CN105241392B - The full surface three dimension measuring apparatus and its measuring method of a kind of complicated columnar workpiece - Google Patents
The full surface three dimension measuring apparatus and its measuring method of a kind of complicated columnar workpiece Download PDFInfo
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Abstract
The invention discloses the full surface three dimension measuring apparatus and its measuring method of a kind of complicated columnar workpiece, the line laser displacement transducer that three are mutually 120 degree of angles is installed together composition sensor cluster by it, three sensors determine the relative tertiary location of three by demarcation so that the gathered data of three is under same coordinate system；The sensor combination is arranged on linear electric motors, controller control linear electric motors drive sensor group resultant motion, and the equidistantly surface position data of trigger sensor combination collection measured workpiece.By comparing real data and design threedimensional model, the length of measured workpiece, diameter, profile tolerance, the geometric properties such as cylindricity, so as to be accurately positioned the problem of occurring in the complicated columnar workpiece manufacturing process of analysis are obtained.
Description
Technical Field
The invention belongs to the technical field of three-dimensional measurement, and particularly relates to full-surface three-dimensional measurement equipment and a measurement method for a complex columnar workpiece.
Background
With the rapid development of the automatic production technology of the advanced manufacturing industry and the continuous improvement of the product quality control system, people have higher and higher requirements on the precision, efficiency and automation degree of the detection of the geometric dimension, shape and position of a processed object, and especially the complexity of the shape of a part, the field performance and the real-time performance of measurement pose new challenges to the traditional precision measurement technology. In some specific occasions, such as real-time online detection of curved surface contours, micro-size and complex part features and the like, the problem faced by the traditional detection method is solved.
The measurement of physical dimensions using advanced tools such as imaging and laser is becoming more and more popular in advanced manufacturing. At present, the three-dimensional physical dimension measurement technology based on image technologies such as binocular vision and the like still does not obtain wide practical application due to the reasons of complex calibration technology, low precision and the like. The laser triangulation distance measuring technology is mature, the precision of the laser triangulation distance measuring technology can meet the requirements of modern precision manufacturing industry, and the repetition precision of the laser triangulation distance measuring technology can be better than 0.01mm generally.
A general measuring instrument or device can usually only obtain partial information of a workpiece to be measured, or can only measure a workpiece with a regular shape. However, in order to obtain an assembly space for the sake of product beauty, the surface shape of the workpiece is generally complicated and various, and the dimensional accuracy is required to be high. Cylindrical workpieces or products are common geometric forms, and the machining and manufacturing level of the workpieces or products can be accurately measured by acquiring all three-dimensional surface information of the cylindrical workpieces with complex surface characteristics for physical dimension measurement.
Heretofore, no apparatus or instrument has been available which is capable of making highly accurate measurements of the full three-dimensional surface of a cylindrical workpiece. The special measuring equipment for measuring the columnar workpiece by utilizing the image technology can only obtain partial projection information and cannot meet the problem that the measuring reference of the complex columnar workpiece is not in the axial direction. A single linear laser displacement sensor can only acquire partial surface information, and acquiring full surface information by using a workpiece rotating mode can generate the defects of high jig precision requirement, low measuring efficiency, sensitive measuring result to the position of a workpiece and the like.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides full-surface three-dimensional measurement equipment and a measurement method of a complex columnar workpiece, which can acquire full-surface data of the columnar workpiece, so that problems in the process of the analysis process can be accurately positioned.
A full-surface three-dimensional measurement apparatus for a complex cylindrical workpiece, comprising:
the sensor assembly is used for scanning and measuring a workpiece to be measured so as to obtain a data matrix containing surface contour coordinate information of the workpiece to be measured;
the linear module is used for fixing the sensor assembly and driving the sensor assembly to do linear motion so as to scan and measure the workpiece to be measured;
the carrying jig is used for carrying the workpiece to be tested;
the blanking conveying mechanism is used for conveying workpieces to be detected and comprises two groups of conveying belts, one group of conveying belts conveys qualified workpieces, and the other group of conveying belts conveys unqualified workpieces;
the controller is used for reconstructing a three-dimensional model of the workpiece to be measured according to the data matrix measured by the sensor assembly, further calculating various size information of the workpiece to be measured and judging whether the workpiece to be measured is qualified or not;
and the mechanical claw is controlled by the controller and is used for grabbing the workpiece to be measured and placing the workpiece on the object carrying jig, grabbing the workpiece to be measured from the object carrying jig after the workpiece to be measured is finished, and placing the workpiece to be measured on a qualified workpiece conveyor belt or an unqualified workpiece conveyor belt according to a qualified judgment result of the controller.
Furthermore, the sensor assembly consists of three line laser displacement sensors, and the three line laser displacement sensors are positioned on the same vertical surface and form an angle of 120 degrees with each other.
Furthermore, the linear module consists of a linear motor and a seat frame connected with the linear motor; the sensor assembly is fixed on the seat frame, the linear motor is controlled by the controller, and the controller drives the sensor assembly on the seat frame to do linear motion by utilizing the linear motor.
Preferably, the carrying jig consists of a supporting block, a positioning block and a cylinder; the cylinder is controlled by the controller, and the positioning block is fixed on the cylinder; before a workpiece to be measured is placed, the controller controls the cylinder to act so that the positioning block rises to form a semicircular groove with the supporting block, so that the workpiece to be measured can be placed stably; therefore, the area of the carrying fixture for shielding the surface of the workpiece to be measured is reduced, and the sensor can acquire more data of the surface of the workpiece to be measured.
Furthermore, the gripper comprises a single-shaft mechanical arm and a clamp arranged on the single-shaft mechanical arm, and the single-shaft mechanical arm and the clamp are controlled by a controller.
Further, the controller adopts a PC computer loaded with a motion control card; the operation of the linear module can be controlled, enabling and stopping commands are sent, and the blanking action of the mechanical claw and the data calculation are carried out.
The measuring method of the full-surface three-dimensional measuring equipment comprises the following steps:
(1) scanning and measuring the calibration block by using the sensor assembly, and calculating a calibration parameter matrix of the sensor assembly according to the actually known dimension information of the calibration block;
(2) scanning and measuring a workpiece to be measured by using a sensor assembly to obtain a data matrix containing surface contour coordinate information of the workpiece to be measured;
(3) reconstructing a three-dimensional model of the workpiece to be measured by using the controller according to the data matrix and the calibration parameter matrix, comparing the three-dimensional model of the workpiece to be measured with a three-dimensional model of a standard workpiece, and calculating various size information of the workpiece to be measured according to difference value information obtained by comparison;
(4) for any index, the workpiece to be measured and the standard workpiece are compared with each other according to the size value of the index, so that whether the workpiece to be measured is qualified or not is judged.
The specific process of scanning and measuring the calibration block and calculating the calibration parameter matrix of the sensor component in the step (1) is as follows: firstly, a calibration block is placed on a carrying jig, a controller drives a linear module to enable a sensor assembly to do linear motion along the axial direction of the calibration block, and the surface of a workpiece to be detected is scanned according to the running speed and the trigger interval set by the controller, so that a data matrix containing surface contour coordinate information of the calibration block is obtained; and then, inversely calculating a calibration parameter matrix of the sensor assembly according to the actually known dimension information of the calibration block so as to unify the data obtained by each sensor in the sensor assembly into the same coordinate system.
The specific process of scanning and measuring the workpiece to be measured in the step (2) is as follows: firstly, a workpiece to be measured is placed on a carrying jig by using a mechanical claw, a controller drives a linear module to enable a sensor assembly to do linear motion along the axial direction of the workpiece to be measured, and the surface of the workpiece to be measured is scanned according to the running speed and the trigger interval set by the controller, so that a data matrix containing surface contour coordinate information of the workpiece to be measured is obtained.
In the step (4), for any index, the controller compares the size value of the index with that of a standard workpiece, if the comparison result exceeds a preset error range, the controller controls the mechanical claw to grab the workpiece to be detected from the carrying jig, and the workpiece to be detected is placed on the unqualified workpiece conveyor belt; and if the comparison result is within the preset error range, placing the workpiece to be detected on the qualified workpiece conveyor belt.
Compared with the prior art, the invention has the following beneficial technical effects:
(1) the invention can acquire the data of the whole surface of the columnar workpiece, thereby accurately positioning and analyzing the problems of the process.
(2) The invention is insensitive to the placing posture and the position of the workpiece.
(3) The invention can flexibly set the reference datum plane or datum line in the physical dimension measurement, and is irrelevant to the jig for placing the workpiece to be measured.
Drawings
Fig. 1 is a schematic structural diagram of the full-surface three-dimensional measurement equipment for a complex columnar workpiece.
Fig. 2 is a schematic structural view of the loading fixture.
Fig. 3 is a schematic structural diagram of a calibration block.
In the figure: the device comprises a sensor assembly-1, a linear module-2, a blanking mechanical arm-3, a blanking belt line-4, a tested workpiece-5, a loading jig-6, a supporting block-7, a positioning block-8 and a cylinder-9.
Detailed Description
In order to more specifically describe the present invention, the following detailed description is provided for the technical solution of the present invention with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1, the full-surface three-dimensional measuring apparatus for a complex cylindrical workpiece according to the present invention comprises: the automatic feeding device comprises a sensor assembly 1, a linear module 2, a carrying jig 6, a feeding mechanical arm 3, a feeding belt line 4, a calibration block and a controller; wherein:
the sensor component 1 is composed of three line laser displacement sensors, the three sensors are not on the same plane, the distance between the laser lines of the sensors in the axial direction of a workpiece to be measured 5 is about 4mm during installation, and the three sensors are installed at an angle of 120 degrees.
The linear module 2 consists of a linear motor and a bracket, and the sensor combination is fixed on the bracket of the linear module.
The loading jig 6 comprises a supporting block 7, a positioning block 8 and a cylinder 9, and is used for placing and fixing the workpiece 5 to be tested, as shown in fig. 2; before placing the workpiece 5 to be measured, the controller controls the cylinder 9 to act so that the positioning block 8 rises, the semicircular groove is formed by the positioning block 8 and the supporting block 7, the workpiece 5 to be measured can be placed stably, after the workpiece 5 to be measured is placed on the supporting block 7, the controller controls the cylinder 9 to act so that the positioning block 8 falls, and therefore the area of the surface of the workpiece 5 to be measured, which is sheltered by the loading jig 6, is reduced, so that more surface data of the workpiece 5 to be measured can be obtained by the sensor.
As shown in FIG. 3, the calibration block is used for calibrating the spatial positions of the three sensors, the calibration block is made of high-speed die steel, the machining precision of the geometric dimension is controlled to be more than 0.005mm, and the actual measurement value of the geometric dimension is defined and marked as a matrix M for calibrating the precision of the equipment.
The blanking mechanical arm 3 consists of a single-shaft mechanical arm and a workpiece grabbing clamp; the blanking belt line 4 is divided into a qualified product area and an unqualified product area and is used for placing and conveying measured workpieces.
In the embodiment, the controller adopts a Windows PC + motion control card for controlling the operation of the linear module 2, sending enabling and stopping commands, and calculating the discharging action and data of the discharging mechanical arm 3.
The measuring method of the full-surface three-dimensional measuring equipment for the complex columnar workpiece comprises the following steps:
(1) calibration: the calibration block is placed on the carrying jig, the controller controls the linear module to drive the sensor combination to scan the calibration block, coordinate information of the surface profile of the calibration block is obtained, the geometric dimensions of the calibration block read by the three sensors are extracted and are respectively marked as A1，A2，A3Thus, the calibration matrix B of the system can be obtained according to the following formula.
Wherein,
(2) data acquisition: after the workpiece to be measured is placed and fixed on the jig, the controller drives the linear module and the sensor to move axially along the workpiece to be measured, the surface of the workpiece to be measured is scanned according to the preset running speed and the trigger interval, data of the surface between two ends of the workpiece to be measured are obtained, the data are similar to data of the calibration block and are marked as D1，D2，D3。
(3) And (3) calculating: after the controller acquires the data of the workpiece to be measured, the three-dimensional coordinate information of the workpiece to be measured is reconstructed by using the calibration matrix obtained in the calibration process and recorded as a matrix E, and the step is realized by the following formula:
the method comprises the steps of leading three-dimensional coordinate information E of a measured workpiece and a three-dimensional design model of the workpiece into the same coordinate system for calculation, selecting more than three points with the three-dimensional coordinate information E close to the three-dimensional design model as reference points according to manual work, calculating Euclidean distance average values of all corresponding points on a matrix E and the three-dimensional design model, and searching out the minimum average distance by using a least square method, wherein the three-dimensional space relative relation between the three-dimensional coordinate information E of the measured workpiece and the three-dimensional design model can be measured, the distance between each data point in the matrix E and the axis of the design model can be the radius through comparison of the three-dimensional coordinate information E and the relative space relation of the design model, the distance between the end face in the matrix E and the end face of the design model can be the radius, and the length of the measured workpiece.
(4) Blanking: the blanking machine takes out the tested workpiece from the workpiece fixture, and places the workpiece in a qualified product area or an unqualified product area of the blanking belt line according to the result calculated and judged by the controller and the control signal of the controller.
The embodiments described above are intended to facilitate one of ordinary skill in the art in understanding and using the invention. It will be readily apparent to those skilled in the art that various modifications to the above-described embodiments may be made, and the generic principles defined herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.
Claims (9)
1. A full-surface three-dimensional measurement apparatus for a complex cylindrical workpiece, comprising:
the sensor assembly is used for scanning and measuring a workpiece to be measured so as to obtain a data matrix containing surface contour coordinate information of the workpiece to be measured;
the linear module is used for fixing the sensor assembly and driving the sensor assembly to do linear motion so as to scan and measure the workpiece to be measured;
the carrying jig is used for carrying the workpiece to be tested;
the blanking conveying mechanism is used for conveying workpieces to be detected and comprises two groups of conveying belts, one group of conveying belts conveys qualified workpieces, and the other group of conveying belts conveys unqualified workpieces;
the controller is used for reconstructing a three-dimensional model of the workpiece to be measured according to the data matrix measured by the sensor assembly, further calculating various size information of the workpiece to be measured and judging whether the workpiece to be measured is qualified or not;
the mechanical claw is controlled by the controller and is used for grabbing a workpiece to be measured and placing the workpiece on the carrying jig, grabbing the workpiece to be measured from the carrying jig after the workpiece to be measured is measured, and placing the workpiece to be measured on a qualified workpiece conveyor belt or an unqualified workpiece conveyor belt according to a qualified judgment result of the controller;
the carrying jig consists of a supporting block, a positioning block and a cylinder; the cylinder is controlled by the controller, and the positioning block is fixed on the cylinder; before a workpiece to be detected is placed, the controller controls the cylinder to act so that the positioning block rises to form a semicircular groove with the supporting block, the workpiece to be detected can be placed stably, and after the workpiece to be detected is placed stably on the supporting block, the controller controls the cylinder to act so that the positioning block descends.
2. The full-surface three-dimensional measuring device according to claim 1, characterized in that: the sensor assembly consists of three line laser displacement sensors, and the three line laser displacement sensors are positioned on the same vertical surface and form an angle of 120 degrees with each other.
3. The full-surface three-dimensional measuring device according to claim 1, characterized in that: the linear module consists of a linear motor and a seat frame connected with the linear motor; the sensor assembly is fixed on the seat frame, the linear motor is controlled by the controller, and the controller drives the sensor assembly on the seat frame to do linear motion by utilizing the linear motor.
4. The full-surface three-dimensional measuring device according to claim 1, characterized in that: the gripper comprises a single-shaft mechanical arm and a clamp arranged on the single-shaft mechanical arm, and the single-shaft mechanical arm and the clamp are both controlled by a controller.
5. The full-surface three-dimensional measuring device according to claim 1, characterized in that: the controller adopts a PC computer loaded with a motion control card.
6. A measuring method of the full-surface three-dimensional measuring device as claimed in any one of claims 1 to 5, comprising the steps of:
(1) scanning and measuring the calibration block by using the sensor assembly, and calculating a calibration parameter matrix of the sensor assembly according to the actually known dimension information of the calibration block;
(2) scanning and measuring a workpiece to be measured by using a sensor assembly to obtain a data matrix containing surface contour coordinate information of the workpiece to be measured;
(3) reconstructing a three-dimensional model of the workpiece to be measured by using the controller according to the data matrix and the calibration parameter matrix, comparing the three-dimensional model of the workpiece to be measured with a three-dimensional model of a standard workpiece, and calculating various size information of the workpiece to be measured according to difference value information obtained by comparison;
(4) for any index, the workpiece to be measured and the standard workpiece are compared with each other according to the size value of the index, so that whether the workpiece to be measured is qualified or not is judged.
7. The measurement method according to claim 6, characterized in that: the specific process of scanning and measuring the calibration block and calculating the calibration parameter matrix of the sensor component in the step (1) is as follows: firstly, a calibration block is placed on a carrying jig, a controller drives a linear module to enable a sensor assembly to do linear motion along the axial direction of the calibration block, and the surface of a workpiece to be detected is scanned according to the running speed and the trigger interval set by the controller, so that a data matrix containing surface contour coordinate information of the calibration block is obtained; and then, inversely calculating a calibration parameter matrix of the sensor assembly according to the actually known dimension information of the calibration block so as to unify the data obtained by each sensor in the sensor assembly into the same coordinate system.
8. The measurement method according to claim 6, characterized in that: the specific process of scanning and measuring the workpiece to be measured in the step (2) is as follows: firstly, a workpiece to be measured is placed on a carrying jig by using a mechanical claw, a controller drives a linear module to enable a sensor assembly to do linear motion along the axial direction of the workpiece to be measured, and the surface of the workpiece to be measured is scanned according to the running speed and the trigger interval set by the controller, so that a data matrix containing surface contour coordinate information of the workpiece to be measured is obtained.
9. The measurement method according to claim 6, characterized in that: in the step (4), for any index, the controller compares the size value of the index with that of a standard workpiece, if the comparison result exceeds a preset error range, the controller controls the mechanical claw to grab the workpiece to be detected from the carrying jig, and the workpiece to be detected is placed on the unqualified workpiece conveyor belt; and if the comparison result is within the preset error range, placing the workpiece to be detected on the qualified workpiece conveyor belt.
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| JPWO2018021210A1 (en) | 2016-07-27 | 2019-04-04 | 中国塗料株式会社 | 3D surface roughness evaluation apparatus, 3D surface roughness evaluation method, 3D surface roughness data acquisition apparatus, and 3D surface roughness data acquisition method |
| CN106441114B (en) * | 2016-11-23 | 2020-07-21 | 万泰机电工业(昆山)有限公司 | Machine is examined entirely to electron throttle shaft size |
| CN107167094A (en) * | 2017-06-19 | 2017-09-15 | 合肥欣畅源光电科技有限公司 | Separator material three-dimensional dimension Fast measurement system and method based on one camera |
| CN107869963B (en) * | 2017-11-16 | 2020-11-24 | 深圳立仪科技有限公司 | Measuring device |
| CN107860338A (en) * | 2017-12-08 | 2018-03-30 | 张宇航 | Industrial automation three-dimensional detection system and method |
| CN108917556A (en) * | 2018-03-23 | 2018-11-30 | 东莞理工学院 | A kind of measurement method of the object bending angle based on milling machine positioning |
| CN109341586B (en) * | 2018-11-22 | 2020-07-17 | 深圳市智信精密仪器有限公司 | Non-contact three-dimensional measuring device and measuring method |
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