joint is rotatably connected to the first rotating shaft of the robot base. The top side of the first joint is connected to the bottom side of the second joint through a second rotating shaft. The top side of the second joint is connected to the side of the third joint through a third rotating shaft. The top of the third joint is rotatably connected to the bottom of the fourth joint through a fourth rotating shaft. The top side of the fourth joint is connected to the side of the fifth joint through a fifth rotating shaft. The top of the fifth joint is rotatably connected to the tracking three-dimensional scanning system.

[0010] Preferably, the central control system includes a main control chip, and the main control chip is electrically connected to a storage battery and a charging module, an information calculation and processing module, a walking driving module, a column rotation module, a crossbeam lifting driving module, a multi-joint robot driving module and a tracking three-dimensional scanning system control module respectively.

[0011] A method for measuring a large-size complex surface workpiece includes the following steps:

[0012] A. Lay a magnetic strip track around the workpiece to be measured with a large-size complex surface, and arrange a mobile trolley above the magnetic strip track;

[0013] B. According to the set traveling speed, the walking driving module controls the driving mechanism to drive the wheels to move the mobile trolley;

[0014] C. During the movement of the mobile trolley, under the drive of the column rotation module and the crossbeam lifting driving module, the multi-joint robot controls the column to rotate and the crossbeam to move up and down, and drives the multi-joint robot to move horizontally to reach the best position and angle for measuring the workpiece;

[0015] D. The five joints of the multi-joint robot drive the tracking three-dimensional scanning system control module at the end to reach different positions on the surface of the workpiece, and collect graphic information of each part of the surface;

[0016] E. The tracking three-dimensional scanning system control module feeds back the collected graphics to the central control system, and the information calculation and processing module of the central control system performs data splicing, so as to splice multiple scattered workpiece parts into a whole workpiece and output relevant data.

[0017] The beneficial effects brought by the technical solution provided by the present invention are:

[0018] 1. Drive the tracking three-dimensional scanning system to move through the mobile trolley, and use the multi-joint robot to place the tracking three-dimensional scanning system in any direction of the workpiece to be measured, and comprehensively collect graphic information on the surface of the workpiece to be measured in multiple directions, avoiding the disadvantages of manually holding and collecting information in the prior art.

[0019] 2. The mobile trolley is guided by a magnetic tape guiding track, which can adapt to various sites. According to the size and shape of the workpiece to be measured, it has the characteristics of a wide range of applications.

[0020] 3. The multi-joint robot uses five joints and can realize multi-angle rotation and movement of the entire arm. Therefore, it can achieve precise positioning of the tracking three-dimensional scanning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a three-dimensional view of the overall structure of a measuring device for large-sized complex-shaped workpieces of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the drawings. Embodiment 1

[0024] As shown in the attached Figure 1 figures, a measuring device for large-sized complex-shaped workpieces in this embodiment includes a mobile trolley 1. The mobile trolley 1 is guided by a guiding track 7 provided on the ground. A central control system 8 is arranged inside the mobile trolley 1. A column 2 is arranged on one side of the mobile trolley 1. A cross beam 3 slides vertically on the column 2. A robot base 4 slides horizontally on the cross beam 3. A multi-joint robot 5 is arranged on the robot base 4. The end of the multi-joint robot 5 is connected with a tracking three-dimensional scanning system 6. The tracking three-dimensional scanning system 6 is used to collect graphic information of each part of the workpiece surface and transmit the graphic information to the central control system. The central control system splices and processes the collected graphic information to form complete workpiece graphic information.

[0025] The guiding track 7 is a magnetic tape guiding track. The mobile trolley 1 remotely measures the magnetic tape guiding track through a magnetic position sensor arranged at the bottom and transmits the direction of the collected magnetic tape guiding track to the central control system. The central control system controls the driving mechanism of the mobile trolley to drive the wheels to move.

[0026] A first rotating shaft 41 is arranged on the robot base 4 in this embodiment. The root of the multi-joint robot 5 is rotatably connected to the first rotating shaft 41 to realize the overall rotation of the entire multi-joint robot 5.

[0027] The multi-joint robot 5 of this embodiment includes a first joint 51, a second joint 52, a third joint 53, a fourth joint 54 and a fifth joint 55. The bottom of the first joint 51 is rotatably connected to the first rotating shaft 41 of the robot base. The top side of the first joint 51 is connected to the bottom side of the second joint 52 through a second rotating shaft 56. The top side of the second joint 52 is connected to the side of the third joint 53 through a third rotating shaft 57. The top of the third joint 53 is rotatably connected to the bottom of the fourth joint 54 through a fourth rotating shaft 58. The top side of the fourth joint 54 is connected to the side of the fifth joint 55 through a fifth rotating shaft 59. The top of the fifth joint 55 is rotatably connected to the tracking three-dimensional scanning system 6.

[0028] The central control system includes a main control chip, and the main control chip is electrically connected to a storage battery and a charging module, an information calculation and processing module, a walking driving module, a column rotation module, a crossbeam lifting driving module, a multi-joint robot driving module and a tracking three-dimensional scanning system control module respectively. Embodiment 2

[0029] This embodiment provides a method for measuring large-size complex-shaped workpieces, including the following steps:

[0030] A. Lay a magnetic strip track around the workpiece to be measured with a large-size complex shape, and arrange a mobile trolley above the magnetic strip track;

[0031] B. According to the set traveling speed, the walking driving module controls the driving mechanism to drive the wheels of the mobile trolley to move.

[0032] C. During the movement of the mobile trolley, under the drive of the column rotation module and the crossbeam lifting driving module, the multi-joint robot controls the rotation of the column and the up and down movement of the crossbeam, and drives the multi-joint robot to move horizontally to reach the best position and angle for measuring the workpiece.

[0033] D. The five joints of the multi-joint robot drive the tracking three-dimensional scanning system control module at the end to reach different positions on the surface of the workpiece, and collect graphic information of each part of the surface.

[0034] E. The tracking three-dimensional scanning system control module feeds back the collected graphics to the central control system, and the information calculation and processing module of the central control system performs data splicing, so as to splice multiple scattered workpiece parts into an integral workpiece and output relevant data.

[0035] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A large-size complex-surface workpiece measuring device, comprising a moving trolley, wherein the moving trolley is guided and moved by a guide track arranged on the ground, characterized in that: A central control system is arranged in the mobile cart, a column is arranged on one side of the mobile cart, a crossbeam slides vertically on the column, a robot base slides horizontally on the crossbeam, a multi-joint robot is arranged on the robot base, and a tracking three-dimensional scanning system is connected to the end of the multi-joint robot.

2. According to claim 1, a large-size complex surface workpiece measuring device is characterized in that: The guide track is a magnetic tape guide track. The mobile trolley remotely measures the magnetic tape guide track through a magnetic position sensor arranged at the bottom, and transmits the direction of the collected magnetic tape guide track to the central control system. The central control system controls the driving mechanism of the mobile trolley to drive the wheels to move.

3. According to claim 1, a large-size complex surface workpiece measuring device is characterized in that: A first rotating shaft is arranged on the robot base, and the first rotating shaft is rotationally connected to the root of the multi-joint robot to realize the overall rotation of the whole multi-joint robot.

4. A large-size complex-surface workpiece measuring device according to claim 1, characterized in that: The multi-joint robot includes a first joint, a second joint, a third joint, a fourth joint and a fifth joint. The bottom of the first joint is rotated on the first rotating shaft of the robot base, the top side of the first joint is connected to the bottom side of the second joint through the second rotating shaft, the top side of the second joint is connected to the side of the third joint through the third rotating shaft, the top of the third joint is rotated to the bottom of the fourth joint through the fourth rotating shaft, the top side of the fourth joint is connected to the side of the fifth joint through the fifth rotating shaft, and the top of the fifth joint is rotated to the tracking three-dimensional scanning system.

5. The large-size complex-surface workpiece measuring device according to claim 1 is characterized in that: The central control system includes a main control chip, which is electrically connected to a battery and a charging module, an information calculation and processing module, a walking drive module, a column rotation module, a beam lifting drive module, a multi-joint robot drive module and a tracking three-dimensional scanning system control module.

Images