CN111515141A - Automatic device for detecting part size and detection method - Google Patents
Automatic device for detecting part size and detection method Download PDFInfo
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- CN111515141A CN111515141A CN202010349061.4A CN202010349061A CN111515141A CN 111515141 A CN111515141 A CN 111515141A CN 202010349061 A CN202010349061 A CN 202010349061A CN 111515141 A CN111515141 A CN 111515141A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
Abstract
The invention belongs to the technical field of part detection, and discloses an automatic device for detecting the size of a part, which comprises a vibration isolation table, a motion platform is arranged on the vibration isolation table, a detection mechanism and a sorting mechanism are arranged above the motion platform, the motion platform is used for adjusting the motion of the part to be detected on X, Y and Z axes, the detection mechanism is used for collecting three-dimensional point cloud data of the part to be detected, the sorting mechanism is used for sorting the part to be detected, the automatic device also comprises a processor, the processor is connected with the motion platform, the detection mechanism and the sorting mechanism, the processor is used for controlling the motion of the part to be detected on X, Y and Z axes through the motion platform, meanwhile, the three-dimensional point cloud data collection of the part to be detected is carried out through the detection mechanism, a 3D model of the part to be detected is rebuilt according to the collected three-dimensional point cloud data, the detection result is compared with, and controlling a sorting mechanism to carry out sorting operation according to the detection result, and completing automatic detection and sorting of the size of the part to be detected.
Description
Technical Field
The invention relates to the technical field of part detection, in particular to an automatic device and a detection method for part size detection.
Background
With the continuous development of science and technology, the automation and intelligent production process of the manufacturing industry is continuously improved. Mechanical parts are the basis of manufacturing industry, and the demand of high-tech fields such as automobiles, aerospace and the like on complex mechanical parts is continuously increased, but due to the fact that the complex mechanical parts are various in shape and lack of regular characteristics, the quality detection of the parts becomes the key for guaranteeing the product quality of the parts. The traditional part detection method mainly adopts a manual detection method and uses contact measurement methods such as calipers, differential rulers, three-dimensional coordinatographs and the like, and has the problems of low detection efficiency, high working strength, low precision and the like. Researchers begin to try to detect the precision of parts by utilizing a three-dimensional scanning technology, respective full-surface non-contact detection schemes are provided, and in the scanning process, because line laser needs to be in a vertical state with the parts, the target parts can be scanned in one given direction at each time, so that the forming precision of the parts is low, and key feature points are lost.
After the parts are detected, the sorting process of the parts is required to be completed on the next step, the sorting of the transmitted parts is manually completed by workers, and qualified and unqualified parts are selected from the parts.
Disclosure of Invention
The invention provides an automatic device and a detection method for part size detection, and solves the problems of low detection efficiency, high working strength, low precision and the like of the existing part size detection method.
The invention can be realized by the following technical scheme:
an automatic device for detecting the size of a part comprises a vibration isolation platform, wherein a motion platform is arranged on the vibration isolation platform, a detection mechanism and a sorting mechanism are arranged above the motion platform, the motion platform is used for adjusting the motion of a part to be detected on X, Y and Z axes, the detection mechanism is used for collecting three-dimensional point cloud data of the part to be detected, the sorting mechanism is used for sorting the part to be detected,
still include the treater, the treater links to each other with motion platform, detection mechanism and letter sorting mechanism for wait to examine the motion of part in X, Y and Z epaxial through motion platform control, simultaneously through detection mechanism to waiting to examine the part and carry out the collection of three-dimensional point cloud data, according to the three-dimensional point cloud data of gathering, rebuild the 3D model of waiting to examine the part, do the comparison with CAD standard model with it, output testing result, control letter sorting mechanism carries out the letter sorting operation according to the testing result, thereby accomplish the automated inspection and the letter sorting of waiting to examine the part size.
Further, motion platform includes just to the X axle straight line slip table that detection mechanism set up, be provided with on the X axle straight line slip table around X axle swing slip table, be provided with on the X axle swing slip table around Y axle swing slip table, be provided with rotary platform on the Y axle swing slip table, wait to examine the part and set up rotary platform through anchor clamps, rotary platform is used for the adjustment to wait to examine the turned angle of part around Z axle direction, be used for the adjustment to wait to examine the turned angle of part around X axle direction around X axle swing slip table, be used for the adjustment to wait to examine the turned angle of part around Y axle direction around Y axle swing slip table, X axle straight line slip table is used for control to wait to examine the linear motion of part along X axle direction.
Further, detection mechanism includes laser sensor, laser sensor sets up on elevating system for to wait to examine the acquisition that the part carries out three-dimensional point cloud data, elevating system is used for adjusting laser sensor at the round trip movement of Z axle direction.
Further, elevating system includes the support be provided with two backup pads, two along Z axle direction parallel interval on the support be provided with ball between the backup pad, the tip of its lead screw all is connected with the backup pad through the bearing, and one of them tip passes backup pad and knob fixed connection, and its screw-nut is connected with the extension board, the extension board is provided with laser sensor along the straight line setting parallel with X axle direction on it, and manual rotation knob drives screw-nut and rather than the laser sensor who is connected along Z axle direction round trip movement through the lead screw.
Furthermore, the sorting mechanism adopts a mechanical arm structure, the mechanical arm can move in multiple degrees of freedom, and parts to be detected are taken away from the moving platform and placed into the next station or a waste box according to a detection result.
Further, the acquired three-dimensional point cloud data is subjected to data simplification by using a Hausdorff distance, and the simplified three-dimensional point cloud data is registered by adopting a principal component analysis method, so that the 3D model reconstruction of the part to be detected is realized.
The utility model provides a detection method for an automation equipment for part size detection based on the preceding, utilize anchor clamps will wait to examine the part and fix on motion platform, will wait to examine the part with the help of X axle straight line slip table and transport detection mechanism under, the relative position of waiting to examine part and laser sensor is adjusted, then wait the position appearance of examining the part through the motion platform adjustment, utilize detection mechanism to accomplish the collection of waiting to examine part three-dimensional point cloud data simultaneously, the rethread X axle straight line slip table will wait to examine the part and shift out detection mechanism, utilize sorting mechanism to accomplish the letter sorting of waiting to examine the part.
Through rotating the knob, adjust the laser sensor distance and wait to examine the distance of examining the part, through adjusting rotary platform, change and wait to examine the position that the part just right the laser sensor to make the laser sensor just to waiting to examine the required measuring surface of part, accomplish and wait to examine the relative position adjustment of part and laser sensing.
The beneficial technical effects of the invention are as follows:
the X-axis linear sliding table in the moving platform is utilized to realize the large-stroke movement in the X-axis direction, the operation space is enlarged for adding a mechanical arm in the sorting mechanism, the implementation of sorting operation is convenient, the aim of adjusting the position and the posture of a part is achieved by adjusting the swinging sliding table around the X-axis, the swinging sliding table around the Y-axis and the rotating platform, the part to be detected is always kept in the vertical direction of a light beam, the three-dimensional point cloud data with complete data can be conveniently obtained, the forming efficiency and the scanning precision of the part to be detected are improved, the overall profile of the part to be detected is clearer, the judgment and analysis of the error of the part to be detected are facilitated, the mechanical arm with multiple degrees of freedom is introduced to replace the sorting mechanism, the requirements of the shape and the size of an object on a clamp do not need to be considered, the requirements of most industrial parts can, the method meets the requirements of high-efficiency and intelligent industrial chain of industrial production.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic structural diagram of the motion platform of the present invention;
FIG. 3 is a schematic structural diagram of the detecting mechanism of the present invention;
FIG. 4 is a schematic diagram of the working state of the laser sensor of the present invention;
the automatic sorting machine comprises a vibration isolation table 1, a motion platform 2, a linear sliding table 21-X axis, a swinging sliding table 22-X axis, a swinging sliding table 23-Y axis, a rotating platform 24, a detection mechanism 3, a laser sensor 31, a support 32, a support plate 33, a ball screw 34, a knob 35, an extension plate 36, a sorting mechanism 4, a sorting box 5 and an upper computer 6.
Detailed Description
The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.
As shown in FIG. 1, the invention provides an automatic device for detecting the size of a part, which comprises a vibration isolation table 1, a motion platform 2 arranged on the vibration isolation table 1, a detection mechanism 3 and a sorting mechanism 4 arranged above the motion platform 2, wherein the motion platform 2 is used for adjusting the motion of a part to be detected on X, Y and Z axes, the detection mechanism 3 is used for collecting three-dimensional point cloud data of the part to be detected, the sorting mechanism 4 is used for sorting the part to be detected, the device also comprises a processor which is connected with the motion platform 2, the detection mechanism 3 and the sorting mechanism 4, is used for controlling the motion of the part to be detected on X, Y and Z axes through the motion platform 2, simultaneously collecting the three-dimensional point cloud data of the part to be detected through the detection mechanism 3, reconstructing a 3D model of the part to be detected according to the collected three-dimensional point cloud data, and comparing the 3D model with a standard CAD model, and outputting a detection result, and controlling the sorting mechanism 4 to carry out sorting operation according to the detection result, thereby completing automatic detection and sorting of the size of the part to be detected. Therefore, the moving platform can be used for carrying out posture adjustment on the part to be detected from multiple angles in an all-around mode, the detection mechanism can be used for carrying out real-time scanning detection conveniently, the forming efficiency and the scanning precision of the part to be detected are improved, the whole outline of the part to be detected is clearer, the judgment and analysis of the error of the part to be detected are facilitated, the mechanical arm with multiple degrees of freedom can be introduced to replace a sorting mechanism, the requirements of the shape and the size of an object on a clamp do not need to be considered, the requirements of most industrial parts can be met, the automation device can realize full automation of detection and sorting of the parts, and the industrial chain requirements of industrial production for high.
The vibration isolation table 1 adopts a precise double-frequency damping vibration isolation optical platform, is integrally of a three-layer sandwich type honeycomb structure and comprises a table top, a support, a double-frequency damping vibration isolation mechanism, a height adjusting mechanism and a mute caster with a brake. The table top is positioned at the top of the platform, the inside of the table top is of a three-layer sandwich type honeycomb structure, ferromagnetic stainless steel is adopted, the corrosion resistance is good, the double-frequency damping vibration isolation mechanism is positioned below the table top and positioned between the table top and a support to play a vibration isolation effect, the support adopts an integral welding process, is in a long hair shape and is of a four-support structure, every two of the four supports are connected by two sections of trusses, the rigidity and the stability are good, a mute caster with a height adjusting mechanism and a brake is arranged below the support, the bottom of the height adjusting mechanism is in a flat round body, the contact area with the ground is enlarged, the problems of support distortion and deformation caused by uneven ground can be solved by adjusting the vertical distance of the height adjusting mechanism, the mute caster is positioned below a lower end truss and is connected with the trusses by four bolts, and the moving and carrying actions are convenient, the precise double-frequency damping vibration isolation optical platform provides good rigidity and vibration isolation performance for detection and sorting of parts.
As shown in fig. 1 and 2, the motion platform 2 includes an X-axis linear sliding table 21, an X-axis oscillating sliding table 22 is disposed on the X-axis linear sliding table 21, a Y-axis oscillating sliding table 23 is disposed on the X-axis oscillating sliding table 22, a rotation platform 24 is disposed on the Y-axis oscillating sliding table 23, a to-be-detected part is disposed on the rotation platform 24, the rotation platform 24 is used for adjusting a rotation angle of the to-be-detected part around a Z-axis direction, the X-axis oscillating sliding table 22 is used for adjusting a rotation angle of the to-be-detected part around the X-axis direction, the Y-axis oscillating sliding table 23 is used for adjusting a rotation angle of the to-be-detected part around the Y-axis direction, and the X-axis linear sliding table 21 is used for moving the to-be-detected part into a position. Like this, after the part of waiting to examine is fixed on rotary platform 24 through anchor clamps, through around X axle swing slip table 22, around Y axle swing slip table 23 drive rotary platform 24 around X axle, Y axle rotation, drive through rotary platform 24 self and wait to examine the part and rotate around Z axle direction, make detection mechanism can carry out omnidirectional scanning to the standby part, realize the collection to its three-dimensional point cloud data.
The X-axis linear sliding table 21 adopts a commercially available linear sliding table which comprises a linear track, a sliding block is arranged on the linear sliding table, the sliding block is driven by a motor to move along the linear track, the sliding table 22 swings around an X axis, and the sliding table 23 swings around a Y axis, and a PSAG series precise electric angular displacement table produced by Zuoli Hanguang company is adopted, can rotate +/-15 degrees around the X axis and the Y axis, is driven by a finely ground worm gear, has higher positioning precision, adopts an arc V-shaped guide rail, has strong load capacity, is provided with a two-phase stepping motor in a standard way, has a self-locking function, and has stable and reliable performance. The rotary platform 24 can also adopt a RAuK series ultrahigh precision electric rotary platform produced by lihan optical company, an imported ultrahigh precision circular grating is arranged in the rotary platform, ultrahigh closed-loop resolution is provided, fine-ground worm and gear transmission is used for realizing ultrahigh positioning performance, an imported ultrahigh grade crossed roller shaft collar is adopted, ultrahigh movement performance is realized, and a two-phase stepping motor is matched in a standard manner, so that the performance is stable and reliable.
As shown in fig. 1, 3 and 4, the detection mechanism 3 includes a laser sensor 31, the laser sensor 31 is disposed on the lifting mechanism and used for collecting three-dimensional point cloud data of a part to be detected, a linear laser sensor is adopted, such as an Lj-7000 series ultra-high speed profile measuring instrument manufactured by keyence corporation, and 64000 profiles/second are adopted, so that materials with different reflection strengths can be measured simultaneously, and the detection mechanism has high speed, high precision and high stability. The lifting mechanism is used for adjusting the laser sensor 31 to move back and forth in the Z-axis direction, and comprises a bracket 32 arranged on a vibration isolation table 1, two support plates 33 are arranged on the bracket 32 at intervals in parallel along the Z-axis direction, a ball screw 34 is arranged between the two support plates 33, the end part of the screw is connected with the support plates 33 through a bearing, a round opening can be arranged at the center of each support plate 33, a bearing is embedded, then the end part of the screw is tightly matched with the inner ring of the bearing, one end part of the screw is longer and can penetrate through the support plates 33 to be fixedly connected with a knob 35, a screw nut of the screw is connected with an extension plate 36, the extension plate 36 is arranged along a straight line parallel to the X-axis direction, the laser sensor 31 is arranged on the extension plate, the screw nut can be arranged on a slide rail, the slide rail is arranged in parallel with the screw and is arranged along the Z-axis direction, so, scales can be arranged on the periphery of the knob 35 and are proportional to the stroke of the ball screw 34, so that the adjustment distance of the laser sensor can be known conveniently by manually rotating the knob 35 and driving the screw nut and the laser sensor 31 connected with the screw nut to move along the Z-axis direction through the screw rod. The stroke of ball 34 among this elevating system is about 150mm, and in the actual measuring process, the part height is different, and laser sensor 31 working distance has certain scope, and elevating system's design is favorable to adjusting laser sensor 31 height according to operating condition, makes it be in suitable working range all the time.
As shown in fig. 4, the laser sensor 31 projects a laser beam onto the part to be inspected, the laser beam is reflected and received by the optical filter, and the laser beam is finally projected onto the surface of the photosensitive sheet after passing through the optical lens group. The laser sensor utilizes the triangulation ranging, a laser beam forms a triangle between a laser projector, a part to be detected and a photosensitive sheet, the spatial position and the actual physical size of the surface of the part to be detected, which is irradiated by laser, can be determined according to the position of the reflected laser beam, the triangulation ranging method is simple in structure and strong in practicability, the laser sensor is frequently used in the measurement of medium and short distances, and the advantages of the laser such as the directivity can be highlighted at the moment. After the laser beam reaches the surface of the part to be detected, part of scattered light returns to the filter lens to be received, if the surface of the part to be detected moves, the imaging light spots on the photosensitive film correspondingly move at the same time, and the imaging light spots and the photosensitive film form a relation similar to a triangle, so that the movement amount of the surface of the part to be detected can be calculated by measuring the movement amount of the light spots on the photosensitive film.
As shown in fig. 1, the sorting mechanism 4 is a mechanical arm structure, the mechanical arm can move with multiple degrees of freedom, and can be arranged right ahead or on the side of the moving platform, according to the detection result, the part to be detected is taken away from the moving platform and is placed into the next station or a waste box, and two sides of the mechanical arm are respectively provided with a sorting box 5, the surface of the sorting box 5 is pasted with a qualified label and an unqualified label, so that the processor can be an upper computer 6 and sends an instruction code to the mechanical arm, when the part to be detected is sent to a designated position by an X-axis linear sliding table through fixed time, the detection mechanism is moved out at the moment, the timer transmits an instruction to the upper computer 6, the upper computer 6 sends an instruction to the mechanical arm, and the mechanical arm grabs the part to the designated sorting box 5 in a teaching manner, thereby completing the sorting flow.
The invention also provides a detection method based on the automatic device for detecting the size of the part, which is characterized in that a part to be detected is fixed on a moving platform by using a clamp, the part to be detected is conveyed to the position under a detection mechanism by using the X-axis linear sliding table, the relative position of the part to be detected and a laser sensor is adjusted, then the position and the attitude of the part to be detected are adjusted by using the moving platform, meanwhile, the detection mechanism is used for completing the acquisition of three-dimensional point cloud data of the part to be detected, then the part to be detected is moved out of the detection mechanism by using the X-axis linear sliding table, and the sorting of the part to be detected is. The method comprises the following specific steps:
firstly, selecting a surface to be detected, utilizing a clamp to enable a part to be detected to be opposite to a laser sensor to be arranged on an objective table, wherein the part to be detected can be an independent part or a simply combined component; then, through setting for in the program control motion platform around X axle swing slip table, around the rotation of Y axle swing slip table and rotary platform, it waits the part motion to drive, utilize laser sensor to accomplish the collection of three-dimensional point cloud data to the part of waiting to examine that sets up above that, repeat above-mentioned process, accomplish the collection of the three-dimensional point cloud data of other faces, the whole collection work of waiting to examine the part is finally accomplished, the point cloud data of each part of part is waited to the formation, laser sensor transmission point cloud data can be the host computer to the treater, the host computer utilizes the Hausdorff distance to carry out the point cloud data to the three-dimensional point cloud data of waiting to examine the part and simplifies, adopt principal component analysis to carry out the registration of point cloud, realize the accurate reconstruction of the part point cloud data of waiting to examine:
the point cloud data are simplified by utilizing Hausdorff distance, the Hausdorff distance is a definition form of the distance between two point sets and is used for describing the similarity degree of the two motors, and the Hausdorff distance between the two finite point sets A, B is defined as follows:
D(A，B)＝max(d(A，B)，d(B，A)) (1)
wherein d (A, B) and d (B, A) represent the unidirectional Hausdorff distances from set A to set B and from set B to set A, respectively, and are defined as follows:
where | l | · | |, represents a certain distance norm.
Let the set of data points be { p i1,2,3.. n }, taking any point p, wherein a K neighbor point set is { q } qiI 1,2.. k }. The algorithm steps for calculating the Hausdorff distance and simplifying the data points for each sample point are as follows:
step 1, estimating the main curvature of all points by a quadratic parabolic surface fitting method.
And 2, calculating the Hausdorff distance between the point p and the neighborhood point, and taking the maximum value as the Hausdorff value of the point.
Step 3 is to traverse all points in step 2 and calculate the Hausdorff values for all data points.
And 4, dividing the point cloud into a plurality of intervals according to the Hausdorff value of the data points, and setting different thresholds in each interval.
And 5, deleting the point in a certain curvature interval if the Hausdorff value of the point is smaller than the threshold value.
And 6, traversing all the intervals to finish simplification.
Point cloud simplification is carried out by utilizing Hausdorff distance, and enough points are kept in a region with large curvature change to highlight the curved surface characteristic of the model; a small number of points are reserved in the area with small curvature change to reduce redundancy, and detail characteristic information in the model is well maintained while data points are effectively reduced.
And (3) carrying out point cloud registration by adopting a principal component analysis method, denoising point cloud data, fitting on the basis of the principal component point cloud, and then carrying out filtering treatment.
The process of denoising the point cloud data comprises the following steps:
calculating the mean value (o) of point cloud coordinates sliding in a window with a certain radiusx，oy，oz) To find its covariance matrix
Where, (xi, yi, zi) is the coordinate of each point in the window. Determining two principal directions of a matrix
The main direction of the window point cloud is the noise direction of the point cloud
Comprises the following steps:
fitting the local plane in the main direction to obtain each point (x)i，yi，zi) In the direction of noise from the plane
Is a distance of
Each point is displaced in the noise direction, and the displacement distance d is as follows:
wherein α is a coefficient. This step can remove noise that is more outliers.
A process of fitting on the basis of a principal component point cloud, comprising:
the equation to further fit the point cloud is:
wherein i, j is 0,1,2ijAre coefficients.
The error function is defined as:
substituting all points, and solving the coefficient by the minimum integral error:
can obtain the optimum aij。
And (3) processing the point clouds of each window by adopting formulas (7) and (8), and obtaining an integral point cloud curved surface after traversing all the point clouds of the window.
The filter processing formula is as follows:
wherein the content of the first and second substances,
is the distance from the point to the curved surface, x, y, z are coordinate values, σx,y,zThe standard deviation in the window is calculated by the following formula:
wherein the window size is (2M +1) × (2M +1), and the M value calculation formula is:
M＝k×f (11)
wherein K is a given coefficient, f is the fluctuation condition of the point cloud in the range, namely the mean value of the absolute value of the distance from each point to the curved surface,
wherein the content of the first and second substances,
for the absolute value of the distance from each point to the curved surface, the principal component analysis method can eliminate larger noise and effectively reserve sharp and edge characteristics and detail characteristics in the model.
And finally, controlling the X-axis linear sliding table to drive the part to be detected arranged on the X-axis linear sliding table to move out of the detection mechanism, carrying out sorting operation by virtue of a sorting mechanism such as a mechanical arm, wherein the mechanical arm has a teaching function, a program is edited on the demonstrator, the mechanical arm executes a program code taught by the demonstrator, a clamp is arranged at the front end of the mechanical arm, grabbing and placing actions of the part can be finished through fixed-point teaching, the mechanical arm receives a script instruction character string sent by an upper computer through a specific programming interface and runs the received script instruction, thereby finishing the sorting action of the part, the upper computer is connected with a controller of the mechanical arm through TCP/IP, and state information of the mechanical arm is.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are merely examples and that many variations or modifications may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is therefore defined by the appended claims.
Claims (8)
1. An automation device for detecting the size of a part is characterized in that: comprises a vibration isolation platform, a motion platform is arranged on the vibration isolation platform, a detection mechanism and a sorting mechanism are arranged above the motion platform, the motion platform is used for adjusting the motion of the parts to be detected on X, Y and Z axes, the detection mechanism is used for collecting three-dimensional point cloud data of the parts to be detected, the sorting mechanism is used for sorting the parts to be detected,
still include the treater, the treater links to each other with motion platform, detection mechanism and letter sorting mechanism for wait to examine the motion of part in X, Y and Z epaxial through motion platform control, simultaneously through detection mechanism to waiting to examine the part and carry out the collection of three-dimensional point cloud data, according to the three-dimensional point cloud data of gathering, rebuild the 3D model of waiting to examine the part, do the comparison with CAD standard model with it, output testing result, control letter sorting mechanism carries out the letter sorting operation according to the testing result, thereby accomplish the automated inspection and the letter sorting of waiting to examine the part size.
2. The automated device for the dimensional inspection of parts according to claim 1, wherein: motion platform includes just to the X axle sharp slip table that detection mechanism set up, be provided with on the X axle sharp slip table around X axle swing slip table, be provided with on the X axle swing slip table around Y axle swing slip table, be provided with rotary platform on the Y axle swing slip table, wait to examine the part and set up rotary platform through anchor clamps, rotary platform is used for the adjustment to wait to examine the turned angle of part around Z axle direction, be used for the adjustment to wait to examine the turned angle of part around X axle direction around X axle swing slip table, be used for the adjustment to wait to examine the turned angle of part around Y axle direction around Y axle swing slip table, X axle sharp slip table is used for controlling the part and waits to examine the linear motion of following X axle direction.
3. The automated device for the dimensional inspection of parts according to claim 2, wherein: the detection mechanism comprises a laser sensor, the laser sensor is arranged on a lifting mechanism and used for collecting three-dimensional point cloud data of the part to be detected, and the lifting mechanism is used for adjusting the laser sensor to move back and forth in the Z-axis direction.
4. An automated device for the dimensional inspection of parts according to claim 3, wherein: the lifting mechanism comprises a support, two support plates are arranged on the support at intervals in the Z-axis direction in parallel, a ball screw is arranged between the support plates, the end portions of the screw rods are connected with the support plates through bearings, one end portion of the screw rod penetrates through the support plates and is fixedly connected with a knob, a screw nut of the screw rod is connected with an extension plate, the extension plate is arranged along a straight line parallel to the X-axis direction, a laser sensor is arranged on the extension plate, the knob is rotated manually, and the screw nut and the laser sensor connected with the screw nut are driven to move back and forth in the Z-axis direction through the screw rod.
5. The automated device for the dimensional inspection of parts according to claim 1, wherein: the sorting mechanism adopts a mechanical arm structure, the mechanical arm can move in multiple degrees of freedom, and parts to be detected are taken away from the moving platform and placed into the next station or a waste box according to detection results.
6. The automated device for the dimensional inspection of parts according to claim 1, wherein: and simplifying the acquired three-dimensional point cloud data by utilizing the Hausdorff distance, and registering the simplified three-dimensional point cloud data by adopting a principal component analysis method to realize the reconstruction of the 3D model of the part to be detected.
7. A method for inspecting an automated device for inspecting dimensions of parts, according to claim 1, wherein: the part to be detected is fixed on the motion platform by using the clamp, the part to be detected is conveyed to the position under the detection mechanism by using the X-axis linear sliding table, the relative position of the part to be detected and the laser sensor is adjusted, then the pose of the part to be detected is adjusted by the motion platform, meanwhile, the detection mechanism is used for collecting three-dimensional point cloud data of the part to be detected, the part to be detected is moved out of the detection mechanism by using the X-axis linear sliding table, and the sorting mechanism is used for sorting the part to be detected.
8. The inspection method of an automated device for parts dimension inspection according to claim 7, characterized in that: through rotating the knob, adjust the laser sensor distance and wait to examine the distance of examining the part, through adjusting rotary platform, change and wait to examine the position that the part just right the laser sensor to make the laser sensor just to waiting to examine the required measuring surface of part, accomplish and wait to examine the relative position adjustment of part and laser sensing.
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| CN112964174A (en) * | 2021-01-28 | 2021-06-15 | 上海工程技术大学 | Large-scale component shape error detection platform |
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Application publication date: 20200811 |