CN109590952A - The intelligent detecting method and detection workbench of set technique buck plate - Google Patents
The intelligent detecting method and detection workbench of set technique buck plate Download PDFInfo
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- CN109590952A CN109590952A CN201811541923.2A CN201811541923A CN109590952A CN 109590952 A CN109590952 A CN 109590952A CN 201811541923 A CN201811541923 A CN 201811541923A CN 109590952 A CN109590952 A CN 109590952A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention discloses a kind of intelligent detecting method of set technique buck plate, includes the following steps: the image information for acquiring buck plate to be detected, the band of position of workpiece in the type and buck plate of buck plate to be detected is identified based on described image information；Precise laser ranging is carried out to the band of position based on the identification information in upper step, and is searched and the matched buck plate master pattern of buck plate to be detected；The three-dimensional imaging for carrying out buck plate to be detected by point cloud imaging algorithm based on the precise laser ranging data, obtains the accurate three-dimensional imaging model of buck plate to be detected, and carries out workpiece positioning；It calls the buck plate master pattern to be matched with the accurate three-dimensional imaging model, detects the size, shape of all workpiece and position on buck plate to be detected.The present invention can be realized the intelligent real-time detection to technique buck plate, not only save a large amount of manpowers, while also have higher accuracy and operational efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent detection, in particular to an intelligent detection method and a detection workbench for a complete set of process assembly plates (KIT plates).
Background
Locomotive overhauls the key of guaranteeing the locomotive safety traffic, and the locomotive can carry out the locomotive of different grades and overhaul in certain period, can use a large amount of complete sets of technology assembly plates (hereinafter abbreviated as KIT board) in the maintenance process. The KIT plate consists of component holes and components, and the assembly work of the KIT plate is to insert various components into the corresponding component holes. Various parts with specified specifications need to be inserted into the KIT plates with different models, the work of assembling the KIT plates is mostly finished manually, and a small number of conditions are finished by mechanical equipment. Errors in the dimensional specifications and quantities of components due to omission and negligence may occur during the assembly process. This phenomenon can cause extra work to the locomotive service personnel to check the part size specification, and also increases the risk of using the wrong specification part for service.
Due to the fact that the number of KIT boards is various, the sizes of components on the KIT boards are different, the placement intervals among the components are dense, and the like, the KIT boards which are assembled at present can only be checked manually. The manual inspection of the KIT plate is not only inefficient, but also the inspection accuracy cannot meet the actual needs. There is therefore a great need to develop an automated intelligent device capable of automatically detecting the assembly accuracy of KIT boards, overcoming the above-mentioned problems and drawbacks.
Disclosure of Invention
The invention provides an intelligent detection method and a detection workbench for a complete set of process assembly plates (KIT plates) in order to solve the problems.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides an intelligent detection method for a set of process assembly plates, which comprises the following steps:
s1, collecting image information of the assembly plate to be detected, and identifying the type of the assembly plate to be detected and the position area of the workpiece on the assembly plate based on the image information;
s2, performing precise laser ranging on the position area based on the identification information in the S1, and searching an assembly plate standard model matched with an assembly plate to be detected;
s3, performing three-dimensional imaging of the assembly plate to be detected through a point cloud imaging algorithm based on the precise laser ranging data, acquiring a precise three-dimensional imaging model of the assembly plate to be detected, and positioning a workpiece;
and S4, calling the assembling plate standard model to be matched with the accurate three-dimensional imaging model, and detecting the size, shape and position of all workpieces on the accurate three-dimensional imaging model so as to judge whether the assembling plate to be detected corresponding to the assembling plate is qualified.
Further, calling the assembly plate standard model and matching the precise three-dimensional imaging model in S4 specifically includes:
s41, placing the assembly plate standard model and the accurate three-dimensional imaging model in a coordinate space with a XOY scanning plane and a Z scanning height value, wherein each pixel point in the model is represented by an (x, y, Z) vector;
s42, performing equal-region division on the region of the model in the XOY scanning plane, dividing the region into L small block regions, calculating the central position of each small block region, and obtaining the value vector p of the central pointi＝(xi,yi,zi) I is 1,2, K L, and the value vectors of all the central points form a central point value vector set;
s43, for each center point piLet us orderIs a point piThe corresponding covariance matrix of the neighborhood point set of (2) is shown as the following formula:
wherein ,is composed ofThe center of gravity of; let lambda1,λ2,λ3Is 3 characteristic values of C, and is fullFoot lambda1≥λ2≥λ3Then piThe corresponding normal vector is λ3Corresponding feature vector, and then piCorresponding normal vector niNamely, matching pairs: (p)i,ni)；
S44, matching any two points in the central point value vector set of the standard model of the assembly plateMatching pairs of any two points in the accurate three-dimensional imaging model central point value vector setRespectively calculating the distance between two points and the normal vector included angle:
and
and the calculation result is compared with a preset geometric rigidity threshold value taudistSum normal vector offset threshold τangleComparing;
s45, if the matching pair of any two points in the accurate three-dimensional imaging model central point value vector set and the matching pair of any two points in the assembly plate standard model central point value vector set meet the following conditions:
|dS-dT|≤τdist
|θS-θT|≤τangle
the accurate three-dimensional imaging model is deemed to match the mounting plate standard model.
A second aspect of the present invention provides a complete set of process mounting plate inspection work table, comprising:
the system comprises a two-dimensional high-speed motion control platform, a high-definition industrial camera, a laser ranging module and a control host;
the two-dimensional high-speed motion control platform comprises a main body frame, a detection workbench movably arranged on a vertical guide rail in the main body frame, a feeding conveying belt positioned in front of the detection workbench, and a first discharging conveying belt and a second discharging conveying belt positioned behind the detection workbench;
the main body frame is provided with a first guide rail above the feeding conveying belt, a first mechanical clamping device is movably mounted on the first guide rail, a second guide rail is arranged above the first discharging conveying belt and the second discharging conveying belt on the main body frame, and a second mechanical clamping device is movably mounted on the second guide rail;
the central part of the detection workbench is in a hollow design, a third guide rail and a fourth guide rail are respectively arranged above and below the detection workbench by the main body frame, a first high-definition industrial camera and a first laser ranging module are movably mounted on the third guide rail, and a second high-definition industrial camera and a second laser ranging module are movably mounted on the fourth guide rail;
the control host is respectively and electrically connected with a transmission driving motor of the feeding transmission belt, the first discharging transmission belt and the second discharging transmission belt, and a displacement driving motor of the detection workbench, the first mechanical clamping device, the second mechanical clamping device, the first high-definition industrial camera, the first laser ranging module, the second high-definition industrial camera and the second laser ranging module, and is used for controlling the operation of the transmission belts and the displacement of each part on the corresponding guide rail; the control host is also respectively in communication connection with the first high-definition industrial camera, the first laser ranging module, the second high-definition industrial camera and the second laser ranging module and used for receiving images or ranging information and performing corresponding processing.
Furthermore, the displacement driving motor is a high-power high-precision alternating current servo motor.
Furthermore, the control host is an embedded intelligent processor and comprises a drive control module and an information processing module, the drive control module comprises an embedded motion control component taking a DSP chip as a core, and the information processing module comprises an embedded microprocessor and a memory.
Furthermore, a man-machine interaction device is further arranged on the main body frame and connected with the control host machine and used for controlling instruction input and processing result display.
Furthermore, the main body frame is also provided with sound and light alarm equipment, and the sound and light alarm equipment is connected with the control host and is used for sending sound and light alarm signals.
Compared with the prior art, the invention has the beneficial effects that:
according to the intelligent detection algorithm, firstly, the type of the assembly plate to be detected and the position area of a workpiece on the assembly plate are identified based on the acquired image data, the assembly plate standard model corresponding to the assembly plate to be detected is searched, laser ranging is further carried out, the three-dimensional model of the assembly plate to be detected is constructed based on the laser ranging data, and then the three-dimensional model is compared with the searched assembly plate standard model to be matched with the three-dimensional model, so that the assembly plate to be detected is comprehensively detected, the intelligent detection of the assembly plate is completed, and the detection efficiency and the accuracy are greatly improved. Particularly, in the method, the standard model of the assembly plate is matched with the accurate three-dimensional imaging model, and neighborhoods with different capacities are divided as required, so that the calculated amount of point cloud matching is reduced; compared with the traditional point cloud matching algorithm, the method has higher efficiency and recognition rate and higher precision.
The detection workbench provided by the invention can automatically complete the assembly accuracy detection of the KIT plate by combining the intelligent detection method, can completely replace manual inspection, and saves manpower. Meanwhile, the assembly operation link of the KIT plate can be further guided according to the process specification and a large number of detection results, so that the risk caused by using wrong number or wrong specification of parts for overhauling is fundamentally reduced.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of the intelligent detection method of the present invention.
Fig. 2(a) and (b) are schematic diagrams illustrating division of regions such as a scanning region according to an embodiment of the present invention.
FIG. 3 is a schematic structural diagram of an embodiment of a detection workbench according to the present invention.
Detailed Description
In order to facilitate a better understanding of the invention for those skilled in the art, the invention will be described in further detail with reference to the accompanying drawings and specific examples, which are given by way of illustration only and do not limit the scope of the invention.
Example 1
The embodiment is an intelligent detection method for a set of process assembly plates, which comprises the following steps:
the method comprises the steps of firstly, collecting image information of an assembly plate to be detected, and identifying the type of the assembly plate to be detected and the position area of a workpiece on the assembly plate based on the image information.
The image information can be acquired by an industrial camera, and the basic size and shape of the assembling plate to be detected can be acquired after image recognition, so that the type of the assembling plate can be recognized, and the position area of a workpiece on the assembling plate can be acquired at the same time.
And secondly, performing precise laser ranging on the position area of the mounting tool on the assembly plate to be detected based on the identification information in the first step, and calling an assembly plate standard model matched with the assembly plate to be detected from a database based on an image identification result.
The precision laser ranging can be measured by a precision laser ranging device, and the upper surface and the lower surface of an assembling plate are generally measured to obtain integral measurement data. The assembling plate standard model can be generated and stored in a preselected mode, and based on the image recognition information, the basic matching of the assembling plate to be detected and the assembling plate standard model can be achieved, so that the corresponding assembling plate standard model can be selected.
And thirdly, performing three-dimensional imaging on the assembly plate to be detected through a point cloud imaging algorithm based on the precise laser ranging data, so as to obtain a precise three-dimensional imaging model of the assembly plate to be detected, and positioning the workpiece.
The three-dimensional imaging method based on distance measurement or scanning data is widely applied to industries such as 3D scanning and printing, more published documents are available for technical personnel in the field, and the specific imaging method does not influence the implementation of the technical scheme of the invention, so the detailed description is not provided here.
And fourthly, calling the assembling plate standard model to be matched with the accurate three-dimensional imaging model, and detecting the size, the shape and the position of all workpieces on the accurate three-dimensional imaging model so as to judge whether the assembling plate to be detected corresponding to the assembling plate is qualified.
As a preferred embodiment, referring to fig. 1, the matching process described above employs the following method:
(1) placing the assembly plate standard model and the accurate three-dimensional imaging model in a coordinate space with a XOY scanning plane and a Z scanning height value, wherein each pixel point in the model is represented by an (x, y, Z) vector, and the whole model consists of corresponding point clouds;
(2) as shown in fig. 2(a) and (b), the region of the model in the XOY scanning plane is divided into L small block regions by equal region division, the central position of each small block region is calculated, and the value vector p of the central point is obtainedi＝(xi,yi,zi) I ═ 1,2, K L; all the central point value vectors form a central point value vector set;
(3) for each central point piThe normal vector is calculated according toAnalysis of covariance by its neighborhood, namely: p is a radical ofiThe normal vector of (a) depends on the covariance analysis of other points in the same region; order toThe neighborhood point set of the point pi is shown as the following formula, and the corresponding covariance matrix is shown as follows:
wherein ,is composed ofThe center of gravity of; let lambda1,λ2,λ3Is 3 eigenvalues of C and satisfies lambda1≥λ2≥λ3Then piThe corresponding normal vector is λ3Corresponding feature vector, and then piCorresponding normal vector niNamely, matching pairs: (p)i,ni)；
(4) Carrying out similar point cloud processing on the standard model of the assembly plate; thus, the matching pair of any two points in the central point value vector set corresponding to the standard model of the assembly plate is obtainedMatching pairs of any two points in central point value vector set corresponding to accurate three-dimensional imaging modelRespectively calculating the distance between two points and the normal vector included angle:
and the calculation result is compared with a preset geometric rigidity threshold value taudistSum normal vector offset threshold τangleComparing;
(5) if the matching pair of any two points in the central point value vector set corresponding to the accurate three-dimensional imaging model and the matching pair of any two points in the central point value vector set corresponding to the standard model of the assembly plate meet the following conditions:
|dS-dT|≤τdist(4)
|θS-θT|≤τangle(5)
the accurate three-dimensional imaging model is considered to be in accordance with the standard model, namely the assembly plate to be detected corresponding to the accurate three-dimensional imaging model is a qualified product; otherwise, the product is regarded as a defective product.
Example 2
The present embodiment provides a set of process mounting plate detection workbench, as shown in fig. 3, which includes:
the two-dimensional high-speed motion control platform comprises a main body frame 1, wherein a vertical guide rail is arranged on the main body frame 1, and a detection workbench 2 is movably arranged in the vertical guide rail. A feeding conveying belt 3 is arranged in front of the detection workbench 2, and a first discharging conveying belt 4 and a second discharging conveying belt 5 are arranged behind the detection workbench and are respectively used for conveying out defective products and non-defective products.
Above the feeding conveyor belt 3, the main body frame 1 is provided with a corresponding first guide rail 12, and a first mechanical clamping device 61 is mounted on the first guide rail 12. Correspondingly, above the first discharge conveyor belt 4 and the second discharge conveyor belt 5, the main body frame 1 is provided with a corresponding second guide rail 13, and a second mechanical clamping device 62 is mounted on the second guide rail 13.
2 middle parts of testing workstation are the fretwork design, and corresponding main body frame 1 is equipped with third guide rail and fourth guide rail respectively in 2 tops of testing workstation and below, and movable mounting has first high definition industry camera and first laser rangefinder module on the third guide rail, and movable mounting has second high definition industry camera and second laser rangefinder module on the fourth guide rail, is used for shooing and the range finding to the upper and lower two sides of waiting to detect the assembly plate of placing on testing workstation 2 respectively.
The whole detection workbench is also provided with a control host.
As a preferred embodiment, the control host is an embedded intelligent processor and comprises a drive control module and an information processing module.
Wherein, the drive control module includes the embedded motion control part that uses the DSP chip as the core, the feeding transmission band 3 is connected to the electricity respectively, first ejection of compact transmission band 4 and second ejection of compact transmission band 5's conveying driving motor, and testing workbench 2, first machinery presss from both sides embraces device 61, second machinery presss from both sides embraces device 62, first high definition industry camera, first laser rangefinder module, the displacement driving motor of second high definition industry camera and second laser rangefinder module, be used for the operation of control conveyer belt and the displacement of each part on corresponding guide rail.
As a preferred embodiment, the displacement driving motor is a high-power high-precision alternating current servo motor to drive the corresponding component to complete high-precision displacement.
The information processing module comprises an embedded microprocessor and a memory, is respectively in communication connection with the first high-definition industrial camera, the first laser ranging module, the second high-definition industrial camera and the second laser ranging module, and is used for receiving images or ranging information and carrying out corresponding processing.
As a further preferred embodiment, in this embodiment, a human-computer interaction device is further disposed on the main body frame 1, and the human-computer interaction device is optionally a touch display screen and is connected to the control host for controlling instruction input and processing result display.
In a further preferred embodiment, the main frame 1 is further provided with an audible and visual alarm device, such as an alarm lamp and a buzzer, and is connected to the control host for emitting an audible and visual alarm signal.
The detection workbench in embodiment 2 can be combined with the intelligent detection method in embodiment 1 to complete intelligent detection of the assembly board to be detected. The whole detection process is further detailed below:
during operation, wait to detect assembly plate (KIT board) and send into the back by feeding transmission band 3, first clamp embrace device 61 presss from both sides the KIT board from the end of feeding transmission band 3 and embraces to testing platform 2 region. And then the first laser ranging module, the second laser ranging module, the first high-definition industrial camera, the second high-definition industrial camera and the KIT board positioned above the detection platform area respectively perform Y-axis motion and X-axis motion, and the speeds of the first laser ranging module and the second laser ranging module are matched with each other until the laser ranging module traverses and measures three-coordinate information of all parts on the KIT board. High definition industry camera carries out the communication through the ethernet with the information processing module of control host computer, to information processing module real-time transmission KIT board picture, and information processing module passes through KIT board picture discernment KIT board type, and the position height of work piece on the supplementary quick discernment KIT board looks for corresponding assembly plate standard model simultaneously. Meanwhile, an information processing module of the control host is connected and communicated with a laser ranging module through an RS232/RS485 cable, and three-dimensional high-precision imaging is carried out after the complete measurement data of the KIT plate are received, so that a precise three-dimensional imaging model is obtained; and then, carrying out intelligent detection by adopting the intelligent detection method described in the embodiment 1, namely judging whether the assembling plate to be detected is qualified. In addition, the control host can also mark the detection result information on the picture, and transmit all the information to the display control equipment through the Ethernet for real-time display and alarm.
By adopting the detection mode, compared with manual inspection, the detection accuracy is greatly improved and can reach more than 99.9%. Meanwhile, the detection efficiency is high, and the time consumed for detecting a single KIT plate is about 5 minutes under the condition that only one pair of displacement laser ranging modules is installed; still possess scalability, increase displacement laser rangefinder module's quantity and can further promote detection efficiency.
The above description of the embodiments is only intended to facilitate the understanding of the method of the invention and its core idea. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (7)
1. An intelligent detection method for a set of process assembly plates is characterized by comprising the following steps:
s1, collecting image information of the assembly plate to be detected, and identifying the type of the assembly plate to be detected and the position area of the workpiece on the assembly plate based on the image information;
s2, performing precise laser ranging on the position area based on the identification information in the S1, and searching an assembly plate standard model matched with an assembly plate to be detected;
s3, performing three-dimensional imaging of the assembly plate to be detected through a point cloud imaging algorithm based on the precise laser ranging data, acquiring a precise three-dimensional imaging model of the assembly plate to be detected, and positioning a workpiece;
and S4, calling the assembling plate standard model to be matched with the accurate three-dimensional imaging model, and detecting the size, shape and position of all workpieces on the accurate three-dimensional imaging model so as to judge whether the assembling plate to be detected corresponding to the assembling plate is qualified.
2. The intelligent detection method for a set of process assembly plates according to claim 1, wherein the step of calling the assembly plate standard model to match with the accurate three-dimensional imaging model in the step S4 specifically comprises the steps of:
s41, placing the assembly plate standard model and the accurate three-dimensional imaging model in a coordinate space with a XOY scanning plane and a Z scanning height value, wherein each pixel point in the model is represented by an (x, y, Z) vector;
s42, performing equal-region division on the region of the model in the XOY scanning plane, dividing the region into L small block regions, calculating the central position of each small block region, and obtaining the value vector p of the central pointi＝(xi,yi,zi) I is 1,2, K L, and the value vectors of all the central points form a central point value vector set;
s43, for each center point piLet us orderIs a point piThe corresponding covariance matrix of the neighborhood point set of (2) is shown as the following formula:
wherein ,is composed ofCenter of gravity of(ii) a Let lambda1,λ2,λ3Is 3 eigenvalues of C and satisfies lambda1≥λ2≥λ3Then piThe corresponding normal vector is λ3Corresponding feature vector, and then piCorresponding normal vector niNamely, matching pairs: (p)i,ni)；
S44, matching any two points in the central point value vector set of the standard model of the assembly plateMatching pairs of any two points in the accurate three-dimensional imaging model central point value vector setRespectively calculating the distance between two points and the normal vector included angle:
and
and the calculation result is compared with a preset geometric rigidity threshold value taudistSum normal vector offset threshold τangleComparing;
s45, if the matching pair of any two points in the accurate three-dimensional imaging model central point value vector set and the matching pair of any two points in the assembly plate standard model central point value vector set meet the following conditions:
|dS-dT|≤τdist
|θS-θT|≤τangle
the accurate three-dimensional imaging model is deemed to match the mounting plate standard model.
3. The utility model provides a complete set of technology mounting plate detection achievement platform which characterized in that includes:
the system comprises a two-dimensional high-speed motion control platform, a high-definition industrial camera, a laser ranging module and a control host;
the two-dimensional high-speed motion control platform comprises a main body frame (1), a detection workbench (2) movably arranged on a vertical guide rail (11) in the main body frame (1), a feeding conveying belt (3) positioned in front of the detection workbench (2), and a first discharging conveying belt (4) and a second discharging conveying belt (5) positioned behind the detection workbench (2);
a first guide rail (12) is arranged above the feeding conveying belt (3) of the main body frame (1), a first mechanical clamping and holding device (61) is movably mounted on the first guide rail (12), a second guide rail (13) is arranged above the first discharging conveying belt (4) and the second discharging conveying belt (5) of the main body frame (1), and a second mechanical clamping and holding device (62) is movably mounted on the second guide rail (13);
the central part of the detection workbench (2) is in a hollow design, a third guide rail and a fourth guide rail are respectively arranged above and below the detection workbench (2) of the main body frame (1), a first high-definition industrial camera and a first laser ranging module are movably mounted on the third guide rail, and a second high-definition industrial camera and a second laser ranging module are movably mounted on the fourth guide rail;
the control host is respectively and electrically connected with a transmission driving motor of the feeding transmission belt (3), the first discharging transmission belt (4) and the second discharging transmission belt (5) and displacement driving motors of the detection workbench (2), the first mechanical clamping device (61), the second mechanical clamping device (62), the first high-definition industrial camera, the first laser ranging module, the second high-definition industrial camera and the second laser ranging module, and is used for controlling the operation of the transmission belts and the displacement of each part on the corresponding guide rail; the control host is also respectively in communication connection with the first high-definition industrial camera, the first laser ranging module, the second high-definition industrial camera and the second laser ranging module and used for receiving images or ranging information and performing corresponding processing.
4. The complete set of process mounting plate inspection work bench of claim 3, wherein the displacement drive motor is a high power high precision ac servo motor.
5. The set of process mounting plate inspection workbench according to claim 3, wherein said control host is an embedded intelligent processor comprising a driving control module and an information processing module, said driving control module comprises an embedded motion control component with a DSP chip as core, said information processing module comprises an embedded microprocessor and a memory.
6. The complete set of process mounting plate detection workbench according to any one of claims 3-5, wherein a human-computer interaction device is further arranged on the main body frame, and the human-computer interaction device is connected with the control host machine and is used for controlling instruction input and displaying processing results.
7. The complete set of process assembly plate detection workbench according to claim 6, wherein an audible and visual alarm device is further arranged on the main body frame, and the audible and visual alarm device is connected with the control host machine and is used for emitting audible and visual alarm signals.
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| CN111626995A (en) * | 2020-05-19 | 2020-09-04 | 上海艾豚科技有限公司 | Intelligent insert detection method and device for workpiece |
| CN113628177A (en) * | 2021-07-29 | 2021-11-09 | 北京好运达智创科技有限公司 | Double-layer beam storage detection system for beam body |
| CN114229519A (en) * | 2021-12-30 | 2022-03-25 | 芜湖哈特机器人产业技术研究院有限公司 | Large material barrel positioning device and positioning method |
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