CN109708607A - Detection device, detection method and storage equipment - Google Patents
Detection device, detection method and storage equipment Download PDFInfo
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- CN109708607A CN109708607A CN201711015696.5A CN201711015696A CN109708607A CN 109708607 A CN109708607 A CN 109708607A CN 201711015696 A CN201711015696 A CN 201711015696A CN 109708607 A CN109708607 A CN 109708607A
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Abstract
The present invention proposes a kind of detection device, detects for the spatial position to workpiece to be processed comprising: processor is adapted for carrying out each instruction；Probe unit, the probe unit and the processor are electrically connected；Equipment is stored, is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by the processor: controlling the probe unit, and demarcates to the detecting head of the probe unit；Control the probe unit detect a workpiece whether place it is smooth；Control the probe unit detects the workpiece whether shifting in the first direction and the second direction；And control the probe unit detect the workpiece on the first direction and plane where the second direction whether generation angle offset.Meanwhile the invention also provides a kind of detection method and storage equipment.
Description
Technical field
The present invention relates to a kind of detection device, especially a kind of detection device for being detected to workpiece to be processed and
Detection method.
Background technique
In NC Machining Process, size and spatial position to workpiece etc. are measured to be accurately positioned to workpiece
And improve the processing yield to workpiece.Geometric measurement simple for workpiece, operator can directly use on numerically-controlled machine tool
Gage measuring；The more complicated measurement problem such as the spatial position for workpiece, since conventional measurer is unable to complete, operator must
Dedicated measuring device must be used.However, structure is complicated and needs by the professional people by specialized training for existing measuring device
Member goes to complete measurement process and is understood measurement result and judged, the study and application of detection software are more difficult, operation
It is complicated.
Summary of the invention
In view of the above situation, it is necessary to which a kind of detection device that can be convenient and easy to operate to workpiece calibration is provided.
A kind of detection device is detected for the spatial position to workpiece to be processed, which includes:
Processor is adapted for carrying out each instruction；
Probe unit, the probe unit and the processor are electrically connected；
Equipment is stored, is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by the processor:
The probe unit is controlled, and the detecting head of the probe unit is demarcated；
It controls the probe unit to detect multiple points on the horizontal surface of a workpiece, and is carried out according to detection data
It calculates to judge it is smooth whether the workpiece is placed；
It controls the probe unit to detect multiple points on the side of the workpiece, and according to detection data and above-mentioned more
The theoretical coordinate value of a point calculate the deviation of the workpiece second direction perpendicular in a first direction and with the first direction with
The workpiece whether shifting in the first direction and the second direction judged；And
The probe unit is controlled to detect multiple points on the one side of the workpiece, and according to detection data and on
The theoretical coordinate value for stating multiple points calculates deviation angle of the workpiece in the plane where the first direction and the second direction
With judge the workpiece on the first direction and plane where the second direction whether generation angle offset.
A kind of detection method comprising:
One workpiece is placed in the fixed fixture of a processing unit (plant)；
The detecting head of one probe unit is demarcated, and calibrates detection coordinate origin；
It controls the probe unit to detect multiple points on the horizontal surface of the workpiece, and is carried out according to detection data
It calculates to judge it is smooth whether workpiece is placed；
It controls the probe unit to detect multiple points on the side of the workpiece, and according to detection data and above-mentioned more
The theoretical coordinate value of a point calculate the deviation of the workpiece second direction perpendicular in a first direction and with the first direction with
The workpiece whether shifting in the first direction and the second direction judged；And
The probe unit is controlled to detect multiple points on the one side of the workpiece, and according to detection data and on
The theoretical coordinate value for stating multiple points calculates deviation angle of the workpiece in the plane where the first direction and the second direction
With judge the workpiece on the first direction and plane where the second direction whether generation angle offset.
A kind of storage equipment, the storage equipment store a plurality of instruction, and described instruction is suitable for being loaded and being executed by processor:
A probe unit is controlled, and the detecting head of the probe unit is demarcated；
It controls the probe unit to detect multiple points on the horizontal surface of a workpiece, and is carried out according to detection data
It calculates to judge it is smooth whether the workpiece is placed；
It controls the probe unit to detect multiple points on the side of the workpiece, and according to detection data and above-mentioned more
The theoretical coordinate value of a point calculate the deviation of the workpiece second direction perpendicular in a first direction and with the first direction with
The workpiece whether shifting in the first direction and the second direction judged；And
The probe unit is controlled to detect multiple points on the one side of the workpiece, and according to detection data and on
The theoretical coordinate value for stating multiple points calculates deviation angle of the workpiece in the plane where the first direction and the second direction
With judge the workpiece on the first direction and plane where the second direction whether generation angle offset.
Above-mentioned detection device, detection method and storage equipment are demarcated by the probe to probe unit, improve inspection
Survey precision.Meanwhile the flatness, position deviation and angle offset of workpiece are detected by controlling probe unit, operation letter
It is single, improve detection efficiency.
Detailed description of the invention
Fig. 1 is the module diagram of the detection device of an embodiment of the present invention.
Fig. 2 is the probe of detection device shown in FIG. 1 and the stereoscopic schematic diagram of calibration element.
Fig. 3 is whether the detection workpiece of detection device shown in FIG. 1 places smooth schematic diagram.
Fig. 4 is the schematic diagram of the detection location of workpiece deviation of detection device shown in FIG. 1.
Fig. 5 is the schematic diagram of the detection workpiece variation angle of detection device shown in FIG. 1.
Fig. 6 is the flow diagram of the detection method of an embodiment of the present invention.
Main element symbol description
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that it can be when an element or component are considered as " connection " another element or component
It is directly connected to another element or component or may be simultaneously present the element or component being centrally located.When an element or group
Part is considered as " setting exist " another element or component, it, which can be, is set up directly on another element or component or can
The element or component being centrally located can be existed simultaneously.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Referring to Fig. 1, the present invention provide it is a kind of can be to the workpiece to be processed 400 being located in fixed fixture (such as Fig. 3 institute
Show) size and the detection device 100 that measures of spatial position.Detection device 100 include processor 10, storage equipment 20,
Display unit 30, probe unit 40, calibration unit 50, flatness detection unit 60, position deviation detection unit 70, angle detection
Unit 80, free size detection unit 90, prompt unit 200 and correction unit 300.Store equipment 20, display unit 30, probe
Unit 40, calibration unit 50, flatness detection unit 60, position deviation detection unit 70, angle detection unit 80, free size
Detection unit 90, prompt unit 200 and correction unit 300 are electrically connected with processor 10 respectively.
Processor 10 can be central processing unit, digital signal processor or single-chip microcontroller etc..
Storage equipment 20 can store the relevant parameter and flatness detection unit that calibration unit 50 demarcates probe unit 40
60, position deviation detection unit 70, the detection data of angle detection unit 80 and free size detection unit 90.Meanwhile it storing
The control instruction that equipment 20 can also store the detection path macro-program code of each detection project and display unit 30 inputs
And relevant parameter.
It is understood that storage equipment 20 can be hard disk, floppy disk, USB flash disk, random access memory etc..
In an at least embodiment, storage equipment 20 can be storage inside system, such as flash memory, random read store
Device RAM and the memory ROM that can be read etc..
In an at least embodiment, storage equipment 20 can also be a storage system, for example, video disc, storage card or
Person's data storage medium etc..Storing equipment 20 further includes unstable or stable storage equipment.
In an at least embodiment, storage equipment 20 includes two or more storage equipment, for example, one of them is deposited
Storage equipment is memory body, and it is driver that another one, which store equipment,.In addition, storage equipment 20 can also in whole or in part solely
Stand on detection device 100.
Display unit 30 can show for liquid crystal display panel and OLED (organic light-emitting diode)
Panel etc..Display unit 30 is used to show the relevant parameter of the calibration calibration of unit 50, flatness detection unit 60, position deviation inspection
Survey unit 70, angle detection unit 80, the detection data of free size detection unit 90 and processor 10 treated data.It is aobvious
Show that unit 30 is also used to input dependent instruction and instruction is sent to processor 10 and storage equipment 20.
Please refer to Fig. 1 and Fig. 2, probe unit 40 includes three-dimensional actuator 41 and probe 42.Three-dimensional actuator 41 is set
It is placed in a processing unit (plant) (not shown).Probe 42 is set on three-dimensional actuator 41.Drive of the probe 42 in three-dimensional actuator 41
Dynamic lower mobile and contact workpiece 400.Probe 42 has detecting head 421.Detecting head 421 is substantially spherical in shape.
Demarcating unit 50 has calibration element 51.Calibration element 51 includes pedestal 511 and the calibration portion being set on pedestal 511
512.Pedestal 511 is set in processing unit (plant) (not shown).Calibration portion 512 is substantially in hollow cylindric, with accepting hole
5121.Accepting hole 5121 can accommodate detecting head 421 to demarcate to detecting head 421.Detecting head 421 has certain volume
It will affect the precision of the detection of probe 42.Calibration portion 512 can measure the radius of a ball of the detecting head 421 in X-direction and Y direction
Value is respectively Rx and Ry.It demarcates unit 50 and passes through the calibration detection of calibration portion 512 coordinate origin O (X0, Y0, Z0) and eliminate detecting head
The influence of 421 radius of a ball in X-direction and Y direction.
Please refer to Fig. 1 to 5, flatness detection unit 60 is for controlling probe 42 to the horizontal surface of workpiece 400
Multiple points detected and will test data transmission to processor 10 and display unit 30, calculated by processor 10 to sentence
It is smooth whether disconnected workpiece 400 is placed, and by the data transmission after calculating to display unit 30 and stores equipment 20.
In the present embodiment, flatness detection unit 60 controls three points on the horizontal surface of the detection workpiece 400 of probe 42
P1(X1, Y1, Z1), P2 (X2, Y2, Z2) and P3 (X3, Y3, Z3) detected, and transfer data to processor 10 and display unit
30.The Z value of above three point is compared and is calculated the difference of peak and minimum by processor 10, and by above-mentioned difference
It is compared with preset safety value.When above-mentioned difference be greater than safety value, then it is smooth to judge that workpiece 400 is not placed；When
Above-mentioned difference is less than safety value, then it is smooth to judge that workpiece 400 is placed.
Position deviation detection unit 70 for control probe 42 multiple points on the side of workpiece 400 are detected and incite somebody to action
Detection data is sent to processor 10 and display unit 30, is sat by processor 10 according to above-mentioned data and the theoretical of above-mentioned multiple points
Scale value calculates workpiece 400 in the deviation of X-direction and Y direction to judge workpiece 400 in X-direction and Y direction
Whether shift, and by the data transmission after calculating to display unit 30 and stores equipment 20.
In the present embodiment, position deviation detection unit 70 controls probe 42 and carries out to four points on the side of workpiece 400
Detection, the coordinate value of the detection of aforementioned four point is respectively P4 (X4, Y4, Z4), P5 (X5, Y5, Z5), P6 (X6, Y6, Z6) and P7
(X7, Y7, Z7), and aforementioned four theoretical coordinate value is respectively P4 (X44, Y44, Z44), P5 (X55, Y55, Z55), P6 (X66, Y66,
Z66) and P7 (X77, Y77, Z77).Pass through formula ((X4-X44)+(X5-X55))/2 calculate the deviation of workpiece 400 in the X-axis direction；
Similarly, by formula ((Y6-Y66)+(Y7-Y77))/2 workpiece 400 is calculated in the deviation of Y direction.
Angle detection unit 80 detect and will be examined to multiple points on the one side of workpiece 400 for controlling probe 42
Measured data is sent to processor 10 and display unit 30, by processor 10 by above-mentioned data according to the theoretical coordinate of above-mentioned multiple points
Value calculates workpiece 400, and in the deviation angle α on XY axial plane whether angle to occur to judge workpiece 400 on XY axial plane inclined
It moves, and by the data transmission after above-mentioned calculating to display unit 30 and stores equipment 20.
In the present embodiment, angle detection unit 80 controls probe 42 and carries out to two points on a side of workpiece 400
Detection, the coordinate value of the detection of above-mentioned two point is respectively P8 (X8, Y8, Z8) and P9 (X9, Y9, Z9), and above-mentioned two point is theoretical
Coordinate value is respectively P8 (X88, Y88, Z88) and P9 (X99, Y99, Z99).By formula α=artan [| Y8-Y88|+|Y9-Y99|/|
X9-X8|] calculate deviation angle α of the workpiece 400 on XY axial plane.
Free size detection unit 90 detects any point on workpiece 400 and will test number for controlling probe 42
According to processor 10, storage equipment 20 and display unit 30 is sent to, in order to the processing of workpiece 400.
Prompt unit 200 is made when out-of-flatness, position deviation and angle offset abnormal conditions occurs in the placement of workpiece 400
It reminds.The mode of the prompting includes but is not limited to that sound prompting, information reminding, flashing light add alarm and reminding etc., specifically can basis
Actual needs setting.
Correct unit 300 when there is the exception of out-of-flatness, position deviation and angle offset in workpiece 400 to workpiece 400 into
Row correction, in order to which processing unit (plant) accurately processes workpiece 400.
Referring to Fig. 6, to be applied to the process of the detection method of the detection device 100 in an embodiment of the present invention
Figure.The detection method is only a kind of example, because there are many kinds of the modes for implementing the method.Please refer to Fig. 1 to figure
6, the detection method next to be described can be performed by module shown in FIG. 1.In Fig. 6 each segment represent one or
The multiple steps of person, the classes such as method or sub-process are as performed by exemplary method.Workpiece 400 is detected using above-mentioned detection device 100
Detection method include the following steps:
S101: a workpiece 400 is placed in the fixed fixture of a processing unit (plant).
S102: calibration unit 50 is demarcated using detecting head 421 of the calibration element 51 to probe 42, and is calibrated detection and sat
Mark origin O (X0, Y0, Z0).Specifically, calibration unit 50 detects detecting head 421 in X-direction and Y-axis side using calibration portion 512
Upward radius of a ball value is respectively Rx and Ry, above-mentioned detection coordinate origin O (X0, Y0, Z0) detecting head 421 has been eliminated in X-direction
With the influence of the radius of a ball in Y direction；
S103: flatness detection unit 60 controls probe 42 and detects to multiple points on the horizontal surface of workpiece 400
And will test data transmission to processor 10, calculated by processor 10 with judge workpiece 400 whether place it is smooth, if it is not,
S104 is then entered step, if so, entering step 107.
Specifically, in the present embodiment, flatness detection unit 60 controls probe 42 and detects on the horizontal surface of workpiece 400
Three point P1 (X1, Y1, Z1), P2 (X2, Y2, Z2) and P3 (X3, Y3, Z3), and transfer data to processor 10.Then, processor
The Z value of above three point is compared and is calculated the difference of peak and minimum by 10, and by above-mentioned difference with set in advance
Fixed safety value is compared.When above-mentioned difference be greater than safety value, then it is smooth to judge that workpiece 400 is not placed；When above-mentioned difference
Less than safety value, then it is smooth to judge that workpiece 400 is placed.
S104: position deviation detection unit 70 controls probe 42 and is detected simultaneously to multiple points on the side of workpiece 400
Data transmission be will test to processor 10, calculated by processor 10 according to above-mentioned data and the theoretical coordinate value of above-mentioned multiple points
Workpiece 400 the deviation of X-direction and Y direction with judge workpiece 400 X-direction and Y direction whether generation is inclined
It moves, if it is not, S105 is then entered step, if so, entering step 107.
Specifically, in the present embodiment, position deviation detection unit 70 controls probe 42 to four on the side of workpiece 400
Point is detected, and the coordinate value of the detection of aforementioned four point is respectively P4 (X4, Y4, Z4), P5 (X5, Y5, Z5), P6 (X6, Y6, Z6)
And P7 (X7, Y7, Z7), and aforementioned four theoretical coordinate value is respectively P4 (X44, Y44, Z44), P5 (X55, Y55, Z55), P6 (X66,
Y66, Z66) and P7 (X77, Y77, Z77).Pass through formula ((X4-X44)+(X5-X55))/2 calculate workpiece 400 in the X-axis direction
Deviation；Similarly, by formula ((Y6-Y66)+(Y7-Y77))/2 workpiece 400 is calculated in the deviation of Y direction.
S105: angle detection unit 80 control probe 42 multiple points on the one side of workpiece 400 are detected and incite somebody to action
Detection data is sent to processor 10, is gone to work by processor 10 according to above-mentioned data and the calculating of the theoretical coordinate value of above-mentioned multiple points
Part 400 the deviation angle α in the plane where XY axis with judge workpiece 400 in the plane where XY axis direction whether hair
Raw angle offset, if it is not, S106 is then entered step, if so, entering step 107.
Specifically, in the present embodiment, angle detection unit 80 controls probe 42 to two on a side of workpiece 400
Point is detected, and the coordinate value of the detection of above-mentioned two point is respectively P8 (X8, Y8, Z8) and P9 (X9, Y9, Z9), and it is above-mentioned two
Point theoretical coordinate value is respectively P8 (X88, Y88, Z88) and P9 (X99, Y99, Z99).By formula α=artan [| Y8-Y88|+|Y9-
Y99|/|X9-X8|] calculate deviation angle α of the workpiece 400 on XY axial plane.
S106: free size detection unit 90 controls probe 42 and detects to any point on workpiece 400.
S107: prompt unit 200, which issues, to be reminded, and is corrected accordingly by correction unit 300 to workpiece 400.
It is understood that at least one embodiment, detection device 100 further includes input unit (not shown go out), described
Input unit and processor 10 are electrically connected, the input unit can input detection project detection path macro-program code and
Correlation theory numerical parameter.
It is understood that at least one embodiment, display unit 30, prompt unit 200 and correction unit 300 can be gone
It removes, workpiece 400 can be corrected by manual operation, do not influenced detection device 100 and detected to workpiece 400.
Above-mentioned detection device 100 and detection method demarcate probe 42 by demarcating unit 50, improve detection essence
Degree.Meanwhile by flatness detection unit 60, position deviation detection unit 70 and angle detection unit 80 to the sky of workpiece 400
Between position detected, it is easy to operate, improve detection efficiency.
Those of ordinary skill in the art will appreciate that realizing all or part of process in above embodiment, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, described program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in same processor
It is that each unit physically exists alone, can also be integrated in same unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds software function module.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are with so that an electronics is set
It is standby (to can be hand-held electronic equipment, such as smart phone, laptop, personal digital assistant (Personal Digital
Assistant, PDA), intellectual wearable device etc., be also possible to Table top type electronic equipment, such as desktop computer, smart television)
Or processor (processor) executes the part steps of each embodiment the method for the present invention.And storage medium above-mentioned
It include: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), the various media that can store program code such as magnetic or disk.
It is obvious to a person skilled in the art that the present invention is not limited to the details of above-mentioned exemplary embodiment, and
Without departing from the spirit or essential characteristics of the present invention, the present invention can be realized in other specific forms.Therefore, nothing
By from the point of view of which point, it should all regard embodiment as exemplary, and be non-limiting, the scope of the present invention is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes are included in the present invention.Right involved in should not treating any reference in the claims as limiting is wanted
It asks.Furthermore, it is to be understood that one word of " comprising " is not excluded for other units or step, odd number is not excluded for plural number.It is stated in system claims
Multiple units or system can also be implemented through software or hardware by the same unit or system.The first, the second equal words
Language is used to indicate names, and is not indicated any particular order.
Finally it should be noted that embodiment of above is only used to illustrate the technical scheme of the present invention and not to limit it, although ginseng
It is described the invention in detail according to better embodiment, those skilled in the art should understand that, it can be to this hair
Bright technical solution is modified or equivalent replacement, without departing from the spirit and scope of the technical solution of the present invention.
Claims (13)
1. a kind of detection device is detected for the spatial position to workpiece to be processed, which includes:
Processor is adapted for carrying out each instruction；
Probe unit, the probe unit and the processor are electrically connected；
Equipment is stored, is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by the processor:
The probe unit is controlled, and the detecting head of the probe unit is demarcated；
It controls the probe unit to detect multiple points on the horizontal surface of a workpiece, and is calculated according to detection data
To judge it is smooth whether the workpiece is placed；
It controls the probe unit to detect multiple points on the side of the workpiece, and according to detection data and above-mentioned multiple points
Theoretical coordinate value calculate the deviation of the workpiece second direction perpendicular in a first direction and with the first direction to judge
Whether the workpiece shifts the first direction and the second direction；And
It controls the probe unit to detect multiple points on the one side of the workpiece, and according to detection data and above-mentioned more
The theoretical coordinate value of a point calculate workpiece in the first direction with the deviation angle in the plane where the second direction to sentence
Break the workpiece on the first direction and plane where the second direction whether generation angle offset.
2. detection device as described in claim 1, it is characterised in that: described instruction is suitable for being loaded and being executed by the processor:
Any point on the workpiece is detected.
3. detection device as described in claim 1, it is characterised in that: the detection device further includes prompt unit, the prompt list
Member is electrically connected with the processor, and described instruction is suitable for being loaded and being executed by the processor:
When out-of-flatness, position deviation and angle offset abnormal conditions occurs in workpiece placement, which makes prompting.
4. detection device as described in claim 1, it is characterised in that: the detection device further includes correction unit, the correction list
Member is electrically connected with the processor, and described instruction is suitable for being loaded and being executed by the processor:
When the exception of out-of-flatness, position deviation and angle offset occurs in the workpiece, which is corrected the workpiece.
5. detection device as described in claim 1, it is characterised in that: the detection device further includes display unit, the display list
For show relevant parameter, detection data and processor treated the data demarcated, which is also used to input phase member
It closes and instructs and the command information is sent to the processor and the storage equipment.
6. a kind of detection method comprising:
One workpiece is placed in the fixed fixture of a processing unit (plant)；
The detecting head of one probe unit is demarcated, and calibrates detection coordinate origin；
It controls the probe unit to detect multiple points on the horizontal surface of the workpiece, and is calculated according to detection data
To judge it is smooth whether workpiece is placed；
It controls the probe unit to detect multiple points on the side of the workpiece, and according to detection data and above-mentioned multiple points
Theoretical coordinate value calculate the deviation of the workpiece second direction perpendicular in a first direction and with the first direction to judge
Whether the workpiece shifts the first direction and the second direction；And
It controls the probe unit to detect multiple points on the one side of the workpiece, and according to detection data and above-mentioned more
The theoretical coordinate value of a point calculate workpiece in the first direction with the deviation angle in the plane where the second direction to sentence
Break the workpiece on the first direction and plane where the second direction whether generation angle offset.
7. detection method as claimed in claim 6, it is characterised in that: detecting whether the workpiece is placed in smooth step,
Specifically: control three point P1 (X on the horizontal surface of the probe in detecting workpiece1, Y1, Z1), P2 (X2, Y2, Z2) and P3
(X3, Y3, Z3), the Z value of above three point is compared and is calculated the difference of peak and minimum, and by above-mentioned difference
Be compared with preset safety value, when above-mentioned difference be greater than safety value, then judge the workpiece do not place it is smooth, when upper
Difference is stated less than safety value, then it is smooth to judge that the workpiece is placed.
8. detection method as claimed in claim 7, it is characterised in that: in detecting the step of whether workpiece shifts,
Specifically: it controls the probe and four points on the side of the workpiece is detected, the coordinate value minute of the detection of aforementioned four point
It Wei not P4 (X4, Y4, Z4), P5 (X5, Y5, Z5), P6 (X6, Y6, Z6) and P7 (X7, Y7, Z7), and aforementioned four theoretical coordinate value minute
It Wei not P4 (X44, Y44, Z44), P5 (X55, Y55, Z55), P6 (X66, Y66, Z66) and P7 (X77, Y77, Z77), pass through formula ((X4-X44)
+(X5-X55))/2 the deviation of workpiece in the first direction is calculated, by formula ((Y6-Y66)+(Y7-Y77))/2 calculate workpiece
In the deviation of the second direction.
9. detection method as claimed in claim 6, it is characterised in that: in the step of detecting the deviation angle of the workpiece, tool
Body are as follows: it controls the probe and two points on one side of the workpiece is detected, the coordinate value of the detection of above-mentioned two point
Respectively P8 (X8, Y8, Z8) and P9 (X9, Y9, Z9), and above-mentioned two theoretical coordinate value is respectively P8 (X88, Y88, Z88) and P9
(X99, Y99, Z99), by formula α=artan [| Y8-Y88|+|Y9-Y99|/|X9-X8|] workpiece is calculated in the first direction
With the deviation angle α in the plane where the second direction.
10. detection method as claimed in claim 6, it is characterised in that: the detection method further include:
The probe is controlled to detect any point on the workpiece.
11. detection method as claimed in claim 7, it is characterised in that: the detection method further include:
The workpiece placement there are out-of-flatness, position deviation and angle offset abnormal conditions when, issue remind, and to the workpiece into
The corresponding correction of row.
12. a kind of storage equipment, which is characterized in that the storage equipment stores a plurality of instruction, and described instruction is suitable for being added by processor
It carries and executes:
A probe unit is controlled, and the detecting head of the probe unit is demarcated；
It controls the probe unit to detect multiple points on the horizontal surface of a workpiece, and is calculated according to detection data
To judge it is smooth whether the workpiece is placed；
It controls the probe unit to detect multiple points on the side of the workpiece, and according to detection data and above-mentioned multiple points
Theoretical coordinate value calculate the deviation of the workpiece second direction perpendicular in a first direction and with the first direction to judge
Whether the workpiece shifts the first direction and the second direction；And
It controls the probe unit to detect multiple points on the one side of the workpiece, and according to detection data and above-mentioned more
The theoretical coordinate value of a point calculate workpiece in the first direction with the deviation angle in the plane where the second direction to sentence
Break the workpiece on the first direction and plane where the second direction whether generation angle offset.
13. storage equipment as claimed in claim 12, it is characterised in that: described instruction is suitable for being loaded and being held by the processor
Row:
Any point on the workpiece is detected.
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|---|---|---|---|
| CN201711015696.5A CN109708607A (en) | 2017-10-26 | 2017-10-26 | Detection device, detection method and storage equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711015696.5A CN109708607A (en) | 2017-10-26 | 2017-10-26 | Detection device, detection method and storage equipment |
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| CN201711015696.5A Pending CN109708607A (en) | 2017-10-26 | 2017-10-26 | Detection device, detection method and storage equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110444127A (en) * | 2019-08-08 | 2019-11-12 | 深圳市洲明科技股份有限公司 | Display screen and its assemble method |
| CN113379743A (en) * | 2021-08-12 | 2021-09-10 | 山东中都机器有限公司 | Conveyor abnormity detection method and system based on computer vision |
| CN114413823A (en) * | 2021-12-29 | 2022-04-29 | 河南裕展精密科技有限公司 | Detection device and detection method |
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