CN218566429U - Rudder class structure position error detection device - Google Patents

Abstract

The utility model relates to a rudder type structural member form and position error detection device, which comprises a detection platform, an industrial camera, a workpiece fixing mechanism and a camera positioning mechanism; a light shield is arranged above the detection platform, a light source is arranged above the interior of the light shield, and a display screen for displaying a detection result is arranged outside the light shield; the rudder type structural member is arranged on the detection platform through the workpiece fixing mechanism, the two industrial cameras are respectively arranged on the detection platform through respective camera positioning mechanisms, the positions of the industrial cameras in the vertical direction can be adjusted, and a lens of one industrial camera faces the end face of a rudder shaft of the rudder type structural member and is used for acquiring images of the area of the rudder shaft of the rudder type structural member; the lens of the other industrial camera faces to one control surface of the rudder structure and is used for acquiring an image of the control surface area of the rudder structure. The device can realize the nondestructive and contactless detection of rudder class structure, has reduced the positioning error that many times clamping produced, and is lower to the detection ring border requirement, can be applicable to the detection on the production line.

Description

A shape and position error detection device for rudder structural parts

technical field

The utility model relates to the technical field of workpiece shape and position error equipment, in particular to a shape and position error detection device for rudder structural parts.

Background technique

The rudder structure installed on the surface of the rocket changes the direction of the airflow by adjusting its own angle, thereby generating a lateral control force that changes the rocket's flight attitude. It is an important structural part to control the rocket's flight attitude. The rudder structural parts are affected by many factors during the manufacturing process, resulting in a deviation between the actual shape and the ideal shape. This deviation is called the shape error, and the shape error of the rudder structural parts will affect the rocket flight At the same time, it increases the risk of damage to the rudder structural parts during service, which poses a great hidden danger to the safety of rocket flight. Therefore, the shape and position error detection of rudder structural parts is very important to ensure the safety of rocket flight. is of great significance.

At present, the shape and position errors of rudder structural parts are mainly measured by three-coordinate measuring machine and manual measurement. The detection speed of the three-coordinate measuring machine is slow, and the single detection time is as long as 2 to 3 hours; due to the complex surface of the rudder structure, multiple clamping is required during the detection process, which is prone to positioning errors; in addition, due to the high sensitivity of the probe , other disturbances or vibrations in the testing environment will affect the testing results. Therefore, the three-coordinate measuring machine has strict requirements on the testing environment and cannot be used in the processing and production workshop. Manual measurement is mainly through microscopes or calipers, which is labor-intensive, low-efficiency, and significantly disturbed by human factors. Therefore, the present application designs a shape and position error detection device for rudder structural parts, which realizes non-destructive and non-contact detection through machine vision.

Utility model content

Aiming at the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide a shape and position error detection device for rudder structural parts.

The technical solution adopted by the utility model to solve the technical problem is as follows:

A shape and position error detection device for rudder structural parts, including a detection platform, an industrial camera, a workpiece fixing mechanism, and a camera positioning mechanism; There is a light source above the hood, and a display screen for displaying the test results is set on the outside of the hood; the rudder structure is installed on the test platform through the workpiece fixing mechanism, and the two industrial cameras are respectively installed on the test platform through their respective camera positioning mechanisms. The position of the industrial cameras in the vertical direction can be adjusted, and the lens of one industrial camera faces the end face of the rudder shaft of the rudder structure for collecting images of the rudder shaft area of the rudder structure; the lens of the other industrial camera faces A rudder surface of a rudder structural member, used to collect images of the rudder surface area of a rudder structural member.

Further, the workpiece fixing mechanism includes a positioning fixture, a fastening fixture and a right-angle frame; the left and right sides of the rudder structure are respectively clamped by the positioning fixture, and the positioning fixture is connected to the detection platform through the right-angle frame; the fastening fixture There is a U-shaped groove on one side of the rudder structure, and the end opposite to the rudder shaft is clamped by a fastening fixture and located in the U-shaped groove of the fastening fixture. The fastening fixture is connected to the detection platform through a right-angle frame; the positioning fixture and A rubber gasket is provided at the position where the fastening fixture is in contact with the rudder structure.

Further, the camera positioning mechanism includes a sprocket shaft, a chain, a camera fixing plate, a column, a sprocket, and a stepping motor; the two columns are installed vertically on the detection platform, and the two ends of the sprocket shaft are respectively connected to the upper parts of the two columns. The two ends of the sprocket shaft are respectively equipped with sprockets, the lower parts of the two columns are respectively rotated and installed with sprockets, and the two sprockets close to the same column are equipped with chains; the two ends of the camera fixing plate are connected to the two chains. Connection, the industrial camera is installed on the camera fixing plate; the stepper motor is installed on the detection platform, and the output shaft of the stepper motor is connected with the sprocket at the lower part of one of the columns.

Compared with the prior art, the utility model has the beneficial effects of:

1. The device of the present invention can realize the non-destructive and non-contact detection of rudder structural parts, and reduces the positioning error caused by multiple clamping. Compared with the three-coordinate measuring machine, the device has lower requirements on the detection environment, and can be applied to the environment of the production line. The detection device is configured on the production line to realize the automatic positioning and detection integration of batches of workpieces of the same specification, as well as the sampling inspection of workpieces. automation.

2. Aiming at the special structure of rudder structural parts, special positioning fixtures and fastening fixtures are designed. Based on the detection platform, it can realize the detection of rudder structural parts of different sizes and specifications, and has certain universality and adaptability. At the same time, the device can realize the automatic clamping, positioning and adaptive detection of rudder structural parts of different specifications and models through the upper computer to control the positioning mechanism and transmission mechanism, and automatically adjust the camera position and camera acquisition mode according to the workpiece size and object distance.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is the structural diagram of the utility model after removing the shading cover and the storage cabinet;

Fig. 3 is the back view of Fig. 2;

In the figure: 1. Shaft; 2. Chain; 3. Industrial camera; 4. Camera fixing plate; 5. Camera bracket; 6. Sprocket; 7. Stepper motor; 8. Rudder structure; 9. Storage cabinet; 10. Metal core of structural parts; 11. Fixing fixture; 12. Fixing parts; 13. Hole platform; 14. Sunshade; 15-display screen; 8-1. Rudder shaft;

Detailed ways

Provide the specific embodiment of the present utility model below. The specific embodiments are only used to further describe the technical solutions of the present utility model in detail, and do not limit the protection scope of the present application.

As shown in Figure 2, the rudder structure 8 is a trapezoidal plate-like structure as a whole, with a height of about 60cm, a width of 30cm, and a thickness of 8cm; the front end of the rudder structure 8 is provided with a rudder shaft 8- 1. The rocker arm 8-2 is set on the rudder shaft 8-1, and the rudder shaft 8-1 is reinforced by the rocker arm 8-2; the left and right sides of the rudder structural part 8 are relatively large, which are called rudder surfaces .

The utility model provides a shape and position error detection device for rudder structural parts (device for short, see Figures 1-3), which includes a detection platform 13, an industrial camera 3, a workpiece fixing mechanism, a camera positioning mechanism and a host computer; the rudder structural parts 8 is installed on the detection platform 13 through the workpiece fixing mechanism, and the two industrial cameras 3 are respectively installed on the detection platform 13 through their respective camera positioning mechanisms. The camera positioning mechanism can adjust the position of the industrial camera 3 in the vertical direction, and one of the industrial cameras The lens of the camera 3 faces the rudder shaft end face of the rudder structure, and is used to collect the rudder shaft area image of the rudder structure, and realizes the symmetry detection through the information in the rudder shaft area image; the lens of another industrial camera 3 faces A rudder surface of the rudder structure, that is, the large side of the rudder structure, is used to collect the rudder surface area image of the rudder structure, and use the rudder surface area image to realize verticality detection; two industrial cameras 3 are connected with the host computer connect.

Referring to Fig. 2, the detection platform 13 is provided with an array of threaded holes to facilitate the installation of the rest of the components; the detection platform 13 is provided with a sunshade 14, industrial camera 3, rudder structure 8, workpiece fixing mechanism and camera positioning Mechanisms are all located in the sunshade 14, and one side of the sunshade 14 is provided with a sliding door, which facilitates the loading and unloading of the rudder structure 8; White opaque material is used to ensure a good shading effect; a display screen 15 is provided on the outside of the hood 14, and the display screen 15 is connected to the host computer for displaying the detection results. A storage cabinet 9 is provided below the detection platform 13 as an electrical cabinet;

The workpiece fixing mechanism includes a positioning fixture 10, a fastening fixture 11 and a right-angle frame 12; the rudder structure 8 is placed on the detection platform 13, and the left and right sides are respectively clamped by the positioning fixture 10, and the positioning fixture 10 passes through the right-angle The frame 12 is fixedly connected with the detection platform 13; one side of the fastening fixture 11 is provided with a U-shaped groove, and the rear end of the rudder structure 8, that is, the end opposite to the rudder shaft is clamped by the fastening fixture 11, and the rudder structure 8 is clamped by the fastening fixture 11. The rear end of the 8 is located in the U-shaped groove of the fastening fixture 11, and the fastening fixture 11 is fixedly connected with the detection platform 13 through the right-angle frame 12; The rubber gasket prevents damage to the rudder structure 8 due to clamping.

Described camera positioning mechanism comprises sprocket wheel shaft 1, chain 2, camera fixed plate 4, column 5, sprocket wheel 6 and stepping motor 7; It is rotatably connected with the upper parts of the two columns 5, the two ends of the sprocket shaft 1 are respectively fixed with sprockets 6, and the lower parts of the two columns 5 are respectively rotated and installed with sprockets 6, and the two sprockets 6 close to the same column 5 are fitted There is a chain 6; the two ends of the camera fixing plate 4 are connected to the same position of the two chains 6 to ensure that the camera fixing plate 4 is horizontal, and the industrial camera 3 is installed on the camera fixing plate 4; the stepping motor 7 is installed on the detection platform 13, The output shaft of the stepping motor 7 is fixedly connected with the sprocket 6 at the bottom of one of the column 5, the stepping motor 7 is connected with the upper computer, and the sprocket 6 on the output shaft is driven by the stepping motor 7 to rotate, so that the two chains 6 The synchronous rotation realizes the movement of the camera fixing plate 4 in the vertical direction, and then adjusts the position of the industrial camera 3 in the vertical direction to ensure that the industrial camera 3 can completely collect images of the surface to be detected.

The feasible models of the above components are given below, and other models can also be selected according to specific working conditions; the model of the stepping motor 7 is 57BYG250C, the step angle is 1.8°, the torque is 1.8N m, the motor output shaft and the sprocket 6 The interference fit forms a tight connection; the motor driver of the stepping motor 7 is TB6600, the rated current is 4.2A, and the number of subdivisions is 6400; the PLC model controlling the stepping motor 7 is Siemens S7-200SMART, and the CPU is ST40, which can input I There are 24 I/Os and 16 output I/Os; the output I/O of the PLC is connected to the input end of the motor driver, and the output end of the motor driver is connected to the input of the stepping motor 7 . Since the size of the rudder shaft area and the rudder surface area are different, the models of the two industrial cameras 3 are different. The industrial camera for collecting images of the rudder shaft area can be a CCD camera model MV-HS4300GM with a pixel size of 2.8 μm×2.8 μm, the optical size is APS-C, the maximum frame rate is 2.5fps, the exposure time is 285μs~2s, and the output image is a grayscale image; the lens model is BT-45F3528MP10, the focal length is 35mm, and the minimum object distance is 34cm; the rudder surface is collected The industrial camera for the area image can use the CCD camera model MV-HS500GM, the pixel size is 2.2μm×2.2μm, the optical size is 1/2.5, the maximum frame rate is 14fps, the exposure time is 35μs～2.26s, and the output image is gray High-resolution images; the lens model is BT-118C0820MP5, the focal length is 8mm, and the minimum object distance is 100mm.

Working principle and work flow of the present utility model are:

The rudder structure 8 is installed on the detection platform 13 through the positioning fixture 10 and the fastening fixture 11. The upper computer controls the stepping motor 7 of the two camera positioning mechanisms, and the stepping motor 7 adjusts the two industrial cameras through the sprocket chain transmission. 3 position in the vertical direction, so that the rudder shaft end surface and the rudder surface of the rudder structure 8 are respectively located in the center of the field of view of the corresponding industrial camera 3; then, two industrial cameras 3 are used to collect the rudder shaft area of the rudder structure respectively The image and the image of the rudder surface area are uploaded to the host computer, and the host computer processes the image, and detects the shape and position errors of the symmetry and verticality of the rudder structural parts according to the processed image. The symmetry detection method can be found in the literature (Feng Xiaofeng, Yu Jinwei. The application of Hough transform in the detection of part shape and position error [J]. Machinery Science and Technology, 2011, 30(6): 957-967.), the verticality detection method can be found in the literature (Mu Li, Yang Min. Verticality Research on computer vision detection algorithm [J]. Modern Manufacturing Engineering, 2007(3): 101-103.).

The shape and position error detection result is displayed on the display screen 15, if the symmetry and verticality detection results are less than or within the respective allowable error range, then "product qualified" will be displayed on the display screen 15; if the detection result exceeds the allowable error range , then display "product unqualified" on the display screen 15, if the symmetry detection result exceeds the allowable error range, "symmetry error out of tolerance" will also be displayed, and the verticality is the same.

The unmentioned parts of the utility model are used in the prior art.

Claims (3)

1. A shape and position error detection device for rudder structural parts, comprising a detection platform, an industrial camera, a workpiece fixing mechanism and a camera positioning mechanism; it is characterized in that a light shield is provided above the detection platform, and a light shield is provided on one side of the light shield Sliding door, a light source is provided above the inside of the hood, and a display screen for displaying the test results is provided outside the hood; the rudder structure is installed on the detection platform through the workpiece fixing mechanism, and the two industrial cameras are respectively passed through their respective camera positioning mechanisms. Installed on the detection platform, the position of the industrial camera in the vertical direction can be adjusted, and the lens of one industrial camera faces the end face of the rudder shaft of the rudder structure, which is used to collect the image of the rudder shaft area of the rudder structure; the other The lens of the industrial camera faces a rudder surface of the rudder structure, and is used to collect images of the rudder surface area of the rudder structure. 2. The shape and position error detection device for rudder structural parts according to claim 1, wherein the workpiece fixing mechanism includes positioning fixtures, fastening fixtures and right-angle frames; the left and right sides of the rudder structural parts respectively It is clamped by a positioning fixture, which is connected to the detection platform through a right-angle frame; one side of the fastening fixture is provided with a U-shaped groove, and the end of the rudder structure opposite to the rudder shaft is clamped by the fastening fixture and located on the fastening fixture. In the U-shaped groove, the fastening fixture is connected to the detection platform through a right-angle frame; rubber gaskets are provided at the positions where the positioning fixture and fastening fixture are in contact with the rudder structure. 3. according to claim 1 or 2 described rudder structural parts shape error detecting device, it is characterized in that, described camera positioning mechanism comprises sprocket wheel shaft, chain, camera fixed plate, column, sprocket wheel and stepper motor; The two columns are vertically installed on the detection platform, the two ends of the sprocket shaft are respectively connected with the upper parts of the two columns, the two ends of the sprocket shaft are respectively installed with sprockets, and the lower parts of the two columns are respectively rotated and installed with sprockets, close to the same There are chains on the two sprockets of a column; the two ends of the camera fixing plate are connected with the two chains, and the industrial camera is installed on the camera fixing plate; the stepping motor is installed on the detection platform, and the output shaft of the stepping motor is connected to the A sprocket connection on the lower part of the upright.

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