CN216645256U - Large-size part surface flexibility measuring system - Google Patents
Large-size part surface flexibility measuring system Download PDFInfo
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- CN216645256U CN216645256U CN202123106708.XU CN202123106708U CN216645256U CN 216645256 U CN216645256 U CN 216645256U CN 202123106708 U CN202123106708 U CN 202123106708U CN 216645256 U CN216645256 U CN 216645256U
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Abstract
The utility model provides a large-size part surface flexibility measuring system which comprises a base, a laser tracker, a multi-joint mechanical arm, an optical tracking multi-target ball, a binocular camera, a driving device and a control device, wherein the base is provided with a mounting position for fixing a part to be measured; the laser tracker is arranged on one side of the installation position, a tracking head of the laser tracker faces the installation position and is opposite to the movable end of the multi-joint mechanical arm, and the movable end is arranged above the installation position; the optical tracking multi-target ball and the binocular camera are both arranged at the movable end; the driving device drives the relative position of the movable end and the part to be detected to change; the control device is electrically connected with the multi-joint mechanical arm, the binocular camera and the driving device, controls the position of the movable end and obtains image information. The laser emitted by the laser tracker is received by the optical tracking multi-target ball and reflected back, the image information is shot by the binocular camera in real time, the three-dimensional reconstruction is carried out on the part to be detected, the three-dimensional size and the surface characteristic information are obtained, and the high-precision size measurement and quality detection are realized.
Description
Technical Field
The utility model relates to the technical field of three-dimensional measurement, in particular to a system for measuring the surface flexibility of a large-size part.
Background
With the continuous improvement of the process level of the manufacturing industry and the continuous development of the field of manufacturing of large parts, higher requirements are provided for the three-dimensional measurement of large-size parts, but the traditional measurement means is difficult to meet the requirements of high precision and high efficiency. The existing structured light three-dimensional measurement technology is gradually and widely applied to the precise measurement of various parts with the advantages of excellent measurement precision, high measurement efficiency and the like.
However, the structured light three-dimensional measurement has some defects in the measurement of large parts, and due to the parts with large geometric dimensions and complex structures, the requirements on measurement accuracy and measurement range are high, which provides challenges for large-size three-dimensional measurement technology. However, in the prior art of structured light three-dimensional measurement, in the measurement process, the measurement camera generally cannot guarantee the all-dimensional measurement of the measurement part, and when the measurement part has a large size, multiple cameras are required to shoot simultaneously, so that the measurement cost required by a calibration device, a shooting device, a calibrator and a calibration method required by the whole measurement system is relatively high; meanwhile, measurement of excessively complicated and large parts is not comprehensive.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides a system for measuring the surface flexibility of a large-sized part, which aims to reduce the measurement cost and perform an omnidirectional accurate measurement on the large-sized part.
The embodiment of the utility model provides a surface flexibility measuring system for a large-size part, which comprises:
the device comprises a base, a positioning device and a positioning device, wherein the base is provided with a mounting position for fixing a part to be detected;
the laser tracker is arranged on one side of the installation position, and a tracking head of the laser tracker faces the installation position and is used for emitting laser;
the movable end of the multi-joint mechanical arm is arranged above the mounting position and is arranged opposite to the laser tracker;
the optical tracking multi-target ball is arranged at the movable end of the multi-joint mechanical arm and used for receiving the laser and reflecting the laser back to the laser tracker;
the binocular camera is arranged at the movable end of the multi-joint mechanical arm and used for acquiring image information of the position of the movable end of the multi-joint mechanical arm;
the driving device is used for driving the relative position of the movable end of the multi-joint mechanical arm and the part to be detected to change; and the number of the first and second groups,
and the control device is electrically connected with the multi-joint mechanical arm, the binocular camera and the driving device and is used for controlling the position of the movable end relative to the part to be detected and acquiring the image information.
Optionally, the drive device comprises:
the rotary table is rotatably arranged at the mounting position, and the part to be tested is mounted on the rotary table;
and the driving assembly drives the turntable to rotate.
Optionally, the drive assembly comprises:
the rotating shaft is vertically fixed below the center of the turntable;
and an output shaft of the first motor is fixed with the rotating shaft so as to drive the rotating shaft to rotate.
Optionally, the drive assembly comprises:
the rotating column is arranged at the center of the rotating disc in a downward protruding manner;
the auxiliary gear is fixedly connected with the rotary column;
the main gear is meshed with the pinion; and the number of the first and second groups,
and an output shaft of the second motor is coaxially connected with the main gear so as to drive the main gear to rotate.
Optionally, the drive device comprises:
the electromagnetic track is arranged on the outer side of the installation position; and the number of the first and second groups,
the AGV dolly is located on the electromagnetic rail, be used for the installation the articulated arm.
Optionally, the electromagnetic rail is provided with multiple layers in an outward direction from the installation position.
Optionally, the multi-joint robotic arm comprises at least three joints.
Optionally, each joint is provided as a pivot structure, and the pivot structure includes:
the connecting device comprises a first connecting arm, a second connecting arm and a connecting rod, wherein one end of the first connecting arm is provided with a through hole;
a connecting column is convexly arranged on one side surface, close to the first connecting arm, of the second connecting arm, and the connecting column penetrates through the through hole, so that the first connecting arm is rotatably connected with the second connecting arm; and the number of the first and second groups,
and an output shaft of the third motor is fixedly connected with the connecting column to drive the second connecting arm to rotate.
Optionally, the first connecting arm and the second connecting arm may be both configured as a rod; or the like, or, alternatively,
the first connecting arm with the second connecting arm all includes two connecting rods and many dead levers of parallel connection, many the dead lever is followed the extending direction interval of connecting rod sets up, and each the both ends of dead lever respectively with two connecting rod fixed connection.
The technical scheme provided by the embodiment of the utility model has the following beneficial effects: the surface flexibility measuring system for the large-size parts of the utility model installs the parts to be measured at the base installation position, utilizes the laser tracker to optically track the multi-target ball to generate laser, the laser is received by the optical tracking multi-target ball and reflected to the laser tracker, the binocular camera and the optical tracking multi-target ball are arranged at the same position, the position information of the optical tracking multi-target ball receiving and reflecting laser is shot in real time by the binocular camera, the relative position of the movable end of the multi-joint mechanical arm and the part to be measured is driven to change by the driving device, the image information of a plurality of positions can be shot by the binocular camera in real time, the three-dimensional reconstruction of the part to be measured is carried out by the three-dimensional point cloud splicing technology through the image information of the plurality of positions acquired by the control device, therefore, the three-dimensional size and surface characteristic information of the part to be detected are obtained, and high-precision size measurement and quality detection are realized.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a system for measuring surface flexibility of a large-size part according to the present invention;
FIG. 2 is a schematic front view of FIG. 1;
FIG. 3 is an enlarged schematic view of portion A of FIG. 2;
fig. 4 is a schematic top view of fig. 2.
In the figure: the device comprises a large-size part surface flexibility measuring system 100, a base 1, a laser tracker 2, a multi-joint mechanical arm 3, a pivoting structure 31, a first connecting arm 31a, a second connecting arm 31b, a third motor 31c, an optical tracking multi-target ball 4, a binocular camera 5 and a turntable 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 to 4, a system 100 for measuring surface flexibility of a large-sized part provided by the present invention includes a base 1, a laser tracker 2, a multi-joint mechanical arm 3, an optical tracking multi-target ball 4, a binocular camera 5, a driving device and a control device, wherein the base 1 has a mounting location for fixing the part to be measured; the laser tracker 2 is arranged on one side of the installation position, and a tracking head of the laser tracker 2 faces the installation position and is used for emitting laser; the movable end of the multi-joint mechanical arm 3 is arranged above the mounting position and is opposite to the laser tracker 2; the optical tracking multi-target ball 4 is arranged at the movable end of the multi-joint mechanical arm 3 and used for receiving the laser and reflecting the laser back to the laser tracker 2; the binocular camera 5 is arranged at the movable end of the multi-joint mechanical arm 3 and used for acquiring image information of the position of the movable end of the multi-joint mechanical arm 3; the driving device is used for driving the relative position of the movable end of the multi-joint mechanical arm 3 and the part to be detected to change; the control device is electrically connected with the multi-joint mechanical arm 3, the binocular camera 5 and the driving device and is used for controlling the position of the movable end relative to the part to be detected and acquiring the image information.
The parts to be measured are arranged on the mounting position of the base 1, the laser tracker 2 is utilized to generate laser to the optical tracking multi-target ball 4, the laser is received by the optical tracking multi-target ball 4 and reflected to the laser tracker 2, the binocular camera 5 and the optical tracking multi-target ball 4 are arranged at the same position, the position information of the laser received and reflected by the optical tracking multi-target ball 4 is shot in real time by the binocular camera 5, the relative position of the movable end of the multi-joint mechanical arm 3 and the part to be measured is driven to change by the driving device, the binocular camera 5 can shoot image information of a plurality of positions in real time, the image information of the plurality of positions acquired by the control device is used for three-dimensional reconstruction of the part to be measured by adopting a three-dimensional point cloud splicing technology, therefore, the three-dimensional size and surface characteristic information of the part to be detected are obtained, and high-precision size measurement and quality detection are realized.
Here, it is worth mentioning that the to-be-measured part in the present application refers to a large-sized part having a length greater than 1000 mm. Meanwhile, the optical tracking multi-target ball 4 and the binocular camera 5 are specifically formed by installing a multi-surface target ball body formed by a plurality of optical target balls, a binocular system formed by two industrial cameras and a contour camera with a wide-angle lens at the movable end of the multi-joint mechanical arm 3 together, and can realize calibration of any posture, high-precision imaging and contour imaging of large-size parts. The multi-surface target sphere is a multi-plane target sphere consisting of 11 optical tracking target spheres, and a pose plane is determined by three non-collinear target spheres, so that high-precision positioning of a space plane is realized. The measuring principle of the measuring system is that the laser tracker 2 is utilized to perform plane tracking on the target sphere polyhedron, the pose information of the binocular camera 5 is determined, dynamic calibration is achieved, and high-precision calibration is provided for achieving three-dimensional reconstruction through continuous scanning of the measuring system.
In addition, the relative positions of the movable end of the multi-joint mechanical arm 3 and the part to be measured are changed through the movement of the multi-joint mechanical arm 3 and the driving device, the part to be measured with large size and complex structure can be continuously measured and detected in a wide range, and the optical tracking multi-target ball 4 and the binocular camera 5 can reach a plurality of measuring positions of the part to be measured to calibrate.
Further, in the first embodiment, referring to fig. 3 and 4, the driving device includes a rotating disc 6 and a driving assembly, the rotating disc 6 is rotatably disposed at the mounting position, and the part to be tested is mounted on the rotating disc 6; the driving component drives the turntable 6 to rotate.
In the first embodiment, the turntable 6 is arranged to rotate to drive the part to be detected to rotate, and then the multi-joint mechanical arm 3 is matched to move, so that the relative position of the movable end of the multi-functional mechanical arm and the part to be detected can be changed, and further the relative positions of the optical tracking multi-target ball 4, the binocular camera 5 and the part to be detected are changed.
In one embodiment, the driving assembly comprises a rotating shaft and a first motor, wherein the rotating shaft is vertically fixed below the center of the rotating disc 6; and an output shaft of the first motor is fixed with the rotating shaft so as to drive the rotating shaft to rotate. The rotating shaft is arranged below the rotating disc 6, and the first motor directly drives the rotating disc 6 to rotate, wherein the first motor can be driven by a servo motor, and the driving mode is simple in structure.
In another embodiment (not shown in the figures), the driving assembly comprises a rotary column, a pinion, a main gear and a second motor, wherein the rotary column is arranged at the center of the rotary disc 6 in a downward protruding mode; the pinion is fixedly connected with the rotary column; the main gear is meshed with the pinion; the output shaft of the second motor is coaxially connected with the main gear to drive the main gear to rotate. The turntable 6 is driven to rotate by means of gear engagement, and the driving method is high in driving precision and easy to control.
In a second embodiment (not shown), the drive means comprise an electromagnetic track and an AGV trolley, the electromagnetic track being arranged outside the mounting location; the AGV dolly is located on the electromagnetism track, be used for the installation articulated arm 3.
Through installing electromagnetic orbit and AGV dolly in the installation position outside to utilize the AGV dolly to drive the change of 3 positions of multi-joint arm in the removal in the installation position outside, combine multi-joint arm 3's rotation again, can realize that 3 expansion ends of multi-joint arm are for the position change of the part that awaits measuring on the installation position, this kind of drive mode is also easily controlled. Here, the motion of the AGV cart is mature and will not be described in detail.
Further, it is also possible to arrange the driving means as a combination of the first embodiment and the second embodiment as a third embodiment for changing the positions of the optical tracking multi-target ball 4 and the binocular camera 5 with respect to the part to be measured by using the rotation of the turntable 6, the movement of the multi-joint robot arm 3, and the movement of the movable end of the multi-joint robot arm 3.
Furthermore, the electromagnetic track is provided with a plurality of layers in the direction from the installation position to the outside. Through setting up multilayer electromagnetism track, can change the activity radius of 3 relative installation positions of many joint arms, simultaneously, also can adapt to the part that awaits measuring of different size and dimension.
Further, the multi-joint robot arm 3 includes at least 3 joints. Through the arm that sets up 3 or more joints, help improving the flexibility ratio of arm for the position that the expansion end of many joints arm 3 can reach is more, and then acquires more meticulous positional information.
Further, referring to fig. 1, each joint is provided as a pivoting structure 31, the pivoting structure 31 includes a first connecting arm 31a, a second connecting arm 31b and a third motor 31c, and one end of the first connecting arm 31a is provided with a through hole; a connecting column is convexly arranged on one side surface of the second connecting arm 31b close to the first connecting arm 31a, and the connecting column is arranged in the through hole in a penetrating manner, so that the first connecting arm 31a is rotatably connected with the second connecting arm 31 b; an output shaft of the third motor 31c is fixedly connected with the connecting column to drive the second connecting arm 31b to rotate.
By providing each joint in the pivot structure 31, assembly and control of the multi-joint robot arm 3 are facilitated. The pivot structure 31 is used as a mode of articulation, but other modes of articulation may be used herein to realize the movement of the joints of the mechanical arm.
Further, the first connecting arm 31a and the second connecting arm 31b may be configured as a single rod; or first linking arm 31a with second linking arm 31b all includes two parallel connection's connecting rod and many dead levers, many the dead lever is followed the extending direction interval of connecting rod sets up, and each the both ends of dead lever respectively with two connecting rod fixed connection.
The first connecting arm 31a and the second connecting arm 31b can be connected to each other through a rod or two parallel connecting rods, the two parallel connecting rods can improve the rigidity and strength of the first connecting arm 31a or the second connecting arm 31b, and of course, the strength of the first connecting arm 31a and the second connecting arm 31b can be satisfied by using a rod with larger rigidity and large enough size.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A large-size part surface flexibility measuring system is characterized by comprising:
the device comprises a base, a positioning device and a positioning device, wherein the base is provided with a mounting position for fixing a part to be detected;
the laser tracker is arranged on one side of the installation position, and a tracking head of the laser tracker faces the installation position and is used for emitting laser;
the movable end of the multi-joint mechanical arm is arranged above the mounting position and is arranged opposite to the laser tracker;
the optical tracking multi-target ball is arranged at the movable end of the multi-joint mechanical arm and used for receiving the laser and reflecting the laser back to the laser tracker;
the binocular camera is arranged at the movable end of the multi-joint mechanical arm and used for acquiring image information of the position of the movable end of the multi-joint mechanical arm;
the driving device is used for driving the relative position of the movable end of the multi-joint mechanical arm and the part to be detected to change; and (c) a second step of,
and the control device is electrically connected with the multi-joint mechanical arm, the binocular camera and the driving device and is used for controlling the position of the movable end relative to the part to be detected and acquiring the image information.
2. The system for measuring the surface flexibility of a large-size part according to claim 1, wherein the driving means comprises:
the rotary table is rotatably arranged at the mounting position, and the part to be tested is mounted on the rotary table;
and the driving assembly drives the turntable to rotate.
3. The large-scale part surface flexibility measurement system of claim 2, wherein the drive assembly comprises:
the rotating shaft is vertically fixed below the center of the turntable;
and an output shaft of the first motor is fixed with the rotating shaft so as to drive the rotating shaft to rotate.
4. The large-scale part surface flexibility measurement system of claim 2, wherein the drive assembly comprises:
the rotating column is arranged at the center of the rotary table in a downward protruding manner;
the auxiliary gear is fixedly connected with the rotary column;
the main gear is meshed with the pinion; and the number of the first and second groups,
and an output shaft of the second motor is coaxially connected with the main gear so as to drive the main gear to rotate.
5. The system for measuring the surface flexibility of a large-size part according to claim 1 or 2, wherein the driving means comprises:
the electromagnetic track is arranged on the outer side of the installation position; and the number of the first and second groups,
the AGV dolly is located on the electromagnetic rail, be used for the installation the articulated arm.
6. The system for measuring the surface flexibility of the large-size part according to claim 5, wherein the electromagnetic rail is provided with a plurality of layers in a direction outward from the mounting position.
7. The large-scale part surface flexibility measurement system of claim 1, wherein the multi-joint robot arm comprises at least three joints.
8. The system for measuring the surface flexibility of the large-size part according to claim 7, wherein each joint is provided with a pivoting structure, and the pivoting structure comprises:
the connecting device comprises a first connecting arm, a second connecting arm and a connecting rod, wherein one end of the first connecting arm is provided with a through hole;
a connecting column is convexly arranged on one side surface, close to the first connecting arm, of the second connecting arm, and the connecting column penetrates through the through hole, so that the first connecting arm is rotatably connected with the second connecting arm; and (c) a second step of,
and an output shaft of the third motor is fixedly connected with the connecting column to drive the second connecting arm to rotate.
9. The system for measuring the surface flexibility of the large-size part according to claim 8, wherein the first connecting arm and the second connecting arm are each configured as a rod; or the like, or, alternatively,
the first connecting arm with the second connecting arm all includes two connecting rods and many dead levers of parallel connection, many the dead lever is followed the extending direction interval of connecting rod sets up, and each the both ends of dead lever respectively with two connecting rod fixed connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123106708.XU CN216645256U (en) | 2021-12-08 | 2021-12-08 | Large-size part surface flexibility measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123106708.XU CN216645256U (en) | 2021-12-08 | 2021-12-08 | Large-size part surface flexibility measuring system |
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| Publication Number | Publication Date |
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| CN216645256U true CN216645256U (en) | 2022-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202123106708.XU Expired - Fee Related CN216645256U (en) | 2021-12-08 | 2021-12-08 | Large-size part surface flexibility measuring system |
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| Country | Link |
|---|---|
| CN (1) | CN216645256U (en) |
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2021
- 2021-12-08 CN CN202123106708.XU patent/CN216645256U/en not_active Expired - Fee Related
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Granted publication date: 20220531 |