CN109916334A - Quick flexible 3 D detection system is processed in the automation of weather strip for automobile mechanical hand - Google Patents
Quick flexible 3 D detection system is processed in the automation of weather strip for automobile mechanical hand Download PDFInfo
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- CN109916334A CN109916334A CN201910318287.5A CN201910318287A CN109916334A CN 109916334 A CN109916334 A CN 109916334A CN 201910318287 A CN201910318287 A CN 201910318287A CN 109916334 A CN109916334 A CN 109916334A
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- mechanical hand
- guide rail
- slide unit
- weather strip
- rail slide
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- 238000001514 detection method Methods 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 238000007789 sealing Methods 0.000 abstract description 7
- 238000003754 machining Methods 0.000 abstract description 2
- 239000000047 product Substances 0.000 description 9
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 238000001746 injection moulding Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 239000011265 semifinished product Substances 0.000 description 4
- 238000001816 cooling Methods 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 239000002994 raw material Substances 0.000 description 3
- 229920002943 EPDM rubber Polymers 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000000541 pulsatile effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Abstract
The present invention relates to the automations of weather strip for automobile mechanical hand to process quick flexible 3 D detection system, including mechanical hand, fixture, laser profile sensor, guide rail slide unit, distance signal source, fixture is connected to the end of mechanical hand, measured workpiece is clamped on the fixture, the opposite of measured workpiece is arranged in laser profile sensor, it is mounted on guide rail slide unit and is slided on guide rail slide unit, the profile information in measurement plane is obtained according to pulse signal, distance signal source is according to the movement of guide rail slide unit, equidistantly pulse is sent to the laser profile sensor, the data of laser profile sensor are handled through computer to be measured and assessment result.Compared with prior art, invention removes artificial detections, it can satisfy the detection demand of Multiple Type sealing strip, it can be applied in weather strip for automobile mechanical hand automation machining production line, to save the manufacturing cost of equipment and the time cost of replacement measurer, simplify production procedure, improves production efficiency.
Description
Technical field
The present invention relates to weather strip for automobile detection fields, automate and process more particularly, to a kind of weather strip for automobile mechanical hand
Quick flexible 3 D detection system.
Background technique
Currently, weather strip for automobile is one of important spare part of automobile, it is widely used in car door, vehicle window, vehicle body, skylight, hair
The components such as motivation case and boot have the function of sound insulation, dust-proof, water-impervious and damping, holding and subenvironment in maintenance cart, from
And play the important protective effect to passenger, electromechanical assembly and accessory.
It is currently applied to the detection scheme of weather strip for automobile production, majority is for the special measuring tool for single model and manually
It visually observes, is influenced when needing more manual operation, and detecting by subjective factor, the degree of automation is relatively low.In addition, solid
Fixed pattern gauge structure can only be detected for the sealing strip of concrete model, in the machine with polytypic sealing strip working ability
In lacking practice and skill producing line, needs to prepare a variety of measurers and replaced, equipment cost and time cost are higher.
Chinese patent CN108621362A discloses the method and device thereof of a kind of weather strip for automobile injection molding and thermal finalization, should
Method specifically: EPDM/PP-TPV injection raw material S100, is produced using high temperature resistant reactor；S200, it will be produced in step S100
EPDM/PP-TPV injection raw material out is added in injection die cavities, and under cooling device effect, is realized in injection die cavities and produced
Product quick injection molding；S300, the product of injection molding in step S200 is taken out out of injection die cavities by manipulator, the dress
It sets including mechanical scanning, mechanical scanning lower section is provided with support base, and liftable note is provided with above mechanical scanning
Molding apparatus, cooling device and for output injection raw material TPV vulcanize preparation facilities, liftable injection moulding apparatus one end with
TPV vulcanizes preparation facilities connection, and the other end is connect with cooling device, and TPV vulcanizes between preparation facilities and mechanical scanning
It is provided with rotation support.But the device still cannot achieve quick flexible 3 D detection.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of weather strip for automobile machines
Quick flexible 3 D detection system is processed in the automation of device hand.
The purpose of the present invention can be achieved through the following technical solutions:
Quick flexible 3 D detection system, including mechanical hand, fixture, laser wheel are processed in the automation of weather strip for automobile mechanical hand
Wide sensor, guide rail slide unit, distance signal source and matched computer.
The fixture is connected to the end of the mechanical hand, and measured workpiece is clamped on the fixture, and measured workpiece is mechanical hand
Weather strip for automobile finished product or semi-finished product after automation processing, measured workpiece can be the sealing strip of different sizes, specification, model
Finished product or semi-finished product.The measured workpiece must be strip object, and can be positioned entirely on the laser profile sensor
Measurement space in,
The opposite of the measured workpiece is arranged in the laser profile sensor, is mounted on the guide rail slide unit and in institute
It states and is slided on guide rail slide unit, the profile information in measurement plane is obtained according to pulse signal,
The distance signal source is equidistantly sent to the laser profile sensor according to the movement of the guide rail slide unit
Pulse, the data of the laser profile sensor are handled through computer to be measured and assessment result.The mechanical hand is fixed on
On ground or pedestal.
The mechanical hand is multi-shaft interlocked structure, is freely rotated on X, Y, Z axis direction.
The laser profile sensor issues line laser, and receives the laser of reflection by trigonometry, to obtain measurement
Profile information in plane.Length direction of the measurement plane of the laser profile sensor perpendicular to the measured workpiece.Institute
It states laser profile sensor and is fixed on the guide rail slide unit, and measure plane perpendicular to the direction of motion of the guide rail slide unit.?
In the motion process of the guide rail slide unit, the measured workpiece intersects tested with the measurement plane of the laser profile sensor
Section is always positioned in the scanning area of the laser profile sensor.
The guide rail slide unit has motion controller.
The guide rail slide unit is driven by way of lead screw and servo motor or stepper motor.
The guide rail slide unit is driven by way of synchronous belt and servo motor or stepper motor.
Distance signal source is the grating scale being fixed on the guide rail of the guide rail slide unit, and distance signal at this time is the light
The signal that grid ruler issues.
Distance signal source is the encoder being connected with the grating scale of the servo motor or stepper motor, distance at this time
Signal is the signal that the encoder issues.
Distance signal source is the motion controller, and distance signal at this time is the movement control that the motion controller issues
Signal processed.
Distance profile data that the laser profile sensor returns and its corresponding slide unit coordinate data through computer at
Reason, by judging that the effective coverage of data how obtains the total length information of measured workpiece.Multi-group data is synthesized into three-dimensional point
Cloud data identify the feature to be measured in three dimensional point cloud, and are compared with standardized product characteristic size, obtain measurement and
Assessment result.
Compared with prior art, the invention has the following advantages that
(1) quality testing that the present invention can be used for after weather strip for automobile processing, it is using the mechanical hand that tested automobile is close
Strip of paper used for sealing, which is moved to designated position, may be implemented the automatic detection of weather strip for automobile, eliminates artificial detection station, improves production
Efficiency.
(2) present invention has versatility, can satisfy the detection demand of Multiple Type sealing strip.It is dedicated with single model
Measurer is compared, and the manufacturing cost of equipment and the time cost of replacement measurer can be saved.
(3) present invention can apply to be measured in weather strip for automobile mechanical hand automation machining production line by increasing by one
Station enables production line to complete the whole tasks processed and detected, and can simplify production procedure, saves hall space.
(4) present invention can obtain the three dimensional point cloud of measured workpiece, by by three dimensional point cloud and standard three-dimensional
Model comparison, realizes the three dimensional detection of workpiece.Existing detection method is only capable of obtaining unidirectional apart from dimension information.With it is existing
Detection method compare, the metrical information that the present invention obtains is more abundant.
(5) present invention is by realizing the detection of workpiece for three dimensional point cloud and the comparison of standard three-dimensional model.For difference
Model workpiece, the corresponding threedimensional model that need to be only loaded into software, without artificial replacement hardware device or modification setting, therefore can
To realize the workpiece for detecting different model in a batch.The existing each batch of detection method is only capable of detecting single model
Workpiece.Compared with existing measurement method, the present invention realizes the flexibility detection to workpiece, improves production efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that quick flexible 3 D detection system is processed in the automation of weather strip for automobile mechanical hand.
In figure, 1- mechanical hand, 2- fixture, 3- measured workpiece, 4- guide rail slide unit, 5- laser profile sensor, 6- scanning area
Domain, 7- slide unit, 8- guide rail, 9- guide rail slid platform base, 10- mechanical hand pedestal.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Embodiment
A kind of quick flexible 3 D detection system suitable for the automation processing of weather strip for automobile mechanical hand, structure is as schemed
It include mainly mechanical hand 1, fixture 2, guide rail slide unit 4, laser profile sensor 5, distance signal source, and mating with it shown in 1
The computer used.
Mechanical hand 1 is that weather strip for automobile mechanical hand automates mechanical hand 1 used in process, is multi-shaft interlocked knot
Structure can be freely rotated on X, Y, Z axis direction.Mechanical hand pedestal 10 is fixed on ground, relatively quiet with guide rail slid platform base 9
Only.Fixture 2 is fixed in the end of mechanical hand 1.By the movement of manipulator 1, so that the measured workpiece 3 that fixture 2 clamps is located at
In the scanning area 6 of laser profile sensor, and make the tested surface of measured workpiece 3 towards laser profile sensor 5.Tested work
Part 3 be mechanical hand automation processing after weather strip for automobile finished product or semi-finished product, can for different sizes, specification, model it is close
Strip of paper used for sealing finished product or semi-finished product are strip object, can be positioned entirely in the scanning area 6 of laser profile sensor 5.
Laser profile sensor 5 issues line laser, and receives the laser of reflection by trigonometry, to obtain measurement plane
On profile information.Length direction of the measurement plane of laser profile sensor 5 perpendicular to measured workpiece 3.Laser profile sensing
Device 5 is fixed on guide rail slide unit 4, and measures plane perpendicular to the direction of motion of guide rail slide unit 4.Guide rail slide unit 4 is sliding by guide rail 8
The components such as platform 7 and guide rail slid platform base 9 are constituted, and guide rail 8 is vertically arranged, and bottom is equipped with guide rail slid platform base 9.Slide unit 7 slides
It is connected on guide rail 8 and can be slided up and down along guide rail 8.Laser profile sensor 5, which is connected on slide unit 7, follows slide unit 7
It moves up and down, so that convenient measure measured workpiece 3.In the motion process of guide rail slide unit 4, measured workpiece 3 and laser
The measured section of the measurement plane intersection of profile sensor 5 is always positioned in the scanning area 6 of laser profile sensor.
The pedestal 9 of guide rail slide unit is placed in ground, and guide rail 8 is vertically to ground, and slide unit 7 can do straight line fortune perpendicular to ground
It is dynamic.Guide rail slide unit 4 has motion controller, can be driven by way of lead screw and servo (or stepping) motor, can also be by same
The mode of step band and servo (or stepping) motor drives.
Distance signal source can equidistantly return to instant pulse according to the movement of guide rail slide unit 4.Distance signal source can be with
It can be the encoder being connected to motor to be fixed on the grating scale on guide rail, or the movement that motion controller issues
Control signal.
Computer can receive the distance profile data and its corresponding slide unit number of coordinates that laser profile sensor 5 returns
According to.By judging that the effective coverage of data how obtains the total length information of measured workpiece 3.Multi-group data is synthesized into three-dimensional point
Cloud data, and by software algorithm, can identify the feature to be measured in three dimensional point cloud, and with standardized product characteristic size
It is compared, obtains measurement and assessment result.
Specifically, measured workpiece 3 is moved to the scanning area 6 of laser profile sensor by fixture 2 by mechanical hand 1
Interior, slide unit 7 is carried out primary movement from top to bottom or from bottom to up by motor driven, distance signal source every it is equal away from
Descriscent laser profile sensor 5 sends pulsatile once, and laser profile sensor 5 is often connected to pulsatile once and just obtains single pass area
Outline data in domain.Computer receives the outline data and its respective coordinates of the return of laser profile sensor 5, and sweeps all
Outline data is synthesized into three dimensional point cloud after the completion of retouching, and 3 characteristic parameter of measured workpiece is identified by algorithm, thus complete
It is compared at one-shot measurement, and with standardized product characteristic size, obtains assessment result.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be of the invention
Within protection scope.
Claims (10)
1. quick flexible 3 D detection system is processed in the automation of weather strip for automobile mechanical hand, which is characterized in that including mechanical hand, folder
Tool, laser profile sensor, guide rail slide unit, distance signal source,
The fixture is connected to the end of the mechanical hand, clamps measured workpiece on the fixture,
The opposite of the measured workpiece is arranged in the laser profile sensor, is mounted on the guide rail slide unit and leads described
It is slided on rail slide unit, the profile information in measurement plane is obtained according to pulse signal,
The distance signal source is according to the movement of the guide rail slide unit, equidistantly to the laser profile sensor transmission range
Signal, the data of the laser profile sensor are handled through computer to be measured and assessment result.
2. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 1, special
Sign is that the mechanical hand is fixed on ground or pedestal.
3. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 1 or 2,
It is characterized in that, the mechanical hand is multi-shaft interlocked structure, is freely rotated on X, Y, Z axis direction.
4. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 3, special
Sign is, in measurement process, the mechanical hand makes measured workpiece be always positioned at the laser profile sensor and the guide rail
Slide unit movement is formed by measurement space.
5. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 1, special
Sign is that the guide rail slide unit has motion controller.
6. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 5, special
Sign is that the guide rail slide unit is driven by way of lead screw and servo motor or stepper motor.
7. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 5, special
Sign is that the guide rail slide unit is driven by way of synchronous belt and servo motor or stepper motor.
8. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 6 or 7,
It is characterized in that, distance signal source is the grating scale being fixed on the guide rail of guide rail slide unit, connect with servo motor or stepper motor
Encoder or guide rail slide unit on be arranged sending motion control signal motion controller.
9. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 1, special
Sign is, distance profile data that the laser profile sensor returns and its corresponding slide unit coordinate data through computer at
Reason, by judging that the effective coverage of data how obtains the total length information of measured workpiece.
10. quick flexible 3 D detection system is processed in weather strip for automobile mechanical hand automation according to claim 9, special
Sign is, multi-group data is synthesized three dimensional point cloud, identifies the feature to be measured in three dimensional point cloud, and produce with standard
Product characteristic size is compared, and obtains measurement and assessment result.
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| CN201910318287.5A CN109916334B (en) | 2019-04-19 | 2019-04-19 | Automatic processing and rapid flexible three-dimensional detection system for automobile sealing strip robot |
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| CN201910318287.5A CN109916334B (en) | 2019-04-19 | 2019-04-19 | Automatic processing and rapid flexible three-dimensional detection system for automobile sealing strip robot |
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| CN109916334B CN109916334B (en) | 2021-03-26 |
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| CN110595362A (en) * | 2019-09-29 | 2019-12-20 | 上海交通大学 | Sealing strip size detection equipment and method based on visual identification |
| CN114234858A (en) * | 2021-11-17 | 2022-03-25 | 中建中新建设工程有限公司 | Construction site surface flatness detector and flatness detection method |
| EP4365544A1 (en) * | 2022-11-07 | 2024-05-08 | Sentinelconcept - Unipessoal Lda | Surface inspection system and method |
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| CN109916334B (en) | 2021-03-26 |
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Denomination of invention: A Fast and Flexible 3D Detection System for Automatic Processing of Automotive Sealing Strip by Machine Hands Granted publication date: 20210326 Pledgee: China Postal Savings Bank Co.,Ltd. Shanghai Pudong New Area Branch Pledgor: SHANGHAI SHENMI ELECTROMECHANICAL EQUIPMENT Co.,Ltd. Registration number: Y2024310000083 |