CN109506577B - Part measuring method - Google Patents
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- CN109506577B CN109506577B CN201910055139.9A CN201910055139A CN109506577B CN 109506577 B CN109506577 B CN 109506577B CN 201910055139 A CN201910055139 A CN 201910055139A CN 109506577 B CN109506577 B CN 109506577B
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
Abstract
The invention discloses a part measuring method, which relates to the technical field of measurement and adopts a flexible positioning measuring system to carry out measurement, wherein the system comprises three flexible positioning modules on a working platform, and each flexible positioning module is provided with an X-axis linear sliding table, a Y-axis linear sliding table and a Z-axis linear sliding table; a fixed frame connected with the working platform through a plurality of vertical rods is arranged above the three flexible positioning modules, and the vertical rods are connected with a movable light source component; the mounting frame is provided with a robot controlled by a controller, the robot hand is provided with a support, and the support is provided with a CCD camera and a distance measuring sensor. The measurement steps are as follows: presetting part data; positioning a part; adjusting the brightness of the shot; the lens of the phase modulator is parallel to the part; adjusting the focal length of the picture; and measuring the data. Compared with the prior art, the three flexible positioning modules can be randomly combined, so that the positioning measurement of parts with various hole positions, different shapes and different structures is realized, the product development period is greatly shortened, and the development cost is low.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a method for measuring an automobile sheet metal part.
Background
In the production process, the automobile sheet metal part is usually placed in a positioning check tool for detection. The existing positioning check tool shown in fig. 1, 2 and 3 comprises two positioning tables 102 oppositely arranged on a flat plate 101, wherein the outer sides of the two positioning tables 102 are respectively provided with a concave plane 102-1, the concave plane 102-1 and the upper end surfaces of the positioning tables 102 form a step, the two concave planes 102-1 are respectively and fixedly provided with a main positioning pin 103 and an auxiliary positioning pin 104, and the flat plate 101 is provided with a detection pin 105 respectively positioned on one side of the two positioning tables 102; the part 106 is sleeved on the main positioning pin 103 and the auxiliary positioning pin 104 respectively through two positioning holes on the part 106 to realize positioning, the two detection pins 105 can be inserted into the two detection holes of the part 106 at the same time, and then the part 106 is qualified. The positioning detection tool is developed in a matched mode according to the characteristics of parts, the universality is poor, one set of positioning detection tool can only be used for positioning detection corresponding to one part, and the part measuring method is suitable for quickly detecting the parts produced in batches. However, when product development is carried out, if each part needs to be manufactured with one set of positioning check tool, the product development period is long, and the development cost is high. At the initial stage of product development, there is uncertainty in part structure, and after part structure improves, often also no longer is suitable for to this part supporting location that develops examines utensil, will cause the waste.
Disclosure of Invention
The invention aims to solve the problems that a positioning detection tool is adopted to perform positioning measurement on a part at present, a set of positioning detection tool matched with the part is required to be used for measuring one part, the product development period is long, and the development cost is high.
In order to solve the problems, the invention adopts the technical scheme that: the part measuring method adopts a flexible positioning measuring system to measure parts, the flexible positioning measuring system comprises a mounting rack provided with a working platform, three flexible positioning modules are arranged on the working platform, each flexible positioning module is provided with an X-axis linear sliding table, a Y-axis linear sliding table and a Z-axis linear sliding table, the X-axis linear sliding tables, the Y-axis linear sliding tables and the Z-axis linear sliding tables are driven by respective servo motors, and the servo motors are controlled by a controller; a fixed frame connected with the working platform through a plurality of vertical rods is arranged above the three flexible positioning modules, and a light source assembly driven by a lifting motor to slide on the vertical rods is arranged on the vertical rods; the robot is controlled by a controller and arranged on the mounting frame, a support positioned above the fixed frame is arranged on the robot hand, a CCD camera and two first distance measuring sensors used for measuring the distance from the lens of the CCD camera to the surface of a part are arranged on the bottom plate of the support, and the signal output end of each first distance measuring sensor is connected with the photographing signal input end of the CCD camera through the controller; the light source assembly is provided with a second distance measuring sensor for measuring the distance from the light source assembly to the working platform, and the signal output end of the second distance measuring sensor is connected with the lifting motor through the controller;
the measurement steps are as follows:
A. presetting positioning position data of various parts, distance data from a light source assembly to a working platform and photographing focal length data in a controller;
B. positioning parts: the three flexible positioning modules are moved to the positioning positions of the corresponding parts through the controller, and the parts are placed on the three flexible positioning modules;
C. adjusting the brightness of the picture: the second distance measuring sensor outputs the acquired real-time distance signal to the controller, the controller compares the acquired distance signal with distance data between a light source assembly and a working platform preset in the controller, and then the controller outputs a signal to drive the lifting motor to drive the light source assembly to slide on the vertical rod to a corresponding height;
D. the phase modulator lens is parallel to the part: firstly, the two first ranging sensors respectively output the acquired real-time distance values to a controller for storage, then the controller outputs a driving signal to the robot to drive the support to rotate by an angle, one of the two first ranging sensors outputs the acquired real-time distance values to the controller, the controller takes one of the three real-time distance values as a reference value, and after the other two real-time distance values are compared with the reference value, the controller respectively outputs a signal to drive the robot to act until the other two real-time distance values are the same as the reference value;
E. adjusting the focal length of the picture: the first distance measuring sensor outputs the acquired real-time distance signal to the controller, and after the controller compares the acquired distance signal with preset photographing focal length data in the controller, the controller outputs a signal to drive the robot to act until the real-time distance acquired by the first distance measuring sensor reaches the photographing focal length of the CCD camera;
F. measurement data: the method comprises the steps that firstly, a CCD camera shoots parts, data collected by shooting are transmitted to a controller to be stored, secondly, the controller outputs driving signals to enable a robot to move horizontally, thirdly, the CCD camera shoots the parts again, the collected data are transmitted to the controller to be stored, thirdly, the step is repeated until more than 3 groups of data in different positions are collected, and finally, the data collected by shooting are processed by the controller to output measurement results of the parts.
In the above technical solution of the part measuring method, a more specific technical solution may also be: the top of the sliding block of the Z-axis linear sliding table is provided with a supporting plate, a connecting plate is arranged above the supporting plate, the connecting plate is driven to rotate by a power machine controlled by the controller, and at least one positioning pin is inserted into the connecting plate.
Furthermore, the connecting plate is provided with a mounting hole connected with the power machine rotating shaft, strip-shaped grooves communicated with the mounting hole are respectively arranged on two opposite sides of the mounting hole, and fastening bolts penetrate through the side walls of the strip-shaped grooves.
Furthermore, the montant is sleeved with a guide sleeve connected with the light source assembly, the light source assembly is provided with two lead screw nuts sleeved on the lead screw, and the lower end of the lead screw is connected with the lifting motor.
Furthermore, the light source assembly is provided with a light source frame formed by encircling a plurality of strip-shaped plates, two ends of each strip-shaped plate are respectively provided with support legs extending downwards, a strip-shaped light source is arranged between the two support legs, and adjusting bolts connected with the strip-shaped light source penetrate through the installation long holes of the two support legs.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the three flexible positioning modules are adopted to position the part, the positions of the three flexible positioning modules can be randomly combined, and the part positioning device can position parts with various hole positions, different shapes and different structures. The lifting motor is driven by the controller to drive the light source assembly to slide on the vertical rod to adjust the photographing brightness, and the distance between the CCD camera lens and the surface of the part is measured by adjusting the two first distance measuring sensors, so that the phase modulator lens is parallel to the part, the photographing focal length is adjusted, the data acquired by photographing the CCD camera is accurate, and the measuring result is accurate. By adopting the invention to measure the parts, a positioning checking fixture matched with the parts does not need to be produced, the product development period is greatly shortened, the development cost is reduced, and the measurement working efficiency is improved.
2. The top of a sliding block of the Z-axis linear sliding table is provided with a supporting plate, a connecting plate inserted with positioning pins is arranged above the supporting plate, the connecting plate is driven to rotate by a power machine controlled by a controller, the positioning holes of the parts are respectively sleeved on the positioning pins of the three flexible positioning modules for positioning, the positioning of the parts is accurate, and the positioning pins with different specifications can be replaced and installed according to the sizes of the positioning holes of the parts.
3. The lifting motor drives the screw rod to rotate, and the light source assembly is driven by the screw rod nut to slide on the vertical rod, so that the photographing brightness can be adjusted.
4. The light source assembly is provided with a light source frame formed by encircling a plurality of strip-shaped plates, the strip-shaped light source is arranged below the strip-shaped plates through adjusting bolts penetrating through the installation long holes of the two support legs, and the angle of the strip-shaped light source can be adjusted.
Drawings
Fig. 1 is a schematic structural diagram of a conventional positioning gauge.
Fig. 2 is a partial enlarged view of the point i in fig. 1.
Fig. 3 is a partial enlarged view of fig. 1 at ii.
Fig. 4 is a schematic structural diagram of a flexible positioning measurement system in an embodiment of the invention.
Fig. 5 is a partial enlarged view of fig. 4 at iii.
Fig. 6 is a schematic structural diagram of a flexible positioning module according to an embodiment of the present invention.
Fig. 7 is a schematic view of the installation of a light source assembly in an embodiment of the present invention.
FIG. 8 is a schematic structural view of a locating pin in an embodiment of the present invention.
Detailed Description
The invention will be further described in detail with reference to the following examples:
the flexible positioning measurement system comprises a mounting frame 1 with a working platform 3, three flexible positioning modules 4 are placed on the working platform 3, each flexible positioning module 4 is provided with an X-axis linear sliding table 4-1, a Y-axis linear sliding table 4-2 is mounted on a sliding block of the X-axis linear sliding table 4-1, a Z-axis linear sliding table 4-3 is mounted on a sliding block of the Y-axis linear sliding table 4-2, the X-axis linear sliding table 4-1, the Y-axis linear sliding table 4-2 and the Z-axis linear sliding table 4-3 are driven by respective servo motors to move linearly, and the servo motors are controlled by a controller. The top of a sliding block of the Z-axis linear sliding table 4-3 is provided with a supporting plate 4-4, a connecting plate 4-6 is arranged above the supporting plate 4-4, the connecting plate 4-6 is driven to rotate by a power machine 4-7 controlled by a controller, the power machine 4-7 of the embodiment adopts a pneumatic motor, and an air inlet pipe of the pneumatic motor is provided with an electromagnetic valve controlled by the controller. The connecting plates 4-6 are provided with mounting holes connected with the rotating shaft of the pneumatic motor, strip-shaped grooves communicated with the mounting holes are respectively formed in the two opposite sides of the mounting holes, and fastening bolts penetrate through the side walls of the strip-shaped grooves. Two positioning pins 4-5 are inserted on the connecting plates 4-6, and the positioning pins 4-5 are fixed on the connecting plates 4-6 through fastening bolts penetrating through the side walls of the positioning pin holes. As shown in figure 8, the positioning pin 4-5 is provided with an axial limiting block 4-5.2, a lower positioning column 4-5.1 matched with a positioning pin hole of the connecting plate 4-6 is arranged below the axial limiting block 4-5.2, an upper positioning column 4-5.3 matched with a part positioning hole is arranged above the axial limiting block 4-5.2, and the top of the upper positioning column 4-5.3 is provided with a guide cone 4-5.4. The connecting plate 4-6 is provided with a limit platform protruding upwards at the position close to the inner side of the positioning pin 4-5, and the axial limit block 4-5.2 of the positioning pin 4-5 is provided with a side plane matched with the limit platform.
A fixed frame 8 connected with the working platform 3 through four vertical rods 15 is arranged above the three flexible positioning modules 4, and a light source assembly 9 driven by the lifting motor 2 to slide on the vertical rods 15 is arranged on the four vertical rods 15, as shown in fig. 7; the light source component 9 is provided with a light source frame 9-1 which is formed by four strip-shaped plates in a surrounding way, two ends of each strip-shaped plate are respectively provided with a support leg which extends downwards, a strip-shaped light source 9-2 is arranged between the two support legs, and an adjusting bolt connected with the strip-shaped light source 9-2 is arranged in a mounting long hole of the two support legs in a penetrating way. The four vertical rods 15 are respectively sleeved with a guide sleeve 6 connected with a light source frame 9-1, the light source frame 9-1 is provided with two lead screw nuts 7 sleeved on the lead screw 5, and the lower end of the lead screw 5 is connected with the lifting motor 2 through a coupler. And a second distance measuring sensor 13 for measuring the distance from the light source assembly 9 to the working platform 3 is arranged on the light source frame 9-1.
A robot 14 controlled by a controller is arranged on the mounting frame 1, a support 11 positioned above the fixed frame 8 is arranged on the hand of the robot 14, and a CCD camera 12 and two first distance measuring sensors 10 for measuring the distance from the lens of the CCD camera 12 to the surface of the part are arranged on the bottom plate of the support 11. A human-computer interface 18 is arranged at the control end of the controller, the controller is provided with a robot control part 16 and a flexible positioning module control part 17, the signal output end of the first distance measuring sensor 10 is connected with the photographing signal input end of the CCD camera 12 through the robot control part 16, and the signal output end of the second distance measuring sensor 13 is connected with the lifting motor 2 through the robot control part 16; the output interface of the flexible positioning module control part 17 is respectively connected with the electric control ends of each servo motor and each electromagnetic valve in a one-to-one correspondence manner. The robot 14 of the present invention employs an industrial robot.
The flexible positioning measurement system is adopted to measure the parts, and the measurement steps are as follows:
A. positioning position data of various parts are preset in the flexible positioning module control part 17, and distance data from the light source assembly 9 of the corresponding part to the working platform 3 and photographing focal length data are preset in the robot control part 16;
B. positioning parts: inputting a part positioning position instruction on a human-computer interface 18, enabling an X-axis linear sliding table 4-1, a Y-axis linear sliding table 4-2 and a Z-axis linear sliding table 4-3 of three flexible positioning modules 4 to move through a flexible positioning module control part 17, enabling a pneumatic motor to rotate, driving a positioning pin 4-5 to reach a positioning position of a corresponding part, and sleeving a part positioning hole on the positioning pin 4-5 of the three flexible positioning modules 4;
C. adjusting the brightness of the picture: the second distance measuring sensor 13 outputs the acquired real-time distance signal to the robot control part 16, and after the robot control part 16 compares the acquired distance signal with the distance data between the light source assembly 9 and the working platform 3 preset in the robot control part, the robot control part outputs a signal to drive the lifting motor 2 to drive the light source assembly 9 to slide on the vertical rod 15 to a corresponding height;
D. the phase modulator lens is parallel to the part: firstly, the two first ranging sensors 10 respectively output the acquired real-time distance values to the robot control part 16 for storage, then the robot control part 16 outputs a driving signal to the robot 14 to drive the bracket 11 to rotate by an angle, one of the two first ranging sensors 10 outputs the acquired real-time distance value to the robot control part 16, the robot control part 16 takes the re-acquired real-time distance value and one of the two stored real-time distance values as a reference value, and after the other two real-time distance values are compared with the reference value, the signals are respectively output to drive the robot 14 to act until the other two real-time distance values are the same as the reference value;
E. adjusting the focal length of the picture: the first ranging sensor 10 outputs the acquired real-time distance signal to the robot control part 16, and after the robot control part 16 compares the acquired distance signal with preset photographing focal length data in the robot control part, the robot control part outputs a signal to drive the robot 14 to move until the real-time distance acquired by the first ranging sensor 10 reaches the photographing focal length of the CCD camera 12;
F. measurement data: the method comprises the steps that firstly, a CCD camera 12 shoots parts, data collected by shooting are transmitted to a robot control part 16 to be stored, secondly, the robot control part 16 outputs a driving signal to enable a robot 14 to move horizontally, thirdly, the CCD camera 12 shoots the parts again, the collected data are transmitted to the robot control part 16 to be stored, thirdly, the step is repeated until 3 groups of data at different positions are collected, and finally, the data collected by shooting are processed by the robot control part 16 to output measurement results of the parts.
By adopting the measuring part of the invention, the positioning measurement of parts with various hole positions, different shapes and different structures can be realized; the production of a positioning check tool matched with parts is not needed, the product development period is greatly shortened, the development cost is reduced, the measurement working efficiency is improved, and the method is also suitable for quickly detecting the parts produced in batches.
Claims (6)
1. A part measuring method is characterized in that: the flexible positioning measurement system is used for measuring parts and comprises a mounting frame (1) provided with a working platform (3), three flexible positioning modules (4) are arranged on the working platform (3), each flexible positioning module (4) is provided with an X-axis linear sliding table (4-1), a Y-axis linear sliding table (4-2) and a Z-axis linear sliding table (4-3), the X-axis linear sliding table (4-1), the Y-axis linear sliding table (4-2) and the Z-axis linear sliding table (4-3) are driven by respective servo motors, and the servo motors are controlled by a controller; a fixed frame (8) connected with the working platform (3) through a plurality of vertical rods (15) is arranged above the three flexible positioning modules (4), and a light source assembly (9) driven by a lifting motor (2) to slide on the vertical rods (15) is arranged on the vertical rods (15); the mounting frame (1) is provided with a robot (14) controlled by a controller, a support (11) positioned above the fixed frame (8) is arranged on a hand of the robot (14), a CCD camera (12) and two first distance measuring sensors (10) used for measuring the distance from a lens of the CCD camera (12) to the surface of a part are arranged on a bottom plate of the support (11), and a signal output end of each first distance measuring sensor (10) is connected with a photographing signal input end of the CCD camera (12) through the controller; a second distance measuring sensor (13) for measuring the distance from the light source assembly (9) to the working platform (3) is arranged on the light source assembly (9), and the signal output end of the second distance measuring sensor (13) is connected with the lifting motor (2) through the controller;
the measurement steps are as follows:
A. positioning position data of various parts, distance data from a light source assembly (9) to a working platform (3) and photographing focal length data are preset in a controller;
B. positioning parts: the three flexible positioning modules (4) are moved to the positioning positions of the corresponding parts through the controller, and the parts are placed on the three flexible positioning modules (4);
C. adjusting the brightness of the picture: the second distance measuring sensor (13) outputs the acquired real-time distance signal to the controller, the controller compares the acquired distance signal with distance data between a light source assembly (9) and a working platform (3) which are preset in the controller, and then the controller outputs a signal to drive the lifting motor (2) to drive the light source assembly (9) to slide on the vertical rod (15) to a corresponding height;
D. the phase modulator lens is parallel to the part: firstly, the two first ranging sensors (10) respectively output the acquired real-time distance values to a controller for storage, then the controller outputs a driving signal to the robot (14) to drive the bracket (11) to rotate by an angle, one of the two first ranging sensors (10) outputs the acquired real-time distance value to the controller, the controller takes one of the three real-time distance values as a reference value, and after the other two real-time distance values are compared with the reference value, the controller respectively outputs a signal to drive the robot (14) to move until the other two real-time distance values are the same as the reference value;
E. adjusting the focal length of the picture: the first distance measuring sensor (10) outputs the acquired real-time distance signal to the controller, the controller compares the acquired distance signal with preset photographing focal length data in the distance signal, and then the controller outputs a signal to drive the robot (14) to move until the real-time distance acquired by the first distance measuring sensor (10) reaches the photographing focal length of the CCD camera (12);
F. measurement data: the method comprises the steps that firstly, a CCD camera (12) shoots parts, data collected by shooting are transmitted to a controller to be stored, secondly, the controller outputs driving signals to enable a robot (14) to move horizontally, thirdly, the CCD camera (12) shoots the parts again, the collected data are transmitted to the controller to be stored, thirdly, the step is repeated until more than 3 groups of data at different positions are collected, and finally, the data collected by shooting are processed by the controller to output measurement results of the parts.
2. The part measuring method according to claim 1, wherein: the top of a sliding block of the Z-axis linear sliding table (4-3) is provided with a supporting plate (4-4), a connecting plate (4-6) is arranged above the supporting plate (4-4), the connecting plate (4-6) is driven to rotate by a power machine (4-7) controlled by the controller, and at least one positioning pin (4-5) is inserted into the connecting plate (4-6).
3. The part measuring method according to claim 2, wherein: the connecting plate (4-6) is provided with a mounting hole connected with the rotating shaft of the power machine (4-7), strip-shaped grooves communicated with the mounting hole are respectively arranged on two opposite sides of the mounting hole, and fastening bolts are arranged on the side walls of the strip-shaped grooves in a penetrating mode.
4. The part measuring method according to claim 1, 2 or 3, wherein: the vertical rod (15) is sleeved with a guide sleeve (6) connected with the light source assembly (9), the light source assembly (9) is provided with two lead screw nuts (7) sleeved on the lead screw (5), and the lower end of the lead screw (5) is connected with the lifting motor (2).
5. The part measuring method according to claim 1, 2 or 3, wherein: the light source assembly (9) is provided with a light source frame (9-1) formed by encircling a plurality of strip-shaped plates, two ends of each strip-shaped plate are respectively provided with support legs extending downwards, a strip-shaped light source (9-2) is arranged between the two support legs, and adjusting bolts connected with the strip-shaped light source (9-2) penetrate through installation long holes of the two support legs.
6. The part measuring method according to claim 4, wherein: the light source assembly (9) is provided with a light source frame (9-1) formed by encircling a plurality of strip-shaped plates, two ends of each strip-shaped plate are respectively provided with support legs extending downwards, a strip-shaped light source (9-2) is arranged between the two support legs, and adjusting bolts connected with the strip-shaped light source (9-2) penetrate through installation long holes of the two support legs.
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| CN111360879A (en) * | 2020-02-19 | 2020-07-03 | 哈尔滨工业大学 | Visual servo automatic positioning device based on distance measuring sensor and visual sensor |
| CN113176277B (en) * | 2021-03-19 | 2022-12-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Panel defect detection equipment |
| CN113804136A (en) * | 2021-08-23 | 2021-12-17 | 东风柳州汽车有限公司 | Workpiece checking fixture platform based on NC dot matrix and flexible automatic measuring system |
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| CN108161304A (en) * | 2017-12-27 | 2018-06-15 | 广州德恒汽车装备科技有限公司 | A kind of linkage of Unit four multiaxis flexible positioning system |
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