CN110567375A - Multi-workpiece parallel vision measurement precision sliding table - Google Patents

Abstract

The invention discloses a precision slide table for parallel visual measurement of multiple workpieces, comprising a gantry vision acquisition mechanism 100, a loading plate 200, an active radial screw nut mechanism 300, a fixing plate 400, and an active axial screw nut mechanism 500 1. The driven axial slider mechanism 600 and the driven radial slider mechanism 700 are composed. The gantry vision acquisition mechanism 100 is fixedly connected by the gantry and the acquisition camera, and the loading plate 200 clamps the workpiece through the active axial screw nut mechanism 500, the active radial screw nut mechanism 300, the driven axial slider mechanism 600 and The driven radial slider mechanism 700 cooperates to complete the precise movement in the axial, radial and circumferential directions, realizing high-precision measurement and reconstruction of the workpiece; the drive motor on the screw nut mechanism realizes automatic It controls precise rotation and is equipped with a handwheel, which is convenient for manual adjustment and has good adaptability to the working environment; the fixed plate 400 is equipped with a proximity switch sensor and a limit switch for real-time feedback of the workpiece running position and self-protection of the device in the event of a work failure. The precision sliding stage object plate 200 can clamp multiple workpieces at the same time, and can adapt to the task requirements of various visual acquisition methods, including monocular vision measurement, binocular vision measurement and structured light measurement, with strong adaptability and high degree of automation , which has high practicability in the field of machine vision measurement.

Description

A Precision Slide Table for Parallel Visual Measurement of Multiple Workpieces

technical field

The invention belongs to the technical field of machine vision measurement, in particular to a precision slide table for parallel vision measurement of multiple workpieces.

Background technique

Machine vision measurement technology uses cameras, proprietary fixtures and other equipment to take dynamic or static shots of the object to be measured to obtain a sequence or single frame of images. The application of vision measurement can accurately measure complex structures. In the actual industrial measurement environment, if the surface shape of the workpiece to be measured is complex or multiple workpieces are measured in parallel at the same time, it is difficult for the acquisition camera to obtain the complete shape in a single measurement. It is necessary to capture the camera from multiple angles and match the features of multiple pictures Reconstruct the image. During the measurement process, if the position of the workpiece is fixed, the camera needs to collect images at different positions, and the camera parameters need to be calibrated repeatedly. If the measurement positioning is not accurate, the measurement results will be inaccurate and the work efficiency will not be high.

Contents of the invention

The purpose of the present invention is to provide a precision sliding table for parallel visual measurement of multiple workpieces, which can fix the position of the acquisition camera and precisely control the movement of the loading platform for clamping multiple workpieces, so as to solve the problem of repeated calibration of cameras in the current visual measurement, the efficiency is not high and the The problem of inaccurate measurement positioning.

For solving above-mentioned visual measurement problem, concrete technical scheme of the present invention is as follows:

A precision slide table for parallel visual measurement of multiple workpieces, comprising a gantry vision acquisition mechanism 100, a loading plate 200, an active radial screw nut mechanism 300, a fixed plate 400, an active axial screw nut mechanism 500, and a driven shaft To the nut mechanism 600 and the driven radial nut mechanism 700, the upper computer communicates with the lower computer to control the loading plate 200 to drive the movement of the clamped workpiece to complete the visual measurement task; the precision sliding table fixing plate 400 and the gantry vision acquisition mechanism 100 is arranged on the working platform, and the image acquisition method of the gantry vision acquisition mechanism 100 can be selected according to the measurement needs of monocular, binocular or structured light measurement; the fixed plate 400 is slotted for positioning and installing the proximity switch sensor 405 , 406, 407, 408, 409, 410, limit switches 401, 402, 403, 404 are fixed on the fixed plate through screw connection, and the linear sliding guide rail 603 is connected with the fixed plate 400 through screws; the linear sliding guide rail 603 is used to realize active The smooth movement of the slider 502 on the fixed plate 400 in the axial lead screw nut mechanism 500, the active axial lead screw nut mechanism 500 is connected to the fixed plate 400 by the bolts of the support seat 501 and the fix seat 505, and the support seat 501 Bearings are arranged in the fixed seat 505 to nest the lead screw 504, and one end of the lead screw 504 is connected to the rotating shaft of the drive motor 508 through a coupling 506, and the drive motor 508 is mounted on the motor base 507 through a screw connection, and the motor base 507 The screw at the bottom of the fixed plate 400 is installed on the fixed plate 400, and the other end of the driving motor 508 is provided with a handwheel 509 on the rotating shaft. The active radial screw nut mechanism 300 is connected in the same way as the active axial screw nut mechanism 500. The slider connection mode of the driven axial nut mechanism 600 and the driven radial nut mechanism 700 is the same as that of the slider 502 of the active axial screw nut mechanism 500; The bottom of the slide block 502 is connected with the fixed plate 400 by screws, and the top is connected with a linear sliding guide rail 601 by screws. The object loading plate 200 is installed above the linear sliding guide rail 601. The object loading plate 200 can complete the clamping according to the structural shape and quantity of the workpiece.

As a preference, the camera in the gantry vision acquisition mechanism 100 adopts a Daheng MER-130-30UM camera, the upper computer uses an Intel(R) Core(TM) i5-4200 CPU@2.80GHz processor, the memory is 8GB, and the lower The computer selects the single-chip microcomputer controller.

Preferably, the slots of the fixed plate 400 and the proximity switch sensors 405, 406, 407, 408, 409, 410 and the linear sliding guide rail 603 adopt transition fit to accurately position the proximity switch sensors 405, 406, 407, 408, 409, The 410 uses a metal proximity sensor.

As a preference, the driving motors 508 and 305 of the active axial screw nut mechanism 500 and the active radial screw nut mechanism 300 are both stepping motors, and the handwheels 509 and 301 are evenly engraved with knurling.

Preferably, the screws in the linear sliding guide rails 601 and 603 are all countersunk screws.

The beneficial effects of the present invention are:

1. The present invention can precisely control the movement of the loading platform of multiple clamped workpieces to complete workpiece scanning while ensuring that the measurement position of the camera remains unchanged. Compared with the measurement method of fixing the workpiece and moving the camera, the repetition of camera parameters can be avoided Calibration problems, greatly improving the measurement efficiency and accuracy;

2. The loading plate 200 of the present invention is connected with the slider 602, the sliding block 602 and the fixed plate 400 through the linear sliding guide rails 601, 603, which have good flatness and can ensure the smooth operation of the precision slide table. The loading plate 200 Fixtures can be installed according to the structure and quantity of the workpiece, which is more practical for clamping;

3. The present invention is equipped with proximity switch sensors 405, 406, 407, 408, 409, and 410, which can accurately control and feedback the running state of the slide table, realize limit and zero return operations, and have real-time feedback control capabilities. Limit switches The installation of 401, 402, 403, and 404 can immediately cut off the power when the operating position is unreasonable, so as to protect the precision sliding table from damage and have the ability of self-protection of the device;

4. The rotating shafts of the driving motors 508, 305 of the active axial screw nut mechanism 500 and the active radial screw nut mechanism 300 of the present invention are provided with handwheels 509, 301, which can be manually adjusted according to the situation;

5. The clamping bracket of the acquisition camera of the present invention can be applied to more camera models, and the image acquisition method can be replaced with monocular, binocular, structured light, etc. according to needs, and has a wider range of applications.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of a precision slide table for parallel visual measurement of multiple workpieces.

Fig. 2 is a structural exploded schematic view of a precision slide table for parallel visual measurement of multiple workpieces.

Fig. 3 is an exploded view of the axial active lead screw and nut mechanism of a precision sliding table for parallel visual measurement of multiple workpieces.

Fig. 4 is an exploded view of a precision sliding table radial active screw nut mechanism for parallel visual measurement of multiple workpieces.

Fig. 5 is an exploded view of the driven slider structure of a precision sliding table for parallel visual measurement of multiple workpieces.

Fig. 6 is a schematic diagram of a precision sliding table fixing plate component for parallel visual measurement of multiple workpieces.

Detailed ways

The specific structure and implementation mode of the present invention will be further described below in conjunction with the accompanying drawings.

Structural composition of the present invention is as Fig. 1-Fig. 6, adopts following scheme:

Example 1:

The structural composition of a precision slide table for parallel visual measurement of multiple workpieces includes: a gantry vision acquisition mechanism 100, a loading plate 200, an active radial screw nut mechanism 300, a fixing plate 400, an active axial screw nut mechanism 500, The driven axial slider mechanism 600 and the driven radial slider mechanism 700 are composed. The gantry vision acquisition mechanism 100 and the fixed plate 400 are arranged on the working platform; the active radial screw nut mechanism 300 and the active axial screw nut mechanism 500 are connected by bolts on the support seats 302, 501 and the fixed seats 308, 505 On the fixed plate 400, the drive motors 305, 508 are connected and fixed on the motor bases 306, 507 with screws, and the motor bases 306, 507 are connected on the fixed plate 400 by the screws on the bottom surface of the fixed plate 400, and the active radial screw nut mechanism 300 The lower part of the sliders 303 and 502 on the active axial lead screw nut mechanism 500 is screwed to the fixed plate 400 through the linear sliding guide rail 603, and the upper part is screwed to the loading plate 200 through the linear sliding guide rail 601; the driven axial slider mechanism 600 and the driven radial slider mechanism 700 are screwed to the fixed plate 400 through the linear sliding guide rail 603 below, and the upper part is screwed to the loading plate 200 through the linear sliding guide rail 601 .

The active axial lead screw and nut mechanism 500 is composed of a support seat 501, a slider 502, a ball nut 503, a lead screw 504, a fixed seat 505, a shaft coupling 506, a motor seat 507, a drive motor 508 and a hand wheel 509. The motor 509 drives the lead screw 504 to rotate forward and reverse through the coupling 506, the hand wheel 509 can manually adjust the rotation of the lead screw 504, and the nut mechanism converts the rotation of the lead screw into the linear motion of the slider, and cooperates with the driven axial slider mechanism 600 Axial movement of the object carrier plate 200 is realized.

The active radial lead screw and nut mechanism 300 is composed of a hand wheel 301, a support seat 302, a slider 303, a nut 304, a lead screw 309, a fixed seat 308, a shaft coupling 307, a motor seat 306 and a drive motor 305. It is the same as the active axial lead screw and nut mechanism 500 .

The fixing plate 400 is provided with proximity switch sensors 405, 406, 407, 408, 409, 410 for device zeroing and feedback control, and limit switches 401, 402, 403, 404 for device operation protection.

Example 2:

In the present invention, the operation steps of a precision sliding table for parallel visual measurement of multiple workpieces are as follows:

Step I: Arrange and install the gantry vision acquisition mechanism 100 and the precision sliding table mechanism according to the measurement requirements, clamp multiple workpieces on the loading plate 200, drive the lead screws 504, 309 to rotate by the drive motors 508, 305, and move the slider to a position close to Switch sensors 409, 406, feedback the current position of the slider, complete the device reset, and the radial and axial operation modes are the same;

Step II: The driving motors 508 and 305 accept the operation command, drive the screw 504 and 309 to rotate through the coupling 506 and 307, the nut mechanism converts the rotation of the screw into the linear motion of the slider, and the drive shaft radial screw nut mechanism 500 The operation mode is the same as that of the active radial screw nut mechanism 300, and the driven axial slider mechanism 600 and the driven radial slider mechanism 700 can realize axial, radial and circular operation modes to complete the measurement task of the workpiece;

Step III: The proximity switch sensors 405, 407, 408, and 410 arranged on the fixed plate 400 can feed back the position of the object loading plate 200, that is, the position of the workpiece. According to the measurement requirements, the driving motors 508 and 305 are controlled to rotate, so that the object loading plate 200 drives the clamped workpiece to the appropriate measurement position; if the operation fails, the limit switches 401, 402, 403, 404 will be triggered, and the rotation of the drive motors 508, 305 can be stopped to protect the device.

Step IV: After the measurement is completed, under the action of the proximity switch sensors 409 and 406, the driving motors 508 and 305 are controlled to rotate, and the device is reset to zero, which is convenient for the next operation.

The basic principles and main features of the present invention have been shown and described above. The present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principle of the present invention, and without departing from the spirit and scope of the present invention, the present invention also has various changes and improvements, these changes All modifications and improvements are within the scope of the claimed invention.

Claims (7)

1. A precision slide table for parallel visual measurement of multiple workpieces, characterized in that: a gantry vision acquisition mechanism 100 and a fixed plate 400 are installed on the same work platform for workpiece measurement; the gantry vision acquisition mechanism 100 is composed of a gantry and an acquisition camera Tightly connected by bolts; the active axial lead screw nut mechanism 500 is connected to the fixed plate 400 through the bolts on the support seat 501 and the fixed seat 505; The slider of the mechanism 300 forms a fastening connection; six proximity switch sensors 405, 406, 407, 408, 409, 410 are installed on the fixed plate 400, of which 405, 407, 408, 410 are used to feedback the left and right positions, 406, 409 It is used to feedback the zero position, and four limit switches 401, 402, 403, 404 are installed to limit the limit of the moving position of the loading plate 200; the active radial screw nut mechanism 300 is connected with the loading plate 200 and the fixed plate The connection mode of 400 is the same as the active axial screw nut mechanism 500 of the visual measurement precision slide table, the driven axial nut mechanism 600 and the driven radial nut mechanism 700 cooperate with the active axial screw nut mechanism 500 and the active The radial lead screw and nut mechanism 300 performs synchronous motion. 2. A precision slide table for parallel visual measurement of multiple workpieces according to claim 1, characterized in that: a gantry vision acquisition mechanism 100 is fastened to the gantry and the acquisition camera by bolts, the acquisition camera can be replaced, and the gantry The frame base is designed with through holes and fixed on the working platform through bolt connection for image acquisition. 3. A precision sliding table for parallel visual measurement of multiple workpieces according to claim 1, characterized in that: the fixing plate 400 is fixed on the working platform through bolt connection, and the limit switches 401, 402, 403, 404 are connected by screws Connected on the fixed plate 400, the proximity switch sensors 405, 406, 407, 408, 409, 410 are positioned through screw connections in the slot of the fixed plate 400, and the linear sliding guide rail 603 is fixed in the slot of the fixed plate 400 by screws. 4. A precision slide table for parallel visual measurement of multiple workpieces according to claim 1, characterized in that: the axial screw nut mechanism 500 is fixed on the fixed plate 400 through the bolt connection of the support seat 501 and the fixed seat 505, The driving motor 508 in the axial lead screw nut mechanism 500 is fixed on the motor base 507 by screws, and the motor base 507 is fastened to the fixing plate 400 by screws at the bottom of the fixing plate 400 . 5. A precision slide table for parallel visual measurement of multiple workpieces according to claim 4, characterized in that: the screw 504 in the active axial screw nut mechanism 500, the support seat 501 and the fixed seat 505 pass through the bearing connection, the left side of the screw is nested in the bearing of the support seat 501, and the right side is nested in the bearing of the fixed seat 505; the screw 504 is connected with the slider 502 through the ball nut 503, and the slider 502 is fixed on the fixed plate 400 The linear sliding guide rail 603 is connected. 6. A precision sliding table for parallel visual measurement of multiple workpieces according to claim 5, characterized in that: the right side of the screw 504 is connected to the left side of the drive motor 508 rotating shaft through a coupling 506, and the drive motor 508 The right side of the rotating shaft is equipped with a handwheel 509, which is connected by a key; the slider 602 on the driven axial nut mechanism 600 is connected with the fixed plate 400 by a linear sliding guide rail 603; the active radial screw nut mechanism 300 and the driven diameter The connection method to the screw nut mechanism 700 is the same as that of the axial screw nut mechanism 300 and the driven axial nut mechanism 600 . 7. A precision sliding table for multi-workpiece parallel visual measurement according to claim 1, characterized in that: the loading plate 200 is connected with the active axial screw nut mechanism 500 and the radial screw nut mechanism through the linear sliding guide rail 601 300. The sliders of the driven axial nut mechanism 600 and the driven radial nut mechanism 700 are connected by screws, and the loading plate 200 can be clamped according to the structural shape of the workpiece, and multiple workpieces can be clamped at the same time.