CN104020138A - Automatic positioning equipment for visual inspection of car body covering parts - Google Patents

Abstract

The invention discloses automatic positioning equipment for visual inspection of car body covering parts for solving the problems that the traditional manual detection speed is low, the precision is low and the detection range is narrow. The automatic positioning equipment comprises a base, a power device, an image acquisition device and a laser transmitter assembly, wherein the base comprises a base frame, an image acquisition system support and a laser transmitter assembly support, the lower ends of a camera height adjustment pole 1 and a camera height adjusting pole 2 of the image acquisition system support are fixedly connected with the base frame, the lower ends of a camera height adjustment pole 3 and a camera height adjusting pole 4 of the image acquisition system support are fixedly connected with the base frame, the lower ends of a laser height adjustment pole 1 and a laser height adjusting pole 2 of the laser transmitter assembly support are fixedly connected with the outer sides of a length control rod 1 and a length control rod 2 of the base frame, the power device is arranged on a power guide rail 1 and a power guide rail 2 of the base frame, the image acquisition device is arranged on the image acquisition system support and the laser transmitter assembly is arranged on the laser transmitter assembly support.

Description

Body outer panel vision-based detection automatic positioning equipment

Technical field

The present invention relates to workpiece robotization stationary installation in a kind of Computer Vision Detection field, more particularly, the present invention relates to a kind of automatic positioning equipment that is applied to body of a motor car outer covering piece vision-based detection.

Background technology

Automobile is as the main traffic instrument of people's go off daily, the carrying effect of being not only that it is born, also be a kind of handicraft artistic and attractive in appearance that integrates simultaneously, in automobile making production run, body paint film quality has very important impact to Integral automobile aesthetic property, and equipment and method that painting quality detection adopts have decisive role to accuracy and the speed of vehicle body paint film defects detection.

Consult Fig. 1, shown in figure is the front view of certain sedan door outside plate, at present, to car outer covering piece, mostly adopt artificial visually examine's method to carry out film defect detection, but manual detection cannot be distinguished accurately to the fine difference of vehicle body film defect, the plurality of classes of film defect and detection technique person's difference of technology level have all determined that vehicle body paint film defects detection is not only subject to the impact of objective factor in addition, also can be subject to the impact of subjective factor simultaneously; Along with the development of computer technology, sensor technology and image processing techniques, the range of application of Computer Vision Detection in commercial production expands gradually, and its accuracy of detection also has increased significantly.So-called vision-based detection is used as image to detect and the means of transmission of information or the detection method that carrier is used.Because vision-based detection mainly adopts intellectuality, digitized treatment technology, in testing process, need the part of manual control seldom, can meet the requirement of online detection, have that noncontact, measuring speed are fast, automaticity advantages of higher, be the online new approach that provides that detects.

For the detection of body outer panel film defect, do not have reported in literature to adopt line-structured light to carry out non-contact detecting in conjunction with computer vision technique, also nobody proposes the relevant automatic positioning equipment detecting for outer covering piece.

Summary of the invention

Technical matters to be solved by this invention is to change the problem that in commercial production, Traditional Man detection speed is slow, precision is low, sensing range is narrow, and a kind of automatic positioning equipment that is applied to body of a motor car outer covering piece vision-based detection is provided.

For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: described vehicle exterior cladding element vision-based detection automatic positioning equipment is comprised of pedestal, propulsion system, image capturing system, generating laser assembly.

Described pedestal comprises pedestal, image capturing system support and generating laser assembly bracket.

The inner side bolt that No. 1 camera height adjusting lever in described image capturing system support and the lower end of No. 2 camera height adjusting levers adopt wide angle bar that 2 structures are identical vertically to control secondary bar with No. 1 length in pedestal is connected, and the inner side bolt that No. 3 camera height adjusting levers wide angle bar identical with lower end 2 structures of employing of No. 4 camera height adjusting levers vertically controlled secondary bar with No. 2 length in pedestal is connected.

No. 1 laser height adjusting lever wide angle bar identical with lower end 2 structures of employing of No. 2 laser height adjusting levers in described generating laser assembly bracket is connected with the outside bolt of No. 2 length control levers with No. 1 length control lever in pedestal.

Propulsion system are arranged on No. 1 power rail in pedestal and for rolling, are connected in No. 2 power rail; Image capturing system is arranged on No. 1 camera position adjusting lever and No. 2 camera position adjusting levers in image capturing system support, and generating laser assembly is arranged on the laser positions adjusting lever in generating laser assembly bracket.

Image capturing system support described in technical scheme also includes No. 1 camera position adjusting lever and No. 2 camera position adjusting levers.The two ends of No. 1 camera position adjusting lever adopt the interior survey bolt of narrow angle bar that 2 structures are identical and No. 1 camera height adjusting lever and No. 3 camera height adjusting lever upper ends connect on the left of " door " glyph framework, the two ends of No. 2 camera position adjusting levers also adopt narrow angle bar that 2 structures are identical and the interior survey bolt of No. 2 camera height adjusting levers and No. 4 camera height adjusting lever upper ends to connect into right side " door " glyph framework, left side " door " glyph framework is identical with right side " door " glyph framework structure, left side " door " glyph framework and right side " door " glyph framework are combined into image capturing system support.

Generating laser assembly bracket described in technical scheme also includes laser positions adjusting lever.It is generating laser assembly bracket that the two ends of laser positions adjusting lever adopt the interior survey bolt of narrow angle bar that 2 structures are identical and No. 1 laser height adjusting lever and No. 2 laser height adjusting lever upper ends to connect into " door " glyph framework.

Pedestal described in technical scheme also comprises No. 1 width control lever, No. 2 width control levers, No. 1 secondary bar of adjustable-width, No. 2 secondary bars of adjustable-width, No. 3 secondary bars of adjustable-width, No. 4 secondary bars of adjustable-width and 4 bases that structure is identical.No. 1 length control lever, No. 2 width control levers, No. 2 length control levers and No. 1 width control lever wide angle bar that 4 structures of end to end employing are identical successively connect into the plane framework of rectangle, No. 1 power rail adopts 2 narrow angle bar to be connected with No. 2 vertical bolts of width control lever with No. 1 width control lever, and No. 2 power rail adopts 2 narrow angle bar to be connected with No. 2 vertical bolts of width control lever with No. 1 width control lever.The homonymy bolt that the secondary bar of No. 3 adjustable-widths and one end of No. 4 secondary bars of adjustable-width adopt wide angle bar that 2 structures are identical and No. 1 length to control secondary bar two ends connects into " door " glyph framework, and No. 3 the secondary bar of the adjustable-width wide angle bar identical with 2 structures of other end employing of No. 4 adjustable-width pair bars is connected with the outside vertical of No. 1 length control lever left end.The homonymy bolt that the secondary bar of No. 1 adjustable-width and one end of No. 2 secondary bars of adjustable-width adopt wide angle bar that 2 structures are identical and No. 2 length to control secondary bar two ends connects into " door " glyph framework, and No. 1 the secondary bar of the adjustable-width wide angle bar identical with 2 structures of other end employing of No. 2 adjustable-width pair bars is connected with the outside vertical of No. 2 length control lever left ends; 2 " door " glyph framework and to be positioned at the plane framework of rectangle in centre position coplanar; 4 identical bases of structure adopt 8 identical wide angle bar of structure to be connected with the bottom surface bolt at No. 2 length control lever two ends with No. 1 length control lever.

Propulsion system described in technical scheme include propulsion system underframe, reversible drive device, advancing drive device.Described propulsion system underframe includes No. 1 main fixed bar, No. 2 main fixed bars, secondary fixed bar, No. 1 stepper motor mounting rod, No. 2 stepper motor mounting rods, No. 1 workpiece and secondary bar, No. 2 workpiece are installed are installed that secondary bar, No. 1 workpiece are installed mobile jib, No. 2 workpiece are installed mobile jibs and No. 3 workpiece installation mobile jibs.No. 1 main fixed bar, No. 1 stepper motor mounting rod, No. 2 stepper motor mounting rods, the flatly placement that secondary fixed bar is parallel with No. 2 main fixed bars, No. 1 gear shaft in the reversible drive device that put on the right side adopts 4 identical bearings of structure to be arranged on main fixed bar No. 1, No. 1 stepper motor mounting rod, No. 2 stepper motor mounting rods, the right-hand member of secondary fixed bar and No. 2 main fixed bars, No. 2 gear shafts in the advancing drive device that put on a left side adopt 4 identical bearings of structure to be arranged on main fixed bar No. 1, No. 1 stepper motor mounting rod, No. 2 stepper motor mounting rods, the left end of secondary fixed bar and No. 2 main fixed bars, what No. 1 workpiece installed that secondary bar and No. 2 workpiece install that secondary bar is arranged on No. 1 main fixed bar and No. 2 main fixed bars successively utilizes groove to be fixedly connected with above, No. 1 workpiece is installed mobile jib, No. 2 workpiece install mobile jib and No. 3 workpiece install mobile jib be arranged in parallel to each other No. 1 workpiece install secondary bar and No. 2 workpiece install secondary bar above utilize groove to be fixedly connected with.

Reversible drive device described in technical scheme also includes guide rails wheel that 2 structures are identical, No. 1 step actuator, No. 1 gear wheel, No. 1 stepping motor gear, No. 1 stepper motor and stepper motor fixed cover.No. 1 gear wheel is sleeved on No. 1 gear shaft between No. 2 stepper motor mounting rods and secondary fixed bar and adopts key to be connected, No. 1 stepper motor adopts stepper motor fixed cover to be fixed in the groove of No. 1 stepper motor mounting rod and No. 2 stepper motor mounting rod right-hand members, No. 1 gear wheel is meshed with No. 1 stepping motor gear being arranged on No. 1 stepper motor output shaft, No. 1 step actuator is arranged on No. 1 stepper motor mounting rod and No. 2 stepper motor mounting rods, No. 1 step actuator adopts wire to be connected with No. 1 stepper motor, 2 identical guide rail wheels of structure are arranged on the two ends of No. 1 gear shaft and adopt key to connect.

Advancing drive device described in technical scheme also includes guide rail wheel that 2 structures are identical, Programmable Logic Controller, No. 2 step actuators, scrambler fixed cover, No. 2 gear wheels, No. 2 stepper motors, scrambler, encoder gear and No. 2 stepping motor gears.No. 2 gear wheels are sleeved on No. 2 gear shafts between No. 2 stepper motor mounting rods and secondary fixed bar and adopt key to be connected, No. 2 stepper motor is fixed in the groove of No. 1 stepper motor mounting rod and No. 2 stepper motor mounting rod left ends by stepper motor fixed cover, No. 2 gear wheel is connected with a joggle with No. 2 stepping motor gears that are arranged on No. 2 stepper motor output shafts, and scrambler adopts scrambler fixed cover to be fixedly mounted in the groove of secondary fixed bar left end, the encoder gear and No. 2 stepping motor gears that are arranged on scrambler output shaft are connected with a joggle, Programmable Logic Controller, No. 2 step actuator is arranged on No. 1 stepper motor mounting rod and No. 2 stepper motor mounting rods, Programmable Logic Controller adopts wire to be connected with No. 2 step actuators, No. 2 step actuator adopts wire to be connected with No. 2 stepper motors, 2 identical guide rail wheels of structure are arranged on the two ends of No. 2 gear shafts and adopt key to connect.

Image capturing system described in technical scheme comprises video camera mounting plate, video camera, light dash receiver, 2 No. 2 turning axles, 4 hold-down nuts and 2 angular setting chis that structure is identical that structure is identical that structure is identical.Video camera is arranged on video camera mounting plate, and video camera mounting plate is arranged on No. 1 camera position adjusting lever and No. 2 camera position adjusting levers in image capturing system support.The threaded one end of No. 2 turning axles that the two ends of light dash receiver are identical with 2 structures connects, the other end of No. 2 turning axles that 2 structures are identical adopts wide angle bar to be connected with the inner side of No. 4 camera height adjusting levers with No. 2 camera height adjusting levers in image capturing system support, and 2 identical angular setting chis of structure are sleeved on No. 2 turning axles that 2 structures are identical and also adopt respectively 2 identical hold-down nuts of structure to fix.

Installing plate described in technical scheme is by No. 1 identical turning axle of base plate, baffle plate that 2 structures are identical, 2 structures and video camera fixed cover.The centre position of the base plate that is vertically arranged on rectangle that the baffle plate of the rectangle that 2 structures are identical is parallel to each other, the baffle plate of rectangle that 2 structures are identical and one side of the base plate of rectangle are parallel, and the distance between the baffle plate of the rectangle that 2 structures are identical equals the width of video camera; One end of the baffle plate of the rectangle that 2 structures are identical is provided with the identical fixed cover through hole of structure that video camera fixed cover is installed, the other end of the baffle plate of the rectangle that 2 structures are identical is provided with the identical video camera through hole of structure that video camera is installed, the axis of rotation conllinear of the fixed cover through hole that 2 structures are identical, the axis of rotation conllinear of the video camera through hole that 2 structures are identical; It is interference fit that 2 No. 1 identical turning axles of structure pack in the rotating shaft blind hole that 2 structures in centre position of base plate both ends of the surface are identical, and camera fixed cover is arranged on the fixed cover through hole that 2 structures on the baffle plate that 2 structures are identical are identical.

Generating laser assembly described in technical scheme comprises generating laser pedestal, No. 1 axle ball link, No. 2 axle ball links, sandwich sheet, generating laser cover and generating lasers.In described generating laser assembly, adopting model is the generating laser of a word line of LD-G650A13; No. 1 axle ball link is identical with the structure of No. 2 axle ball links, and one end of No. 1 axle ball link and No. 2 axle ball links is provided with spherosome, and the other end is screw rod.Generating laser cover is cylindrical shroud barrel structure, and generating laser is arranged in generating laser cover and adopts bolted; The vertical connection of screw rod of generating laser pedestal and No. 1 axle ball link, one end with spherosome of No. 1 axle ball link is positioned over the circular hole place of sandwich sheet one end for being rotationally connected, one end with spherosome of No. 2 axle ball links is positioned over the circular hole place of the sandwich sheet other end for being rotationally connected, the screw rod of No. 2 axle ball links is connected with generating laser cover, and generating laser is arranged in generating laser cover fastening.

Compared with prior art the invention has the beneficial effects as follows:

1. the current film defect for vehicle exterior cladding element detects does not also have unified pick-up unit, is all to adopt the classic method of manual detection to detect, and the reliability of its detection speed and detection is all lower, at batch production process, can not effectively detect.Body outer panel vision-based detection automatic positioning equipment of the present invention is intended to utilize computer vision technique on the basis of non-contact detecting, develop a kind of robotization locating device that can utilize vision detection technology to detect body outer panel film defect, this locating device has that locating speed is fast, precision is high, can realize effective detection of outer covering piece film defect, thereby improved body outer panel painting quality, thoroughly replace manual detection method, detection efficiency is increased substantially.

2. because outer surface of automobile covering has different curvature, therefore its reflection angle there will be variation, the method of manual detection is mainly the surface illumination that adopts different angles, searching has the region of different brightness as examination criteria, and body outer panel vision-based detection automatic positioning equipment of the present invention can be for the outer covering piece with different reflection curvature, adjust the relative angle of video camera and light receiving screen, reach the object of reasonable reception workpiece for measurement surface reflection light, this method can be adjusted according to the surface curvature of difference detection workpiece easily, significant to accuracy of detection and reliability.

3. the width of body of a motor car outer covering piece vision-based detection automatic positioning equipment of the present invention can be adjusted according to the size of the different coverings of body of a motor car, the size of the light receiving screen of pick-up unit also can be changed according to different demands simultaneously, has certain versatility; Body outer panel vision-based detection automatic positioning equipment of the present invention is mainly to drive by stepper motor, can the in the situation that of unmanned participation, automatically complete whole testing process, owing to adopting the feature of location automatically, while carrying out painting quality Detection task, the time that can control the movement velocity of testing process medium power device and return to initial position by writing body outer panel vision-based detection automatic positioning equipment control program, thus realized the online detection of outer covering piece.

4. body of a motor car outer covering piece vision-based detection automatic positioning equipment of the present invention mainly adopts aluminium alloy rod member to build, and the length of its rod member and sectional dimension also can be changed according to different needs; Some key components and partss that this body of a motor car outer covering piece vision-based detection automatic positioning equipment adopts can obtain by factory process mostly, when part replacement, there is very large advantage, and the cost of this body of a motor car outer covering piece vision-based detection automatic positioning equipment is lower, have simple in structure, technique rationally, easy operating, the feature that economy is high.

Accompanying drawing explanation

Below in conjunction with accompanying drawing, the present invention is further illustrated:

Fig. 1 is the front view that adopts certain sedan door outside plate that vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention detects;

Fig. 2 is the axonometric projection view that vehicle exterior cladding element vision-based detection automatic positioning equipment structure of the present invention forms;

Fig. 3 is that positive two side shafts of pedestal in vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention are surveyed projection view;

Fig. 4 is that positive two side shafts of vehicle exterior cladding element vision-based detection automatic positioning equipment medium power device of the present invention are surveyed projection view;

Fig. 5 is that positive two side shafts of the video camera of vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention are surveyed projection view;

Fig. 6 is the light receiving screen front view of vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention;

Fig. 7 is the axonometric projection zoomed-in view at the propulsion system B place of the vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention shown in Fig. 4;

Fig. 8 is the axonometric projection zoomed-in view at the propulsion system A place of the vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention shown in Fig. 4;

Fig. 9 is the axonometric projection view that the laser instrument combination structure of vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention forms;

Figure 10 is the axonometric projection view of base in vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention;

In figure: I. pedestal, II. propulsion system, III. image capturing system, IV. generating laser assembly, No. 1.1 length control levers, No. 2.2 length control levers, No. 3.1 width control levers, No. 4.2 width control levers, No. 5.1 power rail, No. 6.2 power rail, No. 7.1 length is controlled secondary bar, No. 8.2 length is controlled secondary bar, No. 9.1 secondary bars of adjustable-width, No. 10.2 secondary bars of adjustable-width, No. 11.3 secondary bars of adjustable-width, No. 12.4 secondary bars of adjustable-width, No. 13.1 camera height adjusting levers, No. 14.2 camera height adjusting levers, No. 15.3 camera height adjusting levers, No. 16.4 camera height adjusting levers, No. 17.1 camera position adjusting levers, No. 18.2 camera position adjusting levers, No. 19.1 laser height adjusting levers, No. 20.2 laser height adjusting levers, 21. laser positions adjusting levers, 22. bases, 23. wide angle bar, 24. narrow angle bar, No. 25.1 main fixed bars, No. 26.2 main fixed bars, 27. secondary fixed bars, No. 28.1 stepper motor mounting rods, No. 29.2 stepper motor mounting rods, No. 30.1 workpiece is installed secondary bar, No. 31.2 workpiece is installed secondary bar, No. 32.1 workpiece is installed mobile jib, No. 33.2 workpiece is installed mobile jib, No. 34.3 workpiece is installed mobile jib, 35.1 number gear shaft, 36.2 number gear shaft, 37. bearings, 38. guide rail wheels, 39. Programmable Logic Controllers, 40.2 number step actuator, 41.1 number step actuator, 42.1 number gear wheel, 43.1 number stepping motor gear, 44.1 number stepper motor, 45. stepper motor fixed covers, 46. scrambler fixed covers, 47.2 number gear wheel, 48.2 number stepper motor, 49. scramblers, 50. encoder gears, 51.2 number stepping motor gear, 52. video camera mounting plates, 53.1 number turning axle, 54. video camera fixed covers, 55. video cameras, 56. light dash receivers, 57.2 number turning axle, 58. hold-down nuts, 59. angular setting chis, 60. generating laser pedestals, No. 61.1 axle ball links, No. 62.2 axle ball links, 63. sandwich sheets, 64. generating laser covers, 65. generating lasers, 66. pedestal base, 67. intermediate shafts, 68. wheel forks, 69. wheels.

Embodiment

Below in conjunction with accompanying drawing, the present invention is explained in detail:

Consult Fig. 2, vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention is comprised of pedestal I, propulsion system II, image capturing system III, generating laser assembly IV.Pedestal I is the assembling matrix of whole vehicle exterior cladding element vision-based detection automatic positioning equipment, propulsion system II is installed in the power rail of pedestal I, and image capturing system III and generating laser assembly IV are installed on respectively on the support of the left and right sides of pedestal I.

Consult Fig. 3 and Figure 10, described pedestal I comprises pedestal, image capturing system support, generating laser assembly bracket, 32 wide angle bar 23 and 16 narrow angle bar 24 that structure is identical that structure is identical.

Wherein: pedestal comprises that 6, No. 1 length of 5, No. 2 power rail of 4, No. 1 power rail of 3, No. 2 width control levers of 2, No. 1 width control lever of 1, No. 2 length control levers of No. 1 length control lever controls 7, No. 2 length of secondary bar and control the secondary bars 12 of 11, No. 4 adjustable-widths of the secondary bar of 10, No. 3 adjustable-widths of the secondary bar of 9, No. 2 adjustable-widths of the secondary bar of 8, No. 1 adjustable-width of secondary bar and 4 bases 22 that structure is identical, and base 22 comprises pedestal base 66, intermediate shaft 67, wheel fork 68 and wheel 69;

Image capturing system support comprises 17, No. 2 camera position adjusting levers 18 of 16, No. 1 camera position adjusting lever of 15, No. 4 camera height adjusting levers of 14, No. 3 camera height adjusting levers of 13, No. 2 camera height adjusting levers of No. 1 camera height adjusting lever;

Generating laser assembly bracket comprises 19, No. 2 laser height adjusting levers of No. 1 laser height adjusting lever 20 and laser positions adjusting lever 21.

No. 1 described length control lever 1 is identical with No. 2 length control lever 2 structures, is and adopts aluminium alloy extrusions to make straight-bar class formation part, and in embodiment, adopting sectional area is the aluminium alloy rod member that the length of 40 * 40mm is 2500mm; No. 1 width control lever 3 is identical with No. 2 width control lever 4 structures, is and adopts aluminium alloy extrusions to make straight-bar class formation part, and in embodiment, adopting sectional area is the aluminium alloy rod member that the length of 40 * 40mm is 1500mm; No. 1 length is controlled secondary bar 7 and No. 2 length, and to control secondary bar 8 structures identical, is the straight-bar class formation part that adopts aluminium alloy extrusions to make, and in embodiment, adopting sectional area is the aluminium alloy rod member that the length of 40 * 40mm is 1000mm; No. 1 secondary bar 11 of 10, No. 3 adjustable-widths of the secondary bar of 9, No. 2 adjustable-widths of the secondary bar of adjustable-width and No. 4 secondary bars 12 of adjustable-width have the identical unitized construction that can slide, be the straight-bar class formation part that adopts aluminium alloy extrusions to make, in embodiment, adopting sectional area is the aluminium alloy rod member that the length of 40 * 40mm is 500mm; 16, No. 1 laser height adjusting lever 19 of 15, No. 4 camera height adjusting levers of 14, No. 3 camera height adjusting levers of 13, No. 2 camera height adjusting levers of No. 1 camera height adjusting lever and No. 2 laser height adjusting lever 20 structures are identical, be the straight-bar class formation part that adopts aluminium alloy extrusions to make, in embodiment, adopting sectional area is the aluminium alloy rod member that the length of 20 * 40mm is 1000mm.Embodiment medium section rod member in the present invention all adopt GB T6892-2006, the section bar that model is 001.08.3030.

17, No. 2 camera position adjusting levers 18 of No. 1 camera position adjusting lever and laser positions adjusting lever 21 have identical structure, be the straight-bar class formation part that adopts aluminium alloy extrusions to make, in embodiment, adopting sectional area is the aluminium alloy rod member that the length of 20 * 40mm is 2000mm; The side of each rod member is all useful on hard-wired groove above, fixing respectively by wide angle bar 23 and narrow angle bar 24 as requested respectively; The material that base 22 each parts adopt is 45# steel; Wide angle bar 23 is square symmetrical junction member, and narrow angle bar 24 is similarly square symmetrical junction member, and two kinds of angle bar all adopt aluminum alloy materials; The xsect of pedestal base 66 is square, and there is manhole centre; Intermediate shaft 67 is cylindrical structural, and intermediate portion has round boss.

Consult Fig. 3, one end of one end of No. 1 length control lever 1 and No. 1 width control lever 3 connects into L shaped web member by first wide angle bar 23 is vertical, one end of one end of No. 2 length control levers 2 and No. 2 width control levers 4 connects into L shaped web member by second wide angle bar 23 is vertical, the other end of No. 1 length control lever 1 is connected by the 3rd the vertical bolt of wide angle bar 23 with the other end of No. 2 width control levers 4, the other end of No. 2 length control levers 2 is connected by the 4th the vertical bolt of wide angle bar 23 with the other end of No. 1 width control lever 3, i.e. No. 1 length control lever 1, No. 1 width control lever 3, No. 2 length control levers 2, No. 2 width control lever 4 head and the tail are in turn connected into the rectangular frame of four rod members in same surface level, No. 1 power rail 5 is connected on No. 1 width control lever 3 and No. 2 width control levers 4 with the 2nd the vertical bolt of narrow angle bar 24 by the 1st, and its position relationship is parallel with No. 1 length control lever 1, No. 2 power rail 6 by the 3rd with the 4th vertical being connected on No. 1 width control lever 3 and No. 2 width control levers 4 of narrow angle bar 24, its position relationship is parallel with No. 2 length control levers 2, the guide rail wheel 38 of propulsion system II can roll in No. 1 power rail 5 and No. 2 power rail 6, one end of the secondary bars 11 of No. 3 adjustable-widths and No. 4 secondary bars 12 of adjustable-width adopts the 5th bolts at two ends of controlling secondary bar 7 with No. 1 length with the 6th wide angle bar 23 to be connected, the other end of No. 3 secondary bars 11 of adjustable-width and No. 4 secondary bars 12 of adjustable-width adopts the 7th and is connected with the outside bolt of No. 1 length control lever 1 left end with the 8th wide angle bar 23, the bolts at two ends that the 9th of one end employing of the secondary bar 9 of No. 1 adjustable-width and No. 2 secondary bars 10 of adjustable-width and the 10th wide angle bar 23 are controlled secondary bar 8 with No. 2 length is connected, No. 1 secondary bar 9 of adjustable-width adopts the 11st with the other end of No. 2 secondary bars 10 of adjustable-width and is connected with the outside bolt of No. 2 length control lever 2 left ends with the 12nd wide angle bar 23, No. 1 secondary bar 9 of adjustable-width, No. 2 secondary bars 10 of adjustable-width, No. 2 length is controlled secondary bar 8 and No. 3 secondary bars 11 of adjustable-width, No. 4 secondary bars 12 of adjustable-width, No. 1 length is controlled formed 2 " door " glyph framework of secondary bar 7 and No. 1 length control lever 1, No. 1 width control lever 3, No. 2 length control levers 2, the rectangular frame that No. 2 width control levers 4 form is coplanar, 4 identical bases 22 of structure are vertically fixed on respectively on the bottom surface at No. 1 length control lever 1 and No. 2 length control lever 2 two ends by the 13rd to the 20th wide angle bar 23, and so far the pedestal in described pedestal I forms.

Consult Figure 10, the identical base 22 of 4 structures in this pedestal I all comprises pedestal base 66, intermediate shaft 67, wheel fork 68 and wheel 69.Pedestal base 66 forms interference fit by middle manhole with the upper end of intermediate shaft 67 and is connected, and in like manner the lower end of intermediate shaft 67 is fixedly connected with the top of wheel fork 68, and the lower end of wheel fork 68 and wheel 69 are rotationally connected by bearing pin.The design feature of base 22 is convenient to pedestal I and is had advantages of that rolling is travelled, malleable direction, can move freely pedestal I by detection demand.Wherein: No. 1 length is controlled secondary bar 7 and No. 2 length and controlled secondary bar 8 sides and be provided with T shape groove.

The upper end of No. 1 camera height adjusting lever 13 in image capturing system support and one end of No. 1 camera position adjusting lever 17 adopt the 1st with the 2nd narrow angle bar 24 vertically bolt be connected, the other end of No. 1 camera position adjusting lever 17 adopts the 3rd and is connected with the vertical bolt in upper end of the 4th narrow angle bar 24 and No. 3 camera height adjusting levers 15, form left side " door " glyph framework, the lower end of the lower end of No. 1 camera height adjusting lever 13 and No. 3 camera height adjusting levers 15 adopt the 21st to the 24th wide angle bar 23 and No. 1 length in pedestal control secondary bar 7 control secondary bar 8 left ends with No. 2 length inside bolt be connected, one end of the upper end of No. 2 camera height adjusting levers 14 and No. 2 camera position adjusting levers 18 adopt the 5th with the 6th narrow angle bar 24 vertically bolt be connected, the other end of No. 2 camera position adjusting levers 18 adopt the 7th with the upper end of the 8th narrow angle bar 24 and No. 4 camera height adjusting levers 16 vertically bolt be connected, form right side " door " glyph framework, the lower end of the lower end of No. 2 camera height adjusting levers 14 and No. 4 camera height adjusting levers 16 adopts the 25th to the 28th wide angle bar 23 and No. 1 length in pedestal to control secondary bar 7 and No. 2 length and controls bolt inside the right-hand member of secondary bar 8 and be connected.Left side " door " glyph framework is identical with right side " door " glyph framework structure, and left side " door " glyph framework and right side " door " glyph framework are combined into image capturing system support.

It is vertical that No. 1 camera height adjusting lever 13 and No. 2 camera height adjusting levers 14 and No. 1 length are controlled secondary bar 7, it is vertical that No. 3 camera height adjusting levers 15 and No. 4 camera height adjusting levers 16 and No. 2 length are controlled secondary bar 8, No. 1 camera position adjusting lever 17 is parallel with No. 2 camera position adjusting levers 18, and with parallel with No. 1 width control lever 3.

The two ends of the laser positions adjusting lever 21 in generating laser assembly bracket adopt the 9th to the 12nd narrow angle bar 24 to be connected with the inner side bolt of No. 1 laser height adjusting lever 19 and No. 2 laser height adjusting lever 20 upper ends successively, forming " door " glyph framework is generating laser assembly bracket, the lower end of No. 1 laser height adjusting lever 19 and No. 2 laser height adjusting levers 20 adopts the 29th to the 32nd wide angle bar 23 to be connected with the outside bolt of No. 2 length control levers 2 with No. 1 length control lever 1 in pedestal successively, laser positions adjusting lever 21 is parallel with No. 1 width control lever 3, No. 1 laser height adjusting lever 19 and No. 2 laser height adjusting levers 20 and No. 1 length control lever 1 and No. 2 length control levers 2 intersect vertically, in other words, No. 1 laser height adjusting lever 19 and No. 2 laser height adjusting levers 20 are vertical with No. 1 length control lever 1 place plane with No. 1 width control lever 3.

Because difference may appear in workpiece size in testing process, this pedestal I has designed distance adjustable mechanism between image capturing system support and generating laser assembly bracket, by adjusting the position of 9, No. 2 secondary bars 12 of adjustable-widths pair bar 11, No. 4 adjustable-widths of 10, No. 3 adjustable-widths pair bars of No. 1 secondary bar of adjustable-width on No. 2 length control levers 2 and No. 1 length control lever 1, then, adopt wide angle bar 23 and be bolted on the T-slot in outside of No. 2 length control levers 2 and No. 1 length control lever 1 left end.

Consult Fig. 4, Fig. 7 and Fig. 8, described propulsion system II mainly includes propulsion system underframe, reversible drive device, advancing drive device;

Described propulsion system underframe includes 25, No. 2 main fixed bars 26 of No. 1 main fixed bar, 29, No. 1 workpiece of 28, No. 2 stepper motor mounting rods of 27, No. 1 stepper motor mounting rod of secondary fixed bar is installed 30, No. 2 workpiece of secondary bar 33, No. 3 workpiece installation mobile jibs 34 of 32, No. 2 workpiece installation mobile jibs of 31, No. 1 workpiece installation mobile jib of secondary bar are installed.

Described reversible drive device 1 includes No. 1 gear shaft 35, (the 1st and the 2nd) guide rail wheel 42, No. 1 stepping motor gear of 41, No. 1 gear wheel of 38, No. 1 step actuators 43, No. 1 stepper motor 44 and stepper motor fixed cover 45 that 37,2 structures of bearing are identical;

Described advancing drive device includes No. 2 gear shafts 36,39, No. 2 step actuators 40 of Programmable Logic Controller, 47, No. 2 stepper motors 48 of 46, No. 2 gear wheels of scrambler fixed cover, scrambler 49,50, No. 2 stepping motor gears 51 of encoder gear and 2 (the 3rd and the 4th) guide rail wheels (38) that structure is identical;

In the present invention, be the weight that alleviates propulsion system II, improve the accuracy of picking up workpiece for measurement operation in the process of testing, No. 1 main fixed bar 25 of these propulsion system II, No. 2 main fixed bars 26 and secondary fixed bar 27, No. 1 stepper motor mounting rod 28, No. 2 stepper motor mounting rod 29 all adopts aluminum alloy materials to make, and on the upper surface of secondary fixed bar 27 left ends, be provided with the semi-circular recesses that scrambler 49 is installed, at No. 1 stepper motor mounting rod 28, the two ends of No. 2 stepper motor mounting rods 29 are also respectively arranged with installs No. 1 stepper motor 44, the groove of No. 2 stepper motors 48, the position of groove will meet gear wheel 42 No. 1, No. 1 stepping motor gear 43 and No. 2 gear wheels 47, No. 2 stepping motor gears 51, the requirement being meshed between encoder gear 50.In workpiece sensing process, to guarantee the intact of workpiece, prevent the excessive collsion damage causing of hardness of workpiece mounting rod, adopt wood materials making 32, No. 2 33, No. 3 workpiece installation mobile jibs 34 of workpiece installation mobile jib of No. 1 workpiece installation mobile jib and No. 1 workpiece that 30, No. 2 workpiece of secondary bar are installed secondary bar 31 is installed.No. 1 workpiece is installed secondary bar 30 and No. 2 workpiece and is installed on the bottom surface of secondary bar 31 and be provided with longitudinal fluting, the width of groove respectively than No. 1 main fixed bar 25 and No. 2 main fixed bars 26 longitudinally the width of xsect be less than 2mm, No. 1 workpiece is installed 32, No. 2 workpiece of mobile jib and mobile jibs 33 and No. 3 workpiece are installed are installed on the bottom surface at mobile jib 34 two ends and be provided with transverse concave groove, and the width of two ends groove is installed than No. 1 workpiece the width that secondary bar 30 and No. 2 workpiece install the longitudinal cross-section of secondary bar 31 respectively and is less than 2mm.Because wood materials has good moldability, is easy to change, quality is light, to make price low, with wood materials, make and meet economy and rational double goal.No. 1 workpiece is installed secondary bar 30, No. 2 workpiece are installed secondary bar 31 and are utilized successively groove to be fixedly mounted on No. 1 main fixed bar 25 and No. 2 main fixed bar 26 top end faces, longitudinal plane of symmetry that No. 1 workpiece is installed secondary bar 30 and No. 1 main fixed bar 25 is coplanar, longitudinal plane of symmetry that No. 2 workpiece are installed secondary bar 31 and No. 2 main fixed bars 26 is coplanar, No. 1 workpiece is installed mobile jib 32, No. 2 workpiece is installed mobile jib 33, the two ends that No. 3 workpiece are installed mobile jibs 34 in like manner utilize groove to be arranged on that No. 1 workpiece is installed secondary bar 30 and No. 2 workpiece are installed on the top end face of secondary bar 31, No. 1 workpiece is installed mobile jib 32, No. 2 workpiece is installed mobile jib 33, No. 3 workpiece are installed mobile jib 34 and are parallel to each other, and with No. 1 workpiece, secondary bar 30 and No. 2 workpiece being installed, that secondary bar 31 is installed is vertical.

These propulsion system II is the testing process of simulation online production in addition, propulsion system II travelling speed is comparatively slow, and in motion process, be the mode that adopts orbital motion, therefore the operating mode of whole motion is comparatively stably, therefore propulsion system II intends adopting cemented steel to make each gear, this kind of steel is successively through over carburizing, the thermal treatment of quenching and lonneal, although there is the little inferior position of bearing load, but to wearing quality, the gear manufacture that shock resistance is had relatively high expectations has some superiority, due to these propulsion system II, to select model be that No. 1 stepper motor 44 of 110BYG250D and the power of No. 2 stepper motors 48 are little in addition, the gear of this kind of material is all meeting the requirements aspect intensity and durability.No. 1 gear shaft 35 of these propulsion system II and the material of No. 2 gear shafts 36 intend adopting 45# steel, the bearing 37 that No. 1 gear shaft 35 is identical with each structure with No. 2 gear shafts 36 adopts interference fit, the bearing designation that these propulsion system II adopts is 6301-2Z (12mm * 37mm * 12mm), it is good that this kind of bearing has usability, easily changeable advantage.

Consult Fig. 4, No. 1 gear shaft 35 in reversible drive device adopts the right-hand member interference fit of the 1st bearing 37 and No. 1 stepper motor mounting rod 28, and the distance of No. 1 stepper motor mounting rod 28 and No. 1 main fixed bar 25 is between 150mm to 200mm, the right-hand member of No. 2 stepper motor mounting rods 29 adopts the 2nd bearing that structure is identical 37 and No. 1 gear shaft 35 interference fit, the distance of No. 2 stepper motor mounting rods 29 and No. 2 main fixed bars 26 is between 150mm to 200mm, and the right-hand member of secondary fixed bar 27 between No. 2 stepper motor mounting rods 29 and No. 2 main fixed bars 26 adopts the 3rd bearing that structure is identical 37 and No. 1 gear shaft 35 interference fit, the distance of secondary fixed bar 27 and No. 2 main fixed bars is between 250mm to 300mm, No. 1 gear wheel 42 is sleeved on No. 1 gear shaft 35 between No. 2 stepper motor mounting rods 29 and secondary fixed bar 27 and adopts key to be connected, No. 1 stepper motor 44 is fixed in the groove of No. 1 stepper motor mounting rod 28 and No. 2 stepper motor mounting rod 29 right-hand members by stepper motor fixed cover 45, No. 1 stepper motor (44) output shaft is parallel with the axis of rotation of No. 1 gear wheel 42, No. 1 gear wheel 42 is meshed with No. 1 stepping motor gear 43 being arranged on No. 1 stepper motor 44 output shafts, No. 1 step actuator 41 is arranged on No. 1 stepper motor mounting rod 28 and No. 2 stepper motor mounting rods 29 by semi-circular recesses, red A+ in two-phase four outlets of No. 1 stepper motor 44, green A-, the A+ port of yellow B+ and respectively with No. 1 step actuator 41 of blue B-, A-port, B+ port is connected with B-port electric wire, the AC port of No. 1 step actuator 41 is connected with external power supply electric wire, and 2 identical guide rail wheels 38 of structure are arranged on the two ends of No. 1 gear shaft 35 and adopt key to connect.

No. 2 gear shafts 36 in advancing drive device adopt the 4th left end to the 6th bearing that structure is identical 37 and No. 1 stepper motor mounting rod 28, the left end interference fit of the left end of No. 2 stepper motor mounting rods 29 and secondary fixed bar 27, No. 2 gear wheels 47 are sleeved on No. 2 gear shafts 36 between No. 2 stepper motor mounting rods 29 and secondary fixed bar 27 and adopt key to be connected, No. 2 stepper motor 48 is fixed in the groove of No. 1 stepper motor mounting rod 28 and No. 2 stepper motor mounting rod 29 left ends by stepper motor fixed cover 45, No. 2 gear wheels 47 and No. 2 stepping motor gears 51 are connected with a joggle, and scrambler 49 adopts scrambler fixed cover 46 to be fixedly mounted in the groove of secondary fixed bar 27 left ends, encoder gear 50 and No. 2 stepping motor gears 51 are connected with a joggle, Programmable Logic Controller 39, No. 2 step actuator 40 is arranged on No. 1 stepper motor mounting rod 28 and No. 2 stepper motor mounting rods 29 by semi-circular recesses, the OPTO of Programmable Logic Controller 39, DIR (DIR0 to DIR2), CP (CP0 to CP2) is the control line terminals of stepper motor driver, the OPTO of Programmable Logic Controller 39 is the public oedoeagus of No. 1 stepper motor 44 and No. 2 stepper motors 48, the OPTO port wire of the OPTO of Programmable Logic Controller 39 and No. 1 step actuator 41 and No. 2 step actuators 40 is connected, the DIR1 of Programmable Logic Controller 39 is connected with the DIR end wire of No. 1 stepper motor driver 41, and the CP1 of Programmable Logic Controller 39 is connected with the CP end wire of No. 1 stepper motor driver 41, the DIR2 of Programmable Logic Controller 39 is connected with the DIR end wire of No. 2 stepper motor drivers 40, the CP2 of Programmable Logic Controller 39 is connected with the CP end wire of No. 2 stepper motor drivers 40, and red A+, the green A-in two-phase four outlets of No. 2 stepper motors 48, yellow B+ are connected with B-port wire with A+ port, A-port, the B+ port of successively with No. 2 step actuators 40 of blue B-, the AC port of No. 2 step actuators 40 is connected with external power supply wire, and 2 identical guide rail wheels 38 of structure are arranged on the two ends employing key connection of No. 2 gear shafts 36.

Advancing drive device and reversible drive device are connected to integral installation in No. 1 power rail 5 and No. 2 power rail 6 through 25, No. 2 main fixed bars 26 of No. 1 main fixed bar and main fixed joint bar 27, onward impulse reaches gear wheel 47 No. 2 by No. 2 stepper motors 48, then through No. 2 gear shafts 36, drives guide rail wheel 38 operation in No. 1 power rail 5 and No. 2 power rail 6.The power that falls back reaches gear wheel 42 No. 1 by No. 1 stepper motor 44, then through No. 1 gear shaft 35, drives guide rail wheel 38 operation in No. 1 power rail 5 and No. 2 power rail 6.The position relationship of No. 1 gear shaft 35 and No. 2 gear shafts 36 is jointly to be limited with secondary fixed bar 27 by 25, No. 2 main fixed bars 26 of No. 1 main fixed bar, adopt like this 25, No. 2 main fixed bars 26 of No. 1 main fixed bar just the advancing drive device in propulsion system II and reversible drive device to be connected as a single entity with secondary fixed bar 27, the operation of not only can advancing as requested in experimentation, but also can after experiment completes, automatically return former homeposition, the repeatability of vision-based detection work, operability are strengthened.

Reversible drive device and No. 1 stepper motor 44 in advancing drive device and No. 2 stepper motors 48 adopt 2 identical fixed covers 45 of structures to be arranged on No. 1 stepper motor mounting rod 28 and No. 2 stepper motor mounting rods 29, and scrambler 49 is arranged in the groove of secondary fixed bar 27 left ends, scrambler 49 is positioned at the right side of No. 2 stepper motors 48, and the axis of rotation of No. 2 stepper motors 48, scrambler 49 and No. 1 stepper motors 44 is parallel to each other.

Consult Fig. 8, the installation site of advancing drive device each several part has compared with Important Relations with the function realizing, No. 2 stepper motors 48 are installed to a side of No. 2 gear wheels 47, but must guarantee the reasonable engagement of No. 2 gear wheels 47 and No. 2 stepping motor gears 51, equally, the installation of scrambler 49 must guarantee the reasonable engagement of No. 2 stepping motor gears 51 and encoder gear 50, for this reason, scrambler 49 is arranged on stepping motor gear 51 right sides No. 2, and be arranged in the groove of secondary fixed bar 27 left ends, can guarantee like this to drive in the process of No. 2 gear wheel 47 rotations at No. 2 stepper motors 48, scrambler 49 can transmit level signals to the video camera 55 in image capturing system III, so that video camera carries out image acquisition according to stride.And reversible drive device is identical with the installation form of advancing drive device, scrambler is not just installed, because do not need workpiece to detect, only need to return to origin-location, for next testing is prepared in the process falling back.

Consult Fig. 5 and Fig. 6, described image capturing system III mainly comprises video camera mounting plate 52, video camera 55,57,4 hold-down nuts of 56, No. 2 turning axles of light dash receiver 58 and angular setting chi 59.

Video camera mounting plate 52 is comprised of base plate, 2 identical baffle plate, 2 identical No. 1 turning axle 53, video camera fixed covers 54 of structure of structure.

Described video camera 55 is to adopt the camera that model is DH-HV1302UM-T, and camera fixed cover 54 adopts rigid plastic to make, and on the basis of assurance and video camera 55 close contacts, can not cause damage to video camera 55 outward appearances; The baffle plate that base plate in video camera mounting plate 52 is identical with 2 structures directly contacts with video camera 55, but it is stressed and little, therefore intending adopting wood materials makes, the making that utilizes wood materials to carry out the baffle plate that base plate in video camera mounting plate 52 is identical with 2 structures is more prone to moulding, aspect cost and practicality, all compared with metal species material, has advantage.2 identical baffle plate and base plate one-shot formings of structure are made, and prevent that wooden assembling from increasing the reduction of stability with access times.The centre position of the base plate both sides end face of video camera mounting plate 52 is provided with rotating shaft blind hole.

The centre position of the base plate that is vertically arranged on rectangle that the baffle plate of the rectangle that 2 structures are identical is parallel to each other, the baffle plate of rectangle that 2 structures are identical and one side of the base plate of rectangle are parallel, and the distance between the baffle plate of the rectangle that 2 structures are identical equals the width of video camera 55; One end of the baffle plate of the rectangle that 2 structures are identical is provided with the identical fixed cover through hole of structure that video camera fixed cover 54 is installed, the other end of the baffle plate that 2 structures are identical is provided with the identical video camera through hole of structure that video camera 55 is installed, the axis of rotation conllinear of the fixed cover through hole that 2 structures are identical, the axis of rotation conllinear of the video camera through hole that 2 structures are identical; One end of No. 1 turning axle 53 that 2 structures are identical packs into and in the rotating shaft blind hole that 2 structures in centre position of base plate both ends of the surface are identical, forms interference fit and be and be fixedly connected with, and adopts camera fixed cover 54 that video camera 55 is fastened between baffle plate that 2 structures are identical and base plate in position.Respectively with two rectangular parallelepiped wooden pieces of the other end of No. 1 turning axle 53 that 2 structures are identical adopt rotating shafts to be rotationally connected, No. 1 camera position adjusting lever 17 and No. 2 camera position adjusting lever 18 at right angle settings in two wooden pieces and image capturing system support, and with bolts.

Light dash receiver 56 is translucent illiteracy plates, in the centre position of covering the plate left and right sides, is provided with threaded hole; No. 2 turning axle 57 one end are right cylinder alloy structure part, and the other end is rectangular parallelepiped alloy structure part, on right cylinder alloy structure part, is provided with external thread; The circular hole that angular setting chi 59 bottoms are provided with on No. 2 turning axles 57, right cylinder alloy structure part radius is identical.On one end at No. 2 turning axles 57 near the right cylinder alloy structure part of rectangular parallelepiped alloy structure part, be set with angular setting chi 59, the side of angular setting chi 59 is connected with the end contact of rectangular parallelepiped alloy structure part, the other end of right cylinder alloy structure part is connected with the neutral threaded hole of light dash receiver 56 left and right end faces, on a left side, on the right cylinder alloy structure part of No. 2 turning axles 57 between the light dash receiver 56 on right side and angular setting chi 59, be set with 2 hold-down nuts 58 that structure is identical, for fixed angle, adjust chi 59 for one, another is for fixing light dash receiver 56 after adjusting angle at light dash receiver 56, rectangular parallelepiped alloy structure part adopts wide angle bar 23 bolts to be connected with No. 2 camera height adjusting levers 14 with the inner side of No. 4 camera height adjusting levers 16, complete being connected of light dash receiver 56 and pedestal, angular setting chi 59 is plastic construction, and the scope altogether taking measurement of an angle has 180 degree, is used for measuring the adjustment angle of light dash receiver 56, consider economy, the present invention is adapted as a rectangular frame and a common blank sheet of paper by light dash receiver 56, blank sheet of paper can be connected on rectangular frame by the mode of pasting, and other connected modes are constant, adopts this structure blank sheet of paper not only easily to replace but also to detect effect also better.

Vehicle exterior cladding element vision-based detection automatic positioning equipment of the present invention needs to utilize video camera 55 to gather the characteristic image of line-structured light striation in testing process, more accurate in order to extract, applicability is stronger, vehicle exterior cladding element vision-based detection automatic positioning equipment is installed a light dash receiver 56 before video camera 55 visual fields, the direction of striation dash receiver 56 can be adjusted, to adapt to the demand of different light rays and detected parts.Video camera 55 is arranged on video camera mounting plate 52, for the stability of guaranteeing to install, on video camera mounting plate 52, with video camera fixed cover 54, further camera is fixed.Owing to needing the camera lens of video camera 55 to keep vertical with striation dash receiver 56 in image acquisition process, therefore also need to have angle regulation function, in order to reach above-mentioned functions, turning axle 53 is installed No. 1 in the both sides of camera installing plate 52, the identical rectangular parallelepiped wooden pieces of respectively with two structures of the other end of No. 1 turning axle 53 that 2 structures are identical adopts rotating shaft to be rotationally connected, No. 1 camera position adjusting lever 17 and No. 2 camera position adjusting levers 18 in the rectangular parallelepiped wooden pieces that two structures are identical and the image capturing system support in pedestal I adopt narrow angle bar at right angle settings can make video camera 55 reach the object of carrying out as required angular setting.And light dash receiver 56 is to be fixed on No. 2 camera height adjusting levers 14 and No. 4 camera height adjusting levers 16 by No. 2 identical turning axles 57 of 2 structures at its two ends, and be set with angular setting chi 59 on No. 2 turning axles 57, for recording the adjustment angle of adjusting striation dash receiver 56, and then adopt the fixedly position of striation dash receiver 56 and angular setting chi 59 of hold-down nut 58 that 2 structures being set on No. 2 turning axles 57 are identical.

Consult Fig. 9, described generating laser assembly IV mainly comprises 61, No. 2 axle ball links 62 of 60, No. 1 axle ball link of generating laser pedestal, sandwich sheet 63, generating laser cover 64 and generating laser 65;

In described generating laser assembly IV, adopting model is the generating laser 65 of a word line of LD-G650A13, and emission of light is red straight line, required voltage also lower (3-5v) during use, and be easy to change.The generating laser cover 64 on sandwich sheet 63 tops is plastic shaping, can prevent the damage to generating laser 65, and 61, No. 2 axle ball links 62 of 63, No. 1 axle ball link of sandwich sheet and generating laser pedestal 60 materials adopts 45# steel, and it is economical convenient to make; No. 1 axle ball link 61 is identical with the structure of No. 2 axle ball links 62, and one end of No. 1 axle ball link 61 and No. 2 axle ball links 62 is provided with spherosome, and the other end is for the externally threaded right cylinder being provided with for connecting is screw rod; Respectively there is a round tube hole at two sandwich sheet 63 two ends, left and right, circle hole radius be less than 62 of No. 1 axle ball link 61 and No. 2 axle ball links with spherosome maximum radius, two sandwich sheets 63 arrange two tapped through holes that are used for fixing two sandwich sheet relative positions in the inner side of two round tube holes.

The vertical connection of screwed one end of generating laser pedestal 60 and No. 1 axle ball link 61, one end with spherosome of No. 1 axle ball link 61 is positioned over the circular hole place of sandwich sheet 63 one end, and one end with spherosome of No. 2 axle ball links 62 is positioned over the circular hole place of sandwich sheet 63 other ends, recycling bolt fixes the relative position of two sandwich sheets 63 now, in the middle of two sandwich sheets 63, there is certain interval, No. 1 axle ball link 61, No. 2 axle ball link 62 forms a universal rotational stationary installation with sandwich sheet 63, can carry out the adjustment of line-structured light projecting direction.

Consult Fig. 1 and Fig. 2, utilize vehicle exterior cladding element vision-based detection automatic positioning equipment to detect car door:

1. sedan door to be measured is installed

No. 1 workpiece that sedan door to be measured is placed on to propulsion system II is installed on 32, No. 2 workpiece installation mobile jibs 33 of mobile jib and No. 3 workpiece installation mobile jibs 34, guarantees sedan door horizontal positioned to be measured;

2. sedan door paint film to be measured detects

Press the electric-controlled switch of dynamic positioning system, car door can be driven and be carried out slow tangential movement by propulsion system II, laser instrument 65 Emission Lasers light scan door skin simultaneously, because scrambler in the process of advancing 49 can produce pulse signal, therefore under the control of pulse signal, the laser instrument reflection ray that video camera 55 starts to carry out on striation dash receiver 56 carries out image acquisition.Wherein the motion of No. 2 stepper motors 48 is programmed control of finishing in advance in Programmable Logic Controller 39, No. 2 stepper motor 48 carries out work under the driving of No. 2 step actuators 40, No. 2 gear wheels of gear driven 47 of No. 2 stepper motors 48 rotate, simultaneously under the drive of gear wheel 47, No. 2 gear shaft 36 drives guide rail wheel 38 slowly motion on guide rail, thereby has realized the defects detection of car door outside surface paint film.

3, locating device resets

After detection completes, No. 1 stepper motor 44 carries out return movement under the driving of No. 1 step actuator 41, its run duration is to move according to the program of Programmable Logic Controller 39, its motion process is, No. 1 stepping motor gear 43 drives No. 1 gear wheel 42 motions, thereby drive the guide rail wheel 38 at No. 1 gear shaft two ends to roll on guide rail, until initial position.

4, car door unloads

After vehicle exterior cladding element visual detection positioning device has resetted, car door is unloaded from propulsion system, the testing of door skin paint film completes.

Claims (10)

1. a body outer panel vision-based detection automatic positioning equipment, it is characterized in that, described vehicle exterior cladding element vision-based detection automatic positioning equipment is comprised of pedestal (I), propulsion system (II), image capturing system (III), generating laser assembly (IV);

Described pedestal (I) comprises pedestal, image capturing system support and generating laser assembly bracket;

The inner side bolt that No. 1 camera height adjusting lever (13) in described image capturing system support and the lower end of No. 2 camera height adjusting levers (14) adopt wide angle bar (23) that 2 structures are identical vertically to control secondary bar (7) with No. 1 length in pedestal is connected, and the inner side bolt that No. 3 camera height adjusting levers (15) the wide angle bar (23) identical with lower end 2 structures of employing of No. 4 camera height adjusting levers (16) vertically controlled secondary bar (8) with No. 2 length in pedestal is connected;

The wide angle bar (23) that No. 1 laser height adjusting lever (19) in described generating laser assembly bracket is identical with the lower end of No. 2 laser height adjusting levers (20) 2 structures of employing is connected with the outside bolt of No. 2 length control levers (2) with No. 1 length control lever (1) in pedestal;

No. 1 power rail (5) that propulsion system (II) are arranged in pedestal is connected for rolling with No. 2 power rail (6) are upper; No. 1 camera position adjusting lever (17) that image capturing system (III) is arranged in image capturing system support is upper with No. 2 camera position adjusting levers (18), and generating laser assembly (IV) is arranged on the laser positions adjusting lever (21) in generating laser assembly bracket.

2. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 1, it is characterized in that, described image capturing system support also includes No. 1 camera position adjusting lever (17) and No. 2 camera position adjusting levers (18);

The two ends of No. 1 camera position adjusting lever (17) adopt 2 identical narrow angle bar (24) and No. 1 camera height adjusting levers (13) of structure to connect into left side " door " glyph framework with the interior survey bolt of No. 3 camera height adjusting levers (15) upper end, the two ends of No. 2 camera position adjusting levers (18) also adopt 2 identical narrow angle bar (24) and No. 2 camera height adjusting levers (14) of structure to connect into right side " door " glyph framework with the interior survey bolt of No. 4 camera height adjusting levers (16) upper end, left side " door " glyph framework is identical with right side " door " glyph framework structure, left side " door " glyph framework and right side " door " glyph framework are combined into image capturing system support.

3. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 1, it is characterized in that, described generating laser assembly bracket also includes laser positions adjusting lever (21);

It is generating laser assembly bracket that the two ends of laser positions adjusting lever (21) adopt the interior survey bolt of narrow angle bar (24) that 2 structures are identical and No. 1 laser height adjusting lever (19) and No. 2 laser height adjusting levers (20) upper end to connect into " door " glyph framework.

4. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 1, it is characterized in that, described pedestal also comprises No. 1 width control lever (3), No. 2 width control levers (4), No. 1 secondary bar (9) of adjustable-width, No. 2 secondary bars (10) of adjustable-width, No. 3 secondary bars (11) of adjustable-width, No. 4 adjustable-width pair bars (12) and 4 bases (22) that structure is identical;

No. 1 length control lever (1), No. 2 width control levers (4), No. 2 length control levers (2) and No. 1 width control lever (3) the wide angle bar (23) that 4 structures of end to end employing are identical successively connect into the plane framework of rectangle, No. 1 power rail (5) adopts 2 narrow angle bar (24) to be connected with the vertical bolt of No. 2 width control levers (4) with No. 1 width control lever (3), and No. 2 power rail (6) adopt 2 narrow angle bar (24) to be connected with the vertical bolt of No. 2 width control levers (4) with No. 1 width control lever (3); The homonymy bolt that the secondary bars of No. 3 adjustable-widths (11) and one end of No. 4 secondary bars of adjustable-width (12) adopt wide angle bar (23) that 2 structures are identical and No. 1 length to control secondary bar (7) two ends connects into " door " glyph framework, and the wide angle bar (23) that No. 3 adjustable-width pair bars (11) are identical with 2 structures of other end employing of No. 4 adjustable-width pair bars (12) is connected with the outside vertical of No. 1 length control lever (1) left end; The homonymy bolt that the secondary bar of No. 1 adjustable-width (9) and one end of No. 2 secondary bars of adjustable-width (10) adopt wide angle bar (23) that 2 structures are identical and No. 2 length to control secondary bar (8) two ends connects into " door " glyph framework, and the wide angle bar (23) that No. 1 adjustable-width pair bar (9) is identical with 2 structures of other end employing of No. 2 adjustable-width pair bars (10) is connected with the outside vertical of No. 2 length control levers (2) left end; 2 " door " glyph framework and to be positioned at the plane framework of rectangle in centre position coplanar; 4 identical bases (22) of structure adopt 8 identical wide angle bar (23) of structure to be connected with the bottom surface bolt at No. 2 length control levers (2) two ends with No. 1 length control lever (1).

5. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 1, it is characterized in that, described propulsion system (II) mainly include propulsion system underframe, reversible drive device, advancing drive device;

Described propulsion system underframe includes No. 1 main fixed bar (25), No. 2 main fixed bars (26), secondary fixed bar (27), No. 1 stepper motor mounting rod (28), No. 2 stepper motor mounting rods (29), No. 1 workpiece and secondary bar (30), No. 2 workpiece are installed are installed that secondary bar (31), No. 1 workpiece are installed mobile jib (32), No. 2 workpiece are installed mobile jibs (33), with No. 3 workpiece, mobile jibs (34) are installed;

No. 1 main fixed bar (25), No. 1 stepper motor mounting rod (28), No. 2 stepper motor mounting rods (29), the flatly placement parallel with No. 2 main fixed bars (26) of secondary fixed bar (27), No. 1 gear shaft (35) in the reversible drive device that put on the right side adopts 4 identical bearings (37) of structure to be arranged on No. 1 main fixed bar (25), No. 1 stepper motor mounting rod (28), No. 2 stepper motor mounting rods (29), the right-hand member of secondary fixed bar (27) and No. 2 main fixed bars (26), No. 2 gear shafts (36) in the advancing drive device that put on a left side adopt 4 identical bearings (37) of structure to be arranged on No. 1 main fixed bar (25), No. 1 stepper motor mounting rod (28), No. 2 stepper motor mounting rods (29), the left end of secondary fixed bar (27) and No. 2 main fixed bars (26), what No. 1 workpiece installed that secondary bar (30) and No. 2 workpiece install that secondary bar (31) is arranged on No. 1 main fixed bar (25) and No. 2 main fixed bars (26) successively utilizes groove to be fixedly connected with above, No. 1 workpiece is installed mobile jib (32), No. 2 workpiece install mobile jibs (33) and No. 3 workpiece install mobile jibs (34) be arranged in parallel to each other No. 1 workpiece install secondary bar (30) and No. 2 workpiece install secondary bar (31) above utilize groove to be fixedly connected with.

6. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 5, it is characterized in that, described reversible drive device also includes 2 guide rail wheel (38), No. 1 step actuator (41), No. 1 gear wheel (42), No. 1 stepping motor gear (43), No. 1 stepper motors (44) and stepper motor fixed cover (45) that structure is identical;

No. 1 gear wheel (42) is sleeved on No. 2 stepper motor mounting rods (29) and goes up and adopt key to be connected with No. 1 gear shaft (35) between secondary fixed bar (27), No. 1 stepper motor (44) adopts stepper motor fixed cover (45) to be fixed in the groove of No. 1 stepper motor mounting rod (28) and No. 2 stepper motor mounting rods (29) right-hand member, No. 1 gear wheel (42) is meshed with No. 1 stepping motor gear (43) being arranged on No. 1 stepper motor (44) output shaft, No. 1 step actuator (41) is arranged on No. 1 stepper motor mounting rod (28) and No. 2 stepper motor mounting rods (29), No. 1 step actuator (41) adopts wire to be connected with No. 1 stepper motor (44), 2 identical guide rail wheels (38) of structure are arranged on the two ends of No. 1 gear shaft (35) and adopt key to connect.

7. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 5, it is characterized in that, described advancing drive device also includes 2 guide rail wheel (38), Programmable Logic Controller (39), No. 2 step actuators (40), scrambler fixed cover (46), No. 2 gear wheels (47), No. 2 stepper motors (48), scrambler (49), encoder gears (50) and No. 2 stepping motor gears (51) that structure is identical;

No. 2 gear wheels (47) are sleeved on No. 2 stepper motor mounting rods (29) and go up and adopt key to be connected with No. 2 gear shafts (36) between secondary fixed bar (27), No. 2 stepper motors (48) are fixed in the groove of No. 1 stepper motor mounting rod (28) and No. 2 stepper motor mounting rods (29) left end by stepper motor fixed cover (45), No. 2 gear wheels (47) are connected with a joggle with No. 2 stepping motor gears (51) that are arranged on No. 2 stepper motors (48) output shaft, and scrambler (49) adopts scrambler fixed cover (46) to be fixedly mounted in the groove of secondary fixed bar (27) left end, the encoder gear (50) being arranged on scrambler (49) output shaft is connected with a joggle with No. 2 stepping motor gears (51), Programmable Logic Controller (39), No. 2 step actuators (40) are arranged on No. 1 stepper motor mounting rod (28) and No. 2 stepper motor mounting rods (29), Programmable Logic Controller (39) adopts wire to be connected with No. 2 step actuators (40), No. 2 step actuators (40) adopt wire to be connected with No. 2 stepper motors (48), 2 identical guide rail wheels (38) of structure are arranged on the two ends of No. 2 gear shafts (36) and adopt key to connect.

8. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 1, it is characterized in that, described image capturing system (III) comprises video camera mounting plate (52), video camera (55), light dash receiver (56), 2 No. 2 turning axles (57), 4 hold-down nuts (58) and 2 angular setting chis (59) that structure is identical that structure is identical that structure is identical;

It is upper that video camera (55) is arranged on video camera mounting plate (52), and video camera mounting plate (52) is arranged on No. 1 camera position adjusting lever (17) and No. 2 camera position adjusting levers (18) in image capturing system support;

The threaded one end of No. 2 turning axles (57) that the two ends of light dash receiver (56) are identical with 2 structures connects, the other end of No. 2 turning axles (57) that 2 structures are identical adopts wide angle bar (23) to be connected with the inner side of No. 4 camera height adjusting levers (16) with No. 2 camera height adjusting levers (14) in image capturing system support, and 2 identical angular setting chis (59) of structure are sleeved on 2 identical No. 2 turning axles (57) of structure and go up and adopt respectively 2 identical hold-down nuts (58) of structure to fix.

9. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 8, it is characterized in that, described installing plate (52) is by base plate, 2 baffle plate, 2 No. 1 turning axles (53) and video camera fixed cover (54) that structure is identical that structure is identical;

The centre position of the base plate that is vertically arranged on rectangle that the baffle plate of the rectangle that 2 structures are identical is parallel to each other, the baffle plate of rectangle that 2 structures are identical and one side of the base plate of rectangle are parallel, and the distance between the baffle plate of the rectangle that 2 structures are identical equals the width of video camera (55); One end of the baffle plate of the rectangle that 2 structures are identical is provided with the identical fixed cover through hole of structure that video camera fixed cover (54) is installed, the other end of the baffle plate of the rectangle that 2 structures are identical is provided with the identical video camera through hole of structure that video camera (55) is installed, the axis of rotation conllinear of the fixed cover through hole that 2 structures are identical, the axis of rotation conllinear of the video camera through hole that 2 structures are identical; It is interference fit that 2 identical No. 1 turning axles (53) of structure pack in the rotating shaft blind hole that 2 structures in centre position of base plate both ends of the surface are identical, and video camera fixed cover (54) is arranged on the fixed cover through hole that 2 structures on the baffle plate that 2 structures are identical are identical.

10. according to body outer panel vision-based detection automatic positioning equipment claimed in claim 1, it is characterized in that, described generating laser assembly (IV) comprises generating laser pedestal (60), No. 1 axle ball link (61), No. 2 axle ball links (62), sandwich sheet (63), generating laser cover (64) and generating laser (65);

In described generating laser assembly (IV), adopt the generating laser (65) of the word line that model is LD-G650A13, No. 1 axle ball link (61) is identical with the structure of No. 2 axle ball links (62), No. 1 axle ball link (61) is provided with spherosome with one end of No. 2 axle ball links (62), and the other end is screw rod; Generating laser cover (64) is cylindrical shroud barrel structure, and generating laser (65) is arranged on the inner bolted that adopts of generating laser cover (64);

The vertical connection of screw rod of generating laser pedestal (60) and No. 1 axle ball link (61), one end with spherosome of No. 1 axle ball link (61) is positioned in the circular hole place of sandwich sheet (63) one end as being rotationally connected, one end with spherosome of No. 2 axle ball links (62) is positioned in the circular hole place of sandwich sheet (63) other end as being rotationally connected, the screw rod of No. 2 axle ball links (62) is connected with generating laser cover (64), and generating laser (65) is arranged in generating laser cover (64) fastening.