Height-adjustable multi-station measuring device

Abstract

The utility model discloses a height-adjustable multi-station measuring device, which comprises a base and a 3D displacement measuring device detachably arranged on the base, and further comprises a heightening table and a multi-station base, the heightening table comprises a base and a stand column fixed on the base, the base is fixed on the stand column, and the base is fixed on the stand column. The base is detachably arranged on the multi-station base; the multi-station base comprises a plurality of clamping positions, each clamping position comprises a first positioning assembly and a first clamping assembly, the base and the multi-station base are positioned through the first positioning assemblies, and the multi-station base detachably fastens the base through the first clamping assemblies. According to the height-adjustable multi-station measuring device provided by the utility model, the 3D displacement measuring device can meet the requirements of different installation heights, and the height-adjustable multi-station measuring device is convenient and fast to install and disassemble, time-saving, labor-saving and high in positioning precision.

Description

Technical Field

[0001] The utility model relates to the field of measuring instruments, in particular to a multi-station measuring device with adjustable height. Background Art

[0002] At present, laser trackers and other measuring devices are usually used for calibrating and measuring robots. Such devices usually have a measuring accuracy of micrometers, so the calibration accuracy is very high. However, such devices are usually very expensive. At the same time, in some production sites, since guardrails are provided outside the robots, an open calibration environment cannot be provided, and it is very easy to have the situation of line of sight occlusion. The robot needs to be disassembled and transported to an open environment for calibration, which will greatly limit its application.

[0003] Chinese invention patent CN 202110278848.0 discloses a robot calibration device based on multi-station measurement. The calibration device of the present application can quickly calibrate the robot at the industrial site at any time. However, after the multi-station base of the above invention is made, it is impossible to further increase the measurement stations to improve the diversity of the measurement configuration, which affects the overall measurement accuracy of the calibration and measurement device. Therefore, measures need to be taken to make up for the deficiencies of the prior art. Summary of the Utility Model

[0004] In order to solve the above technical problems, one of the purposes of the utility model is to provide a multi-station measuring device with adjustable height, the 3D displacement measuring device of which can meet the requirements of different installation heights, is convenient and fast to install and disassemble, saves time and effort, and has high positioning accuracy.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A multi-station measuring device with adjustable height includes a base and a 3D displacement measuring device detachably installed on the base, and further includes a heightening platform and a multi-station base; the heightening platform includes a base and a column fixed on the base, the base is fixed on the column, and the base is detachably installed on the multi-station base; the multi-station base includes a plurality of clamping positions, each clamping position includes a first positioning component and a first clamping component, the base and the multi-station base are positioned through the first positioning component, and the multi-station base detachably fastens the base through the first clamping component.

[0007] Preferably, the first clamping component is one or a combination of a clamp, a threaded fastener or a buckle.

[0008] Preferably, when the first clamping component is a clamp, a buffer structure is provided on the clamping part of the clamp; the buffer structure is one or a combination of a rubber head and a rubber gasket.

[0009] Preferably, the column is of a hollow cylindrical structure or a hollow square structure, and a clamping notch is provided on the column. The clamping notch is a square notch or an arched notch extending upward from the bottom plane of the column. The column is provided with a telescopic structure capable of adjusting the height, or is provided with multiple groups of height increasing platforms, and the heights of the columns of different height increasing platforms are different.

[0010] Preferably, when the column is provided with a telescopic structure capable of adjusting the height, the column includes a first column, a second column and a locking structure. The first column and the second column can adjust their relative vertical positions, and the locking structure is used to fix and lock their relative positions, so as to realize the adjustment of the column height and meet the requirements of different installation heights. The locking structure is a caliper structure or a threaded locking structure.

[0011] Preferably, the first positioning component includes a male positioning component and a female positioning component. The male positioning component or the female positioning component is provided on the lower end surface of the base, and the female positioning component or the male positioning component is provided on the upper end surface of the corresponding multi-station base. The male positioning component and the female positioning component cooperate with each other to realize the rapid and high-precision positioning of the base and the multi-station base. The male positioning component is a positioning pin or a positioning ball arranged in a triangle, and the female positioning component is a double positioning pin or a double positioning ball or a V-shaped block arranged in a triangle.

[0012] Preferably, when the male positioning component is a positioning pin arranged in a triangle, the cylindrical surface or the conical surface of each positioning pin protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the axis of each positioning pin faces the center of the triangle arrangement;

[0013] When the male positioning component is a positioning ball arranged in a triangle, the spherical surface of each positioning ball protrudes from the lower end surface of the base or the upper end surface of the multi-station base;

[0014] When the female positioning component is a double positioning pin arranged in a triangle, it includes three groups of double positioning pins. Each group of double positioning pins is two positioning pins arranged at intervals. The cylindrical surface or the conical surface of each positioning pin protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the axes of the two positioning pins in each group of double positioning pins face the center of the triangle arrangement;

[0015] When the female positioning component is a double positioning ball arranged in a triangle, it includes three groups of double positioning balls. Each group of double positioning balls is two positioning balls arranged at intervals. The spherical surface of each positioning ball protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the perpendicular bisector of the line connecting the centers of the two positioning balls in each group of double positioning balls faces the center of the triangle arrangement;

[0016] When the female positioning component is a V-shaped block arranged in a triangle, it includes three V-shaped blocks, and the V-shaped groove direction of each V-shaped block faces the center of the triangle arrangement.

[0017] Preferably, the multi-station base includes a large base provided with a plurality of clamping positions, each clamping position including a first positioning component and a first clamping component; or the multi-station base includes a plurality of small bases fixed on the ground or the workbench, each small base being provided with a clamping position, and each clamping position including a first positioning component and a first clamping component.

[0018] Preferably, the 3D displacement measuring device is also detachably mounted on the base through a second positioning component and a second clamping component. The second positioning component has the same structure as the first positioning component, and the second clamping component has the same structure as the first clamping component. When the 3D displacement measuring device is directly connected to the multi-station base, rapid positioning between the 3D displacement measuring device and the multi-station base is achieved through the second positioning component, and the multi-station base detachably fastens the 3D displacement measuring device through the second clamping component.

[0019] Preferably, the 3D displacement measuring device includes a calibration base (21), a calibration connecting seat, a sensor fixing seat, and a displacement sensor connected in sequence from bottom to top; the displacement measurement axis of the displacement sensor forms an angle of 0 - 90° with the horizontal plane. There are at least three displacement sensors fixedly installed on the sensor fixing seat perpendicularly to each other, and the displacement sensor is a contact type displacement sensor or a laser non-contact type displacement sensor.

[0020] The utility model has the following beneficial effects due to the adoption of the above technical solutions:

[0021] The 3D displacement measuring device of the utility model is detachably mounted on the base, and the base is fixed on the height increasing platform; the height increasing platform includes a base and a column fixed on the base, and the base is detachably mounted on the multi-station base; the multi-station base is provided with a plurality of clamping positions, each clamping position including a positioning component and a clamping component. The base and the multi-station base are positioned through the positioning component, and the base is detachably fastened through the clamping component. Thus, the height increasing platform and the 3D displacement measuring device can be quickly and detachably fastened to different preset positions together, with convenient and fast installation and disassembly, time and labor saving, and high positioning accuracy. Moreover, since the second positioning component has the same structure as the first positioning component, and the second clamping component has the same structure as the first clamping component, the 3D displacement measuring device can also be directly and quickly positioned with high precision with the multi-station base, so it does not affect the use of the original measurement stations.

[0022] The utility model can quickly clamp or disassemble the 3D displacement measuring device at a corresponding position according to different calibration or measurement sites. The column is a telescopic structure or is provided with multiple heightening platforms of different heights, and can meet the requirements of different installation heights of the 3D displacement measuring device, and can be applied to the calibration and measurement of robots in a variety of different sites, ensuring the convenience and accuracy of calibration or measurement. Brief Description of the Drawings

[0023] Figure 1 is one of the structural schematic diagrams of the utility model;

[0024] Figure 2 is the second structural schematic diagram of the utility model;

[0025] Figure 3 is the structural schematic diagram when the utility model is in use;

[0026] Figure 4 is Figure 3 the left view of;

[0027] Figure 5 is Figure 4 the enlarged schematic diagram at A in;

[0028] Figure 6 is Figure 3 the right view of;

[0029] Figure 7 is Figure 6 the enlarged schematic diagram at B in. Detailed Embodiment

[0030] The following details the embodiments of the utility model. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the utility model and should not be construed as limiting the utility model.

[0031] In the utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0032] Embodiment 1, as Figures 1 to 7As shown in the figure, a highly adjustable multi-station measuring device includes a base 1 and a 3D displacement measuring device 2 detachably mounted on the base.

[0033] It further includes a heightening platform and a multi-station base 5. The heightening platform includes a base 3 and a column 4 fixed on the base. The base is fixed on the column, and the base is detachably mounted on the multi-station base 5; there are multiple clamping positions on the multi-station base, and each clamping position includes a first positioning component and a first clamping component. The base and the multi-station base are positioned through the first positioning component, and the multi-station base detachably fastens the base through the first clamping component.

[0034] The first clamping component is one or a combination of a clamp, a threaded fastener, or a buckle. In this embodiment, there are five clamping positions on the multi-station base for installing the 3D displacement measuring device to collect calibration data. For large robots, the multi-station base 5 can be composed of multiple single-station templates. All single-station templates are fixed near the robot (such as on the ground or workbench). A first clamping component can be fixed at each clamping position on each single-station template, so as to facilitate the installation or disassembly of the heightening platform at different stations, which is convenient and fast.

[0035] When the first clamping component is a clamp, a buffer structure is provided on the clamping part of the clamp; the buffer structure is one or a combination of a rubber head and a rubber gasket.

[0036] The first positioning component includes a male positioning component and a female positioning component. A male positioning component or a female positioning component is provided on the lower end surface of the base, and a female positioning component or a male positioning component is provided on the upper end surface of the corresponding multi-station base. The male positioning component and the female positioning component cooperate with each other to achieve rapid and high-precision positioning of the base and the multi-station base. The male positioning component is a positioning pin or a positioning ball arranged in a triangle, and the female positioning component is a double positioning pin or a double positioning ball or a V-shaped block arranged in a triangle.

[0037] When the male positioning component is a positioning pin arranged in a triangle, the cylindrical surface or conical surface of each positioning pin protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the axes of the positioning pins face the center of the triangle arrangement;

[0038] When the male positioning component is a positioning ball arranged in a triangle, the spherical surface of each positioning ball protrudes from the lower end surface of the base or the upper end surface of the multi-station base;

[0039] When the female positioning component is a double positioning pin arranged in a triangle, it includes three groups of double positioning pins. Each group of double positioning pins is two positioning pins arranged at intervals. The cylindrical surface or conical surface of each positioning pin protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the axes of the two positioning pins in each group of double positioning pins face the center of the triangle arrangement;

[0040] When the female positioning component is a double positioning pin arranged in a triangle, it includes three groups of double positioning pins. Each group of double positioning pins is two positioning pins arranged at intervals. The cylindrical surface or conical surface of each positioning pin protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the axes of the two positioning pins in each group of double positioning pins face the center of the triangle arrangement;

[0041] When the female positioning component is a double positioning ball arranged in a triangle, it includes three groups of double positioning balls. Each group of double positioning balls consists of two positioning balls arranged at intervals. The spherical surfaces of the positioning balls protrude from the lower end surface of the base or the upper end surface of the multi-station base. The perpendicular bisector of the line connecting the centers of the two positioning balls in each group of double positioning balls faces the center of the triangular arrangement.

[0042] When the female positioning component is a V-block arranged in a triangle, it includes three V-blocks, and the direction of the V-groove of each V-block faces the center of the triangular arrangement.

[0043] In this embodiment, a first male positioning component 6 is provided on the lower end surface of the base 3. The first male positioning component is a positioning pin arranged in a triangle. A first female positioning component 7 is provided on the upper end surface of the multi-station base 5. The first female positioning component is a double positioning ball arranged in a triangle, that is, a positioning hole capable of clamping the positioning pin is formed between the two positioning balls. Each group of positioning balls is embedded on the multi-station base 5. The three groups of positioning pins form a triangular structure, and each group of positioning pins can be embedded in the corresponding positioning hole and tangent to each positioning ball to form a positioning point. After the three positioning pins are respectively placed and positioned at the corresponding points of the double positioning balls arranged in a triangle on the multi-station base 5, the base 3 is positioned. Thus, the base 3 can be quickly placed at different positions on the pre-set multi-station base 5 through this positioning principle and achieve rapid and high-precision positioning.

[0044] The column is of a hollow cylindrical structure or a hollow square structure. When the clamping component is a clamp 8, a clamping slot 9 is provided on the column. The clamping slot is a square slot or an arched slot extending upward from the bottom plane of the column, which facilitates the clamping part of the clamp to extend from the clamping slot to fasten the base on the multi-station base. The clamping part of the clamp is provided with a rubber head structure. The clamp enables the user to quickly press or disassemble the 3D displacement measuring device at different clamping positions (the time-consuming is less than 15 seconds), and the pressing force is kept fixed each time (the clamping force can reach 200N, which is determined by the installation height of the clamp and the extrusion deformation amount of the rubber head of the clamp). Therefore, even if the 3D displacement measuring device undergoes a small elastic deformation during the pressing process, it can ensure that the deformation amount is a constant value, thereby improving the repeated clamping and positioning accuracy.

[0045] The column is provided with a telescopic structure capable of adjusting the height, or is provided with multiple groups of heightening platforms, and the heights of the columns of different heightening platforms are different.

[0046] When the column is provided with a telescopic structure (not shown in the figure) capable of adjusting the height, the column includes a first column, a second column and a locking structure. The first column and the second column can adjust their relative vertical positions, and the locking structure is used to fix and lock their relative positions, so as to adjust the height of the column to meet the requirements of different installation heights. The locking structure is a caliper structure or a threaded locking structure. Or the column is a non-telescopic structure, but is provided with multiple sets of heightening platforms. The heights of the columns of different heightening platforms are different, and different heightening platforms are selected to meet the requirements of different installation heights.

[0047] As Figures 3 to 7 shown, the 3D displacement measurement device is detachably installed on the base through the second positioning component and the second clamping component 10. The structures of the second positioning component and the first positioning component are the same, and the structures of the second clamping component and the first clamping component are the same. When the 3D displacement measurement device is directly connected to the multi-station base, the 3D displacement measurement device and the multi-station base are quickly positioned through the second positioning component, and the multi-station base detachably fastens the 3D displacement measurement device through the second clamping component.

[0048] The second clamping component is one or a combination of a clamp, a threaded fastener or a buckle. In this embodiment, the second clamping component is also a clamp.

[0049] The 3D displacement measurement device 2 includes a calibration base 21, a calibration connection base 22, a sensor fixing base 23 and a displacement sensor 24 connected in sequence from bottom to top; the displacement measurement axis of the displacement sensor forms an angle of 0-90° with the horizontal plane, and there are at least three displacement sensors fixedly installed on the sensor fixing base vertically. The displacement sensor is a contact displacement sensor or a laser non-contact displacement sensor.

[0050] In this embodiment, a second male positioning component 12 is provided on the lower end surface of the calibration base 21 of the 3D displacement measurement device. The second male positioning component is a positioning pin arranged in a triangle. A second female positioning component 11 is provided on the upper end surface of the base 1. The second female positioning component 11 is a double positioning ball arranged in a triangle, that is, a positioning hole capable of clamping the positioning pin is formed between two positioning balls. Each group of positioning balls is embedded on the base 1, and the three groups of positioning pins are in a triangular structure. Each group of positioning pins can be embedded in the corresponding positioning hole and tangent to each positioning ball to form a positioning point. After the three positioning pins are respectively placed and positioned at the points of the double positioning balls arranged in a triangle on the base 1, the 3D displacement measurement device is positioned.

[0051] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Without departing from the principles and spirit of the present invention, those of ordinary skill in the art can make changes, modifications, substitutions, variations, delete some features, add features or re-combine features to form technical solutions within the scope of the present invention. Any simple modification, equivalent change and modification made to the above embodiments based on the innovative principles of the present invention still fall within the scope of the technical solutions of the present invention.

Claims

1. A height-adjustable multi-station measuring device, comprising a base (1) and a 3D displacement measuring device (2) detachably mounted on the base, characterized in that: It also includes a raised platform and a multi-station base (5), wherein the raised platform includes a base (3) and a column (4) fixed on the base, wherein the base is fixed on the column, and the base is detachably mounted on the multi-station base (5); the multi-station base includes a plurality of clamping positions, each clamping position includes a first positioning assembly and a first clamping assembly, the base and the multi-station base are positioned by the first positioning assembly, and the multi-station base is detachably fastened to the base by the first clamping assembly.

2. A height-adjustable multi-station measuring device according to claim 1, characterized in that: The first clamping component is one or a combination of a clamp, a threaded fastener or a buckle.

3. The height-adjustable multi-station measuring device according to claim 2, characterized in that: When the first clamping assembly is a clamp, a buffer structure is provided on the clamping portion of the clamp; the buffer structure is one or a combination of a rubber head and a rubber gasket.

4. The height-adjustable multi-station measuring device according to claim 1, characterized in that: The column is a hollow cylindrical structure or a hollow square structure, and is provided with a clamping notch (9), which is a square notch or an arched notch extending upward from the bottom plane of the column; the column is provided with a retractable structure capable of adjusting the height, or is provided with a plurality of groups of heightening platforms, and the heights of the columns of different heightening platforms are different.

5. The height-adjustable multi-station measuring device according to claim 4, characterized in that: When the column is provided with a retractable structure capable of adjusting the height, the column comprises a first column, a second column and a locking structure. The first column and the second column can adjust their upper and lower relative positions, and the relative positions thereof can be fixedly locked by the locking structure to adjust the height of the column, thereby meeting the requirements of different installation heights. The locking structure is a caliper structure or a threaded locking structure.

6. The height-adjustable multi-station measuring device according to claim 1, characterized in that: The first positioning component includes a male positioning component and a female positioning component. The lower end surface of the base is provided with a male positioning component or a female positioning component, and the corresponding upper end surface of the multi-station base is provided with a female positioning component or a male positioning component. The male positioning component and the female positioning component cooperate with each other to realize fast and high-precision positioning of the base and the multi-station base. The male positioning component is a triangularly arranged positioning pin or positioning ball, and the female positioning component is a triangularly arranged double positioning pin or double positioning ball or V-block.

7. The height-adjustable multi-station measuring device according to claim 6, characterized in that: When the male positioning assembly is a triangularly arranged positioning pin, the cylindrical surface or conical surface of each positioning pin protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the axis of each positioning pin faces the center of the triangular arrangement; When the male positioning assembly is a positioning ball arranged in a triangle, the spherical surface of each positioning ball protrudes from the lower end surface of the base or the upper end surface of the multi-station base; When the female positioning assembly is a double positioning pin arranged in a triangular pattern, it includes three groups of double positioning pins, each group of double positioning pins includes two positioning pins arranged at intervals, the cylindrical surface or conical surface of each positioning pin protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the axes of the two positioning pins in each group of double positioning pins face the center of the triangular pattern; When the female positioning assembly is a double positioning ball arranged in a triangle, it includes three groups of double positioning balls, each group of double positioning balls includes two positioning balls arranged at intervals, the spherical surface of each positioning ball protrudes from the lower end surface of the base or the upper end surface of the multi-station base, and the perpendicular midline of the line connecting the centers of the two positioning balls in each group of double positioning balls faces the center of the triangle arrangement; When the female positioning assembly is a V-shaped block arranged in a triangle, it includes three V-shaped blocks, and the V-shaped groove of each V-shaped block is oriented toward the center of the triangle arrangement.

8. The height-adjustable multi-station measuring device according to claim 1, characterized in that: The multi-station base (5) comprises a large base, on which a plurality of clamping positions are arranged, each clamping position comprising a first positioning component and a first clamping component; Alternatively, the multi-station base (5) comprises a plurality of small bases fixed on the ground or a workbench, each of the small bases is provided with a clamping position, and each clamping position comprises a first positioning component and a first clamping component.

9. The height-adjustable multi-station measuring device according to claim 1, characterized in that: The 3D displacement measuring device is detachably mounted on the base via a second positioning assembly and a second clamping assembly. The second positioning assembly has the same structure as the first positioning assembly, and the second clamping assembly has the same structure as the first clamping assembly. When the 3D displacement measuring device is directly connected to the multi-station base, the 3D displacement measuring device and the multi-station base are quickly positioned via the second positioning assembly, and the multi-station base detachably fastens the 3D displacement measuring device via the second clamping assembly.

10. The height-adjustable multi-station measuring device according to claim 1, characterized in that: The 3D displacement measuring device (2) comprises a calibration base (21), a calibration connection base (22), a sensor fixing base (23) and a displacement sensor (24) which are sequentially connected from bottom to top; the displacement measurement axis of the displacement sensor forms an angle of 0-90° with the horizontal plane, at least three displacement sensors are fixedly mounted on the sensor fixing base in a mutually perpendicular manner, and the displacement sensors are contact displacement sensors or laser non-contact displacement sensors.

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