CN106767504A - Moulding pipe automatic detection device and its detection method - Google Patents
Moulding pipe automatic detection device and its detection method Download PDFInfo
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- CN106767504A CN106767504A CN201611128083.8A CN201611128083A CN106767504A CN 106767504 A CN106767504 A CN 106767504A CN 201611128083 A CN201611128083 A CN 201611128083A CN 106767504 A CN106767504 A CN 106767504A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a kind of moulding pipe automatic detection device, including pipe fitting support system, pipe fitting detecting system and base (1), the pipe fitting support system sets support robot (2A, 2B)；Described pipe fitting detecting system sets scanning machine people (20).The invention also discloses the detection method of the automatic detection device.Using above-mentioned technical proposal, the high-acruracy survey of large-sized, complex-shaped pipe fitting is solved the problems, such as, its shape, the precise information of size can be obtained; its detection process high degree of automation; detection efficiency is high, the detection workload of operating personnel is reduced, the need for meeting large-scale production.
Description
Technical field
The invention belongs to the technical field of automatic measurement, in particular it relates to a kind of moulding pipe automatic detection is filled
Put.The invention further relates to the detection method of the detection means.
Background technology
The moulding pipe of all kinds and size is widely used in Aero-Space industry, steamer industry, automobile industry etc.,
Its important function for undertaking the transmission such as oil, liquid or gas, the situation of its assembling decides the operation stability of equipment, and influence entirely sets
Standby performance, or even determine the functional realiey and safety of complete equipment.Therefore, the quality testing to moulding pipe is most important.
At present, the method for moulding pipe quality testing mainly has following three kinds：Pattern method, multi-vision visual detection method and pass
Section measurement arm measure method.
Pattern method：Need to customize special cubing to every kind of moulding pipe to be detected, and formed pipe is manually put into inspection
Tool, judges whether formed pipe is processed qualified by visual method.Requirement of this kind of detection mode to detection workman is very high, during measurement
Between it is long, costly using complexity, labor strength is big.
Multi-vision visual detection method：Measurement of the multi-vision visual system to short formed pipe is more accurate, but to large sized fittingses
Testing result relatively large deviation occurs, such as Germany AICON Tube Inspect systems.
Joint measurment arm measure method：The certainty of measurement of the method is higher, but necessary hand-held sensor measurement in detection process,
Working strength is big, the ROMER measurement arms of such as Hai Kesikang.
And widely used in industry at present is still pattern method, therefore, need badly it is a set of suitable for large scale, it is complex-shaped into
The automatic detection device of the high-acruracy survey of type pipe fitting.
The content of the invention
The present invention provides a kind of moulding pipe automatic detection device, the purpose is to realize to large scale and complex geometry
Moulding pipe high precision test.
To achieve these goals, the technical scheme taken of the present invention is：
Moulding pipe automatic detection device of the invention, including pipe fitting support system, pipe fitting detecting system and base, it is described
Pipe fitting support system sets support robot；Described pipe fitting detecting system sets scanning machine people.
The support robot and scanning machine are per capita articulated robot.
Three-D profile scanning survey mechanism is installed, described three-D profile scanning survey mechanism sets on the scanning machine people
Horizontalization moving stage, contourgraph support and Zaser contourgraph；The Zaser contourgraph is arranged on translation stage by contourgraph support；Institute
Translation stage is stated to be arranged on scanning machine people by connector.
The Zaser contourgraph includes structured light device and imageing sensor；The structured light device and image sensing
The optical axis of device forms certain angle.
The structured light device is by structured light to moulding pipe to be measured；Described image sensor collection projection
The image of laser on to measured moulding pipe surface, is demarcated by analyzing the position of laser in image and combining Zaser contourgraph
Data, calculate the distance of permanent datum on moulding pipe surface distance Zaser contourgraph, calculate the profile letter of moulding pipe
Breath.
Artificial two of described support machine, pressure pin, the knot of the pressure pin are respectively provided with the end of the support robot
Structure is tubulose or short U geosynclinal blocks structure；The pressure pin is supported at the minimum position of moulding pipe deformation.
Or, described support robot is more than two, and pressure pin, the support are respectively provided with the end of the support robot
The structure of bar is tubulose or short U geosynclinal blocks structure；The pressure pin supports the moulding pipe.The need for can be according to tubular length,
Increase support robot quantity.
The pressure pin is arranged in described support robot by pressure pin mounting seat.
Mutually be connected by fieldbus between robot described in many, the fieldbus be Profile Bus,
One of Device Net, Ether Net.
The pipe fitting support system is additionally provided with auxiliary support structure, and the top of the auxiliary support mechanism sets supporting construction
And clamp system；The supporting construction is U-type groove block structure, and the moulding pipe is placed in the U-type groove of the U-type groove block structure
In；The clamp system is screw clamping mechanism；Moulding pipe is fastened in described U-type groove by clamp system.
The standing portion of described auxiliary support structure is two sections, i.e. upper support bar, lower support bar, and the upper support bar is inserted
In entering lower support bar, and locked by retaining mechanism, the auxiliary branch is adjusted by the extension elongation for adjusting upper support bar
The bearing height of support structure.
The bottom of the auxiliary support structure is fixed mount bearing；The fixed mount bearing passes through three magnetic force fixed devices
It is fixed on described base.
The automatic detection device sets system control equipment, for controlling robot and completing data processing.
The CAD model of the moulding pipe that the support robot can be input into according to operating personnel is automatic to calculate optimal branch
Support position and attitude.
The Automatic Detection and Control running software of the automatic detection device, can be according to behaviour on the host computer of detection means
Make the CAD model of the moulding pipe of personnel's input, automatically generate the motion control program of scanning machine people.
Using graphical man machine operation interface；Using modular design method, its function can need to cut according to user
And customization；The template that can be set according to user automatically generates examining report.
In order to realize the goal of the invention same with above-mentioned technical proposal, the present invention also provides above-described moulding pipe certainly
The detection method of motion detection device, its technical scheme is：
First before detection pipe fitting, the CAD model that Automatic Detection and Control software imports moulding pipe to be detected is first passed through, from
Dynamic detection control software will automatically generate the motion control program of scanning machine people and position and the appearance of the support robot
State, and the scanning machine people motor program and position and attitude information that will be automatically generated, are sent automatically to accordingly by network
Execution robot controller in；
Support robot is according to the position and attitude information for receiving, the position of adjust automatically support robot end and appearance
State；After moulding pipe to be detected is in place, operating personnel start detection, and scanning machine people can be according to the motion for receiving
Program is carried three-D profile scanning survey mechanism and pipe fitting is scanned；The formed pipe that three-D profile scanning survey mechanism will gather
Part profile information is sent to the Automatic Detection and Control software on host computer by network, and meter is analyzed to outline data by it
Calculate, judge whether crucial physical dimension is qualified.
The detection process of described detection method is：
After the automatic detection device starts, operating personnel's middle input moulding pipe to be detected in system control equipment
CAD model, Automatic Detection and Control software automatically calculates the poses of all support robots and scanning in support system
Robot trajectory path；
System control equipment will support the position of robot and the command information of attitude to send support to by fieldbus
Robot；The support robot is according to corresponding information movement to target location；
System control equipment provides the contacting points position of each support robot, supporting construction and moulding pipe；
The support robot supports moulding pipe to be measured in place jointly with auxiliary support mechanism, is easy to
Scanning machine people gathers the three-dimensional data information of moulding pipe to be detected；
Above-mentioned support contact point information of the operating personnel by moulding pipe to be measured as indicated, moulding pipe is consolidated
It is scheduled in measurement space；
Afterwards, scanning machine people moves to first measurement point according to the trace information of its measurement point for calculating, translation
Platform carries the three-dimensional data information that Zaser contourgraph gathers first stage building pipe fitting；
After the completion of collection, scanning machine people moves to next measurement point, and three-D profile scanning survey mechanism gathers the position
The pipe fitting three-dimensional data information at place is put, the process is carried out successively, until last measurement point；
After the completion of data acquisition, Automatic Detection and Control software is fitted the threedimensional model of moulding pipe, and according to this model meter
Calculate the appearance and size data of moulding pipe, and obtain moulding pipe whether qualified information；
Automatic detection device carries out follow-up work according to the selection of operating personnel.
The moulding pipe is placed into pipe fitting support system after being captured by artificial or robot.
Operating personnel can be by clicking on virtual push button or system control equipment on Automatic Detection and Control software
Entity button starts detection process.
The motion control program of the scanning machine people can also be produced by user's teaching.
The present invention uses above-mentioned technical proposal, solves the problems, such as the high-acruracy survey of large-sized, complex-shaped pipe fitting,
Its shape, the precise information of size can be obtained, its detection process high degree of automation, detection efficiency is high, reduce operating personnel's
Detection workload, the need for meeting large-scale production.
Brief description of the drawings
Mark in accompanying drawing content and figure is briefly described as follows：
Fig. 1 is device layout of the invention and structural representation；
Fig. 2 is the assembling schematic diagram of contourgraph, contourgraph installing plate, translation stage and adpting flange amplification in Fig. 1；
Fig. 3 is the structural representation of moulding pipe pressure pin in Fig. 1；
Fig. 4 is the structural representation of auxiliary support mechanism amplification in Fig. 1；
Fig. 5 is the flow chart of data processing figure of measuring system of the present invention.
Marked in figure：
1st, base, 2A, support robot, 2B, support robot, 3, system control equipment, 4, pressure pin mounting seat, 5, shaping
Pipe fitting, 6, supporting construction, 7, clamp system, 8, pressure pin, 9, upper support bar, 10, retaining mechanism, 11, lower support bar, 12, magnetic force
Fixing device, 13, magnetic force fixed device, 14, magnetic force fixed device, 15, fixed mount bearing, 16, contourgraph support, 17, laser
Contourgraph, 18, translation stage, 19, connector, 20, scanning machine people.
Specific embodiment
Below against accompanying drawing, by the description to embodiment, further details of is made to specific embodiment of the invention
Illustrate there is more complete, accurate and deep reason to inventive concept of the invention, technical scheme to help those skilled in the art
Solution.
Fig. 1 is general structure schematic diagram of the invention.Moulding pipe automatic detection device as shown in Figure 1, including pipe fitting branch
Support system, pipe fitting detecting system and base 1.More particularly to one kind using Duo Tai robots and Zaser contourgraph automatic detection into
The device of type pipe fitting quality, and use the method for this device automatic detection moulding pipe quality.Specifically, including scanning survey
Amount robot；Three-D profile scanning survey mechanism；Pipe fitting support system and moulding pipe Automatic Detection and Control software systems.
Here is to carry out aggregate analysis to technical scheme：
One main three-D profile scanning survey mechanism being made up of translation stage and Zaser contourgraph；One it is main by this three
The formed pipe three-D profile scanning system of dimension profile scan measuring mechanism and robot composition, one it is main by Duo Tai robots and
The moulding pipe support system of supporting mechanism composition；And operate in Automatic Detection and Control software systems on host computer.
Wherein, three-D profile scanning survey mechanism：
The three-D profile scanning survey mechanism is by a translation stage, Zaser contourgraph and translation stage controller and laser
Contourgraph controller is constituted.Zaser contourgraph has a structured light device, can be by the laser projection of definite shape to tested
Measure the surface of object；Zaser contourgraph also has the imageing sensor can to gather the laser of object being measured surface and projection
Image, by analyzing the position of laser in image and with reference to Zaser contourgraph nominal data can calculate body surface distance
The distance of permanent datum on Zaser contourgraph；Swash when using different shape laser such as spot light, line source and area source etc.
Light contourgraph can be obtained respectively puts distance, line profile and facial contour data on testee；During using linear light source, will swash
Light contourgraph is fixed on translation stage and makes radiation direction vertical with translation stage moving direction, then laser profile when translation stage is moved
Instrument can be measured to a range of curved surface profile, obtain the three-dimension curved surface profile information of object.
Scanning machine people：
The moulding pipe three-D profile scanning machine people system is by a contourgraph measuring system and multi-joint
Scanning machine people and robot controller are constituted.The translation stage of three-D profile scanning survey mechanism is arranged on scanning machine people end
End, navigates to measurement position, then robot stop motion, and start three-D profile by robot by contourgraph measuring instrument
The translation stage motion of measuring instrument, measures moulding pipe local configuration data；The motor program of scanning machine people is by automatic detection control
Software processed is generated according to the automatic plane-generating of moulding pipe CAD model of user input, or by the manual teaching of user；Due to pin
To the moulding pipe of every kind of model, the Support Position and attitude for supporting robot system are fixed, scanning machine people corresponding with this
Movement locus also fix, so for every kind of model moulding pipe detection scanning machine people's movement locus only need to automatically
Or artificial teaching is once.
Pipe fitting support system：
The moulding pipe support system is made up of one or Duo Tai robots and some auxiliary support mechanisms.Machine
The pressure pin for support tubes is installed in people end, and the spacing part with stopper slot is installed on auxiliary support mechanism；For difference
The pipe fitting of shapes and sizes, support robot can change pressure pin according to the Support Position and attitude information received from host computer
Position and attitude.
Automatic Detection and Control software：
The Automatic Detection and Control running software can control three-D profile to scan and survey on industrial computer by communication network
All robots in measuring mechanism, profile scan robot system and pipe fitting support system；Being capable of three profiles surveys of monitor in real time
The working condition of amount system, profile scan robot system and critical support system；Can obtain from Zaser contourgraph collection
Pipe profiles data；The local configuration data that can be gathered in diverse location to scanning machine people are corrected and spelled automatically
Connect, obtain the overall outline data of pipe fitting；The geometry parameter information of pipe fitting can be calculated by pipe profiles data；Can be automatic
Difference between the pipe fitting geometric parameter of measurement of comparison and design pipe fitting geometric parameter values, and whether intelligent decision institute test tube part accord with
Close quality requirement；The report template that can be set according to user automatically generates electronic edition examining report, can after being connected with printer
With automatic printing examining report.
Here is with reference to accompanying drawing, to the labor of specific embodiment of the invention：
In order to overcome the defect of prior art, the high accuracy inspection to large scale and the moulding pipe of complex geometry is realized
The goal of the invention of survey, the technical scheme taken of the present invention is：
As shown in Figures 1 to 4, moulding pipe automatic detection device of the invention, the pipe fitting support system sets support
Robot；Described pipe fitting detecting system sets scanning machine people 20.
The present invention supports robot and auxiliary support mechanism composition Support Position and the adjustable pipe fitting branch of attitude using pipe fitting
Support system, for supporting and fixing moulding pipe to be detected 5, can adapt to the shaping of different shape, length and outside dimension
The fixation of pipe fitting 5；Carry three-D profile scanning system using scanning survey robot 20 carries out fractional scanning to moulding pipe, can
To gather the outline data of the moulding pipe 5 of different shape, length and outside dimension.Using robot to large scale, shape
Complicated moulding pipe carries out overall size and is detected, can obtain its shape, the precise information of size, its detection process is automatic
Change degree is high, and detection efficiency is high, the need for meeting large-scale production.
Above-mentioned moulding pipe automatic detection device, can be according to the CAD model data of the moulding pipe 5 of user input, automatically
The motion control program of generation scanning survey robot 20；Scanning survey robot 20 carries three-D profile scanning system to fixation
The three-D profile of the moulding pipe 5 in support machine system is scanned and gathers pipe fitting outline data, and outline data is by logical
Communication interface is transferred on the host computer of detection means, and it is calculated and is analyzed by Automatic Detection and Control software, draws pipe fitting
Geometry information, and compare with the design load of pipe fitting physical dimension, analyze and check whether the quality of pipe fitting qualified.
Described support robot 2A, 2B and scanning machine people 20 are articulated robot.
Fig. 2 is three-D profile data collecting system three-dimensional model diagram.
Three-D profile scanning survey mechanism, described three-D profile scanning survey mechanism are installed on the scanning machine people 20
Translation stage 18, contourgraph support 16 and Zaser contourgraph 17 are set；The Zaser contourgraph 17 is installed by contourgraph support 16
On translation stage 18；The translation stage 18 is arranged on scanning machine people 20 by connector 19, realizes swashing by connector 19
The rotation of light contourgraph 17.
Three-D profile data collecting system is arranged on the end of scanning articulated robot 20, constitutes three-D profile scanning machine
Device people's system, for the collection of large sized fittingses three-dimensional information.
The three-D profile sweep mechanism being made up of translation stage and Zaser contourgraph, wherein, Zaser contourgraph 17 can be obtained
The section profile information of testee in measurement range；Zaser contourgraph 17 is arranged on translation stage 18, can be with accurate translation stage
Motion；In the motion process of translation stage 18, Zaser contourgraph 17 can gather the curved surface profile information of object in range of movement.
Wherein, Zaser contourgraph 17 is arranged on translation stage 18 by contourgraph support 16.Zaser contourgraph 17 and translation
Platform 18 constitutes three-D profile data collecting system, for obtaining one section of contoured three-dimensional cloud data information of oil pipe；
The use of the three-D profile scanning survey mechanism, can reduce detection means to robot measurement movement locus precision
Requirement, general industry robot is used for the fields of measurement of moulding pipe 5；Recycle the automatic detection of moulding pipe 5
The outline data of control software network analysis collection, calculates the form parameter of moulding pipe 5, and then whether analysis judges pipe fitting
Meet design requirement, whole measurement and the detection process of system are automatically performed by the control of Automatic Detection and Control software.
Moulding pipe automatic detection device can automatically generate scanning and survey according to the moulding pipe CAD model data of user input
Measure the motion control program of robot；Scanning survey robot carries three-D profile scanning system to being fixed in support machine system
The three-D profile of moulding pipe be scanned and gather pipe fitting outline data, outline data is transferred to detection by communication interface
On the host computer of device, it is calculated and is analyzed by Automatic Detection and Control software, drawn the geometry information of pipe fitting, and
Design load with pipe fitting physical dimension compares, and analyzes and check whether the quality of pipe fitting is qualified.
The Zaser contourgraph 17 includes structured light device and imageing sensor；The structured light device and image are passed
The optical axis of sensor forms certain angle.
Principle：The structure light that structured light device sends is radiated on the surface of object being measured, by object to be measured
Profile modulation after, its image is gathered by imageing sensor, recycle the position of structure light in proven parameter and image
The profile information of object being measured can be calculated.
So, Zaser contourgraph 17 has a structured light device and an imageing sensor, and the two optical axis is into one
Determine angle；The structured light device is by structured light to moulding pipe 5 to be measured；Described image sensor collection projection
The image of laser on to the surface of measured moulding pipe 5,
Be transmitted into for the structure light (being illustrated as the mounting means of line laser) of certain forms to be measured by the structured light device
Moulding pipe 5 on.
The single data processing of Zaser contourgraph 17 can obtain wall scroll moulding pipe 5 to be measured at IMAQ direction interface
On a profile information.
High-precision translation stage 18 carries Zaser contourgraph 17 and moves, and can obtain one section of object under test wheel of degree of precision
Wide information.
By analyzing the position of laser in image and combining the nominal data of Zaser contourgraph 17, moulding pipe can be calculated
The distance of permanent datum on 5 surface distance Zaser contourgraphs 17, calculates the profile information of moulding pipe 5.
Fig. 3 is the three-dimensional model diagram of the pressure pin 8 of support robot 2 end in Fig. 1.
Above-mentioned moulding pipe automatic detection device has a set of formed pipe being made up of Duo Tai robots and supporting mechanism
Part support system, for fixing moulding pipe 5 to be detected；Comprising one or more robot, one or more supporting mechanisms；
Described robot can be automatic to calculate maximum support position and attitude according to the CAD model of the moulding pipe 5 of user input；
Described supporting mechanism prevents it from occurring to slide or overturning for aiding in fixed-type pipe fitting.
One group of support articulated robot 2 (articulated robot 2A, articulated robot 2B) constitutes formed pipe with supporting construction 6
Part support system, for moulding pipe 5 to be fixed in space to be measured with certain attitude.
It is specific as follows：
Artificial two of described support machine, that is, support robot 2A, support robot 2B, in the support robot
2A, the end of support robot 2B are respectively provided with pressure pin 8, and the structure of the pressure pin 8 is tubulose；The pressure pin 8 supports the shaping
Pipe fitting 5 is close to end positions.
Or, described support robot is more than two, is respectively provided with the end (projecting end) of the support robot
Pressure pin 8, the structure of the pressure pin 8 is tubulose；The pressure pin 8 is used to support the moulding pipe 5.
The pressure pin 8 is arranged on described support robot 2A, support robot 2B by pressure pin mounting seat 4.
The structure design of pressure pin 8 is tubulose, the state in unfolding when fixing moulding pipe 5 as far as possible, is reduced as far as possible
Because moulding pipe 5 is fettered support section and caused by deformation.
Mutually be connected by fieldbus between robot described in many, the fieldbus be Profile Bus,
One of Device Net, Ether Net.The interference that collides from each other can be prevented.
Fig. 4 is the schematic diagram that moulding pipe supports supplementary structure.
The pipe fitting support system is additionally provided with auxiliary support structure, and the top of the auxiliary support mechanism sets supporting construction
6 and clamp system 7；The supporting construction 6 is U-type groove block structure, and the moulding pipe 5 is placed in the U-shaped of the U-type groove block structure
In groove；The clamp system 7 is screw clamping mechanism；Moulding pipe 5 is fastened in described U-type groove by clamp system 7.
It is used to limit the position in measurement space of moulding pipe 5 by supporting construction 6 and clamp system 7.
The standing portion of described auxiliary support structure is two sections, i.e. upper support bar 9, lower support bar 11, the upper support
In the insertion lower support bar 11 of bar 9, and locked by retaining mechanism 10, adjusted by the extension elongation for adjusting upper support bar 9
The bearing height of the auxiliary support structure.By adjusting supporting mechanism highly, the size model of systematic survey pipe fitting can be expanded
Enclose.
The bottom of the auxiliary support structure is fixed mount bearing 15；The fixed mount bearing 15 is fixed by three magnetic force
Device, i.e. magnetic force fixed device 12, magnetic force fixed device 13, magnetic force fixed device 14 are fixed on described base 1.Can be square
Just it is absorbed and fixed at any measurement position on the base 1 (installation pedestal) shown in Fig. 1.
Described support robot 2A, support robot 2B, scanning machine people 20 and pipe fitting support auxiliary body are fixed
On base 1.
The automatic detection device sets system control equipment 3, for controlling robot (support robot 2A, support machine
Device people 2B and scanning machine people 20) and complete data processing.
Automatic Detection and Control software of the invention, using graphical man machine operation interface；Using modular design method, its
Function can need to cut and customize according to user；The template that can be set according to user automatically generates examining report.
The Automatic Detection and Control running software, can be according to the formed pipe of user input on the host computer of detection means
CAD model automatically generates the motion control program of robot measurement 20, can be automatic according to the formed pipe CAD model of user input
The Support Position of generation support robot and support attitude.
The CAD model of the moulding pipe 5 that the support robot 2A, support robot 2B can be input into according to operating personnel
Automatically maximum support position and attitude are calculated.
The Automatic Detection and Control running software of the automatic detection device, can be according to behaviour on the host computer of detection means
Make the CAD model of the moulding pipe 5 of personnel's input, automatically generate the motion control program of scanning machine people 20.
The above Automatic Detection and Control software, can be by communication interface and robot measurement 20, support robot, flat
Moving stage 18 and the grade of Zaser contourgraph 17 are communicated；Robot measurement 20, support robot and translation stage 18 can in real time be obtained
Position and the information such as attitude and state, and be displayed in operation interface；The collection of Zaser contourgraph 17 can in real time be obtained
Outline data is simultaneously displayed in operation interface；The several of pipe fitting can automatically be calculated according to the outline data of the moulding pipe 5 of collection
What dimension information；The survey calculation value and design theory value of the physical dimension of moulding pipe 5 can automatically be compared, knot is compared in generation
Retribution is accused.
The technical scheme of the detection method of moulding pipe automatic detection device of the invention is：
First before detection pipe fitting, the CAD model that Automatic Detection and Control software imports moulding pipe 5 to be detected is first passed through,
Automatic Detection and Control software will automatically generate the motion control program and the support robot 2A of scanning machine people 20, support
The position of robot 2B and attitude, and the motor program of scanning machine people 20 and position and attitude information that will be automatically generated, lead to
Cross during network is sent automatically to perform accordingly robot controller；
Support robot 2A, support robot 2B are according to the position and attitude information for receiving, adjust automatically support robot
2A, the position of support robot 2B ends and attitude；After moulding pipe 5 to be detected is in place, operating personnel start detection,
Scanning machine people 20 can carry three-D profile scanning survey mechanism and pipe fitting is scanned according to the motor program for receiving；Three
The profile information of moulding pipe 5 of collection is sent to dimension profile scan measuring mechanism the automatic detection control on host computer by network
Software processed, calculating is analyzed to outline data by it, judges whether crucial physical dimension is qualified.
Fig. 5 is the measurement procedure block diagram of pipe fitting detecting system.As shown in the drawing, the detection process of described detection method
It is：
After the automatic detection device starts, operating personnel 3 in the system control equipment in be input into formed pipe to be detected
The CAD model of part 5, Automatic Detection and Control software automatically calculates the pose of all support robots in support system and sweeps
Retouch the trajectory path of robot 20；
System control equipment 3 by fieldbus (ProfileBus, EtherNet etc.) will support robot position and
The command information of attitude sends support robot to；The support robot is according to corresponding information movement to target location；
System control equipment 3 provides the contacting points position of each support robot, supporting construction 6 and moulding pipe 5；
Described support robot 2A, 2B and auxiliary support mechanism support moulding pipe 5 to be measured in suitable position jointly
Put, be easy to scanning machine people 20 to gather the three-dimensional data information of moulding pipe 5 to be detected；
Above-mentioned support contact point information of the operating personnel by moulding pipe 5 to be measured as indicated, by moulding pipe 5
It is fixed in measurement space；
Afterwards, scanning machine people 20 moves to first measurement point according to the trace information of its measurement point for calculating, and puts down
Moving stage 18 carries the three-dimensional data information of the collection first stage building of Zaser contourgraph 17 pipe fitting 5；
After the completion of collection, scanning machine people 20 moves to next measurement point, and the collection of three-D profile scanning survey mechanism should
Pipe fitting three-dimensional data information at position, the process is carried out successively, until last measurement point；
After the completion of data acquisition, Automatic Detection and Control software is fitted the threedimensional model of moulding pipe 5, and according to this model meter
Calculate the appearance and size data of moulding pipe 5, and obtain moulding pipe 5 whether qualified information；
Automatic detection device carries out follow-up work according to the selection of operating personnel.
The moulding pipe 5 is placed into pipe fitting support system after being captured by artificial or robot.
Operating personnel can be by clicking on the virtual push button on Automatic Detection and Control software or system control equipment 3
Entity button starts detection process.
The motion control program of the scanning machine people 20 by user's teaching by that can also be produced.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented and do not receive aforesaid way
Limitation, such as support robot quantity be not fixed as 2, its can according to fixation the need for carry out appropriate increase and decrease.Only
The improvement of the various unsubstantialities that method of the present invention design and technical scheme are carried out is employed, or it is not improved by the present invention
Design and technical scheme directly apply to other occasions, within protection scope of the present invention.
Claims (10)
1. a kind of moulding pipe automatic detection device, including pipe fitting support system, pipe fitting detecting system and base (1), its feature
It is：The pipe fitting support system sets support robot (2A, 2B)；Described pipe fitting detecting system sets scanning machine people
(20)。
2. according to the moulding pipe automatic detection device described in claim 1, it is characterised in that：It is described support robot (2A,
2B) articulated robot is with scanning machine people (20).
3. according to the moulding pipe automatic detection device described in claim 1, it is characterised in that：On the scanning machine people (20)
Three-D profile scanning survey mechanism is installed, described three-D profile scanning survey mechanism sets translation stage (18), contourgraph support
And Zaser contourgraph (17) (16)；The Zaser contourgraph (17) is by contourgraph support (16) on translation stage (18)；
The translation stage (18) is by connector (19) on scanning machine people (20).
4. according to the moulding pipe automatic detection device described in claim 3, it is characterised in that：Zaser contourgraph (17) bag
Include structured light device and imageing sensor；The optical axis of the structured light device and imageing sensor forms certain angle.
5. according to the moulding pipe automatic detection device described in claim 4, it is characterised in that：The structured light device will be tied
Structure light is transmitted on moulding pipe (5) to be measured；Described image sensor collection is projected on measured moulding pipe (5) surface
The image of laser, by analyzing the position of laser in image and combining Zaser contourgraph (17) nominal data, calculates formed pipe
The distance of permanent datum on part (5) surface distance Zaser contourgraph (17), calculates the profile information of moulding pipe (5).
6., according to the detection method of the moulding pipe automatic detection device any one of claim 1 to 5, its feature exists
In：
First before detection pipe fitting, the CAD model that Automatic Detection and Control software imports moulding pipe (5) to be detected is first passed through, from
Dynamic detection control software will automatically generate the motion control program and the support robot (2A, 2B) of scanning machine people (20)
Position and attitude, and scanning machine people (20) motor program and position and attitude information that will be automatically generated, by network
In being sent automatically to perform accordingly robot controller；
According to the position and attitude information for receiving, adjust automatically supports robot (2A, 2B) end to support robot (2A, 2B)
The position at end and attitude；After moulding pipe (5) to be detected is in place, operating personnel start detection, scanning machine people (20)
Three-D profile scanning survey mechanism can be carried according to the motor program for receiving to be scanned pipe fitting；Three-D profile scanning is surveyed
Moulding pipe (5) profile information for gathering is sent to measuring mechanism the Automatic Detection and Control software on host computer by network, by
It is analyzed calculating to outline data, judges whether crucial physical dimension is qualified.
7. according to the detection method of the moulding pipe automatic detection device any one of claim 1 to 5, it is characterised in that
The detection process of the method is：
After the automatic detection device starts, operating personnel are input into moulding pipe to be detected in system control equipment in (3)
(5) CAD model, Automatic Detection and Control software automatically calculates the position of all supports robot (2A, 2B) in support system
Appearance and scanning machine people (20) trajectory path；
System control equipment (3) will support the position of robot (2A, 2B) and the command information of attitude to transmit by fieldbus
To support robot (2A, 2B)；Support robot (2A, 2B) is according to corresponding information movement to target location；
System control equipment (3) provides the contact point of each support robot (2A, 2B), supporting construction (6) and moulding pipe (5)
Position；
Support robot (2A, 2B) supports moulding pipe (5) to be measured in suitable position jointly with auxiliary support mechanism
Put, be easy to scanning machine people (20) to gather the three-dimensional data information of moulding pipe (5) to be detected；
Above-mentioned support contact point information of the operating personnel by moulding pipe (5) to be measured as indicated, by moulding pipe (5)
It is fixed in measurement space；
Afterwards, scanning machine people (20) moves to first measurement point according to the trace information of its measurement point for calculating, translation
Platform (18) carries the three-dimensional data information of Zaser contourgraph (17) collection first stage building pipe fitting (5)；
After the completion of collection, scanning machine people (20) moves to next measurement point, and three-D profile scanning survey mechanism gathers the position
The pipe fitting three-dimensional data information at place is put, the process is carried out successively, until last measurement point；
After the completion of data acquisition, the threedimensional model of Automatic Detection and Control software fitting moulding pipe (5), and calculated according to this model
Go out the appearance and size data of moulding pipe (5), and obtain moulding pipe (5) whether qualified information；
Automatic detection device carries out follow-up work according to the selection of operating personnel.
8. according to the detection method of the moulding pipe automatic detection device described in claim 6 or 7, it is characterised in that：It is described into
Type pipe fitting (5) is placed into pipe fitting support system after being captured by artificial or robot.
9. the detection method of the moulding pipe automatic detection device according to claim 6 or 7, it is characterised in that：Operator
Member can be by clicking on the virtual push button on Automatic Detection and Control software, or the entity pressed on system control equipment (3) is pressed
Button starts detection process.
10. the detection method of the moulding pipe automatic detection device according to claim 6 or 7, the scanning machine people
(20) motion control program is produced by user's teaching.
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| CN108534707A (en) * | 2018-03-21 | 2018-09-14 | 福州万象三维电子科技有限公司 | Industry manufacture component scale scanning detection method |
| CN109916334A (en) * | 2019-04-19 | 2019-06-21 | 上海申密机电设备有限公司 | Quick flexible 3 D detection system is processed in the automation of weather strip for automobile mechanical hand |
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