CN111982024A - Automatic three-dimensional measuring system for traction, bolster and buffering - Google Patents
Automatic three-dimensional measuring system for traction, bolster and buffering Download PDFInfo
- Publication number
- CN111982024A CN111982024A CN202010847913.2A CN202010847913A CN111982024A CN 111982024 A CN111982024 A CN 111982024A CN 202010847913 A CN202010847913 A CN 202010847913A CN 111982024 A CN111982024 A CN 111982024A
- Authority
- CN
- China
- Prior art keywords
- assembly
- guide rail
- bolster
- robot
- traction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an automatic traction, bolster and relief three-dimensional measurement system which comprises a robot assembly, a measuring head assembly, a guide rail assembly, a positioner assembly and an industrial personal computer assembly, wherein the measuring head assembly comprises a camera acquisition assembly and a surface structure light projection assembly; the guide rail assembly comprises a base, a guide rail and a base which are sequentially arranged from bottom to top, and the guide rail is arranged above the base; the positioner assembly comprises a tool and two stand columns, the tool is hinged between the two stand columns, and a positioning clamp for fixing the traction and bolster to be detected is arranged on the tool; the robot component comprises an industrial robot, and the industrial personal computer component comprises a computer, a robot control cabinet and a positioner control cabinet; the industrial robot is arranged on a base of the guide rail component. The method has the advantages of high measurement efficiency, wide measurement range, high reliability and automatic measurement, and can realize quick, efficient and accurate measurement of traction and bolster.
Description
Technical Field
The invention relates to an automatic three-dimensional measuring device, in particular to an automatic traction, bolster and bolster three-dimensional measuring system, and belongs to the technical field of three-dimensional measurement.
Background
With the high-speed development of subway construction in China, by 2015, 12 months and 31 days, 25 cities in China are opened for operating rail transit lines, the operating mileage reaches 3286.51 km, and the total operating mileage of the rail transit lines in China is expected to exceed 4189km at the end of 2016, so that higher manufacturing requirements are provided for the quality of rail vehicles to ensure the performances of stability, rapidness, safety and the like of trains, and the defects of the traditional manufacturing process detection technology become more and more prominent day by day.
With the vigorous development of the rail transit industry, the manufacturing requirements of various circles on rail vehicles are higher and higher, the automatic detection technology for the space dimension has the functions of simultaneous multipoint measurement and real-time display of the space geometric dimension, and is widely applied to the automobile body manufacturing industry. The traction and bolster buffer of the rail train is a structure and a complex key stress part thereof, and structurally comprises a buffer beam component, a bolster beam component and a traction beam component.
Generally, a single lazy test item has 20 test items, including a plurality of azimuth shape measurement items and position measurement items, and requires a plurality of workers to perform measurements at a plurality of stations by using different measuring tools. At present, the traditional manual detection means is complex and difficult to implement, the efficiency is low, the accuracy is not very reliable, and the automation degree is not high. Has great consumption on manpower, material resources and financial resources. The multi-station multi-person running water detection method is mainly used for domestic detection of the traction and bolster buffering in the large-scale rail train body, and has the following defects: a plurality of quality inspectors are needed during detection; quality inspectors need various measuring tools, and are complex to operate and low in efficiency; the parallel precision and the vertical precision of measuring elements and corresponding references are difficult to ensure by using various measuring instruments such as a steel tape, a flat rule, a filler gauge, a straight steel ruler and the like; the measurement points are numerous, the measurement results are difficult to unify, and the reliability is poor; the measurement data cannot be automatically stored, calculated, checked and managed. Generally, a manual testing mode is adopted, and the testing efficiency is low.
Therefore, it is necessary to design an automatic traction and bolster three-dimensional measurement system to solve the above technical problems.
Disclosure of Invention
The invention aims to overcome the defect of low efficiency of three-dimensional measurement of a traction and bolster cushion in the prior art, and provides an automatic three-dimensional measurement system of the traction and bolster cushion, which has the following technical scheme:
an automatic traction, bolster and relief three-dimensional measuring system comprises a robot assembly, a measuring head assembly, a guide rail assembly, a positioner assembly and an industrial personal computer assembly,
the measuring head assembly comprises a camera acquisition assembly and a surface structure light projection assembly, and is arranged on the robot assembly;
the guide rail assembly comprises a base, a guide rail and a base which are sequentially arranged from bottom to top, and the guide rail is arranged above the base;
the positioner assembly comprises a tool and two stand columns, the tool is hinged between the two stand columns through a servo motor and a speed reducer, and a positioning clamp for fixing a traction buffer to be detected is arranged on the tool;
the robot assembly comprises an industrial robot;
the industrial personal computer component comprises a computer, a robot control cabinet and a positioner control cabinet;
the industrial robot is arranged on the base of the guide rail assembly, and the robot power supply control cabinet is connected with the industrial robot and used for controlling the movement of the base relative to the base and the pose of the robot;
the positioner control cabinet is used for controlling the tool to rotate relative to the upright post.
Compared with the prior art, the invention has the following beneficial effects:
the method has the advantages of high measurement efficiency, wide measurement range, high reliability and automatic measurement, and can realize quick, efficient and accurate measurement of traction and bolster. The device can automatically store, calculate, check and manage data, and has the advantages of high measurement precision, high accuracy, high automation degree and the like.
Drawings
FIG. 1 is a perspective view of an automated traction, bolster and relief three-dimensional measurement system of the present invention;
FIG. 2 is a schematic diagram of the structure of an automated measuring head assembly of the present invention;
in the figure: the system comprises a robot assembly 1, a measuring head assembly 2, a camera acquisition assembly 21, a 22-surface structured light projection assembly, a guide rail assembly 3, a base 31, a guide rail 32, a base 33, a positioner assembly 4, a column 41, a base 42, a tooling 43, a positioning clamp 44, a column 45, an industrial personal computer assembly 5, a robot control cabinet 51, a positioner control cabinet 53 and a computer 52.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
An automatic traction, bolster and relief three-dimensional measuring system comprises a robot assembly 1, a measuring head assembly 2, a guide rail assembly 3, a positioner assembly 4 and an industrial personal computer assembly 5,
the measuring head assembly 2 comprises a camera acquisition assembly 21 and a surface structured light projection assembly 22, and the measuring head assembly 2 is arranged on the robot assembly 1;
the guide rail component 3 comprises a base 31, a guide rail 32 and a base 33 which are arranged from bottom to top in sequence, and the guide rail 32 is arranged above the base 33;
the positioner assembly 4 comprises a tooling 43, a base 42 and two upright columns 41 and 45, the tooling 43 is hinged between the two upright columns 41 and 45 through a servo motor and a speed reducer, and a positioning clamp 44 for fixing the traction and bolster buffer 5 to be detected is arranged on the tooling 43;
the robot assembly 1 comprises an industrial robot 1;
the industrial personal computer component 5 comprises a computer 52, a robot control cabinet 51 and a positioner control cabinet 53;
the industrial robot 1 is arranged on the base 31 of the guide rail assembly 3, and the robot control cabinet 51 is connected with the industrial robot 11 and used for controlling the pose of the robot 1 and the movement of the base 31 on the linear guide rail 32;
the positioner control cabinet 53 is used for controlling the tool 43 to rotate relative to the upright 41.
The positioner assembly 4 mainly comprises a tooling 43, a base 42, upright columns (41 and 45) and a tooling positioning clamp 44. The positioner control cabinet 53 controls the rotation angle of the servo motor to drive the tool to rotate by different angles, and the measured workpiece can be three-dimensionally measured by the automatic measuring head.
The computer is communicated with the positioner component through a TCP/IP protocol to control the tool to rotate at different angles, and then the measured workpiece can be measured in three dimensions through the automatic measuring head.
The base 33 is used for supporting the industrial robot 1 and the guide rail component 3, the industrial robot 1 and the guide rail 32 are laid on the base 33, the industrial robot 1 can move stably, and then the industrial robot 1 is driven to perform three-dimensional measurement.
The positioning fixture 44 is used for fixing the traction pillow to be measured on the tool 43 of the positioner assembly 4 slowly, preventing the phenomena of slippage and the like of the measured object in the working process of the positioner, and playing a role in protection. The arrangement of the tooling 43 and the positioning fixture 44 in the embodiment enables the three-dimensional measurement of the traction and bolster buffering to be more convenient and efficient.
In the present embodiment, the industrial robot 1 is a five-axis industrial robot. The industrial robot that adopts in this embodiment is five ABB industrial robot.
In the embodiment, the measuring head assembly 2 is an automatic measuring head assembly, and the movement of the measuring head assembly is controlled by the robot control cabinet 51.
Specifically, in this embodiment, guide rail assembly 3 is the linear guide subassembly, and guide rail assembly 3 sets up side by side with machine of shifting subassembly 4.
Specifically, in the present embodiment, the industrial robot 1 is fixedly disposed on the base 31, the base 31 is fixed on the guide rail 32, and the robot control cabinet 51 controls the base 31 to move the industrial robot 1 along the guide rail 32.
The control cabinet assembly mainly comprises a robot control cabinet 51, a positioner control cabinet 53 and a computer 52.
In this embodiment, the camera capturing assembly is a binocular camera, and the binocular camera includes a filter and a lens.
In this embodiment, the surface structured light projection module includes an LED projection light source, a laser, and a lens. The LED projection light source is positioned between the two cameras, the laser is positioned on the side parts of the two cameras, and the lens is arranged at the front end of the cameras. The laser provides a mark for an automatic measuring head, and TCP (i.e., (Tool center Point), robot Tool coordinate system) calibration is conveniently performed. The surface structure light projection component and the camera acquisition component are connected through a network cable, the power supply component is connected with the surface structure light projection component, the camera acquisition component transmits scanning results of the binocular camera and the structure light projection component to the computer, and then three-dimensional shape measurement results of traction and sleepiness are obtained.
The working principle is as follows:
the industrial robot is driven by the base to linearly walk along the track direction, and the power supply assembly supplies power to a motor driving the linear guide rail.
The binocular camera can acquire the structured light image to be detected, the light filter can filter the light pollution source caused by the reflection of the surface of the detected workpiece, and clear and complete image information can be obtained after certain data processing.
The linear guide rail adopts the Modbus protocol to communicate with the computer, and the computer controls the linear guide rail through the communication protocol, realizes the data concatenation of different horizontal measurement sections, and the concatenation precision of each section of data has guide rail repeated positioning precision displacement to guarantee, can reach 0.02 mm.
The automatic measurement system measures the traction bolster according to a preset path, the robot drives the automatic measurement head to measure along the linear guide rail in the transverse direction, the automatic measurement projects a grating onto the surface of the traction bolster, a binocular camera acquires a grating image to solve three-dimensional data, the grating image is spliced through the linear guide rail in the transverse direction, and the splicing precision in the transverse direction depends on the precision of the linear guide rail and can reach +/-0.02 mm. Meanwhile, in order to measure complete traction and bolster buffering data, the positioner is required to drive the tool clamp to rotate by a certain angle, then the automatic measuring head acquires grating images to solve three-dimensional data, splicing of the automatic measuring head depends on an internal nearest iterative algorithm, and finally complete point cloud data can be obtained through different poses under the driving of the measuring head by the robot. After the point cloud data is obtained, the data processing software automatically analyzes and processes the size to be detected, outputs a report and stores the report in a computer.
Finally, through actual measurement, the whole measurement accuracy of the automatic three-dimensional measurement system for the traction and bolster buffering can be guaranteed to be within 0.1mm, the equipment is good in operation, the measurement accuracy is high, the automation degree is high, and the reliability is high.
This measurement system has carried out the design to the automatic adaptability of leading and rested the slow to all modules, specifically is:
the robot and the linear guide rail device are designed, and the technology of combining the linear guide rail with the robot is adopted for the large-scale size of the traction and bolster buffer, so that the complete large-scale automatic measurement is realized.
The measuring head is designed, the surface structured light technology is combined with the binocular stereoscopic vision technology, the measuring head can be accurately controlled through the projector control module, meanwhile, the robot path planning technology is combined, the automatic three-dimensional measurement which can adapt to the traction and bolster buffering is designed for the position changing machine, a corresponding position changing machine module is designed aiming at the large range and heavy weight of the traction and bolster buffering, the traction and bolster buffering is stably fixed on a tool clamp through the combination of components such as a tool clamp, a positioning block and the like, the calibration device is designed through the measurement of complete traction and bolster buffering three-dimensional data under the driving of the position changing machine, the automatic measurement system can be accurately calibrated through the accurate path planning and the time control module in combination with a robot, the precision of the measurement system is improved, and the automatic traction and bolster buffering three-dimensional measurement system is used for detecting and measuring the three-dimensional shape and size of the traction and bolster buffering, the method is used for detecting a large view field, and the measurement is more efficient and accurate.
The measuring efficiency is high, the measuring range is wide, and the reliability is high. The measuring system does not need an additional measuring tool, is simple to operate, and can complete the whole measuring process without a plurality of quality inspectors. Meanwhile, the automatic measuring head can measure the sizes of different areas under the loading of the robot and the positioner, so that complete three-dimensional data can be obtained, and the measuring range is expanded. Meanwhile, the three-dimensional measurement technology based on the surface structure light binocular stereo vision has more reliable measurement results, and different measurement point positions can obtain complete data, so that the reliability is high.
The invention is non-contact measurement, has automatic measurement process, and can automatically store, calculate, check and manage data. The measuring system is an automatic process, after path planning is completed, three-dimensional measurement can be carried out only by clicking measurement, automation is realized in the whole process, meanwhile, the result obtained by measurement can be automatically subjected to three-dimensional data processing, analysis calculation, verification and storage, and finally, a report is generated for data management later.
The detection cost is saved, and the detection efficiency, accuracy and automation degree are improved.
The measured data has high precision and high accuracy. The measuring system uses a high-precision LED projecting device and a high-precision calibration module in a projector assembly, and has higher measuring precision than that of a common grating projector. After actual measurement, the measurement accuracy of the traction and bolster buffering can reach 0.1mm, and the requirement of large-size measurement accuracy is met. Meanwhile, the whole measuring process is an automatic measuring process, can be finished by one person, and is high in automation degree.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. An automatic traction and bolster three-dimensional measurement system is characterized by comprising a robot assembly (1), a measuring head assembly (2), a guide rail assembly (3), a positioner assembly (4) and an industrial personal computer assembly (5);
the measuring head assembly (2) comprises a camera acquisition assembly (21) and a surface structured light projection assembly (22), and the measuring head assembly (2) is arranged on the robot assembly (1);
the guide rail assembly (3) comprises a base (31), a guide rail (32) and a base (33) which are sequentially arranged from bottom to top, and the guide rail (32) is arranged above the base (33);
the positioner component (4) comprises a tool (43), a positioning clamp (44) and two upright posts (41) and (45), the tool (43) is hinged between the two upright posts (41) and (45) through a servo motor and a speed reducer, and the tool (43) is provided with the positioning clamp (44) for fixing the traction and bolster cushion (5) to be detected;
the robot component (1) is an industrial robot;
the industrial personal computer component (5) comprises a computer (52), a robot control cabinet (51) and a positioner control cabinet (53);
the industrial robot (1) is arranged on a base (31) of the guide rail assembly (3), and the robot control cabinet (51) is used for controlling the pose of the industrial robot (1) and the movement of the base (31) relative to the guide rail (32);
the positioner control cabinet (53) is used for controlling the tool (43) to rotate relative to the upright post (41).
2. The automated traction, bolster and bolster three-dimensional measurement system according to claim 1, characterized in that the industrial robot (1) is a five-axis industrial robot.
3. An automated traction and bolster three-dimensional measurement system according to claim 1, characterized in that the measuring head assembly (2) is an automated measuring head assembly, the movement of which is controlled by the robot control cabinet (51).
4. The automatic traction, bolster and cushioning three-dimensional measurement system according to claim 1, wherein the guide rail assembly (3) is a linear guide rail assembly, and the guide rail assembly (3) and the positioner assembly (4) are arranged side by side.
5. The automatic traction and bolster three-dimensional measuring system as claimed in claim 1, characterized in that the industrial robot (1) is fixedly arranged on the base (31), the base (31) is fixed on the guide rail (32), and the positioner control cabinet (53) controls the base (31) to move so as to drive the industrial robot (1) to move along the linear guide rail (32).
6. The system of claim 1, wherein the computer (52) is connected to and controlled by the robot control cabinet (51) and the indexing machine control cabinet (53) via an Ethernet.
7. The automated traction, bolster and relief three-dimensional measurement system of claim 1, wherein the camera acquisition assembly is a binocular camera, the binocular camera including filters and lenses.
8. The automated traction and bolster three-dimensional measurement system of claim 1, wherein the surface structured light projection assembly (22) comprises an LED projection light source, a laser, a lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010847913.2A CN111982024A (en) | 2020-08-21 | 2020-08-21 | Automatic three-dimensional measuring system for traction, bolster and buffering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010847913.2A CN111982024A (en) | 2020-08-21 | 2020-08-21 | Automatic three-dimensional measuring system for traction, bolster and buffering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111982024A true CN111982024A (en) | 2020-11-24 |
Family
ID=73443546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010847913.2A Pending CN111982024A (en) | 2020-08-21 | 2020-08-21 | Automatic three-dimensional measuring system for traction, bolster and buffering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111982024A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207914838U (en) * | 2018-02-08 | 2018-09-28 | 广东科达洁能股份有限公司 | Welding equipment |
| CN108871234A (en) * | 2018-07-10 | 2018-11-23 | 苏州艾弗伦智能技术有限公司 | Non-contact 3-D automatic scanning test macro |
| US20190063907A1 (en) * | 2017-08-22 | 2019-02-28 | Faro Technologies, Inc. | Measurement system having a cooperative robot and three-dimensional imager |
| CN110757073A (en) * | 2019-11-29 | 2020-02-07 | 南京雷尔伟新技术股份有限公司 | Universal welding tool for end underframe and traction bolster buffer |
| CN111168314A (en) * | 2020-04-01 | 2020-05-19 | 刘争 | Full-automatic welding tool for excavator movable arm assembly |
| CN111331569A (en) * | 2020-04-20 | 2020-06-26 | 宁波惟景三维科技有限公司 | Automatic three-dimensional measurement and marking system for complex castings |
| CN211178438U (en) * | 2019-12-16 | 2020-08-04 | 海克斯康测量技术(青岛)有限公司 | Optical automatic measuring device based on machine vision error proofing |
-
2020
- 2020-08-21 CN CN202010847913.2A patent/CN111982024A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190063907A1 (en) * | 2017-08-22 | 2019-02-28 | Faro Technologies, Inc. | Measurement system having a cooperative robot and three-dimensional imager |
| CN207914838U (en) * | 2018-02-08 | 2018-09-28 | 广东科达洁能股份有限公司 | Welding equipment |
| CN108871234A (en) * | 2018-07-10 | 2018-11-23 | 苏州艾弗伦智能技术有限公司 | Non-contact 3-D automatic scanning test macro |
| CN110757073A (en) * | 2019-11-29 | 2020-02-07 | 南京雷尔伟新技术股份有限公司 | Universal welding tool for end underframe and traction bolster buffer |
| CN211178438U (en) * | 2019-12-16 | 2020-08-04 | 海克斯康测量技术(青岛)有限公司 | Optical automatic measuring device based on machine vision error proofing |
| CN111168314A (en) * | 2020-04-01 | 2020-05-19 | 刘争 | Full-automatic welding tool for excavator movable arm assembly |
| CN111331569A (en) * | 2020-04-20 | 2020-06-26 | 宁波惟景三维科技有限公司 | Automatic three-dimensional measurement and marking system for complex castings |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210155545U (en) | Be used for automatic on-line measuring equipment of switch manufacturing process | |
| CN111331569A (en) | Automatic three-dimensional measurement and marking system for complex castings | |
| CN109253702B (en) | PCB drilling quick overhaul method and equipment | |
| CN103148784B (en) | The full-scale detection method of a kind of large-scale blade | |
| CN109990701A (en) | A mobile measurement system and method for a large-scale complex surface three-dimensional topography robot | |
| CN205383997U (en) | Holographic three -dimensional scanning device of awl light | |
| CN110640585A (en) | A three-dimensional non-contact measuring device and method for blade grinding and polishing | |
| CN105403156B (en) | 3-D measuring apparatus and the data fusion scaling method for the 3-D measuring apparatus | |
| CN103196386B (en) | Non-contact type rotation part shape error accuracy detecting device and method | |
| CN104864811B (en) | A kind of complex-curved in-situ measuring method of blade | |
| CN106352823A (en) | System for measuring composite coordinate based on multi-aiming device | |
| CN104515487A (en) | Two-in-one full-automatic three-Z-axis measuring instrument | |
| CN106168465A (en) | Adapter abrasion 3-d laser measurement method | |
| CN206914356U (en) | Dynamic measurement end of rail rail head linearity device | |
| CN105716547A (en) | Rapid measurement device and method for planeness of mechanical workpiece | |
| CN112476395A (en) | Industrial robot-oriented three-dimensional vision scribing equipment and method | |
| CN109141296A (en) | A kind of T-type guide rail guide surface flatness detection system and method | |
| CN112629439B (en) | Fixed gantry type orthogonal double-laser measuring head measuring method | |
| CN209842399U (en) | Calibrating device for geometric error of machine tool and corner positioning error of rotary table | |
| CN108115466B (en) | Geometric motion error detection method and system for vertical machining center | |
| CN220912219U (en) | Automatic three-dimensional measuring device for rocket engine shell | |
| CN111982024A (en) | Automatic three-dimensional measuring system for traction, bolster and buffering | |
| CN116929209B (en) | Detection equipment and detection method for rod-shaped materials | |
| CN112747672A (en) | Spatial pose detection and adjustment method for engine case assembly | |
| CN113513986B (en) | Geometric tolerance measuring device and measuring method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201124 |