CN114111571A - Visual precision detection device for measuring special-shaped workpiece - Google Patents
Visual precision detection device for measuring special-shaped workpiece Download PDFInfo
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- CN114111571A CN114111571A CN202111354181.4A CN202111354181A CN114111571A CN 114111571 A CN114111571 A CN 114111571A CN 202111354181 A CN202111354181 A CN 202111354181A CN 114111571 A CN114111571 A CN 114111571A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a visual detection device for a special-shaped workpiece, which consists of a visual detection device body; the visual detection device body comprises an optical carrying platform, a first precision slewing bearing, a first multi-directional visual measurement system, a second precision slewing bearing and a second multi-directional visual measurement system; a first precision slewing bearing and a second precision slewing bearing are respectively arranged at two ends of the optical carrier, and a first multidirectional vision measuring system and a second multidirectional vision measuring system are sequentially connected between the first precision slewing bearing and the second precision slewing bearing through an axial direction; the first and second multi-directional vision measurement systems each include: the device comprises a radial dimension measurement visual mechanism, an axial dimension measurement visual mechanism and a rotary workpiece to be measured; the invention is suitable for application occasions with higher requirements on both in-situ rapid and precise measurement and solves the problem of online rapid and precise measurement aiming at the type of workpiece at present.
Description
Technical Field
The invention relates to the technical field of industrial detection, in particular to a visual precision detection device for measuring a special-shaped workpiece.
Background
In industrial production application, the geometric quantity of a class of parts after being assembled has the requirement of quick and accurate measurement, such as parts on a shaft, rotating sawteeth, a rotating flywheel and the like, and the common characteristic of the method is that a workpiece is assembled for rotating around the center, and the radial distance between an assembled rotating edge element and an axis and the axial distance between rotating parts are important indexes for measuring the installation and rotating precision and are also the key problems of the geometric quantity measurement to be solved by the method. The topological structure of the to-be-measured part is shown in fig. 1, and the problems related to the measurement difficulty are described as follows: (1) the length in the axial direction has certain ductility and is different; (2) the radial direction also has certain ductility, and the diameter can be large or small; (3) the axial position of the rotating part on the shaft can be fixed at any position on the shaft; (4) the thickness of the rotary part on the shaft can be thin or thick (5). the metal reflecting surface fringe projection method can produce local highlight, and the surface imaging integrity is limited.
At present, the non-contact solution adopted in the industry is mainly an image measuring instrument, but only a single component can be measured before assembly, and the subsequent assembly precision cannot realize online rapid measurement. Therefore, the problem of the measurement commonality of the assembly dimension precision of the workpiece with the technical characteristics can be solved, and the method has important significance for improving the assembly quality and the application effect, realizing the rapid precision measurement on an industrial production line and improving the detection efficiency.
Disclosure of Invention
The invention aims to make up for the defects of the prior art, and provides a visual precision detection device for measuring a special-shaped workpiece, which is used for realizing monocular visual measurement or monocular visual distributed measurement of longer geometric elements and is suitable for application occasions with higher requirements on both in-situ rapid and precision measurement to solve the problem of online rapid precision measurement of the workpiece of the type.
In order to solve the problems of the prior art, the invention is realized by adopting the following technical scheme:
advantageous effects
1. Aiming at the problem of measuring the overall dimension after assembly, the invention designs the distributed measuring device of the visual sensor, and the measurement reference can be associated only by measuring the local element to be measured, thereby realizing the indirect measurement of the overall dimension.
2. The invention can realize rapid and precise three-dimensional measurement and rotation precision measurement, can reduce the cost of a measurement system compared with hardware components such as a large-optical-aperture vision system, an electronic zoom system and the like, can realize the difficult problem of rapid and precise measurement of non-coplanar space geometry under a longer imaging action distance which is difficult to solve by the traditional mode, is particularly suitable for online measurement application occasions with higher requirements on in-situ speed and precision, and has good effect in practical application.
3. According to the invention, a rotary workpiece to be measured can be placed on the precision slewing bearings at two ends, the radial dimension measuring camera is positioned at one side of the precision slewing bearing, and the section overhanging end of the rotary workpiece can rotate in a field of view of the radial dimension measuring camera for imaging, namely, local element characteristics of the section overhanging end rotating into the field of view can be imaged. The axial dimension measurement camera is positioned above the side of the precision slewing bearing and can image the downward-looking local features of the section overhanging end which rotates to the visual field.
4. The invention relates to an in-situ space multi-vision sensor distribution measuring device, which is used for locally imaging longer geometric elements through a high-precision small view field and associating workpiece axis measuring references outside the view field so as to realize the overall dimension measurement of workpieces; the invention solves the problem of rapid and high-precision measurement in situ of a longer rotary workpiece with an overhanging end of a section, replaces manual offline disassembly detection in practical application, and meets the requirement of rapid and precise measurement in situ of the whole workpiece.
5. In order to ensure the measurement precision and realize quick measurement, the cameras of the radial dimension measurement camera and the axial dimension measurement camera have smaller view fields and can only see local characteristic information of the characteristics of the overhanging features, the device can realize the association of the measurement reference of the axes of the workpieces outside the view fields and realize the quick and high-precision measurement of the dimension exceeding the imaging view fields.
Drawings
FIG. 1 is a schematic structural view of a visual precision inspection device for measuring a special-shaped workpiece according to the present invention;
FIG. 2 is a schematic structural diagram of a radial and axial dimension measuring vision mechanism in the visual precision detection device for measuring the special-shaped workpiece according to the present invention.
FIG. 3 is a spatial position relationship diagram of a rotary workpiece to be measured and two measuring cameras in the visual precision detection device for measuring the irregular workpiece according to the present invention.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
as shown in fig. 1 and 2, the present invention provides a visual precision detection device for measuring a special-shaped workpiece, which is composed of a visual detection device body; the visual detection device body comprises an optical stage 101, a first precision slewing bearing 201, a first multi-directional vision measuring system 301, a second precision slewing bearing 401 and a second multi-directional vision measuring system 501; a first precision slewing bearing 201 and a second precision slewing bearing 401 are respectively arranged at two ends of the optical stage 101, and the first multi-directional vision measuring system 301 and the second multi-directional vision measuring system 501 are sequentially connected between the first precision slewing bearing 201 and the second precision slewing bearing 401 through an axial direction; the first and second multi-directional vision measurement systems 301 and 501 each include: a radial dimension measurement vision mechanism 351, an axial dimension measurement vision mechanism 352 and a to-be-measured rotary workpiece 353; wherein:
one end of the first precision slewing bearing 201 is adjacent to a radial dimension measurement vision mechanism 351 of the first multi-directional vision measurement system 301; the axial dimension measurement vision mechanism 352 of the first multi-directional vision measurement system 301 is adjacent to the radial dimension measurement vision mechanism 351 of the second multi-directional vision measurement system 501; the axial dimension measurement vision mechanism 352 of the second multi-directional vision measurement system 501 is adjacent to one end of the second precision slewing bearing 401;
the radial dimension measurement vision mechanism 351 is arranged on the side of the to-be-measured rotary workpiece 353; the section extending end of the to-be-detected rotary workpiece 353 can rotate in a visual field of the radial dimension measurement visual mechanism 351 for imaging, and the axial dimension measurement visual mechanism 352 is arranged above the side of the to-be-detected rotary workpiece 353, so that the downward-looking local feature imaging of the section extending end rotating to the visual field by the to-be-detected rotary workpiece is realized.
The radial dimension measurement vision mechanism 351 is composed of a radial measurement camera 354, a precise angle table 355, a first background illumination light source 356 and a light source adjusting bracket 357; the radial measurement camera 354 is connected to the optical carrier 101 stage through a precision angle stage 355; the radial dimension measuring camera 354 and the first background illumination light source 356 are positioned on one side of the axis 353 of the rotary workpiece to be detected, and an optical axis formed by the radial dimension measuring camera 354 and the first background illumination light source 356 is in the same direction with the rotation axis 353 of the rotary workpiece to be detected, so that local clear imaging of the tail end of the extending end of the special-shaped workpiece is realized; the first background illumination source 356 is connected to the optical stage 101 via a light source adjusting bracket.
The axial dimension measurement vision mechanism 352 is composed of an axial measurement camera 358, a lifting adjusting bracket 359 and a second background illumination light source 360; the axial measurement camera 358 is connected with the optical stage 101 through a lifting adjusting support 359, the axial dimension measurement camera 358 and the second background illumination light source 360 are located on the same axial side of the to-be-measured rotary workpiece 353, and local element region observation of one end of the special-shaped workpiece in the axial direction is achieved during downward view measurement. The radial dimension measuring camera 354 has an optical axis direction which is adjusted and consistent with the axial direction of the rotary workpiece 353 to be measured; the axial dimension measurement camera 358 is aligned to form a vertical down-view layout.
The first background illumination light source 356 and the second background illumination light source 360, the radial dimension measurement camera 354 and the axial dimension measurement camera 358 are respectively distributed on two sides of the element to be measured, and the common optical axis is arranged face to provide a background illumination environment, so that the outline of the element to be measured is clearly imaged.
The photoelectric synchronous trigger mechanism 361 is used for providing an in-place trigger signal in a single-point or multi-point measurement mode, and is used in an application occasion of single-point or multi-point in-place trigger synchronous measurement. The photo-electric synchronous trigger mechanism 361 can have two measurement modes, one is a dynamic continuous track measurement mode, and the other is a single-point or multi-point in-place measurement mode. The photoelectric synchronous trigger mechanism is used for realizing synchronous photographing in a single-point or multi-point in-place measurement synchronous trigger mode.
The first precision slewing bearing 201 and the second precision slewing bearing 401 are distributed at two ends of the installation surface of the optical stage 101, are formed by combining precision V tables, provide supporting and measuring reference for workpieces, can be made of high-precision marble materials, are provided with a fine adjustment lifting mechanism, and can perform lifting compensation leveling along with the height difference between the shaft diameters of the workpieces. The invention relates to an in-place space multi-vision sensor distribution measuring device, which can locally image longer geometric elements through a high-precision small view field, and can realize the overall dimension measurement of workpieces by adopting a method of a correlation reference for the measurement reference of the axes of the workpieces outside the view field.
The optical stage 101 is used for providing installation and adjustment references for the radial dimension measurement camera 354, the axial dimension measurement camera 358, the first background illumination light source 356, the second background illumination light source 360, the photoelectric synchronous trigger mechanism 361, the first precision slewing bearing 201, the second precision slewing bearing 401 and the like. The optical carrier 101 adopts the design of a surface embedded guide structure, and can ensure the installation and adjustment guidance of related parts on the platform, thereby ensuring the imaging and illumination coaxiality of visual imaging cameras, targets and light source visual measurement core parts, and being suitable for workpiece series with variable assembly scales. The invention is not limited to realize the visual measurement in the radial direction and the axial direction, and can be expanded to the application occasions of measuring the elements to be measured in a plurality of directions.
The invention can be applied to station measurement on a production line, can also replace the original manual work to disassemble parts by means of an image measuring instrument for separation measurement, and is suitable for the application occasion of in-situ real-time high-precision measurement.
The invention utilizes the characteristics of the workpiece rotary motion to solve the problem that the non-contact measurement of the rotary precision of the assembled workpiece is difficult. The element to be measured is a related size element separated in space, the element to be measured and a reference element are imaged in the same visual field of a camera, a large optical aperture and a large depth of field are needed, the measurement precision is reduced due to the increase of the aperture and the depth of field, therefore, in order to realize rapid high-precision measurement, the invention adopts the spatial distributed layout of the camera, the optical aperture and the depth of field which are as small as possible only cover the element to be measured so as to improve the precision, and for the workpiece axis reference element which cannot be seen by the camera, a related transfer model is established between the area where the imaging visual field of the camera is located and the area where the reference is located through a conversion method of a measurement transfer chain, so that the overall size measurement under the distributed local element measurement of the camera is realized. Based on the relation principle, the radial measurement camera for the section extension dimension is arranged on one side of the long shaft, the view field of the radial measurement camera is from the edge element covering the workpiece to be measured, and the edge element has small dimension, so that the imaging view field and the depth of field of the camera end can be ensured to be small enough to obtain high measurement precision of the local edge position, and the radial dimension measurement of the edge element under the rotation condition can be realized. The axial arrangement dimension measurement cameras are arranged above the side of the long shaft piece to form a vertical downward view array layout, the positions of the edge elements are observed from the upper side, the vertical downward view array layout and the axial measurement cameras at the tips of the other ends form a space distribution combination, downward view characteristic positions are respectively observed, and the axial dimension measurement between two extending ends of the workpiece is formed through the coordinate correlation of the measurement areas of the cameras.
The invention is applied to the measurement of the special-shaped workpiece:
as shown in fig. 1 and 3, the optical stage 101 is located below the entire apparatus, and provides a mounting reference, a guiding reference and a positioning structure; and the precision slewing bearings (201, 401) are structurally arranged at the positioning positions of two ends of the optical stage, lifting fine adjustment mechanisms (202, 402) are arranged below the precision slewing bearings, and the lifting fine adjustment mechanisms (202, 402) are used for adjusting and compensating the height difference of the V-shaped bearings at the two ends so that the slewing workpiece 353 to be measured at the tail end is in a horizontal state and can do 360-degree slewing motion in the V-shaped platform sliding bearings at the two ends after fine adjustment. The radial dimension measuring camera 354 and the background illumination light source 356 form a set of radial dimension measuring vision subsystem device which is located on one side of the rotation axis of the workpiece, the optical axis is in the same direction with the rotation axis, and the local clear imaging of the tail end of the extending end of the workpiece can be achieved. The axial dimension measuring camera 358 and the background illumination source 360 constitute another set of axial dimension measuring vision subsystem devices, which are located at the same side as the radial dimension measuring vision subsystem, and are arranged in a downward view for observing a local element region at one end of the axial direction where the long and narrow workpiece is located. The photoelectric synchronous trigger mechanism 361 is installed in the position inside an external circle of the extending end of the section of the workpiece, and the extending end shielding element triggers synchronous photographing after reaching the external circle and is used for pulse cycle measurement or single-point measurement of multi-point elements of the rotary section.
The internal components of the invention work cooperatively, when entering a system measurement mode, the rotary workpiece rotates, when reaching a measurement area, two groups of vision subsystem measurement devices simultaneously monitor or trigger and shoot area elements from different directions in real time, and according to the vision measurement model in respective continuous measurement mode or single-point/multi-point measurement mode, the invention can realize global dimension measurement under the condition that local elements are visible, quickly generate radial and axial dimension measurement results, and finish real-time station measurement.
As shown in fig. 1, the optical carrier 1 adopts a guide rail guide structure design to ensure the installation and adjustment guidance of the related components on the carrier, so as to ensure the imaging coaxiality of the visual imaging camera, the target and the light source visual measurement core component; on the other hand, the design of the guide structure of the carrier can also adapt to the measurement requirements of the size series change of the workpiece to be measured in the radial direction and the axial direction. The two vision subsystems (301 and 501) respectively correspond to two radial and axial observation directions of the rotary workpiece, the field areas of the vision subsystems are overlapped and crossed (see figure 3), the measurement areas of the elements to be measured are jointly covered, and synchronous and rapid measurement of the bidirectional dimension elements can be realized. In addition, a transmission plane target with an axial micro-displacement adjusting function can be installed between the measuring camera component and the background light source component, in-place calibration of the device is achieved, and the target mechanism can be installed quickly and disassembled quickly after use. The precise slewing bearing (201, 401) can be provided with a measuring area and a reference area three-dimensional correlation target, so that a measuring transmission chain is established through in-situ coordinate conversion, and the rapid local and global calibration of the whole device is realized.
Aiming at the application occasions with high measurement precision requirements, the vision measurement subsystem (301, 501) can adopt a small-field-depth small-field telecentric lens, a telecentric parallel light source, and a high-resolution high-sensitivity camera matched with the lens and the light source. The calibration adopts a high-precision circular spot dot matrix projection target and a rapid high-precision calibration method to realize in-situ calibration of an imaging area and scale conversion of a measurement reference. The whole device is designed with a precise fine adjustment link, and the consistency of the benchmark can be ensured. In the rotation aspect of the rotary workpiece 353 to be measured, the angle can be automatically adjusted in a belt pulley meshing transmission mode, and the requirement for full-automatic station measurement is met. The design can ensure the rapid and precise online measurement of workpieces with the characteristics, and is suitable for production line measurement application occasions with higher measurement speed and precision requirements.
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