CN116465494A - Automatic chromatic aberration measurement positioning system and automatic chromatic aberration measurement assembly - Google Patents

Automatic chromatic aberration measurement positioning system and automatic chromatic aberration measurement assembly Download PDF

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Publication number
CN116465494A
CN116465494A CN202210032779.XA CN202210032779A CN116465494A CN 116465494 A CN116465494 A CN 116465494A CN 202210032779 A CN202210032779 A CN 202210032779A CN 116465494 A CN116465494 A CN 116465494A
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CN
China
Prior art keywords
color difference
instrument
chromatic aberration
automatic
difference measurement
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
Application number
CN202210032779.XA
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Chinese (zh)
Inventor
张伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yanfeng Plastic Omnium Shanghai Automotive Exterior Systems Co Ltd
Original Assignee
Yanfeng Plastic Omnium Shanghai Automotive Exterior Systems Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yanfeng Plastic Omnium Shanghai Automotive Exterior Systems Co Ltd filed Critical Yanfeng Plastic Omnium Shanghai Automotive Exterior Systems Co Ltd
Priority to CN202210032779.XA priority Critical patent/CN116465494A/en
Publication of CN116465494A publication Critical patent/CN116465494A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/005—Vacuum work holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • 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
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Spectrometry And Color Measurement (AREA)

Abstract

The invention provides an automatic color difference measurement positioning system, which comprises an instrument color difference measurement device with a first diagonal line and a second diagonal line which are intersected with each other, a first displacement sensor and a second displacement sensor which are arranged on two sides of the first diagonal line of the instrument color difference measurement device, and a vacuum adsorption mechanism which is arranged on two sides of the second diagonal line of the instrument color difference measurement device. The invention also provides a corresponding automatic color difference measurement assembly. The automatic color difference measurement positioning system realizes the detection of the product position before color difference measurement through the combined use of the two displacement sensors and the vacuum adsorption mechanism, and further realizes the product positioning during automatic color difference measurement and the automatic adjustment of a color difference measurement instrument, thereby improving the stability and the accuracy of the automatic color difference measurement process.

Description

Automatic chromatic aberration measurement positioning system and automatic chromatic aberration measurement assembly
Technical Field
The invention relates to an automatic chromatic aberration measurement positioning system and an automatic chromatic aberration measurement assembly, which are used for automatically measuring chromatic aberration of a bumper.
Background
Currently, in a normal coating process, a bumper is placed on a coating hanger, and color difference measurement is required to be performed on the bumper manually before a piece is removed. Typically, one paint cart will have 6-8 bumper hangers. The current color difference measurement process has the following disadvantages:
firstly, the current color difference measurement process is manual operation, different measurement personnel and different measurement positions can cause larger fluctuation of color difference measurement data, and meanwhile, the color difference measurement data cannot be output in real time.
Secondly, because of the influence of various factors such as the size of different coating hangers, the size deviation of different products, the manufacturing deviation of different coating trolleys, the position deviation of a coating conveying chain and the like, a fixed bumper product has larger position deviation when being stationary at a certain position. When the color difference measurement equipment performs on-line automatic measurement, the color difference measurement equipment can accurately perform the color difference measurement only by contacting with a product according to the normal direction.
Third, the existing color difference measurement equipment is manual equipment, does not have an automatic start-stop function, and needs to develop system software for the color difference measurement equipment, so that the color difference measurement equipment has the automatic start-stop and data transmission functions, and the requirement of automatic measurement is met.
Disclosure of Invention
The invention aims to provide a product positioning system for automatically measuring the chromatic aberration of a bumper, so as to realize the stability and the accuracy of an automatic chromatic aberration measuring process.
In order to achieve the above object, the present invention provides an automatic color difference measurement positioning system including an instrument color difference measurement device having a first diagonal line and a second diagonal line intersecting each other, a first displacement sensor and a second displacement sensor mounted on both sides of the first diagonal line of the instrument color difference measurement device, and a vacuum adsorption mechanism mounted on both sides of the second diagonal line of the instrument color difference measurement device.
The instrument color difference measuring equipment adopts a color difference measuring instrument with the model of Konica CM-M6.
The first displacement sensor and the second displacement sensor are laser sensors.
The vacuum adsorption mechanism comprises 2 vacuum generators, each vacuum generator is connected with one vacuum chuck, and each vacuum chuck is respectively arranged on one side of a second diagonal line of the instrument chromatic aberration measurement device.
The two vacuum chucks are positioned at a plane position exceeding the measuring plane of the instrument chromatic aberration measuring device.
In another aspect, the present invention provides an automatic color difference measurement assembly, which comprises a gantry bracket, a six-axis manipulator installed at the top end of the gantry bracket, and the automatic color difference measurement positioning system installed at the top end of the six-axis manipulator.
And the Y-direction servo motor and the Z-direction servo motor are simultaneously arranged on the gantry bracket.
The first displacement sensor and the second displacement sensor are fixed on instrument chromatic aberration measuring equipment through a mounting bracket; the vacuum adsorption mechanism comprises 2 vacuum generators, each vacuum generator is connected with one vacuum chuck, and the two vacuum chucks are fixed on instrument chromatic aberration measuring equipment through a mounting bracket. The instrument color difference measurement equipment is fixedly connected to the top end of the six-axis manipulator through a mounting hole carried by the instrument color difference measurement equipment and a standard flange.
The automatic color difference measurement positioning system realizes the detection of the product position before color difference measurement through the combined use of the two displacement sensors and the vacuum adsorption mechanism, and further realizes the product positioning during automatic color difference measurement and the automatic adjustment of a color difference measurement instrument, thereby improving the stability and the accuracy of the automatic color difference measurement process.
Drawings
FIG. 1 is a schematic diagram of an automatic color difference measurement positioning system according to the present invention;
FIG. 2 is an overall block diagram of an automatic color difference measurement assembly of the present invention;
FIG. 3 is a diagram showing the actual installation of the automatic color difference measuring and positioning system of the automatic color difference measuring assembly of the present invention on a six-axis manipulator;
FIG. 4 is a flowchart of the operation of the automatic color difference measurement assembly of the present invention.
Detailed Description
As shown in fig. 1, the automatic color difference measurement positioning system of the present invention is used for realizing automatic color difference measurement of a product to be measured. The automatic color difference measurement positioning system comprises an instrument color difference measurement device 1, a first displacement sensor 2 and a second displacement sensor 3 which are arranged on two sides of a first diagonal line of the instrument color difference measurement device 1, and a vacuum adsorption mechanism 4 which is arranged on two sides of a second diagonal line of the instrument color difference measurement device 1. The first diagonal and the second diagonal of the instrument color difference measuring device 1 intersect.
The instrument color difference measuring device 1 is used for measuring color difference of a product to be measured, the first displacement sensor 2 and the second displacement sensor 3 are used for detecting position distance, and the vacuum adsorption mechanism 4 is used for ensuring that the instrument color difference measuring device 1 is attached to the product to be measured during measurement.
In the present embodiment, the instrument color difference measuring apparatus 1 employs a color difference measuring instrument of the model number Konica CM-M6. The first displacement sensor 2 and the second displacement sensor 3 are laser sensors. The vacuum adsorption mechanism 4 comprises 2 vacuum generators 41, each vacuum generator 41 is connected with one vacuum chuck 42, and each vacuum chuck 42 is respectively arranged on one side of a second diagonal line of the instrument color difference measurement device 1, therefore, each vacuum generator corresponds to one vacuum chuck to ensure enough adsorption effect, and two vacuum chucks 42 are arranged on two sides of the instrument color difference measurement device 1 in total, so that the instrument color difference measurement device is suitable for different product models. The two vacuum chucks 42 are positioned at a plane position slightly exceeding the measuring plane of the instrument chromatic aberration measuring device 1, so that the measuring surface of the instrument chromatic aberration measuring device 1 is not contacted with a product to be measured when the positioning is successful.
In addition, the automatic color difference measuring and positioning system further comprises a host computer which is in signal connection with the instrument color difference measuring device 1, the first displacement sensor 2, the second displacement sensor 3 and the vacuum adsorption mechanism 4, so that the components are started and shut down. The upper computer is an industrial computer.
Fig. 2 is a diagram showing the whole structure of the automatic color difference measuring assembly. As shown in fig. 2, the automatic color difference measuring assembly is composed of a gantry bracket 10, a six-axis manipulator 20 mounted on the top end of the gantry bracket 10, and the automatic color difference measuring and positioning system 30 mounted on the top end of the six-axis manipulator 20.
The gantry support is also provided with a Y-direction servo motor and a Z-direction servo motor, and the position movement of the top end of the gantry support is realized through the Y-direction servo motor and the Z-direction servo motor, so that the six-axis manipulator 20 can realize the movement of the Y axis and the Z axis on the gantry. The directions of the X-axis and the Y-axis are shown, and the Z-axis direction is the direction perpendicular to the paper surface.
Fig. 3 is a diagram showing the practical effect of the automatic color difference measuring and positioning system 30 installed on the six-axis manipulator 20. As shown in fig. 3, the first displacement sensor 2 and the second displacement sensor 3 are fixed to the instrument color difference measuring apparatus 1 by a mounting bracket, and the two vacuum chucks 42 are fixed to the instrument color difference measuring apparatus 1 by a mounting bracket. The instrument color difference measuring device 1 is fixedly connected to the top end of the six-axis manipulator 20 through a mounting hole carried by the instrument color difference measuring device and a standard flange 21.
Fig. 4 is a flowchart illustrating the operation of the automatic color difference measurement assembly. The automatic color difference measurement assembly is used for realizing automatic color difference measurement of the product to be measured. In this embodiment, the product to be tested is a bumper product on a hanger in a paint line. The positions of the product to be tested and the hanger are shown in fig. 2.
As shown in fig. 4, the specific workflow of the automatic color difference measurement assembly is as follows:
step S1: constructing the automatic color difference measurement assembly, starting the automatic color difference measurement assembly, enabling the first displacement sensor 2 and the second displacement sensor 3 of the automatic color difference measurement positioning system 30 to start working, and monitoring the state of a product to be measured on a hanger in real time;
step S2: when the first displacement sensor 2 and the second displacement sensor 3 detect that no product exists on the hanger, a no-product signal is sent to the automatic color difference measurement positioning system 30, and the instrument color difference measurement device 1 does not measure after receiving the no-product signal;
wherein the detection of no product on the hanger is indicated when the first displacement sensor 2 and the second displacement sensor 3 send signals and there is no distance feedback signal.
Step S3: when the first displacement sensor 2 and the second displacement sensor 3 detect the product to be measured and detect that the product to be measured is shifted in position, the measured distance of the product to be measured is sent to the automatic color difference measurement positioning system 30, whether the self-instrument color difference measurement device 1 performs measurement or not is informed according to the measured distance, and the six-axis manipulator 20 is informed to prevent collision.
When the product to be measured is shifted, the first displacement sensor 2 and the second displacement sensor 3 give out pulse signals to an upper computer of the automatic color difference measurement positioning system, and the measured distance of the product to be measured is obtained through calculation of the upper computer.
In the step S3, the set value is a theoretical distance value when no positional deviation occurs between the first displacement sensor 2 and the second displacement sensor 3 and the product to be measured.
1) When the measured distance is smaller than the set value, the six-axis manipulator 20 is utilized to offset the automatic color difference measurement positioning system 30 according to the measured distance so that the offset measured distance is equal to the offset value, and the instrument color difference measurement device 1 does not measure;
2) When the measured distance is greater than or equal to the set value, for the case that the difference value between the measured distance and the set value does not exceed 20mm, the six-axis manipulator 20 moves towards the product to be measured along the normal direction of the measuring area of the product to be measured, and meanwhile, the vacuum adsorption mechanism 4 is started to ensure that the instrument color difference measuring equipment 1 is attached to the product to be measured, and then the instrument color difference measuring equipment 1 performs measurement to output measurement data; for the case where the difference between the measured distance and the set value exceeds 20mm, the automatic color difference measurement positioning system 30 is shifted by the six-axis robot 20 in accordance with the measured distance so that the measured distance is equal to the shift value, and the instrument color difference measurement apparatus 1 does not perform measurement.
Wherein, through program design, when the distance between the first displacement sensor 2 and the second displacement sensor 3 and the product to be measured is the set value, the surface of the vacuum chuck 42 is just fit with the product to be measured. In the present embodiment, the set value (i.e., the theoretical distance value at which no positional deviation occurs between the first and second displacement sensors 2 and 3 and the product to be measured) is 64mm.
The vacuum degree of the vacuum adsorption mechanism 4 during starting is designed to be attached to the instrument color difference measuring equipment 1 under the condition of ensuring that the product to be measured is not deformed. This fitting does not serve to change the distance between the first displacement sensor 2 and the second displacement sensor 3 and the product to be measured, but only to determine a more defined contact point by means of the two sensors, since the measuring area of the product to be measured is non-planar.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and various modifications can be made to the above-described embodiment of the present invention. For example, the form of the laser sensor employed in the present invention may be replaced with a structure such as an ultrasonic sensor, the model of the color difference measuring apparatus may be replaced, or the like. All simple, equivalent changes and modifications made according to the claims and the specification of the present application fall within the scope of the claims, and the invention is not described in detail in the conventional art.

Claims (9)

1. An automatic chromatic aberration measurement positioning system, characterized in that it comprises an instrument chromatic aberration measurement device (1) having a first diagonal and a second diagonal intersecting each other, a first displacement sensor (2) and a second displacement sensor (3) mounted on both sides of the first diagonal of the instrument chromatic aberration measurement device (1), and a vacuum adsorption mechanism (4) mounted on both sides of the second diagonal of the instrument chromatic aberration measurement device (1).
2. The automatic color difference measurement positioning system according to claim 1, characterized in that the instrument color difference measurement device (1) employs a color difference meter of the model Konica CM-M6.
3. An automatic color difference measurement positioning system according to claim 1, characterized in that the first displacement sensor (2) and the second displacement sensor (3) are laser sensors.
4. The automatic color difference measurement positioning system according to claim 1, wherein the vacuum suction mechanism (4) comprises 2 vacuum generators (41), each vacuum generator (41) is connected with one vacuum chuck (42), and each vacuum chuck (42) is respectively arranged at one side of a second diagonal line of the instrument color difference measurement device (1).
5. The automatic color difference measuring and positioning system according to claim 4, characterized in that the two vacuum chucks (42) are located in a plane beyond the measuring plane of the instrument color difference measuring device (1).
6. An automatic chromatic aberration measuring assembly, characterized in that it consists of a gantry bracket (10), a six-axis manipulator (20) mounted on the top end of the gantry bracket (10), and an automatic chromatic aberration measuring and positioning system according to one of claims 1-5 mounted on the top end of the six-axis manipulator (20).
7. The automatic color difference measurement assembly according to claim 6, wherein the gantry bracket is provided with a Y-direction servo motor and a Z-direction servo motor.
8. The automatic chromatic aberration measurement assembly according to claim 6, wherein the first displacement sensor (2) and the second displacement sensor (3) are fixed to the instrument chromatic aberration measurement device (1) by means of a mounting bracket; the vacuum adsorption mechanism (4) comprises 2 vacuum generators (41), each vacuum generator (41) is connected with one vacuum chuck (42), and the two vacuum chucks (42) are fixed on the instrument chromatic aberration measurement equipment (1) through the mounting bracket.
9. The automatic chromatic aberration measurement assembly according to claim 6, wherein the instrument chromatic aberration measurement device (1) is fixedly connected to the top end of the six-axis manipulator (20) through a mounting hole carried by the instrument chromatic aberration measurement device and a standard flange (21).
CN202210032779.XA 2022-01-12 2022-01-12 Automatic chromatic aberration measurement positioning system and automatic chromatic aberration measurement assembly Pending CN116465494A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210032779.XA CN116465494A (en) 2022-01-12 2022-01-12 Automatic chromatic aberration measurement positioning system and automatic chromatic aberration measurement assembly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210032779.XA CN116465494A (en) 2022-01-12 2022-01-12 Automatic chromatic aberration measurement positioning system and automatic chromatic aberration measurement assembly

Publications (1)

Publication Number Publication Date
CN116465494A true CN116465494A (en) 2023-07-21

Family

ID=87175836

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210032779.XA Pending CN116465494A (en) 2022-01-12 2022-01-12 Automatic chromatic aberration measurement positioning system and automatic chromatic aberration measurement assembly

Country Status (1)

Country Link
CN (1) CN116465494A (en)

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