High-precision large-stroke liftable measuring system

Abstract

The utility model relates to a high-precision large-stroke liftable measuring system, which comprises a moving device, and a three-stage lifting system is mounted on the moving device. A laser measurement radar is mounted on the third-stage lifting system; the third-stage lifting system comprises a first-stage lifting frame, a second-stage lifting frame is vertically and slidably connected into the first-stage lifting frame, and a third-stage lifting frame is vertically and slidably connected into the second-stage lifting frame. According to the utility model, the mobile robot technology, the high-precision large-stroke linear lifting technology and the laser radar automatic measurement technology are combined, so that the station transfer efficiency of the measurement equipment is greatly improved; meanwhile, the whole set of measurement system is centrally powered by a lithium battery pack arranged in the omnidirectional mobile robot, so that the electricity is convenient to take; the repeated positioning precision of the carried high-precision large-stroke linear lifting system is up to + / -0.05 mm, the lifting stroke is 0.1-10 m, the measurement range is wide, the compatibility is higher, and the measurement requirements of most of large components are met.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the measurement technical field relates to high accuracy big stroke liftable measuring system, including mobile device. BACKGROUND

[0002] At present, in the field of laser radar automatic assembly measurement of large-scale high-end equipment for assembly quality, the requirement is higher and higher, and stressless precise digital assembly and flexible automatic assembly are gradually applied to production, but this puts forward higher demand for rapid measurement in large space range.

[0003] Now when measuring laser radar or laser tracker, manual moving measuring instrument to the designated fixed station is mainly used. The problems are: 1, manual moving measuring instrument, low efficiency, safety is difficult to guarantee;2, the whole system power supply needs to use long cable, and the operation is inconvenient;3, the existing measuring instrument is usually installed on a tripod, the stroke of the tripod is limited, and the low position measurement demand cannot be met. SUMMARY

[0004] The utility model discloses a high accuracy big stroke liftable measuring system, including mobile device, can solve the problem that low position measurement demand cannot be met, and the compatibility is higher.

[0005] According to the technical scheme provided by the utility model: a high accuracy big stroke liftable measuring system, including mobile device, mobile device installs three -level lifting system;Three -level lifting system installs laser measuring radar;Three -level lifting system includes first lifting frame, first lifting frame vertically sliding connection second lifting frame is in, the second lifting frame vertically sliding connection third lifting frame is in, and the laser measuring radar is vertically slidably installed on the third lifting frame, and the drive arrangement is arranged between the first lifting frame and the second lifting frame, and the synchronous transmission mechanism is arranged between the first lifting frame, the second lifting frame and the third lifting frame;The fixed end of the drive arrangement is installed on the first lifting frame, and the mobile end of the drive arrangement is installed on the second lifting frame;The synchronous transmission mechanism includes wheel frame and transmission chain, the wheel frame is symmetrically installed on the top of the second lifting frame two sides, the transmission wheel is rotatably installed on the wheel frame, the transmission chain one end is fixedly connected in the guide connecting seat, the transmission chain middle part is embedded on the upper portion of transmission wheel, and the transmission chain other end is fixedly connected on the top of first lifting frame.

[0006] As a further improvement of the utility model, the navigation system and the safety protection radar system are installed on the three -level lifting system.

[0007] As a further improvement of the utility model, the mobile device is an omnidirectional AGV mobile robot, the omnidirectional AGV mobile robot comprises a welded frame, four groups of Mecanum wheels, three sets of electric lifting legs, a two-dimensional code sensor, a vehicle body protection radar, an industrial computer display and a state indicating lamp; the four groups of Mecanum wheels are arranged in a square shape at the bottom of the welded frame; the three sets of electric lifting legs are arranged in a triangular shape at the bottom of the welded frame, and the two-dimensional code sensor is arranged at the center of the bottom of the welded frame; and the vehicle body protection radar is installed at the four corners of the welded frame.

[0008] As a further improvement of the utility model, the electric control cabinet is fixedly installed on the front upper end face of the omnidirectional AGV mobile robot.

[0009] As a further improvement of the utility model, the first lifting frame is slidably connected with the second lifting frame through a linear rail; the first lifting frame and the second lifting frame are in a rectangular frame structure, and the second lifting frame is located in the middle of the first lifting frame; a first lateral guide block is fixedly connected to the upper inner wall of the first lifting frame; a first linear guide rail is fixedly installed on the two sides of the outer periphery of the second lifting frame, and the first linear guide rail is slidably connected with the first lateral guide block; the second lifting frame is slidably connected with the third lifting frame through a linear rail; the third lifting frame is in a rectangular structure, and the third lifting frame is located in the middle of the second lifting frame; a second linear guide rail is fixedly installed on the front surface of the inner periphery of the second lifting frame, and a second guide block is slidably connected to the second linear guide rail; the second guide block is fixedly connected with a guide connecting seat; and the guide connecting seat is fixedly installed at the lower outer periphery of the third lifting frame.

[0010] As a further improvement of the utility model, the radar mounting seat is connected with one end of a drag chain, the other end of the drag chain is fixedly installed in the middle of the third lifting frame, and a winding wheel is rotatably installed on the wheel shaft.

[0011] As a further improvement of the utility model, a plurality of fixed blocks are vertically installed on the third lifting frame and used for fixedly connecting a linear module; the radar mounting seat is slidably connected with the linear module, and a laser measuring radar is fixedly installed on the radar mounting seat.

[0012] As a further improvement of the utility model, the driving device adopts an electric cylinder, the cylinder body of the electric cylinder is fixedly connected to the top of the first lifting frame through a first adapter plate; the rod of the electric cylinder is slidably extended and retracted in the electric cylinder; and the top of the rod of the electric cylinder is fixedly connected to the top of the second lifting frame through a second adapter plate.

[0013] As a further improvement of the utility model, a falling protector is installed between the first lifting frame and the second lifting frame; the fixed end of the falling protector is fixedly installed at the top of the first lifting frame, the telescopic end of the falling protector is fixedly connected to the bottom of the second lifting frame through a third adapter plate, and a first limiting buffer and a third limiting buffer are respectively fixedly connected to the bottom of the first lifting frame and the second lifting frame.

[0014] As further improvement of the utility model, navigation system fixed installation is on the upper end surface of the first lifting frame, and safety protection radar system fixed installation is on the upper part of both sides of the first lifting frame.

[0015] The positive progress effect of the application is:

[0016] The utility model discloses the mobile robot technology, high accuracy big stroke linear lifting technology and laser radar automation measurement technology are combined, make that measuring equipment transfer station efficiency obtains the great improvement, and the whole measuring system is centralized power supply by lithium battery package in omnidirectional mobile robot, and the power is convenient, and the high accuracy big stroke linear lifting system of carrying, and the repeat positioning accuracy is up to ± 0.05mm, and the lifting stroke is 0.1m-10m, and the measuring range is wide, and the compatibility is higher, and the measuring demand of most large components is satisfied. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the structure diagram of high accuracy big stroke liftable measuring system of the utility model.

[0018] Figure 2 It is the structure diagram of omnidirectional AGV mobile robot of the utility model.

[0019] Figure 3 It is the bottom view of omnidirectional AGV mobile robot of the utility model.

[0020] Figure 4 It is the structure diagram of high accuracy big stroke three -level lifting of the utility model.

[0021] Figure 5 It is the front view of high accuracy big stroke of the utility model.

[0022] Figure 6 It is the side view of high accuracy big stroke of the utility model.

[0023] Figures 1-6In the specific embodiment, the all-direction AGV mobile robot 100, the electric control cabinet 200, the three-stage lifting system 300, the navigation system 400, the safety protection radar system 500, the laser measurement radar 600, the all-direction AGV frame 101, the Mecanum wheel 102, the electric lifting leg 103, the two-dimensional code sensor 104, the vehicle body protection radar 105, the industrial computer display 106, the state indicating lamp 107, the first-stage lifting frame 301, the second-stage lifting frame 302, the third-stage lifting frame 303, the electric cylinder 304, the linear module 305, the first-stage limiting buffer 306, the third-stage limiting buffer 307, the first lateral guide block 308, the guide connecting seat 309, the fixed block 310, the linear guide rail 311, the servo motor 312, the winding wheel 313, the transmission wheel 314, the zero pointer 315, the transmission chain 316, the drag chain 317, the radar mounting seat 318, the first linear guide rail 319, the second guide block 320, the first adapter plate 321, the second adapter plate 322, the electric cylinder rod 323, the anti-falling device 324, the third adapter plate 325, and the like. DETAILED DESCRIPTION

[0024] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0025] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, "including", "having" and similar terms mean that in addition to those listed in "including" and "having", other contents not yet listed can also be "including" and "having"; for example, a process, method, system, product or device that can include a series of steps or units does not necessarily have to be limited to those steps or units that have been clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Due to the angle of the drawing, some parts may not be drawn, but their positions and connection relationships can be understood according to the textual expression part.

[0028] As Figure 1 shown, the utility model is a high-precision large-stroke liftable measuring system, including mobile device, mobile device installs three -level lifting system 300 on. Three -level lifting system 300 installs navigation system 400, safety protection radar system 500, laser measuring radar 600 on.

[0029] As Figures 2-3 shown, mobile device is omnidirectional AGV mobile robot 100, and omnidirectional AGV mobile robot 100 includes welded frame 101, 4 groups of Mecanum wheels 102, 3 sets of electric lifting outriggers 103, two-dimensional code sensor 104, vehicle body protection radar 105, industrial computer display 106, state indicating lamp 107;4 groups of Mecanum wheels 102 are installed in the bottom of welded frame 101 and are arranged in square, so that omnidirectional AGV mobile robot 100 moves omnidirectionally, and front and rear direction, transverse, oblique movement and zero return radius rotation can be realized;3 sets of electric lifting outriggers 103 are installed in the bottom of welded frame 101 and are arranged in triangle, are used to lift the whole vehicle, so that Mecanum wheel 102 can be separated from the ground, guarantee the stability of contact with the ground, and two-dimensional code sensor 104 is arranged at the center of the bottom of welded frame 101, is used for the secondary accurate positioning of omnidirectional AGV mobile robot 100 after reaching the station;Vehicle body protection radar 105 is installed at the four corners of welded frame 101, so that omnidirectional AGV mobile robot 100 is 360 degrees around the safe protection without dead angle.

[0030] Electric control cabinet 200 is fixedly installed on the front upper end surface of omnidirectional AGV mobile robot 100, and is used for controlling the operation of omnidirectional AGV mobile robot 100, three -level lifting system 300, navigation system 400, safety protection radar system 500 and laser measuring radar 600.

[0031] Three -level lifting system 300 is fixedly installed in the rear concave cavity of omnidirectional AGV mobile robot 100, so that the overall gravity center of the system is lowered, and the lowest point of laser measuring radar 600 can be lifted to 0.1 m, meeting the measurement requirement.

[0032] As Figures 4-6 shown, three -level lifting system 300 includes primary lifting frame 301, and primary lifting frame 301 is vertically slidably connected with secondary lifting frame 302, and secondary lifting frame 302 is vertically slidably connected with tertiary lifting frame 303, and laser measuring radar 600 is vertically slidably installed on tertiary lifting frame 303, and driving device is arranged between primary lifting frame 301 and secondary lifting frame 302, and synchronous transmission mechanism is arranged between primary lifting frame 301, secondary lifting frame 302 and tertiary lifting frame 303.

[0033] The first lifting frame 301 is connected to the second lifting frame 302 through a linear rail. Specifically, the first lifting frame 301 and the second lifting frame 302 are in a rectangular frame structure, and the second lifting frame 302 is located in the middle of the first lifting frame 301; a first lateral guide block 308 is fixedly connected to the upper inner wall of the first lifting frame 301; a first linear guide rail 319 is fixedly installed on the two sides of the outer periphery of the second lifting frame 302, and the first linear guide rail 319 is in sliding connection with the first lateral guide block 308.

[0034] The second lifting frame 302 is connected to the third lifting frame 303 through a linear rail. Specifically, the third lifting frame 303 is in a rectangular structure, and the third lifting frame 303 is located in the middle of the second lifting frame 302; a second linear guide rail 311 is fixedly installed on the front inner periphery of the second lifting frame 302, and a second guide block 320 is in sliding connection with the second linear guide rail 311; the second guide block 320 is fixedly connected with a guide connecting seat 309; the guide connecting seat 309 is fixedly installed on the lower outer periphery of the third lifting frame 303.

[0035] A plurality of fixed blocks 310 are vertically installed on the third lifting frame 303 for fixedly connecting a linear module 305; a radar mounting seat 318 is in sliding connection with the linear module 305, and a laser measuring radar 600 is fixedly installed on the radar mounting seat 318.

[0036] A driving device fixed end is installed on the first lifting frame 301, and a driving device moving end is installed on the second lifting frame 302. Specifically, the driving device adopts an electric cylinder 304, the cylinder body of the electric cylinder 304 is fixedly connected to the top of the first lifting frame 301 through a first adapter plate 321; an electric cylinder rod 323 is in sliding expansion in the electric cylinder 304; the top of the electric cylinder rod 323 is fixedly connected to the top of the second lifting frame 302 through a second adapter plate 322.

[0037] The synchronous transmission mechanism includes a wheel frame 326 and a transmission chain 316, the wheel frame 326 is symmetrically installed on the top of the two sides of the second lifting frame 302, a transmission wheel 314 is rotatably installed on the wheel frame 326, one end of the transmission chain 316 is fixedly connected to the guide connecting seat 309, the middle part of the transmission chain 316 is embedded on the upper part of the transmission wheel 314, and the other end of the transmission chain 316 is fixedly connected to the top of the first lifting frame 301.

[0038] While the driving device drives the second lifting frame 302 to rise, the synchronous transmission mechanism synchronously lifts the third lifting frame 303 by twice the height.

[0039] In order to increase the stability of the transmission chain 316, two wheel shafts are fixedly installed in parallel on the wheel frame 326, and the transmission wheel 314 is rotatably installed on the wheel shafts.

[0040] In order to prevent the secondary lifting frame 302 from descending excessively and hitting the mobile device, a falling protector 324 is installed between the primary lifting frame 301 and the secondary lifting frame 302. Specifically, the fixed end of the falling protector 324 is installed at the top of the primary lifting frame 301, and the telescopic end of the falling protector 324 is fixedly connected to the bottom of the secondary lifting frame 302 through the third adapter plate 325. When the lifting speed exceeds the set range, the falling protector 324 will start the speed limiting function to ensure the safe stop of the equipment.

[0041] The primary position limiter buffer 306 and the tertiary position limiter buffer 307 are fixedly connected to the bottom of the primary lifting frame 301 and the secondary lifting frame 302, respectively. The two sets of buffers can absorb the energy impact of the lifting system at 100% full speed with load, ensuring safety in emergency situations.

[0042] In order to facilitate the storage of the cable of the laser measurement radar 600, the radar mounting seat 318 is connected to one end of the tow chain 317, and the other end of the tow chain 317 is fixed to the middle part of the tertiary lifting frame 303. The wire reel 313 is rotatably installed on the wheel shaft. The cable of the laser measurement radar 600 passes through the tow chain 317 and then winds around the wire reel 313 and then extends into.

[0043] The navigation system 400 is fixedly installed on the upper end face of the primary lifting frame 301, is arranged in a high position, reduces the influence of environmental changes on the operation of the omnidirectional AGV mobile robot 100, and is beneficial to improving the stability and reliability of the navigation system.

[0044] The safety protection radar system 500 is fixedly installed on the upper part of both sides of the primary lifting frame 301 and is used for three-dimensional protection of the high side of the whole system.

[0045] The laser measurement radar 600 is fixedly installed on the radar mounting seat 318 of the tertiary lifting system 300, and the shape surface data of the workpiece to be measured is quickly obtained through non-contact scanning measurement.

[0046] In the utility model, the electric control cabinet 200 adopts PLC control, the safety protection radar system 500 adopts SICK S300, and the laser measurement radar 600 adopts Hexagon laser measurement radar AT960.

[0047] It can be understood that the above embodiments are only exemplary embodiments adopted for illustrating the principles of the utility model, and the utility model is not limited to this. For ordinary skilled persons in the art, various modifications and improvements can be made without departing from the spirit and essence of the utility model, and these modifications and improvements are also regarded as the protection scope of the utility model.

Claims

1. A high precision large stroke liftable measuring system, characterized by, The application relates to a mobile device, a three-stage lifting system (300) is installed on the mobile device, a laser measuring radar (600) is installed on the three-stage lifting system (300), the three-stage lifting system (300) comprises a first-stage lifting frame (301), a second-stage lifting frame (302) is connected to the first-stage lifting frame (301) in a vertical sliding mode, a third-stage lifting frame (303) is connected to the second-stage lifting frame (302) in a vertical sliding mode, the laser measuring radar (600) is vertically slidably installed on the third-stage lifting frame (303), a driving device is arranged between the first-stage lifting frame (301) and the second-stage lifting frame (302), a synchronous transmission mechanism is arranged between the first-stage lifting frame (301), the second-stage lifting frame (302) and the third-stage lifting frame (303), a fixed end of the driving device is installed on the first-stage lifting frame (301), and a moving end of the driving device is installed on the second-stage lifting frame (302); the synchronous transmission mechanism comprises a wheel frame (326) and a transmission chain (316), the wheel frame (326) is symmetrically installed on the top of the second-stage lifting frame (302), the wheel frame (326) is rotatably installed with a transmission wheel (314), one end of the transmission chain (316) is fixedly connected to a guide connecting base (309), the middle part of the transmission chain (316) is embedded on the upper part of the transmission wheel (314), and the other end of the transmission chain (316) is fixedly connected to the top of the first-stage lifting frame (301).

2. The high precision long stroke lift-measure system of claim 1, wherein, The three-stage lifting system (300) is provided with a navigation system (400) and a safety protection radar system (500).

3. The high precision long stroke liftable measuring system of claim 1, wherein, The mobile device is an omnidirectional AGV mobile robot (100), the omnidirectional AGV mobile robot (100) comprises a welded frame (101), four groups of Mecanum wheels (102), three sets of electric lifting legs (103), a two-dimensional code sensor (104), a vehicle protection radar (105), an industrial computer display (106) and state indicating lamps (107), the four groups of Mecanum wheels (102) are arranged in a square mode at the bottom of the welded frame (101), the three sets of electric lifting legs (103) are arranged in a triangular mode at the bottom of the welded frame (101), and the two-dimensional code sensor (104) is arranged at the center of the bottom of the welded frame (101); the vehicle protection radar (105) is arranged at the four corners of the welded frame (101).

4. The high precision long stroke lift-measure system of claim 3, wherein, An electric control cabinet (200) is fixedly installed on the front upper end face of the omnidirectional AGV mobile robot (100).

5. The high precision long stroke lift-measure system of claim 1, wherein, The first lifting frame (301) is connected with the second lifting frame (302) through a wire rail sliding connection; the first lifting frame (301) and the second lifting frame (302) are in a rectangular frame structure, and the second lifting frame (302) is located in the middle of the first lifting frame (301); a first lateral guide block (308) is fixedly connected to the upper inner wall of the first lifting frame (301); a first linear guide rail (319) is fixedly installed on the two sides of the outer periphery of the second lifting frame (302), and the first linear guide rail (319) is in sliding connection with the first lateral guide block (308); the second lifting frame (302) is connected with the third lifting frame (303) through a wire rail sliding connection; the third lifting frame (303) is in a rectangular structure, and the third lifting frame (303) is located in the middle of the second lifting frame (302); a second linear guide rail (311) is fixedly installed on the front surface of the inner periphery of the second lifting frame (302), and a second guide block (320) is in sliding connection with the second linear guide rail (311); the second guide block (320) is fixedly connected with a guide connecting seat (309); the guide connecting seat (309) is fixedly installed on the lower part of the outer periphery of the third lifting frame (303).

6. The high precision long stroke liftable measuring system of claim 1, wherein, The radar mounting seat (318) is connected with one end of the drag chain (317), and the other end of the drag chain (317) is fixedly installed in the middle of the third lifting frame (303); a winding wheel (313) is rotatably installed on the wheel shaft.

7. The high precision long stroke lift-measure system of claim 1, wherein, A plurality of fixed blocks (310) are vertically installed on the third lifting frame (303) and used for fixedly connecting a linear module (305); the radar mounting seat (318) is in sliding connection with the linear module (305), and a laser measuring radar (600) is fixedly installed on the radar mounting seat (318).

8. The high precision long stroke lift-measure system of claim 1, wherein, A driving device is an electric cylinder (304), and the cylinder body of the electric cylinder (304) is fixedly connected to the top of the first lifting frame (301) through a first adapter plate (321); an electric cylinder rod (323) is in sliding telescopic connection in the electric cylinder (304); the top of the electric cylinder rod (323) is fixedly connected to the top of the second lifting frame (302) through a second adapter plate (322).

9. The high precision long stroke liftable measuring system of claim 1, wherein, A falling protector (324) is installed between the first lifting frame (301) and the second lifting frame (302); the fixed end of the falling protector (324) is installed on the top of the first lifting frame (301), and the telescopic end of the falling protector (324) is fixedly connected to the bottom of the second lifting frame (302) through a third adapter plate (325); a first limiting buffer (306) and a third limiting buffer (307) are respectively fixedly connected to the bottom of the first lifting frame (301) and the second lifting frame (302).

10. The high precision long stroke liftable measuring system of claim 2, wherein, A navigation system (400) is fixedly installed on the upper end face of the first lifting frame (301), and a safety protection radar system (500) is fixedly installed on the upper part of the two sides of the first lifting frame (301).

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