CN110332885A - A kind of robot grating is taken pictures the automated execution method of scanning system detection data - Google Patents
A kind of robot grating is taken pictures the automated execution method of scanning system detection data Download PDFInfo
- Publication number
- CN110332885A CN110332885A CN201910476022.8A CN201910476022A CN110332885A CN 110332885 A CN110332885 A CN 110332885A CN 201910476022 A CN201910476022 A CN 201910476022A CN 110332885 A CN110332885 A CN 110332885A
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- China
- Prior art keywords
- robot
- tooling
- grating
- scanning
- coordinate system
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Classifications
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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
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
It is taken pictures the closed loop automation system of scanning system detection data the invention discloses a kind of based on robot grating.It is designed and produced first for guaranteeing the measured workpiece relatively-stationary tooling in position during the scanning process；Then positioning datum is set in tooling and it is demarcated to determine work coordinate system, workpiece CAD model and tooling are under work coordinate system；The grating being mounted in robot take pictures scanner robot program control under the measured workpiece being fixed in tooling is scanned；Measured workpiece CAD model position of the selection under work coordinate system is fixed in inspection software, then is aligned with scan data matching and is completed error calculation；Automated job is completed based on the error amount guided robot under work coordinate system.The present invention spatial position where the error of testing result that scanner automatically scanning obtains that solves the problems, such as robot grating to take pictures is uncertain, realizes the closed-loop automatic control for testing result completion task execution feed back based on robot automatically scanning.
Description
Technical field
It is taken pictures the automated execution method of scanning system detection data the present invention relates to a kind of based on robot grating.
Background technique
Grating takes pictures scanner with price is low, speed is fast, positioning accuracy is high, is easy and robot or other automechanisms
Integrated feature, but scanning the data obtained is to be suspended in three-dimensional space, only with (X, Y, Z) 3 d space coordinate of relative position
Point set can not be converted directly into world coordinate system (work coordinate system).Grating take pictures scanner and robot it is integrated after, although
It can complete to complete error-detecting with the Auto-matching of measured workpiece CAD model, but because error result is in workpiece CAD design coordinate
System is lower or under unknown scanning element cloud space coordinates, and is not used to instruct to execute automatically to form closed loop automation system.
The present invention is scanning detecting result (error of being taken pictures with robot grating by building automatically scanning work coordinate system
Value) guidance automated system work offer closed-loop control, it can be used for based on robot raster scanning testing result guided robot
Or automechanism is completed automatically grinding, is automatically repaired, automatically dropping glue etc..
Summary of the invention
The technical problem to be solved by the present invention is to overcome grating in the prior art take pictures scanner and robot it is integrated after, though
It can so complete to complete error-detecting with the Auto-matching of measured workpiece CAD model, but because error result is in workpiece CAD design seat
Mark system is lower or under unknown scanning element cloud space coordinates, and is not used to instruct to execute automatically to form closed loop automation system
Defect, a kind of automated execution method that the grating based on robot takes pictures scanning system detection data is provided.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
A kind of robot grating is taken pictures the automated execution method of scanning system detection data, comprising the following steps:
S1: it designs and produces for guaranteeing the measured workpiece relatively-stationary tooling in position during the scanning process；Tooling can be
The special fixture of fixed single model measured workpiece, or be suitable for the different workpieces of different similarly sized and shapes
Workbench, the fixation device for being suitable for the similar product of multiple and different shapes；
S2: being arranged positioning datum in tooling, and is demarcated to base position to determine work coordinate system, workpiece CAD
Model and tooling are under work coordinate system；
S3: the grating being mounted in robot scanner of taking pictures is scanned and is fixed in tooling under robot program's control
Measured workpiece；
Above-mentioned scan data: will be automatically imported in inspection software by S4, select the measured workpiece under work coordinate system
CAD model position is fixed, then is carried out Data Matching alignment and completed the error calculation under work coordinate system；The method of Data Matching
For best fit, feature alignment, reference point system (RPS) alignment etc.；
S5: automated job is completed using the error amount guided robot under work coordinate system.
Further, positioning datum described in S2 includes the spy for positioning ball, location hole, positioning surface or line etc. and being convenient for measuring
Sign.
Further, in S3, when tooling is fixed on single fixture, due to fixture and the tested work being fixed on fixture
Part and tooling benchmark have fixed relative space relation, and scanning only need to be for the measured workpiece on fixture；When tooling be can
When adapting to the workbench of the similar product of multiple and different shapes, scanning must include the positioning datum on workbench.
Further, in S4, when tooling is to be suitable for the workbench of the similar product of multiple and different shapes, data
It is aligned with the benchmark progress special type in must designing a model using the benchmark in scan data with tooling CAD is aligned.
Further, automated execution mechanism described in S5 is robot or other programmable automation devices.
Further, determine that lead-through teaching can be used in the method for work coordinate system in S2, i.e., the described Robot Scanning system pair
The master body and positioning datum for the measured workpiece being fixed on fixture are scanned, then are used as CAD after scan data is handled
Model (model of generation is automatically under work coordinate system), measured workpiece only need to be equally fixed in tooling.
The beneficial effects obtained by the present invention are as follows being: the present invention for grating take pictures scanner and robot it is integrated after, although
It can complete to complete error-detecting with the Auto-matching of measured workpiece CAD model, but because error result is in workpiece CAD design coordinate
System is lower or under unknown scanning element cloud space coordinates, and is not used to instruct to execute automatically to form closed loop automation system
Defect proposes the grating based on robot and takes pictures the automated execution method of scanning system detection data, to solve machine
Device people's grating is taken pictures the uncertain problem of error position of testing result that scanner automatically scanning obtains, is realized and is based on robot
The testing result of automatically scanning feedback completes the closed-loop automatic control of task execution.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described, it should be understood that preferred embodiment described herein is only used
In the description and interpretation present invention, it is not intended to limit the present invention.
Embodiment
Petroleum drilling bit often will appear the case where bit matrix bursts apart in use, and drill bit is wear-resisting resistance to height
Warm special material, when maintenance, need for bit matrix to be heated to just repair after high temperature.Artificial reparation large labor intensity,
Bad environments, low efficiency.It is taken pictures the automated execution method of scanning system detection data using robot grating of the invention, it can
So that breakage is automatically repaired by robot, it is specific as follows:
A kind of robot grating is taken pictures the automatic damage revamping methods of robot of Scanning Detction data, comprising the following steps:
S1, the frock clamp for designing fixed drill bit, it is ensured that drill bit is fixed to have good position and posture repeatability；
Positioning datum is set on S2, tooling, positioning datum is associated with work coordinate system, after bit matrix is cleaned up
It is fixed by the position and posture that set；
S3, the grating being mounted in robot are taken pictures, and to there is damaged bit matrix to carry out, three-dimensional is non-contact to sweep scanner
It retouches, scan data generates point cloud data file；
Above-mentioned scan data is automatically imported three-dimensional point cloud inspection software by S4, with based on work coordinate system (with tooling position
It is consistent to set the frame of reference) bit matrix CAD digital-to-analogue carry out three-dimensional matching fitting, Three Dimensional Contrast, obtain under work coordinate system
Bit matrix measured data and CAD digital-to-analogue between difference (error) i.e. breakage；
The above-mentioned breakage of S5 contains the coordinate of breaking point under work coordinate system, breakage information, can be used for instructing machine
Reparation of the device people to bit matrix (robot needs to be allowed to work under work coordinate system by calibration).
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
- A kind of automated execution method of scanning system detection data 1. robot grating is taken pictures, which is characterized in that including following Step:S1: it designs and produces for guaranteeing the measured workpiece relatively-stationary tooling in position during the scanning process；S2: being arranged positioning datum in tooling, and is demarcated to base position to determine work coordinate system, workpiece CAD model With tooling under work coordinate system；S3: the grating being mounted in robot take pictures scanner scanning under robot program's control be fixed on it is tested in tooling Workpiece；Above-mentioned scan data: will be automatically imported in inspection software by S4, select the measured workpiece CAD mould under work coordinate system Type position is fixed, then is carried out Data Matching alignment and completed the error calculation under work coordinate system；S5: automated job is completed using the error amount guided robot under work coordinate system.
- The automated execution method of scanning system detection data 2. robot grating as described in claim 1 is taken pictures, feature It is, positioning datum described in S2 includes any one or more for positioning ball, location hole, positioning surface or position line.
- The automated execution method of scanning system detection data 3. robot grating as described in claim 1 is taken pictures, feature It is, in S3, when tooling is fixed on single fixture, scanning only need to be for the measured workpiece on fixture；When tooling is When being suitable for the workbench of the similar product of multiple and different shapes, scanning must include the positioning datum on workbench.
- The automated execution method of scanning system detection data 4. robot grating as claimed in claim 3 is taken pictures, feature It is, in S4, when tooling is to be suitable for the workbench of the similar product of multiple and different shapes, Data Matching alignment must make Benchmark in designing a model with the benchmark in scan data with tooling CAD carries out feature and is aligned.
- The automated execution method of scanning system detection data 5. robot grating as described in claim 1 is taken pictures, feature It is, automated execution mechanism described in S5 is robot or similar programmable automation equipment.
- The automated execution method of scanning system detection data 6. robot grating as claimed in claim 3 is taken pictures, feature It is, determines the method for work coordinate system for the first master body using scanner to the measured workpiece being fixed on fixture in S2 And positioning datum is scanned, then is used as CAD model after scan data is handled.
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| CN201910476022.8A CN110332885A (en) | 2019-06-03 | 2019-06-03 | A kind of robot grating is taken pictures the automated execution method of scanning system detection data |
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| CN201910476022.8A CN110332885A (en) | 2019-06-03 | 2019-06-03 | A kind of robot grating is taken pictures the automated execution method of scanning system detection data |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111299975A (en) * | 2020-03-17 | 2020-06-19 | 孙晓杰 | Method for improving machining efficiency of complex casting by using robot |
| CN117055467A (en) * | 2023-09-13 | 2023-11-14 | 安徽久泰电气有限公司 | Automatic control system and control method for five-axis machining robot |
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| CN209894117U (en) * | 2019-06-28 | 2020-01-03 | 天津新伟祥工业有限公司 | Quick-change standard part for reference point of photography and scanning |
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| JP2003130642A (en) * | 2001-10-24 | 2003-05-08 | Central Res Inst Of Electric Power Ind | Telemetry and telemeter |
| CN101957176A (en) * | 2010-09-19 | 2011-01-26 | 天津大学 | Robot and camera combined calibration based method for detecting high-precision car door |
| CN105526882A (en) * | 2015-12-28 | 2016-04-27 | 西南交通大学 | Turnout wear detection system and detection method based on structured light measurement |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111299975A (en) * | 2020-03-17 | 2020-06-19 | 孙晓杰 | Method for improving machining efficiency of complex casting by using robot |
| CN111299975B (en) * | 2020-03-17 | 2021-11-12 | 孙晓杰 | Method for improving machining efficiency of complex casting by using robot |
| CN117055467A (en) * | 2023-09-13 | 2023-11-14 | 安徽久泰电气有限公司 | Automatic control system and control method for five-axis machining robot |
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Application publication date: 20191015 |
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