CN113103248B - Automatic detection line of three-dimensional image scanning robot - Google Patents
Automatic detection line of three-dimensional image scanning robot Download PDFInfo
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- CN113103248B CN113103248B CN202110249220.8A CN202110249220A CN113103248B CN 113103248 B CN113103248 B CN 113103248B CN 202110249220 A CN202110249220 A CN 202110249220A CN 113103248 B CN113103248 B CN 113103248B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
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- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of mechanical automation, in particular to an automatic detection line of a three-dimensional image scanning robot, which comprises a supporting frame and a detection system, wherein the outer walls of a driven shaft and a driving shaft are provided with conveying tracks, the driving end part of a robot body is provided with a three-dimensional image scanning head, the rear side of the detection workbench is provided with a movable workbench, the driving end of a first double-shaft clamping cylinder is provided with a first clamping jaw, the driving end of a second double-shaft clamping cylinder is provided with a second clamping jaw, the detection system comprises a data transmission module, a data processing module, a data integration module and a data display module, the automatic production line is simple in structure, feeding detection and blanking after detection are synchronously carried out, the integral detection efficiency is high, the robot body can cover an object by adopting the three-dimensional image scanning head to detect three-dimensional data of the object, the three-dimensional image of the object is rapidly formed, and the overall detection efficiency is high.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to an automatic detection line of a three-dimensional image scanning robot.
Background
The current three-dimensional object scanning technology mainly comprises a contact type (such as a three-coordinate and mechanical arm measuring instrument) and a non-contact type scanner (such as a transmission type CT and an optical reflection type). The contact scanner uses a contact to contact the surface of a measured object to obtain the three-dimensional space coordinate of a measured point, and the mode can only obtain the three-dimensional data of the measured position in sequence, so that the measurement efficiency is low; the optical reflection type non-contact scanner mainly comprises an image three-dimensional image scanner and a laser three-dimensional image scanner, wherein the laser three-dimensional image scanner can only scan along a laser line single line, the scanner or a measured object needs to be uniformly moved by matching with a motion mechanism during use, a use scene has certain requirements, the position of the scanner is tracked in real time through a transmitter, the whole equipment is very expensive, and the use range is limited. The image scanner is cheap and has wide application.
The existing image scanner can reversely obtain the three-dimensional surface data of an object through the known positions of multiple cameras by generally adopting a mode of simultaneously photographing by a monocular or a multi-view camera, the surface data of the detected piece in a visual field can be obtained at one time, the measurement speed is high, the applicability is wide, but the measurement method can only obtain the single-angle one-directional three-dimensional surface data of the object, and when the full-surface three-dimensional data of the object is required to be obtained, multi-angle photographing is required, so that the problem is improved by an automatic detection line of a three-dimensional image scanning robot.
Disclosure of Invention
The invention aims to provide an automatic detection line of a three-dimensional image scanning robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic detection line of a three-dimensional image scanning robot comprises a supporting frame and a detection system, wherein supporting plates are symmetrically arranged on the left and right sides of a base surface of the supporting frame, a driven shaft is arranged inside the left side of the supporting plate along the length direction, a driving shaft is arranged inside the right side of the supporting plate along the length direction, conveying tracks are arranged on the outer walls of the driven shaft and the driving shaft, a driving motor is arranged on the right side of the back surface of the supporting plate and corresponds to the driving shaft, mounting seats are arranged on the outer side of the supporting plate along the length direction, a knob rod is vertically installed on each mounting seat, a supporting connecting rod is installed on each mounting seat through the knob rod, a limiting plate is arranged at the inner end of each supporting connecting rod, a detection workbench is arranged on the left side of the supporting frame, a bearing plate is arranged on the front side of the detection workbench, a robot main body is arranged on the base surface of the bearing plate, and a three-dimensional image scanning head is arranged at the driving end part of the robot main body, the right front side of the detection workbench is provided with a limiting cylinder, the rear side of the detection workbench is provided with a movable workbench, the front and the rear of the base surface of the movable workbench are symmetrically provided with guide slide rails, the right side of the base surface of the movable workbench is provided with a working slide groove along the length direction, the left side of the bottom of the movable workbench is provided with a movable cylinder, the right side of the guide slide rails is provided with a first positioning slide seat, the left side of the base surface of the guide slide rails is provided with a second positioning slide seat, the inner side of the first positioning slide seat is provided with a first loading connecting plate, the left end of the first loading connecting plate is provided with a first double-shaft clamping cylinder, the driving end of the first double-shaft clamping cylinder is provided with a first clamping jaw, the inner side of the second positioning slide seat is provided with a second loading connecting plate, the left end of the second loading connecting plate is provided with a second double-shaft clamping cylinder, and the driving end of the second double-shaft clamping cylinder is provided with a second clamping jaw, the front of travelling workbench corresponds with the detection achievement platform and is provided with the article inductor, department is provided with the connecting block in the middle of the bottom of first location slide and second location slide, be provided with the locating lever between first location slide and the second location slide, install the reference column through the connecting block between first location slide and the second location slide, detecting system includes data transmission module, data processing module, data integration module and data display module.
Preferably, the support link is in adjustable locking connection with the knob stem.
Preferably, the three-dimensional image scanning head includes a three-dimensional image scanner and an automatic recognition probe mounted therein.
Preferably, the bottoms and the inner sides of the first clamping jaw and the second clamping jaw are provided with automatic identification probes.
Preferably, the driving end of the moving cylinder is connected with the first positioning sliding seat through a connecting block.
Preferably, the method comprises the following operation steps:
s1, placing the object to be detected on the conveying track, and driving the driving shaft 4 to work through the driving motor 6, so that the conveying track rotates on the driven shaft and the driving shaft to convey the object to be detected;
s2, sensing the position of an object to be detected on the upper side of the conveying track through an automatic identification probe on a first clamping jaw, clamping the object through the first clamping jaw when the automatic identification probe of the first clamping jaw senses the object, performing displacement control on a first positioning slide seat and a second positioning slide seat through the work of a movable cylinder, placing the object on a detection workbench through the first clamping jaw, controlling a three-dimensional image scanning head to correspond to the detected object through a robot body, and performing comprehensive three-dimensional data scanning on the object through a three-dimensional image scanner and the automatic identification probe carried in the three-dimensional image scanning head; the first positioning sliding seat and the second positioning sliding seat are controlled to reset through the movable air cylinder, so that the first clamping jaw clamps an object to be detected, and the second clamping jaw clamps and discharges the detected object;
and S3, processing the three-dimensional image scanning head detection data through the data processing module, integrating the three-dimensional data of the detection object through the data integration module, and transmitting and displaying the data through the data transmission module and the data display module.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the automatic production line is simple in structure, and the feeding detection and the detection and then the discharging are synchronously carried out, so that the whole detection efficiency is relatively high, and the robot main body adopts the three-dimensional image scanning head to cover the object and detect the three-dimensional data of the object, so that the three-dimensional image of the object is rapidly formed, and the whole detection efficiency is high.
Drawings
FIG. 1 is an overall front view of the present invention;
FIG. 2 is a partial block diagram of the present invention;
FIG. 3 is a partial block diagram of the present invention;
FIG. 4 is a diagram of a detection system according to the present invention.
In the figure: 1. a support frame; 101. a detection system; 2. a support plate; 3. a driven shaft; 4. a drive shaft; 5. a conveying crawler belt; 6. a drive motor; 7. a mounting seat; 8. a knob stem; 9. a support link; 10. a limiting plate; 11. a detection workbench; 12. carrying a plate; 13. a robot main body; 14. a three-dimensional image scanning head; 15. a limiting cylinder; 16. moving the working table; 17. a guide slide rail; 18. a working chute; 19. a moving cylinder; 20. a first positioning slide; 21. a second positioning slide; 22. a first load link plate; 23. a first double-shaft clamping cylinder; 24. a first jaw; 25. a second load link plate; 26. a second double-shaft clamping cylinder; 27. a second jaw; 28. an article sensor; 29. connecting blocks; 30. positioning a rod; 31. a positioning column; 32. a data transmission module; 33. a data processing module; 34. a data integration module; 35. and a data display module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution:
an automatic detection line of a three-dimensional image scanning robot comprises a supporting frame 1 and a detection system 101, wherein a supporting plate 2 is symmetrically arranged on the left and right of the base surface of the supporting frame 1, a driven shaft 3 is arranged inside the left side of the supporting plate 2 along the length direction, a driving shaft 4 is arranged inside the right side of the supporting plate 2 along the length direction, a conveying crawler 5 is arranged on the outer walls of the driven shaft 3 and the driving shaft 4, a driving motor 6 is arranged on the right side of the back surface of the supporting plate 2 corresponding to the driving shaft 4, mounting seats 7 are arranged on the outer side of the supporting plate 2 along the length direction, knob rods 8 are vertically arranged on the mounting seats 7, supporting connecting rods 9 are arranged on the mounting seats 7 through the knob rods 8, limiting plates 10 are arranged at the inner ends of the supporting connecting rods 9, a detection workbench 11 is arranged on the left side of the supporting frame 1, a bearing plate 12 is arranged on the front side of the detection workbench 11, and a robot main body 13 is arranged on the base surface of the bearing plate 12, a three-dimensional image scanning head 14 is arranged at the driving end part of the robot main body 13, a limiting cylinder 15 is arranged at the right front side of the detection workbench 11, a moving workbench 16 is arranged at the rear side of the detection workbench 11, guide slide rails 17 are symmetrically arranged at the front and rear sides of the base surface of the moving workbench 16, a working chute 18 is arranged at the right side of the base surface of the moving workbench 16 along the length direction, a moving cylinder 19 is arranged at the left side of the bottom of the moving workbench 16, a first positioning slide seat 20 is arranged at the right side of the guide slide rails 17, a second positioning slide seat 21 is arranged at the left side of the base surface of the guide slide rails 17, a first loading connecting plate 22 is arranged at the inner side of the first positioning slide seat 20, a first double-shaft clamping cylinder 23 is arranged at the left end of the first loading connecting plate 22, a first clamping jaw 24 is arranged at the driving end of the first double-shaft clamping cylinder 23, a second loading connecting plate 25 is arranged at the inner side of the second positioning slide seat 21, a second double-shaft clamping cylinder 26 is arranged at the left end of the second loading connecting plate 25, a second clamping jaw 27 is arranged at the driving end of a second double-shaft clamping cylinder 26, an article sensor 28 is arranged on the front face of the movable workbench 16 corresponding to the detection workbench 11, a connecting block 29 is arranged in the middle of the bottoms of the first positioning slide seat 20 and the second positioning slide seat 21, a positioning rod 30 is arranged between the first positioning slide seat 20 and the second positioning slide seat 21, a positioning column 31 is arranged between the first positioning slide seat 20 and the second positioning slide seat 21 through the connecting block 29, the detection system 101 comprises a data transmission module 32, a data processing module 33, a data integration module 34 and a data display module 35, the support connecting rod 9 is in adjustable locking connection with the knob rod 8, a three-dimensional image scanner and an automatic identification probe are carried inside the three-dimensional image scanner 14, automatic identification probes are arranged at the bottoms and the inner sides of the first clamping jaw 24 and the second clamping jaw 27, the driving end of the movable cylinder 19 is connected with the first positioning slide seat 20 through the connecting block 29, this automatic production line simple structure through setting up, the material loading detects and goes on with detect the back unloading in step, makes holistic detection efficiency very fast, and robot main part 13 adopts three-dimensional image scanning head 14 can carry out the cage with the object, detects the three-dimensional data of object, makes the quick shaping of object three-dimensional image, and whole detection efficiency is high.
The method comprises the following operation steps:
s1, the object to be detected is placed on the conveying crawler 5, the driving shaft 4 is driven to work through the driving motor 6, the conveying crawler 5 rotates on the driven shaft 3 and the driving shaft 4, and the object to be detected is conveyed;
s2, sensing the position of an object to be detected on the upper side of the conveying track 5 through an automatic identification probe on the first clamping jaw 24, when the automatic identification probe of the first clamping jaw 24 senses the object, working of the first double-shaft clamping cylinder 23 enables the first clamping jaw 24 to clamp the object, working of the moving cylinder 19 enables displacement control over the first positioning slide seat 20 and the second positioning slide seat 21, placing the object on the detection workbench 11 through the first clamping jaw 24, controlling the three-dimensional image scanning head 14 to correspond to the detected object through the robot main body 13, and scanning comprehensive three-dimensional data of the object through a three-dimensional image scanner and the automatic identification probe carried in the three-dimensional image scanning head 14; the first positioning slide seat 20 and the second positioning slide seat 21 are controlled to reset through the moving cylinder 19, so that the first clamping jaw 24 clamps an object to be detected, and the second clamping jaw 27 clamps and discharges the detected object;
s3, after the data processing module 33 processes the data detected by the three-dimensional scanning head 14, the data integration module 34 integrates the three-dimensional data of the detected object, and the data transmission module 32 and the data display module 35 transmit and display the data.
The working process of the invention is as follows: when in use, the object to be detected is placed on the conveying crawler 5, the driving shaft 4 is driven to work through the driving motor 6, so that the conveying crawler 5 rotates on the driven shaft 3 and the driving shaft 4, the object to be detected is conveyed, the position of the object to be detected on the upper side of the conveying crawler 5 is sensed through the automatic identification probe on the first clamping jaw 24, when the automatic recognition probe of the first jaw 24 senses the object, the first double-shaft clamping cylinder 23 is operated to clamp the object by the first jaw 24, and by operating the moving cylinder 19, the first positioning slide 20 and the second positioning slide 21 are controlled in displacement, the first clamping jaw 24 places the object on the detection table 11, the three-dimensional image scanning head 14 is controlled to correspond to a detected object through the robot main body 13, and comprehensive three-dimensional data scanning is carried out on the object through a three-dimensional image scanner and an automatic identification probe which are carried in the three-dimensional image scanning head 14; the first positioning slide seat 20 and the second positioning slide seat 21 are controlled to reset through the moving cylinder 19, the first clamping jaw 24 clamps an object to be detected, the second clamping jaw 27 clamps the detected object and clamps the object to be detected, the data processing module 33 processes the detected data of the three-dimensional image scanning head 14, the data integration module 34 integrates the three-dimensional data of the detected object, the data are transmitted and displayed through the data transmission module 32 and the data display module 35, the automatic production line structure is simple through the arrangement, the feeding detection and the blanking after the detection are synchronously carried out, the overall detection efficiency is high, the robot main body 13 can cover the object by adopting the three-dimensional image scanning head 14, the three-dimensional data of the object is detected, the three-dimensional image of the object is rapidly formed, and the overall detection efficiency is high.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A three-dimensional image scanning robot automatic detection line comprises a supporting frame (1) and a detection system (101), and is characterized in that: the base plane bilateral symmetry of braced frame (1) is provided with backup pad (2), backup pad (2) are provided with driven shaft (3) along length direction left side inside, backup pad (2) are provided with driving shaft (4) along length direction right side inside, the outer wall of driven shaft (3) and driving shaft (4) is provided with carries track (5), the back right side of backup pad (2) is provided with driving motor (6) with driving shaft (4) correspondence, the outside of backup pad (2) all is provided with mount pad (7) along length direction, knob pole (8) are vertically installed to mount pad (7), support connecting rod (9) are installed through knob pole (8) to mount pad (7), the inner of support connecting rod (9) is provided with limiting plate (10), the left side of braced frame (1) is provided with detection workstation (11), the front side of the detection workbench (11) is provided with a bearing plate (12), the base surface of the bearing plate (12) is provided with a robot main body (13), the driving end part of the robot main body (13) is provided with a three-dimensional image scanning head (14), the right front side of the detection workbench (11) is provided with a limiting cylinder (15), the rear side of the detection workbench (11) is provided with a movable workbench (16), the front and the rear of the base surface of the movable workbench (16) are symmetrically provided with guide slide rails (17), the right side of the base surface of the movable workbench (16) is provided with a working chute (18) along the length direction, the left side of the bottom of the movable workbench (16) is provided with a movable cylinder (19), the right side of the guide slide rails (17) is provided with a first positioning slide seat (20), and the left side of the base surface of the guide slide rails (17) is provided with a second positioning slide seat (21), a first loading connecting plate (22) is installed on the inner side of the first positioning sliding seat (20), a first double-shaft clamping cylinder (23) is arranged at the left end of the first loading connecting plate (22), a first clamping jaw (24) is arranged at the driving end of the first double-shaft clamping cylinder (23), a second loading connecting plate (25) is installed on the inner side of the second positioning sliding seat (21), a second double-shaft clamping cylinder (26) is arranged at the left end of the second loading connecting plate (25), a second clamping jaw (27) is arranged at the driving end of the second double-shaft clamping cylinder (26), an article inductor (28) is correspondingly arranged on the front face of the movable workbench (16) and the detection workbench (11), a connecting block (29) is arranged in the middle of the bottoms of the first positioning sliding seat (20) and the second positioning sliding seat (21), and a positioning rod (30) is arranged between the first positioning sliding seat (20) and the second positioning sliding seat (21), a positioning column (31) is arranged between the first positioning sliding seat (20) and the second positioning sliding seat (21) through a connecting block (29), and the detection system (101) comprises a data transmission module (32), a data processing module (33), a data integration module (34) and a data display module (35).
2. The automatic detection line of the three-dimensional image scanning robot of claim 1, wherein: the support connecting rod (9) is connected with the knob rod (8) in an adjustable and locking manner.
3. The automatic detection line of the three-dimensional image scanning robot of claim 1, wherein: the three-dimensional image scanner and the automatic identification probe are mounted inside the three-dimensional image scanning head (14).
4. The automatic detection line of the three-dimensional image scanning robot of claim 1, wherein: the bottoms and the inner sides of the first clamping jaw (24) and the second clamping jaw (27) are provided with automatic identification probes.
5. The automatic detection line of the three-dimensional image scanning robot of claim 1, wherein: the driving end of the movable air cylinder (19) is connected with the first positioning sliding seat (20) through a connecting block (29).
6. The automatic detection line of the three-dimensional image scanning robot of claim 1, wherein: the method comprises the following operation steps:
s1, placing the object to be detected on the conveying crawler belt (5), and driving the driving shaft 4 to work through the driving motor 6, so that the conveying crawler belt (5) rotates on the driven shaft (3) and the driving shaft (4) to convey the object to be detected;
s2, sensing the position of an object to be detected on the upper side of a conveying track (5) through an automatic identification probe on a first clamping jaw (24), when the automatic identification probe of the first clamping jaw (24) senses the object, enabling the first clamping jaw (24) to clamp the object through the work of a first double-shaft clamping cylinder (23), performing displacement control on a first positioning sliding seat (20) and a second positioning sliding seat (21) through the work of a moving cylinder (19), placing the object on a detection workbench (11) through the first clamping jaw (24), controlling a three-dimensional image scanning head (14) to correspond to the detected object through a robot main body (13), and performing comprehensive three-dimensional data scanning on the object through a three-dimensional image scanner and the automatic identification probe which are carried in the three-dimensional image scanning head (14); the first positioning sliding seat (20) and the second positioning sliding seat (21) are controlled to reset through the moving cylinder (19), so that the first clamping jaw (24) clamps an object to be detected, and the second clamping jaw (27) clamps and discharges the detected object;
and S3, after the data processing module (33) processes the data detected by the three-dimensional image scanning head (14), the data integration module (34) integrates the three-dimensional data of the detected object, and the data transmission module (32) and the data display module (35) transmit and display the data.
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| CN113695243A (en) * | 2021-07-20 | 2021-11-26 | 佶致测控技术(苏州)有限公司 | Automatic change device that production line linkage work piece measured and compares |
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