阅读说明：本技术 一种基于超声波的精密零件位姿自动测量调整装置与方法 (Ultrasonic wave-based automatic measurement and adjustment device and method for pose of precision part ) 是由 王兴远 张立勋 于 2021-08-03 设计创作，主要内容包括：本发明属于精密测量与装配领域,提供一种基于超声波的精密零件位姿自动测量调整装置与方法。该装置中的零件定位模块和夹持模块将精密零件固定；夹持模块中的两个超声波传感器可以实现超声波信号的发射和接收,并通过控制回路传给PC机；然后通过提取超声波信号中相邻两个超声波脉冲之间的时间间隔可以得到有源夹指中弹性块的变形量；再通过超声波传感器的位置与弹性块变形间的几何关系得到精密零件的位姿,从而实现零件位姿的精密测量；最后,通过位姿调整模块即可实现零件位姿的精确调整。本发明可以实现精密零件位姿的自动测量,测量精度高、时间短、自动化程度高、无需标定,可适用于精密组件的装配中。(The invention belongs to the field of precision measurement and assembly, and provides an automatic precision part pose measurement and adjustment device and method based on ultrasonic waves. The part positioning module and the clamping module in the device fix the precision part; two ultrasonic sensors in the clamping module can realize the transmission and the reception of ultrasonic signals and transmit the ultrasonic signals to the PC through a control loop; then, the deformation of the elastic block in the active clamping finger can be obtained by extracting the time interval between two adjacent ultrasonic pulses in the ultrasonic signal; the pose of the precision part is obtained through the geometric relation between the position of the ultrasonic sensor and the deformation of the elastic block, so that the precise measurement of the pose of the part is realized; and finally, the accurate adjustment of the position and the attitude of the part can be realized through the position and attitude adjusting module. The invention can realize the automatic measurement of the pose of the precision part, has high measurement precision, short time and high automation degree, does not need calibration and is suitable for the assembly of precision components.)

1. The utility model provides a precision part position appearance automatic measure adjusting device based on ultrasonic wave which characterized in that: comprises a pose adjusting module, a clamping module, a part positioning module (2) and a control loop, wherein the pose adjusting module comprises a base (1), a precision rotary table (3) and an adapter plate (4), the precision rotary table (3) is fixedly arranged on the base (1) through bolts, the adapter plate (4) is fixedly arranged on the table top of the precision rotary table (3) through bolts, the clamping module comprises a clamping module mounting plate (5), a precision electric clamping jaw (6), a passive clamping finger (7) and an active clamping finger (8), the clamping module mounting plate (5) is fixedly arranged on the adapter plate (4) through bolts, the precision electric clamping jaw (6) is fixedly arranged on the clamping module mounting plate (5) through bolts, the active clamping finger (8) comprises a clamping finger mounting rod (8-1), an elastic block (8-2), a precision clamping block (8-3), a left ultrasonic sensor (8-4) and a right ultrasonic sensor (8-5), a passive clamping finger (7) is fixedly arranged on a left clamping jaw of the precise electric clamping jaw (6) through a bolt, a clamping finger mounting rod (8-1) of the active clamping finger (8) is fixedly arranged on a right clamping jaw of the precise electric clamping jaw (6) through a bolt, an elastic block (8-2) is fixedly connected with the clamping finger mounting rod (8-1) through adhesion, a precise clamping block (8-3) is fixedly connected with the elastic block (8-2) through adhesion, a left ultrasonic sensor (8-4) and a right ultrasonic sensor (8-5) are fixedly connected with the elastic block (8-2) through adhesion, a part positioning module (2) comprises a supporting cylinder (2-1), a positioning circular table (2-2), a spring (2-3), a spring gasket (2-4) and a fastening bolt (2-5), the supporting circular table (2-1) is fixedly arranged on the base (1) through bolts, the positioning circular table is connected with the supporting cylinder (2-1) through a spring gasket (2-4) and a fastening bolt (2-5), a spring (2-3) is arranged on a cylinder of the positioning circular table (2-2) positioned in the cavity A of the supporting cylinder (2-1), a control loop comprises a PC (personal computer), an oscilloscope, an ultrasonic pulse transceiver, a motion control card and a stepper motor driver, the motion control card is positioned in the PC, the oscilloscope is connected with the PC, the ultrasonic pulse transceiver is connected with the oscilloscope, the left ultrasonic sensor (8-4) and the right ultrasonic sensor (8-5) are both connected with the ultrasonic pulse transceiver, and the stepper motor driver is respectively connected with the motion control card, the precision turntable (3) and the precision electric clamping jaw (6) through leads.

2. The automatic precision part pose measurement and adjustment device based on the ultrasonic waves as claimed in claim 1, characterized in that: the axis of the active finger clamp is orthogonal to the rotation axis of the precision rotary table (3) and is parallel to the X axis of the world coordinate system.

3. The automatic measurement and adjustment device for the pose of the precision part based on the ultrasonic wave as claimed in claim 1 or 2, wherein: the passive clamping fingers (7) and the active clamping fingers (8) are parallel, the contact surface is seamless in the clamping state, and the clamping surface is parallel to the X axis of the world coordinate system.

4. The automatic precision part pose measurement and adjustment device based on the ultrasonic waves as claimed in claim 1, characterized in that: the supporting round table (2-1) is coaxial with the rotation center of the precision turntable (3).

5. The automatic precision part pose measurement and adjustment device based on the ultrasonic waves as claimed in claim 1, characterized in that: the cylindrical surface of the bolt fastening end of the positioning round table (2-2) is in clearance fit with the supporting cylinder, and the positioning round table (2-2) is coaxial with the supporting cylinder (2-1).

6. The automatic precision part pose measurement and adjustment device based on the ultrasonic waves as claimed in claim 1, characterized in that: the spring (2-3) is in a compressed state after being installed.

7. The automatic precision part pose measurement and adjustment device based on the ultrasonic waves as claimed in claim 5, characterized in that: and a gap is reserved between the upper end surface of the supporting cylinder (2-1) and the positioning round table (2-2) after the assembly is finished.

8. A method for automatically measuring and adjusting the pose of a precision part based on ultrasonic waves is characterized by comprising the following steps: the method comprises the following steps:

first, initialization

Initializing the precision rotary table (3) to enable a 0-degree connecting line and a 180-degree connecting line of the rotary table to be parallel to an X axis of an overall coordinate system XYZ; opening the precision electric clamping jaw (6);

second, mounting and clamping

The precision part (9) is placed on the positioning round table (2-2), a first cylindrical boss (G) below the precision part (9) is matched with a positioning hole (B) on the upper end face of the positioning round table (2-2), and a second cylindrical boss (H) above the precision part (9) is pressed to enable the positioning round table (2-2) to be in contact with the upper end face of the supporting cylinder (2-1); a passive clamping finger (7) and an active clamping finger (8) are driven by a precise electric clamping jaw (6) to clamp a precise part (9);

third, pose measurement

The left ultrasonic sensor (8-4) and the right ultrasonic sensor (8-5) simultaneously transmit ultrasonic pulse signals, respectively receive ultrasonic pulse signals E and F reflected by the adhesive interface of the elastic block (8-2) and the precise clamping block (8-3), and then transmit the ultrasonic pulse signals E and F to the PC through the control loop; then, analyzing the ultrasonic signals E and F, extracting the time difference delta t between two adjacent ultrasonic pulse signals, and calculating according to the propagation speed c of ultrasonic waves in the elastic block (8-2) to obtain the local thickness h of the elastic block (8-2) at the position where the two ultrasonic sensors are located, namely delta t.c/2; obtaining the thickness variation delta h according to the local initial thickness of the elastic block (8-2) at the position of the two ultrasonic sensors under the unclamped state_{Left side of}And Δ h_{Right side}(ii) a The inclination angle theta of the precision clamping block (8-3) caused by the machining error of the precision part (9) is calculated according to the distance L between the two ultrasonic sensors to obtain arctan [ (delta h)_{Right side}-Δh_{Left side of})/L]The inclination angle alpha of the central line CD of the precision part (9) is theta/2;

fourthly, pose adjustment

Obtaining the attitude of the precision part in a world coordinate system at the moment according to the inclination angle alpha of the central line of the precision part (9); and then, according to the pose adjustment requirement, the whole clamping module is driven to rotate by a corresponding angle through the precision rotary table (3), so that the pose adjustment of the precision part (9) is realized.

Technical Field

The invention belongs to the field of precision measurement and assembly, and particularly relates to an automatic precision part pose measurement and adjustment device and method based on ultrasonic waves.

Background

Precision components in the fields of aviation, aerospace, precision instruments and the like are mostly characterized by small size, complex structure and high assembly precision. The adjustment of the pose (position and posture) of the part in the assembling process of the precision component is the key influencing the assembling precision. At present, the pose of a precision part is mostly measured by a machine vision method. However, due to the influence of the processing quality of the part, the edge of the part often has defects, so that accurate edge information of the part is difficult to obtain based on an image fitting method, position and pose measurement errors of the part are caused, and the assembly precision of the precision component is finally reduced. For the assembly of precision components, it is typical to adjust the perpendicularity and parallelism of the part centerlines. At this time, a plurality of side lines of the part are often required to be fitted to obtain the pose of the part central line, and then the perpendicularity and parallelism of the part central line are adjusted. Fitting errors of part sidelines can lead to measurement accuracy of part centerline poses, and finally lead to assembly errors. Therefore, the existing detection method has defects in the aspects of pose measurement and posture adjustment of the precision assembly, and the assembly requirement of the precision assembly is difficult to meet.

Disclosure of Invention

The invention aims to provide an automatic measurement and adjustment device and method for the pose of a precision part based on ultrasonic waves.

The purpose of the invention is realized as follows:

an automatic measurement and adjustment device for the pose of a precision part based on ultrasonic waves comprises a pose adjustment module, a clamping module, a part positioning module 2 and a control loop, wherein the pose adjustment module comprises a base 1, a precision rotary table 3 and an adapter plate 4, the precision rotary table 3 is fixedly arranged on the base 1 through bolts, the adapter plate 4 is fixedly arranged on the table top of the precision rotary table 3 through bolts, the clamping module comprises a clamping module mounting plate 5, a precision electric clamping jaw 6, a passive clamping finger 7 and an active clamping finger 8, the clamping module mounting plate 5 is fixedly arranged on the adapter plate 4 through bolts, the precision electric clamping jaw 6 is fixedly arranged on the clamping module mounting plate 5 through bolts, the active clamping finger 8 comprises a clamping finger mounting rod 8-1, an elastic block 8-2, a precision clamping block 8-3, a left ultrasonic sensor 8-4 and a right ultrasonic sensor 8-5, the passive clamping finger 7 is fixedly arranged on a left clamping jaw of the precise electric clamping jaw 6 through a bolt, a clamping finger mounting rod 8-1 of the active clamping finger 8 is fixedly arranged on a right clamping jaw of the precise electric clamping jaw 6 through a bolt, an elastic block 8-2 is fixedly connected with the clamping finger mounting rod 8-1 through adhesion, a precise clamping block 8-3 is fixedly connected with the elastic block 8-2 through adhesion, a left ultrasonic sensor 8-4 and a right ultrasonic sensor 8-5 are fixedly connected with the elastic block 8-2 through adhesion, a part positioning module 2 comprises a supporting cylinder 2-1, a positioning circular table 2-2, a spring 2-3, a spring gasket 2-4 and a fastening bolt 2-5, the supporting circular table 2-1 is fixedly arranged on a base 1 through a bolt, the positioning circular table is connected with the supporting cylinder 2-1 through the spring gasket 2-4 and the fastening bolt 2-5, the spring 2-3 is arranged on a cylinder of the positioning circular table 2-2 positioned in the cavity A of the supporting cylinder 2-1, the control loop comprises a PC, an oscilloscope, an ultrasonic pulse transceiver, a motion control card and a stepping motor driver, the motion control card is positioned in the PC, the oscilloscope is connected with the PC, the ultrasonic pulse transceiver is connected with the oscilloscope, the left ultrasonic sensor 8-4 and the right ultrasonic sensor 8-5 are both connected with the ultrasonic pulse transceiver, and the stepping motor driver is respectively connected with the motion control card, the precision rotary table 3 and the precision electric clamping jaw 6 through leads.

The present invention may further comprise:

1. the active finger grip axis is orthogonal to the rotation axis of the precision turntable 3 and parallel to the X-axis of the world coordinate system.

2. The passive clamping fingers 7 are parallel to the active clamping fingers 8, the contact surface is seamless in the clamping state, and the clamping surface is parallel to the X axis of the world coordinate system.

3. The supporting circular truncated cone 2-1 is coaxial with the rotation center of the precision rotary table 3.

4. The cylindrical surface of the bolt fastening end of the positioning round table 2-2 is in clearance fit with the supporting cylinder, and the positioning round table 2-2 is coaxial with the supporting cylinder 2-1.

5. The spring 2-3 is in a compressed state after being installed.

6. And a gap is reserved between the upper end surface of the supporting cylinder 2-1 and the positioning round table 2-2 after the assembly is finished.

The measurement principle is as follows: the precision part 9 is placed on the positioning round table 2-2 and is pressed to enable the positioning round table 2-2 to be in contact with the upper end face of the supporting cylinder 2-1; a passive clamping finger 7 and an active clamping finger 8 are driven by a precise electric clamping jaw 6 to clamp a precise part 9; the left ultrasonic sensor 8-4 and the right ultrasonic sensor 8-5 transmit ultrasonic pulse signals simultaneously and receive elastic pulse signals respectivelyUltrasonic pulse signals E and F reflected by the gluing interface of the block 8-2 and the precise clamping block 8-3 are transmitted to the PC by the control loop; then, analyzing the ultrasonic signals E and F, extracting the time difference delta t between two adjacent ultrasonic pulse signals, and calculating according to the propagation speed c of ultrasonic waves in the elastic block 8-2 to obtain the local thickness h of the elastic block 8-2 at the position where the two ultrasonic sensors are located, which is delta t-c/2; obtaining the thickness variation delta h according to the local initial thickness of the elastic block 8-2 at the position of the two ultrasonic sensors under the unclamped state_{Left side of}And Δ h_{Right side}(ii) a The inclination angle θ of the precision clamping block 8-3 caused by the machining error of the precision part 9 is calculated to be arctan [ (Δ h) according to the distance L between the two ultrasonic sensors_{Right side}-Δh_{Left side of})/L]Obtaining the inclination angle alpha of the central line CD of the precision part 9 as theta/2; and finally, the whole clamping module is driven to rotate by a corresponding angle through the precision rotary table 3, so that the position and posture of the precision part 9 can be adjusted randomly.

The invention relates to a method for measuring and adjusting the pose of a precision part pose automatic measurement adjusting device based on ultrasonic waves, which comprises the following steps:

first, initialization

Initializing the precision rotary table 3, and enabling a 0-degree connecting line and a 180-degree connecting line of the rotary table to be parallel to an X axis of an overall coordinate system XYZ; the precision electric clamping jaw 6 is in an open state.

Second, mounting and clamping

The precision part 9 is placed on the positioning circular table 2-2, a first cylindrical boss G below the precision part 9 is matched with a positioning hole B on the upper end face of the positioning circular table 2-2, and a second cylindrical boss H above the precision part 9 is pressed to enable the positioning circular table 2-2 to be in contact with the upper end face of the supporting cylinder 2-1; a passive clamping finger 7 and an active clamping finger 8 are driven by a precise electric clamping jaw 6 to clamp a precise part 9;

third, pose measurement

The left ultrasonic sensor 8-4 and the right ultrasonic sensor 8-5 simultaneously transmit ultrasonic pulse signals, respectively receive ultrasonic pulse signals E and F reflected by the adhesive interface of the elastic block 8-2 and the precise clamping block 8-3, and then transmit the ultrasonic pulse signals E and F to the PC through the control circuit; then, the ultrasonic signals E and F are dividedAnalyzing, extracting a time difference delta t between two adjacent ultrasonic pulse signals, and calculating according to the propagation speed c of ultrasonic waves in the elastic block 8-2 to obtain the local thickness h of the elastic block 8-2 at the position where the two ultrasonic sensors are located, which is delta t.c/2; obtaining the thickness variation delta h according to the local initial thickness of the elastic block 8-2 at the position of the two ultrasonic sensors under the unclamped state_{Left side of}And Δ h_{Right side}(ii) a The inclination angle θ of the precision clamping block 8-3 caused by the machining error of the precision part 9 is calculated to be arctan [ (Δ h) according to the distance L between the two ultrasonic sensors_{Right side}-Δh_{Left side of})/L]Obtaining the inclination angle alpha of the central line CD of the precision part 9 as theta/2;

fourthly, pose adjustment

Obtaining the attitude of the precision part in a world coordinate system at the moment according to the inclination angle alpha of the central line of the precision part 9; and then according to the pose adjustment requirement, the whole clamping module is driven to rotate by a corresponding angle through the precision rotary table 3, so that the pose adjustment of the precision part 9 is realized.

The invention has the beneficial effects that:

1. except for feeding, all the other works can realize automatic operation, avoid the adverse effect of artificial factors, and improve the work efficiency.

2. The motion control module, the clamping module and the part positioning module in the device have high repeated positioning precision so as to ensure the measurement and adjustment precision of the position and posture of the part.

3. The ultrasonic sensor is adopted, so that the non-contact precision measurement of the pose of the precision part can be realized, and the influence of the edge processing defect of the precision part is avoided.

4. The thickness of the elastic block of the active clamp finger can be quickly and automatically calibrated through the ultrasonic sensor, and other calibration instruments are not needed.

Drawings

FIG. 1 is a schematic structural view of a precision part;

FIG. 2 is a schematic view of the overall structure of the apparatus;

FIG. 3 is a schematic diagram of an active clamp finger;

FIG. 4 is a schematic structural diagram of a part-locating module;

FIG. 5 is a schematic diagram of the pose measurement principle of a precision part;

Detailed Description

The following detailed description of the invention refers to the accompanying drawings.

With reference to fig. 1 to 5, an ultrasonic-based automatic measurement and adjustment device for the pose of a precision part comprises: the device comprises a pose adjusting module, a clamping module, a part positioning module 2 and a control loop.

The pose adjusting module comprises a base 1, a precision rotary table 3 and an adapter plate 4. The precision rotary table 3 is fixedly arranged on the bottom plate 1 through bolts; the adapter plate 4 is fixedly arranged on the table top of the precision rotary table 3 through bolts; and ensuring that the 0-degree connecting line and the 180-degree connecting line of the precision turntable 3 are parallel to the X axis of the global coordinate system XYZ in the initial state.

The clamping module comprises a clamping module mounting plate 5, a precise electric clamping jaw 6, a passive clamping finger 7 and an active clamping finger 8. The active clamping finger 8 comprises a clamping finger mounting rod 8-1, an elastic block 8-2, a precise clamping block 8-3, a left ultrasonic sensor 8-4 and a right ultrasonic sensor 8-5. The clamping module mounting plate 5 is fixedly mounted on the adapter plate 4 through bolts; the precise electric clamping jaw 6 is fixedly arranged on the clamping module mounting plate 5 through a bolt, and the axis of the precise electric clamping jaw is orthogonal to the rotation axis of the precise rotary table 3 and parallel to the X axis of a world coordinate system; the passive clamping finger 7 is fixedly arranged on the left clamping jaw of the precise electric clamping jaw 6 through a bolt; a clamping finger mounting rod 8-1 of the active clamping finger 8 is fixedly mounted on the right clamping jaw of the precision electric clamping jaw 6 through a bolt; the elastic block 8-2 is fixedly connected with the clamping finger mounting rod 8-1 through gluing; the precise clamping block 8-3 is fixedly connected with the elastic block 8-2 through gluing; the left ultrasonic sensor 8-4 and the right ultrasonic sensor 8-5 are fixedly connected with the elastic block 8-2 through gluing; the passive clamping fingers 7 and the active clamping fingers 8 are ensured to be parallel, the contact surface is seamless in the clamping state, and the clamping surface is parallel to the X axis of the world coordinate system; the clamping surfaces of the passive clamping fingers 7 and the precise clamping blocks 8-3 have good processing precision, and the edges of the clamping surfaces are free of defects so as to ensure good side line fitting effect.

The part positioning module 2 comprises a supporting cylinder 2-1, a positioning circular truncated cone 2-2, a spring 2-3, a spring gasket 2-4 and a fastening bolt 2-5. The supporting circular truncated cone 2-1 is fixedly arranged on the bottom plate 1 through bolts and is coaxial with the rotation center of the precision rotary table 3; the positioning round table is connected with the supporting cylinder 2-1 through a spring gasket 2-4 and a fastening bolt 2-5, and the cylindrical surface of the bolt fastening end of the positioning round table 2-2 is in clearance fit with the supporting cylinder, so that the positioning round table 2-2 and the supporting cylinder 2-1 are coaxial; the spring 2-3 is arranged on the positioning round table 2-2 on the cylinder positioned in the cavity A of the supporting cylinder 2-1 and is in a compressed state after being arranged. After the assembly is finished, a certain gap is reserved between the upper end surface of the supporting cylinder 2-1 and the positioning circular truncated cone 2-2 according to requirements.

The control loop comprises a PC (personal computer), an oscilloscope, an ultrasonic pulse transceiver, a left ultrasonic sensor 8-4, a right ultrasonic sensor 8-5, a motion control card, a stepping motor driver, a precision turntable 3 and a precision electric clamping jaw 6. The motion control card is positioned in the PC, and the oscilloscope is connected with the PC; the ultrasonic pulse transceiver is connected with the oscilloscope; the left ultrasonic sensor 8-4 and the right ultrasonic sensor 8-5 are both connected with an ultrasonic pulse transceiver; the stepper motor driver is respectively connected with the motion control card, the precision rotary table 3 and the precision electric clamping jaw 6 through leads. Ultrasonic signals E and F measured by the left ultrasonic sensor 8-4 and the right ultrasonic sensor 8-5 are sent to the PC through a control loop; then, the ultrasonic signals E and F are analyzed, the time difference Δ t between two adjacent ultrasonic pulse signals is extracted, and then the local thickness h of the elastic block 8-2 at the position of the two ultrasonic sensors is calculated according to the propagation speed c of the ultrasonic waves in the elastic block 8-2 to obtain Δ t · c/2.

The invention relates to a method for measuring and adjusting the pose of a precision part pose automatic measurement adjusting device based on ultrasonic waves, which comprises the following steps:

first, initialization

Initializing the precision rotary table 3, and enabling a 0-degree connecting line and a 180-degree connecting line of the rotary table to be parallel to an X axis of an overall coordinate system XYZ; the precision electric clamping jaw 6 is in an open state.

Second, mounting and clamping

The precision part 9 is placed on the positioning circular table 2-2, a first cylindrical boss G below the precision part 9 is matched with a positioning hole B on the upper end face of the positioning circular table 2-2, and a second cylindrical boss H above the precision part 9 is pressed to enable the positioning circular table 2-2 to be in contact with the upper end face of the supporting cylinder 2-1; a passive clamping finger 7 and an active clamping finger 8 are driven by a precise electric clamping jaw 6 to clamp a precise part 9;

third, pose measurement

The left ultrasonic sensor 8-4 and the right ultrasonic sensor 8-5 simultaneously transmit ultrasonic pulse signals, respectively receive ultrasonic pulse signals E and F reflected by the adhesive interface of the elastic block 8-2 and the precise clamping block 8-3, and then transmit the ultrasonic pulse signals E and F to the PC through the control circuit; then, analyzing the ultrasonic signals E and F, extracting the time difference delta t between two adjacent ultrasonic pulse signals, and calculating according to the propagation speed c of ultrasonic waves in the elastic block 8-2 to obtain the local thickness h of the elastic block 8-2 at the position where the two ultrasonic sensors are located, which is delta t-c/2; obtaining the thickness variation delta h according to the local initial thickness of the elastic block 8-2 at the position of the two ultrasonic sensors under the unclamped state_{Left side of}And Δ h_{Right side}(ii) a The inclination angle θ of the precision clamping block 8-3 caused by the machining error of the precision part 9 is calculated to be arctan [ (Δ h) according to the distance L between the two ultrasonic sensors_{Right side}-Δh_{Left side of})/L]Obtaining the inclination angle alpha of the central line CD of the precision part 9 as theta/2;

fourthly, pose adjustment

Obtaining the attitude of the precision part in a world coordinate system at the moment according to the inclination angle alpha of the central line of the precision part 9; and then according to the pose adjustment requirement, the whole clamping module is driven to rotate by a corresponding angle through the precision rotary table 3, so that the pose adjustment of the precision part 9 is realized.

The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.