CN217818608U - Three-coordinate machine flexible composite joint inspection system based on stereoscopic vision - Google Patents
Three-coordinate machine flexible composite joint inspection system based on stereoscopic vision Download PDFInfo
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- CN217818608U CN217818608U CN202221634859.4U CN202221634859U CN217818608U CN 217818608 U CN217818608 U CN 217818608U CN 202221634859 U CN202221634859 U CN 202221634859U CN 217818608 U CN217818608 U CN 217818608U
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Abstract
The utility model discloses a three-coordinate machine flexible composite joint inspection system based on stereoscopic vision, which comprises a multi-degree-of-freedom robot, a stereoscopic vision device, a three-coordinate machine and an industrial control computer; the multi-degree-of-freedom robot is fixed on the side of the three-coordinate machine, the stereoscopic vision device is fixed at the tail end of the multi-degree-of-freedom robot, and the three-dimensional camera and the three-coordinate machine on the multi-degree-of-freedom robot and the stereoscopic vision device are in signal connection with the industrial control computer; the industrial control computer controls the multi-degree-of-freedom robot to move with the stereoscopic vision device to obtain the information of the surface of the workpiece to be measured; and the three-coordinate machine is used for measuring the size of the workpiece to be measured in a contact manner. The utility model can automatically correct the position and the pose of the measuring program by guiding the measuring head of the three-coordinate measuring machine to adapt to the processing deviation or deformation of parts, can adapt to the demand of fast automatic production change, can ensure the accurate adaptation of the workpiece to be measured, and can quickly adapt to the production change of the workpiece to be measured; used for guiding the processes of assembly, grinding, welding and the like.
Description
Technical Field
The utility model belongs to the measuring equipment field, concretely relates to utilize flexible compound joint inspection system that non-contact structured light stereo camera and three-dimensional machine combined together.
Background
In recent years, the measurement technology is rapidly developed, and rapid and accurate three-dimensional measurement becomes an important link in the manufacturing process and runs through the whole links of design, development, processing, detection, quality assurance and the like. The three-coordinate measuring machine has the advantages of high measuring precision, strong adaptability, excellent robustness and the like, becomes the most common three-dimensional precision measuring equipment in the manufacturing industry, and is widely applied to the fields of aerospace, automobiles, shipbuilding, equipment manufacturing, mold manufacturing and the like.
However, with the rapid development of the manufacturing industry, the disadvantages of the three-coordinate measuring machine are gradually highlighted: (1) The three-coordinate measuring machine is used as a point-by-point measuring device, a measuring probe is guided to measure by means of manual teaching programming, the workload is large, and the measuring efficiency is low; (2) During programming, the method needs to be carried out according to the shape characteristics and the measurement items of the object to be measured, the object to be measured needs to adopt a tool clamp and the like, and the consistency of the placing position at each time is strictly guaranteed to be applicable. If the processing quality of the same part in different batches is different and the size of the part is inconsistent, and when the difference is larger, the original measuring program cannot be applied, teaching programming needs to be carried out again; (3) Aiming at the condition that a three-coordinate measuring machine can carry out measurement track programming based on a part digital analogy, when the part machining precision is not high or the part is deformed after machining, the actual size of the part is greatly different from the digital analogy, so that the measurement program cannot be applied; (4) The three-coordinate machine program has specificity, when the measured object is replaced, the special program needs to be called manually according to the specification and model of the measured object, and quick automatic replacement cannot be realized. Particularly, the defects of the conventional three-coordinate measuring machine are more obvious under the conditions of small batch and multiple varieties.
Therefore, the three-coordinate machine intelligent flexible composite joint inspection system based on the non-contact stereoscopic vision is provided, the industrial control computer is matched with the stereoscopic camera, the measurement pose correction of the three-coordinate machine measuring head is realized, the processing deviation or deformation of parts is adapted, the requirement of rapid and automatic production change can be adapted, and the three-coordinate machine intelligent flexible composite joint inspection system has great significance and value.
SUMMERY OF THE UTILITY MODEL
For solving the above-mentioned defect that exists among the prior art, the utility model aims to provide a three-coordinate machine intelligence flexible composite joint inspection system based on non-contact stereovision is integrated non-contact stereovision and contact three-coordinate machine, when keeping three-coordinate machine high measurement accuracy, compensaties the not enough of conventional three-coordinate machine.
The utility model discloses a realize through following technical scheme.
The utility model provides a three-coordinate machine flexible composite joint inspection system based on stereoscopic vision, which comprises a multi-degree-of-freedom robot, a stereoscopic vision device, a three-coordinate machine and an industrial control computer; the multi-degree-of-freedom robot is fixed on the side of the three-coordinate machine, the stereoscopic vision device is fixed at the tail end of the multi-degree-of-freedom robot, and the three-dimensional camera and the three-coordinate machine on the multi-degree-of-freedom robot and the stereoscopic vision device are in signal connection with the industrial control computer;
the industrial control computer controls the multi-degree-of-freedom robot to move with the stereoscopic vision device to obtain the information of the surface of the workpiece to be detected; and the three-coordinate machine is used for measuring the size of the workpiece to be measured in a contact manner.
Preferably, the three-coordinate measuring machine comprises a workbench, a portal frame, a movable support, a portal frame support, a measuring probe, a bottom support and a three-coordinate controller, wherein the workbench is positioned on the bottom support, the portal frame support supports the portal frame on the bottom support, and the movable support carries the measuring probe and is connected to the portal frame in a sliding manner; the three-coordinate machine controller is positioned on the bottom support side and is in signal connection with the industrial control computer.
Preferably, the workpiece to be measured is placed on the workbench, and the measuring probe moves along the axial direction of the portal frame to measure the workpiece to be measured.
Preferably, the multiple degree of freedom robot includes a multiple degree of freedom robot body, a mounting base, and a robot controller.
Preferably, the stereo camera is mounted at the distal end of the multi-degree-of-freedom robot body through a camera mounting bracket.
Preferably, the stereo camera is a structured light stereo camera or a binocular camera.
Preferably, the multi-degree-of-freedom robot does not interfere with the three-coordinate system when moving with the stereo camera.
Preferably, the industrial control computer comprises an offline calibration module, a three-dimensional camera acquisition module, a path planning module, a stereoscopic vision intelligent identification module, a non-contact three-dimensional measurement module, a three-coordinate machine guide module and a three-coordinate machine contact measurement module.
The utility model discloses owing to take above technical scheme, it has following beneficial effect:
1. the utility model discloses a multi freedom robot carries three-dimensional stereo camera, and the topography characteristic of multi-view scanning surveyed the work piece acquires the workpiece surface's that awaits measuring information, and the quilt survey work piece need not strictly to place the fixed position at three coordinate quick-witted workstation, to having machining error or having the work piece of deformation, acquires the true position appearance of work piece through stereo camera non-contact scanning, also need not the artifical position of demonstrating again, but the system self-adaptation. The requirement for manually placing the workpiece and the corresponding tool cost are reduced, and the adaptability is stronger.
2. The industrial control computer collects and identifies the specification and model of the workpiece to be measured through the stereo camera, executes measurement operation, does not need manual participation, and can be quickly adapted to the production change of the workpiece to be measured.
3. Aiming at the condition that the same workpiece has machining size deviation in different batches or is deformed after machining, the system can acquire and obtain the real appearance size of the workpiece to be measured by using the stereo camera, the three-coordinate measuring machine measuring head executes measuring operation to the corresponding position, manual three-coordinate programming is not needed, and the flexibility degree is high.
4. The system can carry a three-dimensional camera through a multi-degree-of-freedom robot, can carry out multi-view omni-directional scanning on a workpiece to be measured, can directly output a measurement result according to a scanned image aiming at the dimension which is not high in measurement precision requirement or cannot be measured by a three-coordinate machine, and realizes flexible composite detection combining non-contact stereoscopic vision and contact three-coordinate machine high-precision measurement.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, do not constitute a limitation of the invention, and in which:
fig. 1 is a schematic diagram of the three-coordinate intelligent flexible composite joint inspection system based on stereoscopic vision;
FIG. 2 is a schematic diagram of a three coordinate system;
FIG. 3 is a block diagram of the three-coordinate intelligent flexible composite joint inspection system based on stereoscopic vision;
fig. 4 is the utility model discloses three coordinate measuring machine measures the assembly hole site structure sketch map of engine cylinder block.
In the figure: 1. a multi-degree-of-freedom robot; 2. a stereoscopic vision device; 3. a three-coordinate machine; 4. an industrial control computer; 5. a workpiece to be tested; 11. a multi-degree-of-freedom robot body; 12. installing a base; 13. a robot controller; 21. a stereo camera; 22. a camera mounting bracket; 31. a work table; 32. a gantry; 33. moving the support; 34. a measuring probe; 35. supporting by a portal frame; 36. a bottom support; 37. a three coordinate machine controller; 41. an offline calibration module; 42. a stereo camera acquisition module; 43. a path planning module; 44. a stereoscopic vision intelligent identification module; 45. a non-contact three-dimensional measurement module; 46. a three-coordinate machine guiding module; 47. three coordinate machine contact measurement module.
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, which are used to explain the invention, but not as a limitation thereof.
As shown in FIG. 1 and FIG. 2, the embodiment of the utility model provides a three-coordinate machine intelligence flexible compound joint inspection system based on stereovision, including multi freedom degree robot 1, stereovision device 2, three-coordinate machine 3 and industrial control calculation 4. The multi-degree-of-freedom robot 1 is fixedly arranged near the three-coordinate machine 3 through the base, and the working table of the three-coordinate machine 3 is ensured to be in the effective movement range of the multi-degree-of-freedom robot. The multi-degree-of-freedom robot 1 is in signal connection with the industrial control computer 4, is used for receiving coordinate information and instructions, and carries the stereoscopic vision device 2 to move to a specified position. The stereoscopic vision device 2 is fixedly arranged on a flange at the tail end of the multi-degree-of-freedom robot 1 and is used for scanning the appearance of the workpiece 5 to be measured and acquiring information such as three-dimensional point cloud data. The stereo camera 21 on the stereo vision device 2 is in signal connection with the industrial control computer 4, and the three-coordinate measuring machine 3 is fixedly arranged on the ground and used for measuring the relevant size of the workpiece to be measured in a contact way. The three-coordinate measuring machine 3 needs to meet the requirements of the conventional three-coordinate measuring machine on environment, vibration and the like.
As shown in fig. 2, the three-coordinate measuring machine 3 includes a workbench 31, a gantry 32, a movable support 33, a gantry support 35, a measuring probe 34, a bottom support 36 and a three-coordinate measuring machine controller 37, the workbench 31 is located on the bottom support 36, the gantry support 35 supports the gantry 32 on the bottom support 36, and the movable support 33 carries the measuring probe 34 and is slidably connected to the gantry 32; the three coordinate machine controller 37 is positioned at the bottom support 36 side, and the three coordinate machine controller 37 is in signal connection with the industrial control computer 4 and is used for receiving the corrected pose information and guiding the measuring probe 34 to reach the real pose of the measured item for contact measurement. And meanwhile, receiving a starting and stopping instruction of the industrial control computer, and executing measurement operation according to the system requirement.
As shown in fig. 3, the industrial control computer 4 is connected to the multi-degree-of-freedom robot 1, the stereoscopic vision device 2, and the three-coordinate system 3 via ethernet, and is used for transmitting information such as data and control commands.
The multi-degree-of-freedom robot 1 includes a multi-degree-of-freedom robot body 11, a mounting base 12, and a robot controller 13. The selection of the type of the multi-degree-of-freedom robot body 11 needs to ensure that the robot arm can cover the effective measurement area of the three-coordinate machine workbench 31. The robot mounting base 12 is designed in detail according to the movement range of the multi-degree-of-freedom robot body 11 and the overall dimension of the three-coordinate measuring machine 3 and in combination with an application scene.
The stereoscopic vision device 2 comprises a stereoscopic camera 21 and a camera mounting bracket 22, and the stereoscopic camera 21 is fixedly connected with the tail end flange of the multi-degree-of-freedom robot 1 through the camera mounting bracket 22. The stereo camera 21 may take a variety of forms including, but not limited to, a structured light stereo camera, a binocular camera. The camera mounting bracket 22 can be designed into different forms according to the multi-degree-of-freedom robot 1 and the stereo camera 2 in combination with field requirements, but it is required to ensure that the multi-degree-of-freedom robot 1 does not interfere with the three-dimensional coordinate machine 3 when carrying the stereo camera 21 to move.
The industrial control computer 4 controls the multi-degree-of-freedom robot 1 to move, the three-dimensional camera 21 collects information of a workpiece to be measured, and the three-dimensional coordinate machine 3 executes measurement operation.
As shown in fig. 3, the industrial control computer 4 is provided with an offline calibration module 41, a stereo camera acquisition module 42, a path planning module 43, and a stereo vision intelligent recognition module 44; a non-contact three-dimensional measuring module 45, a three-coordinate machine guiding module 46 and a three-coordinate machine contact measuring module 47.
The offline calibration module 41 may be configured to perform calibration operations on the stereo camera 21 and the multi-degree-of-freedom robot 1, and obtain a calibration transformation matrix of the coordinate systems of the stereo camera 21 and the multi-degree-of-freedom robot 1.
The offline calibration module 41 may be configured to perform calibration operations on the stereo camera 21 and the three-coordinate machine 3, and obtain a calibration transformation matrix of coordinate systems of the stereo camera 21 and the three-coordinate machine 3.
And the stereo camera acquisition module 42 is used for controlling the stereo camera to acquire the surface information of the workpiece to be detected.
And the path planning module 43 is configured to plan an acquisition view angle of the stereo camera 21 and a motion path of the multi-degree-of-freedom robot 11.
And the stereoscopic vision intelligent identification module 44 is used for extracting the structural characteristics of the workpiece to be detected by processing and analyzing the point cloud data, performing characteristic matching with the digital-analog information of the existing workpiece in the system and identifying the specification and the model of the workpiece to be detected.
The non-contact three-dimensional measurement module 45 processes and analyzes the point cloud data, performs feature segmentation and extraction, calls a related measurement algorithm, and calculates and provides the real pose information of the structural features of the workpiece to be measured.
And the three-coordinate machine guiding module 46 automatically corrects the position and posture information of the measurement point in the contact type measurement program of the three-coordinate machine 3 according to the acquired real position and posture information of the feature to be measured, and updates the contact type measurement program of the three-coordinate machine.
And the three-coordinate measuring machine contact type measuring module 47 reads the updated contact type measuring program, and guides the three-coordinate measuring machine 3 to measure the measuring head 34 to reach the corrected correct position to execute the contact type measuring operation.
The utility model discloses the implementation as follows:
the workpiece to be measured is placed on a three-coordinate machine workbench without strict positioning. The specific flow of the stereoscopic vision guiding three-coordinate measuring machine to perform the measurement operation is as follows:
the multi-degree-of-freedom robot carries a stereo camera to scan a workpiece 5 to be detected at an initial position, and the stereo camera adopts a structured light stereo camera to scan the workpiece to be detected, actively projects a grating and collects surface information of the workpiece. The system preliminarily acquires the pose of the workpiece to be detected on the three-coordinate machine workbench through the acquired workpiece surface information. And identifying the specification and model of the workpiece to be detected according to the acquired information. And the industrial control computer automatically calls a three-coordinate measuring machine measuring program corresponding to the workpiece to be measured according to the specification and the model of the workpiece to be measured.
The industrial control computer controls the multi-degree-of-freedom robot to carry the three-dimensional camera to scan the workpiece to be measured, the multi-degree-of-freedom robot carries the three-dimensional camera to return to the initial position after collection is completed, and the position cannot interfere with the three-coordinate measuring machine when measurement operation is carried out.
The industrial control computer acquires the real pose information of the characteristics of the workpiece to be measured, corrects the pose of the measurement point of the three-coordinate measuring machine in contact measurement, and guides the measurement measuring head of the three-coordinate measuring machine to reach the correct position to execute contact measurement operation.
It should be noted that the implementation method of the present invention is implemented by using a traditional computer control method, rather than by using software.
The utility model discloses can be used for measuring the engine cylinder body, its process degree required precision to assemble the hole site on the cylinder body is higher, need measure the dimensional information of the assembly hole site on the engine cylinder body through three coordinate machines, including hole 1 to hole 13 position, diameter size and hole depth, as shown in fig. 4.
The utility model discloses an adopt the multi freedom robot to carry stereo camera to measure the true position appearance of the work piece that awaits measuring, guide three-dimensional machine to carry out the contact measurement, need not artifical the participation to the processing deviation or the deformation of adaptation part, and can adapt to the demand of quick automatic trading production, can be used to subsequent assembly, polish, technological guidance such as welding.
The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (8)
1. A three-coordinate machine flexible composite joint inspection system based on stereoscopic vision is characterized by comprising a multi-degree-of-freedom robot, a stereoscopic vision device, a three-coordinate machine and an industrial control computer; the multi-degree-of-freedom robot is fixed on the side of the three-coordinate machine, the stereoscopic vision device is fixed at the tail end of the multi-degree-of-freedom robot, and the three-dimensional camera and the three-coordinate machine on the multi-degree-of-freedom robot and the stereoscopic vision device are in signal connection with the industrial control computer;
the industrial control computer controls the multi-degree-of-freedom robot to move with the stereoscopic vision device to obtain the information of the surface of the workpiece to be measured; and the three-coordinate machine is used for measuring the size of the workpiece to be measured in a contact manner.
2. The three-coordinate machine flexible composite joint inspection system based on stereoscopic vision according to claim 1, wherein the three-coordinate machine comprises a workbench, a portal frame, a moving bracket, a portal frame support, a measuring probe, a bottom support and a three-coordinate controller, the workbench is positioned on the bottom support, the portal frame support supports the portal frame on the bottom support, and the moving bracket carries the measuring probe and is slidably connected to the portal frame; the three-coordinate machine controller is positioned on the bottom support side and is in signal connection with the industrial control computer.
3. The three-coordinate machine flexible composite joint inspection system based on stereoscopic vision according to claim 2, wherein the workpiece to be measured is placed on the workbench, and the measuring probe moves along the axial direction of the portal frame to measure the workpiece to be measured.
4. The three-coordinate machine flexible composite joint inspection system based on stereoscopic vision according to claim 1, wherein the multi-degree-of-freedom robot comprises a multi-degree-of-freedom robot body, a mounting base and a robot controller.
5. The three-coordinate machine flexible composite joint inspection system based on stereoscopic vision according to claim 3, wherein the stereoscopic camera is mounted at the end of the robot body with multiple degrees of freedom through a camera mounting bracket.
6. The three-coordinate machine flexible composite joint inspection system based on stereoscopic vision according to claim 1, wherein the stereo camera is a structured light stereo camera or a binocular camera.
7. The three-coordinate flexible composite joint inspection system based on stereoscopic vision of claim 1, wherein the multi-degree-of-freedom robot does not interfere with the three-coordinate machine when carrying the stereoscopic camera for movement.
8. The flexible composite joint inspection system for three coordinate machines based on stereoscopic vision according to claim 1, wherein the industrial control computer comprises an offline calibration module, a stereoscopic camera acquisition module, a path planning module, a stereoscopic vision intelligent recognition module, a non-contact three-dimensional measurement module, a three coordinate machine guidance module and a three coordinate machine contact measurement module.
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| CN202221634859.4U CN217818608U (en) | 2022-06-28 | 2022-06-28 | Three-coordinate machine flexible composite joint inspection system based on stereoscopic vision |
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| CN202221634859.4U CN217818608U (en) | 2022-06-28 | 2022-06-28 | Three-coordinate machine flexible composite joint inspection system based on stereoscopic vision |
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