CN112648925A - Product size online flexible measurement system and method with infrared tracking function - Google Patents
Product size online flexible measurement system and method with infrared tracking function Download PDFInfo
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- CN112648925A CN112648925A CN202110009577.9A CN202110009577A CN112648925A CN 112648925 A CN112648925 A CN 112648925A CN 202110009577 A CN202110009577 A CN 202110009577A CN 112648925 A CN112648925 A CN 112648925A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention relates to a product dimension on-line flexible measurement system with infrared tracking and a method thereof, wherein the system comprises a flexible positioning device, a plurality of detachable positioning supports and a plurality of positioning devices, wherein the flexible positioning device is provided with a plurality of positioning supports; around this flexible positioning device there are also provided: the loading and unloading robot is used for replacing the product loading and unloading or the positioning support; the measuring robot is characterized in that a laser measuring head is arranged on an end effector of the measuring robot, a plurality of infrared ray emitting balls are arranged around the laser measuring head, and each infrared ray emitting ball is provided with a plurality of infrared ray emitting surfaces; the infrared tracking device receives infrared rays emitted by the infrared emitting surface; the calibration ball is positioned in the measuring stroke of the laser measuring head; and the control device is respectively electrically connected with the measuring robot, the laser measuring head, the upper workpiece loading robot, the lower workpiece loading robot, the infrared tracking device and the flexible positioning device. The on-line flexible measurement system and method for the product size with the infrared tracking can realize automatic measurement of different products, and are high in measurement efficiency, low in allocation cost and accurate and stable in measurement result.
Description
Technical Field
The invention relates to the field of measurement of automobile part product sizes, in particular to a product size online flexible measurement system with infrared tracking and a method thereof.
Background
In the automobile manufacturing process, the automobile part product needs to meet the size specification requirement, therefore, the product needs to be subjected to size measurement, and the measurement elements comprise: profile definition, clearance profile difference, profile parallelism, profile contour uniformity, bore size, bore location, etc. can affect the final assembly. At present, there are three general methods for online measurement of the dimensions of automobile parts, such as automobile plastic tail gate products:
the first method is to adopt a fixed displacement sensor and a customization tool, and the customization tool of the method has the advantages of higher cost, complex structure and high maintenance cost. If the measurement elements need to be added midway, the situation that the space is insufficient exists, the customized tooling needs to be redesigned and manufactured, and the cost is further increased.
The second method is an on-line measurement method of the white body of the whole car factory, generally a robot and a laser measuring head are adopted in the method, the white body is fixed on a custom-made tool, and the relative clearance and the relative surface difference between parts of the white body are measured by laser.
The third is the on-line measurement method of the white body tracking system in the whole factory, the method generally adopts a robot, a laser measuring head and a laser tracker, and the white body is fixed on a custom-made tool, can measure the absolute vector deviation of a single point of a product, and belongs to absolute measurement. However, in the method, the tooling needs to be customized, namely, one product needs to be customized, the method cannot adapt to the measurement requirements of different products, and the flexibility degree is not high; meanwhile, the single-beam laser interference factors of the laser tracker are more, and the laser tracker cannot track in time when the measuring head moves rapidly; but the laser beam also has some damage to the human eye.
Disclosure of Invention
The invention aims to provide a product dimension online flexibility measurement system with infrared tracking and a method thereof, which can complete measurement of different products without customizing tools and have high flexibility degree.
The invention provides an online flexible measurement system for product size with infrared tracking on one hand, which comprises:
the flexible positioning device is provided with a plurality of detachable positioning supports; around this flexible positioning device there are also provided:
the loading and unloading robot is used for replacing the product loading and unloading or the positioning support;
the measuring robot is characterized in that a laser measuring head is arranged on an end effector of the measuring robot, a plurality of infrared ray emitting balls are arranged around the laser measuring head, and each infrared ray emitting ball is provided with a plurality of infrared ray emitting surfaces;
the infrared tracking device receives the infrared rays emitted by the infrared emitting surface and is used for confirming the spatial position of the laser measuring head in real time;
the calibration ball is positioned in the measuring stroke of the laser measuring head and is used for calibrating the tool coordinate system and calibrating the periodic precision of the laser measuring head;
and the control device is electrically connected with the measuring robot, the laser measuring head, the loading and unloading robot, the infrared tracking device and the flexible positioning device respectively.
Furthermore, the flexible positioning device comprises a servo rotating platform and a positioning frame fixed on the servo rotating platform, a plurality of standard mounting surfaces are arranged on the positioning frame, and the positioning support is detachably mounted on the standard mounting surfaces.
Furthermore, standard holes with equal hole distances are arranged on the standard mounting surface, and the positioning support is mounted in the standard holes.
Further, the control device comprises a PLC control cabinet and a measurement control cabinet which are communicated with each other, wherein the PLC control cabinet is electrically connected with the measurement robot, the loading and unloading robot and the flexible positioning device respectively, and the measurement control cabinet is electrically connected with the laser measuring head and the infrared tracking device respectively.
Further, the infrared tracking device is an infrared camera.
Further, the flexible positioning device is located in the measuring stroke of the laser measuring head.
Further, the laser measuring head emits green laser and adopts a triangle structure light measuring principle.
Furthermore, a sucker or a gripper is arranged on an end effector of the piece loading and unloading robot.
Further, the intelligent manufacturing system is electrically connected with the control device and used for collecting product size fluctuation information and forming big data.
The invention provides a product dimension online flexible measurement method with infrared tracking, which comprises the following steps:
step S1: providing an online flexible product dimension measuring system with infrared tracking as described above;
step S2: carrying out tool coordinate system calibration and precision calibration on the laser measuring head through a calibration ball;
step S3: the control device controls the piece loading and unloading robot to mount the product on the flexible positioning device;
step S4: the control device controls the flexible positioning device to rotate 90 degrees anticlockwise and controls the measuring robot to measure the size of the product;
step S5: the control device controls the flexible positioning device to rotate 90 degrees clockwise and controls the workpiece loading and unloading robot to take the product down from the flexible positioning device;
step S6: and the control device controls the loading and unloading robot to disassemble and replace the positioning support on the flexible positioning device, and executes the steps S3-S6 on another product until all the products are measured.
According to the on-line flexible measurement system and method for the product size with the infrared tracking, the servo rotating table and the detachable positioning support are arranged on the flexible positioning device, so that different products can be installed on the flexible positioning device and can rotate freely, the simultaneous measurement of different product sizes is realized, the measurement efficiency is greatly improved, and the cost is reduced; by adopting the triangulation principle of green laser, the measurement is stable, the measurement of the sizes of products with different colors can be realized, for example, high-gloss transparent products, the equipment is simple and convenient, and the cost performance is high; the infrared tracking device is adopted to capture the spatial position of the laser measuring head in real time, so that the tracking range is wider, the speed is higher, the tracking precision, efficiency and stability of the measuring robot in high-speed operation can be ensured, the measuring result is more accurate, and the infrared ray is relatively safe to human eyes; the control device coordinates the operation of each device, so that the automatic measurement and automatic analysis of different products are realized, the measurement result is generated, and the measurement efficiency is further improved.
Drawings
FIG. 1 is a schematic structural diagram of an online flexible measurement system for product dimensions with infrared tracking according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a laser measuring head and an infrared transmitting ball according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a flexible positioning apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a positioning frame of a flexible positioning apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of the positioning frame of FIG. 4 after a positioning support is installed thereon;
FIG. 6 is a schematic diagram of coordinate system transformation according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for measuring the product dimension online flexibility with infrared tracking according to another embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example one
As shown in fig. 1, an embodiment of the present invention provides an online flexible product size measuring system with infrared tracking, including a measuring robot 1, an upper and lower robot 2, an infrared tracking device 4, a flexible positioning device 3, a calibration ball 5, and a control device (not shown in the figure), where the measuring robot 1 is used to measure the size of a product, and a laser probe 11 is arranged on an end effector of the measuring robot. As shown in fig. 2, a plurality of infrared radiation balls 111 are provided around the laser probe 11, each infrared radiation ball 111 is provided with a plurality of infrared radiation surfaces, the infrared radiation surfaces can emit scattered infrared rays 1111 in real time, and the infrared tracking device 4, which can be an infrared camera, for example, is used for capturing infrared rays 1111 in real time to confirm the real-time spatial position of the laser probe 11 to correct the deviation generated during the operation of the measuring robot 1. The infrared tracking device 4 can ensure the tracking precision, efficiency and stability of the measuring robot 1 when running at high speed, eliminates the absolute precision error of the robot, can greatly improve the precision of the whole flexible measuring system, and simultaneously, the infrared ray is relatively safe to human eyes. The laser probe 11 needs to be located within the tracking range of the infrared tracking device 4 to ensure that the infrared rays can be smoothly received.
As shown in fig. 3-5, the flexible positioning device 3 is provided with a plurality of detachable positioning supports 311, the positioning supports 311 are used for fixing products, different products, such as a product a and a product B, need to be fixed by different positioning supports 311, and by replacing the positioning supports 311, the flexible positioning device 3 can position different products, thereby completing the measurement of different product sizes, and having good adaptability. The flexible positioning device 3 is located in the measuring stroke of the laser measuring head 11, so that the laser measuring head 11 can smoothly complete the measurement of the product size.
The flexible positioning device 3 includes a positioning frame 31 and a servo rotary table 32, the positioning frame 31 is fixed on the servo rotary table 32, and the servo rotary table 32 is driven by a servo motor (not shown in the figure) to drive the positioning frame 31 to rotate. The positioning frame 31 may be a rectangular parallelepiped, which includes six surfaces, five surfaces except the bottom surface are standard mounting surfaces, standard holes 31 with equal pitch are all provided thereon, and the positioning support 311 is installed in the standard holes 31. The positioning frame 31 has five faces on which positioning supports 311 for different products can be respectively mounted, so that different products can be fixed on each face, for example, a product a is fixed on the front face of the positioning frame 31, and a product B, a product C (not shown), a product D and a product E are respectively fixed on the right, rear, left and top faces of the positioning frame 31. It should be noted that only one product or a plurality of products may be fixed on five surfaces of the positioning frame 31, and the user may select the product according to the needs, which is not limited by the present invention.
The end effector of the picking robot 2 is provided with a picking actuator and a positioning support replacing actuator (neither shown in the figures), wherein the picking actuator is used for mounting or removing a product on or from the positioning support 311, and may be, for example, a suction cup or a gripper, and picking and placing of the product are performed by suction or gripping force. The positioning support dismounting actuator is used for replacing the positioning support 311 on the flexible positioning device 3 so as to fix different products, and the positioning support dismounting actuator can be a sucker or a gripper. The conversion that the executor was torn open and trade to end effector and location support is realized to the current end effector switching tool of accessible, when needing to go up and down 2 installation of robot or take off the product, end effector switching tool will go up and down the executor and install to end effector on, when needing to go up and down 2 and tear open and trade location support 311, end effector switching tool will go up and down the executor and switch into the location support and tear open and trade the executor. For example, when the upper and lower actuators and the positioning holder replacing actuator are both suction cups, since the suction cups used are different due to the difference in shape and size between the product and the positioning holder, when the upper and lower actuators are required, the suction cup of the product is attached to the end effector of the upper and lower robots 2, and when the positioning holder 311 is required to be replaced, the suction cup of the positioning holder 311 is attached.
During measurement, the laser measuring head 11 emits green structured light to adapt to measurement of sizes of products with different colors, including highly reflective paint spraying products and products made of transparent materials, such as automobile glass, lamp covers and the like.
The laser measuring head 11 measures the size of the product by adopting a triangular structure light measuring principle. The principle of triangulation is well known in the art and will not be described further herein. Through the laser measuring head adopting the triangulation principle, the measurement can be more stable, and the device is simple, convenient and high in cost performance.
As shown in fig. 6, a total of 3 conversions are performed from the probe coordinate system Q of the laser probe 11 to the vehicle body coordinate system P, including a conversion T from the probe coordinate system Q to the six-axis flange coordinate system R of the measurement robot, a conversion U from the six-axis flange coordinate system R of the measurement robot to the base coordinate system S of the measurement robot, and a conversion V from the base coordinate system S of the measurement robot to the vehicle body coordinate system P, where the conversion formulas are: p is Q · T · U · V.
The calibration ball 5 is located in the measuring stroke of the laser measuring head 11 and is used for calibrating the coordinate system of the laser measuring head 11, so that the measuring head coordinate system Q is related to the six-axis flange coordinate system R of the measuring robot, and the laser measuring head 11 is calibrated periodically. The principle of calibration and calibration using a calibration ball is common knowledge in the art and will not be described herein.
The control device is respectively and electrically connected with the measuring robot 1, the laser measuring head 11, the upper and lower workpiece robots 2, the infrared tracking device 4, the flexible positioning device 3 and the calibration ball 5, and is used for controlling the devices to be mutually matched to finish the automatic measurement of the product size. The control device comprises a PLC control cabinet and a measurement control cabinet (not shown in the figure), the PLC control cabinet is communicated with the measurement control cabinet and is respectively electrically connected with the servo motors of the measurement robot 1, the upper workpiece-taking robot 2 and the lower workpiece-taking robot 2 and the servo rotary table 32 and is used for controlling the operation of the measurement control cabinet, the movement of the measurement robot 1, the removal and replacement of the upper workpiece-taking robot and the lower workpiece-taking robot 2 and the positioning support 311, the switching between the upper workpiece-taking actuator and the lower workpiece-taking actuator and the positioning support removal and replacement actuator, the rotation of the servo rotary table 32 and the like, the PLC control cabinet can also control the automatic conveying of products on the production line, the measurement control cabinet is respectively and electrically connected with the laser measuring head 11 and the infrared tracking device 4, the measurement control cabinet is internally provided with measurement control software and statistical analysis software which is respectively used for controlling the operation of the laser measuring head 11 and the infrared tracking device 4, and sending the measurement data to statistical analysis software, and performing statistical analysis on the measurement data by the statistical analysis software to obtain a measurement result and generate a report or a chart. The PLC control cabinet is used as a master control to coordinate all the devices to complete the whole measurement and analysis process, the measurement control cabinet is used as a slave control to complete the specific measurement and analysis process through measurement control software and statistical analysis software.
The online flexible measurement system with infrared tracking for the product dimension can further comprise an intelligent manufacturing system, the intelligent manufacturing system is electrically connected with the control device, the intelligent manufacturing system can connect all process modules in automobile manufacturing, information sharing is achieved, big data are formed, and therefore intelligent manufacturing of an automobile is achieved.
The flexible measurement system provided by the embodiment of the invention can complete simultaneous measurement of different products, and the method for simultaneous measurement of the flexible measurement system is described below by taking a product A and a product B as examples.
With continued reference to fig. 1, the flexible measuring system includes two measuring robots 1, two upper and lower robots 2, two infrared tracking devices 4, and two calibration balls 5, which are all disposed around the flexible positioning device 3, each measuring robot 1, upper and lower robots 2, infrared tracking device 4, and calibration ball 5 constitute a set of measuring device, and the two sets of measuring devices respectively measure the sizes of a product a and a product B. The left side of the flexible device 3 is the position of the upper part and the lower part of the product A, the lower side of the flexible device 3 is the position of the measurement of the product A, the right side of the flexible device 3 is the position of the upper part and the lower part of the product B, and the upper side of the flexible device 3 is the position of the measurement of the product B. During measurement, the control device controls the laser measuring heads 11 in the two sets of measuring devices to scan the calibration balls 5 to complete calibration of the tool coordinate system of the laser measuring heads 11, then the control device controls the product A to be automatically conveyed on the left production line, the product B to be automatically conveyed on the right production line, the upper and lower robots 2 of the product A to install the product A on the positioning support 311 on the left side of the flexible device 3 from the left production line, the upper and lower robots 2 of the product B to install the product B on the positioning support 311 on the right side of the flexible device 3 from the right production line, after the products are installed, the control device controls the flexible device 3 to rotate 90 degrees in the counterclockwise direction, so that the product A rotates to the lower side of the flexible device 3 (namely, the measuring position of the product A), the product B rotates to the upper side of the flexible device 3 (namely, and then the control device controls the measuring robot 1 of the product A to rotate, The infrared tracking device 4 of the product A finishes the size measurement of the product A, the measurement robot 1 of the product B and the infrared tracking device 4 of the product B finish the size measurement of the product B, after the measurement is finished, the control device controls the flexible positioning device 3 to rotate 90 degrees clockwise, then the upper workpiece loading robot 2 takes down the product A and the product B and places the products on respective production lines to convey the products to a designated area, and meanwhile, the control device processes the measurement data to generate a report or a chart. The steps are repeated until all the products are measured. When the C/D/E/F product needs to be measured, the control device controls the loading and unloading robot 2 to replace the end effector with the positioning support detaching and replacing effector, detaches and replaces the positioning support 311 on the flexible positioning device 3, replaces the end effector with the loading and unloading effector after the detachment, and repeats the measuring process to complete the measurement of other types of products. It should be noted that the upper, lower, left and right sides herein are all directions with reference to the view of fig. 1.
According to the on-line flexible measurement system for the product size with the infrared tracking, provided by the embodiment of the invention, the servo rotating table and the detachable positioning support are arranged on the flexible positioning device, so that the flexible positioning device can be provided with different products and can freely rotate, the simultaneous measurement of different product sizes is realized, the measurement efficiency is greatly improved, and the cost is reduced; by adopting the triangulation principle of green laser, the measurement is stable, the measurement of the sizes of products with different colors can be realized, for example, high-gloss transparent products, the equipment is simple and convenient, and the cost performance is high; the infrared tracking device is adopted to capture the spatial position of the laser measuring head in real time, so that the tracking range is wider, the speed is higher, the tracking precision, efficiency and stability of the measuring robot in high-speed operation can be ensured, the measuring result is more accurate, and the infrared ray is relatively safe to human eyes; the control device coordinates the operation of each device, so that the automatic measurement and automatic analysis of different products are realized, the measurement result is generated, and the measurement efficiency is further improved.
Example two
As shown in fig. 7, the present embodiment provides an online flexible measurement method for product size with infrared tracking, including:
step S1: providing an online flexible measurement system for product dimension with infrared tracking according to the first embodiment;
step S2: carrying out tool coordinate system calibration and precision calibration on the laser measuring head through the calibration ball 5;
step S3: the control device controls the loading and unloading robot 2 to mount the product on the flexible positioning device 3;
step S4: the control device controls the flexible positioning device 3 to rotate 90 degrees anticlockwise and controls the measuring robot 1 to measure the size of the product;
step S5: the control device controls the flexible positioning device 3 to rotate 90 degrees clockwise and controls the workpiece loading and unloading robot 2 to take the product down from the flexible positioning device 3;
step S6: the control device controls the loading and unloading robot 2 to replace the positioning support 311 on the flexible positioning device 3, and executes the steps S3-S6 on another product until all the products are measured.
The online flexible measurement method for the product size with the infrared tracking in the embodiment adopts the measurement system in the first embodiment, so that automatic measurement of different products can be realized, the measurement efficiency is high, the cost is low, and the measurement result is accurate and stable.
The above embodiments are merely preferred embodiments of the present invention, which are not intended to limit the scope of the present invention, and various changes may be made in the above embodiments of the present invention. All simple and equivalent changes and modifications made according to the claims and the content of the specification of the present application fall within the scope of the claims of the present patent application. The invention has not been described in detail in order to avoid obscuring the invention.
Claims (10)
1. The utility model provides a take online flexible measurement system of product size of infrared tracking which characterized in that includes:
the flexible positioning device is provided with a plurality of detachable positioning supports; around this flexible positioning device there are also provided:
the loading and unloading robot is used for replacing the product loading and unloading or the positioning support;
the measuring robot is characterized in that a laser measuring head is arranged on an end effector of the measuring robot, a plurality of infrared ray emitting balls are arranged around the laser measuring head, and each infrared ray emitting ball is provided with a plurality of infrared ray emitting surfaces;
the infrared tracking device receives the infrared rays emitted by the infrared emitting surface and is used for confirming the spatial position of the laser measuring head in real time;
the calibration ball is positioned in the measuring stroke of the laser measuring head and is used for calibrating the tool coordinate system and the regular precision of the laser measuring head;
and the control device is electrically connected with the measuring robot, the laser measuring head, the loading and unloading robot, the infrared tracking device and the flexible positioning device respectively.
2. The on-line flexible measurement system for product dimension with infrared tracking of claim 1, characterized in that the flexible positioning device comprises a servo rotary table and a positioning frame fixed on the servo rotary table, the positioning frame is provided with a plurality of standard mounting surfaces, and the positioning support is detachably mounted on the standard mounting surfaces.
3. The on-line flexible product dimension measuring system with infrared tracking of claim 2, characterized in that the standard mounting surface is provided with standard holes with equal hole distance, and the positioning support is mounted in the standard holes.
4. The system of claim 1, wherein the control device comprises a PLC control cabinet and a measurement control cabinet, the PLC control cabinet and the measurement control cabinet are in communication with each other, the PLC control cabinet is electrically connected to the measurement robot, the loading and unloading robot, and the flexible positioning device, and the measurement control cabinet is electrically connected to the laser measuring head and the infrared tracking device.
5. The on-line flexible measurement system for product dimension with infrared tracking of claim 1, characterized in that the infrared tracking device is an infrared camera.
6. The on-line flexible product dimension measuring system with infrared tracking of claim 1, characterized in that the flexible positioning device is located within a measuring stroke of the laser measuring head.
7. The on-line flexible product dimension measuring system with infrared tracking function of claim 6, wherein the laser measuring head emits green laser and adopts a triangle structure light measuring principle.
8. The on-line flexible product dimension measuring system with infrared tracking of claim 1, wherein a suction cup or a gripper is arranged on the end effector of the piece-feeding robot and the piece-discharging robot.
9. The on-line flexible measurement system for product dimension with infrared tracking of claim 1, further comprising an intelligent manufacturing system electrically coupled with the control device for collecting product dimension fluctuation information and forming big data.
10. An online flexible measurement method for product size with infrared tracking is characterized by comprising the following steps:
step S1: providing an on-line flexible measurement system for product dimensions with infrared tracking according to any one of claims 1 to 9;
step S2: carrying out tool coordinate system calibration and precision calibration on the laser measuring head through a calibration ball;
step S3: the control device controls the piece loading and unloading robot to mount the product on the flexible positioning device;
step S4: the control device controls the flexible positioning device to rotate 90 degrees anticlockwise and controls the measuring robot to measure the size of the product;
step S5: the control device controls the flexible positioning device to rotate 90 degrees clockwise and controls the workpiece loading and unloading robot to take the product down from the flexible positioning device;
step S6: and the control device controls the loading and unloading robot to disassemble and replace the positioning support on the flexible positioning device, and executes the steps S3-S6 on another product until all the products are measured.
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| CN113418567A (en) * | 2021-07-30 | 2021-09-21 | 杭州高品自动化设备有限公司 | Door actuator maximum force testing and BUMPER profile detection device and working method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113418567A (en) * | 2021-07-30 | 2021-09-21 | 杭州高品自动化设备有限公司 | Door actuator maximum force testing and BUMPER profile detection device and working method |
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