CN111207682A - Trapezoidal lead screw parameter automatic measuring device and method based on machine vision - Google Patents
Trapezoidal lead screw parameter automatic measuring device and method based on machine vision Download PDFInfo
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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
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Abstract
本发明公开了一种基于机器视觉的梯形丝杠参数自动测量装置及方法，包括图像采集系统、照明系统、图像连续采集与焦/物距调节装置和工件定位装置；图形采集处理系统包括工业相机、镜头和图像处理显示装置；所述的镜头与工业相机相连，工业相机与图像处理显示装置；照明系统为配合镜头使用的平行绿光源及其配套电源；图像连续采集与焦距/物距调节装置包括两套三坐标移动机构，其中一套三坐标移动机构用于安装工业相机和镜头，另外一套三坐标移动机构用于安装照明系统；工件定位装置用于安装工件，其设置两套三坐标移动机构之间。
The invention discloses an automatic measuring device and method for trapezoidal screw parameters based on machine vision, comprising an image acquisition system, a lighting system, a continuous image acquisition and focus/object distance adjustment device and a workpiece positioning device; the graphic acquisition and processing system includes an industrial camera , lens and image processing display device; the lens is connected with the industrial camera, and the industrial camera is connected with the image processing display device; the lighting system is a parallel green light source used with the lens and its supporting power supply; image continuous acquisition and focal length/object distance adjustment device Including two sets of three-coordinate moving mechanisms, one of which is used to install industrial cameras and lenses, and the other set of three-coordinate moving mechanisms is used to install lighting systems; the workpiece positioning device is used to install workpieces, which are set with two sets of three-coordinates between mobile agencies.
Description
Technical Field
The invention relates to a trapezoidal lead screw parameter automatic measuring device based on machine vision, and belongs to the field of vision measurement.
Background
The trapezoidal lead screw is used as an important transmission part in mechanical equipment and is mainly applied to a precise instrument which is stable in operation, precise and free of maintenance. The pitch error and the profile angle of the trapezoidal screw serve as two important processing parameters of the trapezoidal screw, and the performance of equipment is directly influenced by the quality of the processing precision of the trapezoidal screw. The trapezoidal screw is difficult to realize automatic measurement due to the limitation of the size of the trapezoidal screw, and the existing trapezoidal screw measuring method has certain limitation;
firstly, the measurement of the pitch error of the trapezoidal screw in industrial production mostly depends on the offline manual measurement, but the method has some non-negligible problems: (1) manual measurement is adopted, so that the precision is low; (2) the efficiency is low, the time consumption is long, the automatic measurement is difficult to realize, and the cost is high; (3) the appearance of the measured workpiece is easily damaged, and the measurement precision is reduced.
Second, the detection devices currently used are not suitable for practical production conditions. The design of the screw precision dynamic detection system and the uncertainty analysis thereof (the provenance: Mumben, Leaspi et al. the design of the screw precision dynamic detection system and the uncertainty analysis thereof [ J ]. university of great connectivity, 2010,31(1):1-4.) mentioned in the text utilize the dual-frequency laser interferometer and the circular grating to dynamically detect the screw precision, but the temperature change of the detection environment can cause the measurement error of the detection element, and the detection result can be directly influenced. The laser ball screw pair dynamic stroke measuring instrument developed by Beijing machine tool research uses a circular grating encoder as a reference for measuring an angle and uses a double-frequency laser interferometer as a length measuring reference, but a measuring head needs to be in contact with a workpiece during measurement, so that direct damage is brought to the workpiece, and the precision of a measuring result is influenced. In the text of the application of the machine vision technology in thread detection (provenance: Liufeng in left construction and application of the machine vision technology in thread detection [ J ]. mechanical design and manufacture, 2006, (4): 113 and 114.), the CCD and the common lens are adopted, so that the imaging quality is poor, the lens distortion is large, and the measurement precision is difficult to meet the requirement.
Thirdly, the lens of the current measuring device used on the assembly line is not independently fixed, which causes that in the process of collecting images, besides unavoidable camera shake caused by electronic equipment, shake caused by unstable gravity center of the lens also seriously affects the quality of the collected images; the mechanism for focusing and adjusting the object distance of the existing device has the disadvantages of complex operation, inaccurate focusing and poor positioning precision.
Fourthly, in actual industrial production, a forward light source is mostly adopted, and the method is not suitable for obtaining the geometric parameter information of the workpiece.
Disclosure of Invention
Aiming at the defects of the existing trapezoidal lead screw parameter automatic measuring device, the invention provides a trapezoidal lead screw parameter automatic measuring device based on machine vision, which has the advantages of small lens distortion, clear imaging, convenient and accurate focusing operation, strong rigidity of a supporting mechanism and small camera shake, and also provides a measuring method of the device.
The technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides a trapezoidal lead screw parameter automatic measuring device based on machine vision, which comprises an image acquisition system, an illumination system, an image continuous acquisition and focal/object distance adjusting device and a workpiece positioning device;
the image acquisition processing system comprises an industrial camera, a lens and an image processing display device; the lens is connected with an industrial camera, and the industrial camera is connected with an image processing and displaying device;
the lighting system is a parallel green light source and a matched power supply thereof which are matched with the lens;
the device for continuously acquiring the images and adjusting the focal length/object distance comprises two sets of three-coordinate moving mechanisms, wherein one set of three-coordinate moving mechanism is used for installing an industrial camera and a lens, and the other set of three-coordinate moving mechanism is used for installing a lighting system;
the workpiece positioning device is used for installing a workpiece and is arranged between two sets of three-coordinate moving mechanisms.
As a further technical scheme, the workpiece positioning device comprises two V-shaped blocks, and two ends of the workpiece are arranged between the two V-shaped blocks.
As a further technical scheme, the two sets of three-coordinate moving mechanisms have the same structure, each set of three-coordinate moving mechanism comprises an X-direction sliding table, an X-direction sliding block, a Y-direction moving platform, a Z-direction telescopic bracket and a Z-direction moving platform, external threads are arranged above and below the Z-direction telescopic bracket, the lower part of the Z-direction telescopic bracket is screwed on the Y-direction moving platform with internal threads, and the upper part of the Z-direction telescopic bracket is screwed on the Z-direction moving platform with internal threads; the X-direction sliding table is fixed on the workbench, an X-direction sliding block is arranged above the X-direction sliding table, an adapter plate is arranged above the X-direction sliding block, a Y-direction track is formed in the adapter plate, and the Y-direction moving platform is embedded into the Y-direction track.
As a further technical scheme, the lens adopts a double telecentric lens, the industrial camera is connected with the double telecentric lens in a screwing mode and is arranged on a Z-direction moving platform above a Z-direction telescopic bracket of the three-coordinate moving mechanism, and a lens fixing bracket is arranged on the Z-direction moving platform and used for fixing the lens.
As a further technical scheme, the V-shaped block and the workpiece are arranged right in front of the double telecentric lens, so that a complete thread pitch can enter the lens.
As a further technical scheme, the front and the back of the parallel green light source are supported by a light source fixing support which is made of a magnetic material, and the light source and a lens of a camera are coaxial and synchronous; the camera and light source are located on both sides of the workpiece to create a back-lit effect.
In a second aspect, the measuring process of the trapezoidal lead screw parameter automatic measuring device based on machine vision is as follows:
(1) two sets of three-coordinate moving mechanisms are respectively fixed on the workbench, and the X-direction moving sliding table is driven by a stepping motor; the stepping motor driver receives an instruction from the computer and drives the camera to move in the X direction;
(2) adjusting the Z-direction telescopic support to enable the camera lens and the workpiece to be on the same plane, and determining the object distance; the Y-direction moving platform is adjusted to finish focusing operation, and the focal length is unchanged within a certain depth of field because the lens is in fixed focus, so that the adjusting range of the Y-direction moving platform can meet the focusing operation; after the adjustment is completed, not only a complete thread pitch is ensured to enter the field range of the lens, but also clear imaging is ensured.
(3) The industrial camera is connected with the image processing display device; the parallel light source is connected with a matched power supply, and the luminous power of the light source can be adjusted;
(4) and the power supply is switched on, the step length of the stepping motor is set, and the two sets of x-direction sliding tables respectively drive the camera and the light source to synchronously move after receiving the instruction, so that the acquisition of the workpiece image is completed at one time.
(5) And processing the image transmitted back to the image processing and displaying device in real time, and measuring the pitch error and the tooth form angle of the trapezoidal screw by using a related image processing algorithm.
The invention has the following beneficial effects:
1. the invention is a non-contact measuring device based on machine vision, realizes continuous acquisition by using an image acquisition system, can finish automatic measurement of the pitch error and the tooth form angle of a trapezoidal lead screw at one time, is matched with backlight illumination of an illumination system, has clear integral imaging and better realizes automatic measurement of lead screw parameters.
2. The invention adopts the focal/object distance adjusting device to focus the camera and the workpiece, so that the focusing operation is simple and convenient; during actual detection, the optical axis of the industrial camera and the optical axis of the light source are adjusted to be concentric as much as possible, the definition of the collected image displayed on the PC is taken as a reference, and when the collected image displayed on the PC has no inclination, shadow or shielding and the image is clear, the two optical axes are concentric. The industrial camera and the light source are coaxial and move synchronously and are respectively positioned on two sides of the screw rod 5 to form a back lighting effect.
3. The lower part of a Z-direction telescopic bracket is screwed on a Y-direction moving platform with internal threads, the upper part of the Z-direction telescopic bracket is screwed on the Z-direction moving platform with internal threads, and a lens fixing bracket is arranged on the Z-direction moving platform and used for fixing a lens; therefore, the supporting mechanism of the invention has strong rigidity, small camera shake, good imaging quality and high measurement precision on the whole.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a three-dimensional schematic diagram of the trapezoidal screw parameter automatic measuring device based on machine vision.
Fig. 2 is a three-dimensional schematic diagram of a three-coordinate moving member of the trapezoidal lead screw parameter automatic measuring device based on machine vision.
In the figure: the device comprises a Z-direction telescopic support, a lens fixing frame, a CCD industrial camera, a double telecentric lens, a lead screw, a workbench, a V-shaped block, a fixing support, a parallel green light source, a sliding block, a stepping motor, a sliding table, a Y-direction moving platform, a switching plate, a track, a positioning hole and a Z-direction moving platform, wherein the Z-direction telescopic support is 2, the lens fixing frame is 3, the CCD industrial camera is 4, the double telecentric lens is 5, the lead screw is 6, the workbench is 7, the V-shaped block is 8, the fixing support is 9, the parallel green light source is 10.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
The terms "mounted", "connected", "fixed", and the like in the present invention are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background art, the prior art has disadvantages, and in order to solve the above technical problems, the present application provides an apparatus and a method for automatically measuring parameters of a trapezoidal lead screw based on machine vision.
In an exemplary embodiment of the present application, as shown in fig. 1 and 2, the trapezoidal lead screw parameter automatic measuring device based on machine vision of the present invention includes an image acquisition system, an illumination system, an image continuous acquisition and focus/object distance adjusting device, and a workpiece positioning device.
The image acquisition system comprises a CCD industrial camera 3, a double telecentric lens 4 and a kilomega network cable (not shown in the figure), wherein the CCD industrial camera 3, the double telecentric lens 4 and the kilomega network cable are sequentially connected with an image processing device and a display device (not shown in the figure); of course, the gigabit network described here can also be replaced by another network.
The illumination system is a parallel green light source 9 and its associated power supply (not shown) used with the double telecentric lens 4.
The image continuous acquisition and focal length/object distance adjusting device comprises two sets of three-coordinate moving mechanisms, a driver (not shown in the figure) and a lower computer (not shown in the figure), wherein the three-coordinate moving mechanisms, the driver, the lower computer and a display (not shown in the figure) are sequentially connected.
The two sets of three-coordinate moving mechanisms are the same, each set of three-coordinate moving mechanism comprises an X-direction sliding table 12, a Y-direction moving platform 13 and a Z-direction telescopic support 1, wherein the Z-direction telescopic support 1 comprises 4 telescopic supports, external threads are arranged above and below the 4Z-direction telescopic supports 1, the lower part of the Z-direction telescopic support 1 is screwed on the Y-direction moving platform 13 with internal threads, and the upper part of the Z-direction telescopic support 1 is screwed on a Z-direction moving platform 17 with internal threads; the Y-direction moving platform 13 is arranged on the X-direction sliding table 12, and the X-direction sliding table 12 is fixed on the workbench 6; further, an X-direction sliding block 10 is arranged above the X-direction sliding table 12, an adapter plate 14 is arranged above the X-direction sliding block 10, a Y-direction track 15 is formed in the adapter plate 14, and the Y-direction moving platform 13 is embedded into the Y-direction track 15.
Two sets of three-coordinate moving mechanisms are respectively arranged at two sides of the workpiece positioning device, wherein one set of three-coordinate moving mechanism is used for installing the CCD industrial camera 3 and the first double telecentric lens, and the other set of three-coordinate moving mechanism is used for installing the light source 9.
The CCD industrial camera 3 is connected with the first double telecentric lens 4 in a rotating mode and is arranged on a Z-direction moving platform 17 above the Z-direction telescopic bracket 1, a CCD industrial camera positioning hole 16 is formed in the platform 17, and a lens fixing bracket 2 is arranged on the Z-direction moving platform and used for fixing the first double telecentric lens 4.
The other set of three-coordinate moving mechanism is consistent with the structure of the three-coordinate moving mechanism driving the camera 3, a Z-direction moving platform 17 is arranged above the Z-direction telescopic bracket 1, a fixed bracket 8 parallel to the green light source is arranged in front of and behind the Z-direction moving platform 17, the fixed bracket 8 is made of magnetic materials, and a parallel green light source 9 is fixed above and positioned on the other side of the lead screw 5.
The workpiece positioning device in the embodiment comprises two V-shaped blocks 7 and a lead screw 5; two ends of the screw 5 are fixed above the two V-shaped blocks 7 and are arranged right in front of the first double telecentric lens 4.
During actual detection, the optical axis of the CCD industrial camera 3 and the optical axis of the parallel green light source 9 are adjusted to be concentric as much as possible, the definition of the collected image displayed on the PC is taken as a reference, and when the collected image displayed on the PC does not have inclination, shadow and shielding and has clear imaging, the two optical axes are concentric. The CCD industrial camera 3 and the parallel green light source 9 keep coaxial and do synchronous motion and are respectively positioned at two sides of the screw 5 to form a back lighting effect.
The specific process of the automatic measurement of the pitch error parameter of the trapezoidal lead screw in the embodiment is as follows:
1. two sets of three-coordinate moving mechanisms are respectively fixed on the workbench, and the two X-direction moving sliding tables are respectively driven by two stepping motors; the step motor driver receives an instruction from the computer and respectively drives the camera and the light source to move in the X direction;
2. adjusting the Z-direction telescopic support to enable the lens of the camera and the workpiece to be on the same plane; and adjusting the Y-direction mobile platform, and finishing focusing operation when the acquired image displayed on the PC has no shadow or shelter and the image is clear.
3, connecting the CCD industrial camera with a PC through a kilomega network cable; the parallel light source is connected with a matched power supply, and the illumination intensity of the light source can be adjusted;
4. and the power supply is switched on, the step length of the stepping motor is set, and the two sets of x-direction sliding tables respectively drive the camera and the light source to synchronously move after receiving the instruction, so that the image acquisition of the workpiece is completed at one time.
5. And processing the image transmitted back to the PC in real time to finish the measurement of the workpiece parameters.
6. Processing the acquired image, comprising: image splicing, image preprocessing, workpiece edge extraction and edge refinement, workpiece edge pixel classification and sorting, sub-pixel edge positioning, camera calibration and workpiece parameter measurement.
The invention is a non-contact measuring device based on machine vision, and has the advantages of high precision, good stability and simple and convenient operation. The work piece is fixed, the camera moves, the pitch error and the tooth form angle of the trapezoidal lead screw can be automatically measured at one time, and the illumination system adopts backlight illumination, so that the imaging is clear; the focusing operation is simple and convenient, the rigidity of the supporting mechanism is strong, the camera shake is small, the imaging quality is good, and the measurement precision is high. The measuring device has high automation degree, and the efficiency of industrial production is effectively improved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
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| CN112164036A (en) * | 2020-09-15 | 2021-01-01 | 西安交通大学 | Device and method for detecting assembly parameters of steel wire thread insert |
| CN112304239A (en) * | 2020-10-16 | 2021-02-02 | 大连理工大学 | Method for extracting contour and central feature of micro thread pair |
| CN114252985A (en) * | 2021-12-02 | 2022-03-29 | 浙江大学 | An autofocus double telecentric optical integrated camera |
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Application publication date: 20200529 |