CN110081821A - Intelligent high-speed rail white body assembling quality detection device and its method - Google Patents
Intelligent high-speed rail white body assembling quality detection device and its method Download PDFInfo
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- CN110081821A CN110081821A CN201910383310.9A CN201910383310A CN110081821A CN 110081821 A CN110081821 A CN 110081821A CN 201910383310 A CN201910383310 A CN 201910383310A CN 110081821 A CN110081821 A CN 110081821A
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- laser sensor
- assembling quality
- white body
- speed rail
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of intelligence high-speed rail white body assembling quality detection device and its method, including the seven shaft mechanical arms controlled by computer, the display screen connecting with the computer is installed on the seven shaft mechanicals arm, the seven shaft mechanicals arm end is equipped with two-dimensional laser sensor, two-dimensional laser sensor is connect with the computer, and above-mentioned seven shaft mechanicals arm is mounted on moveable carriage.The beneficial effects of the present invention are: 1. completely newly propose the assembling quality device for using mechanical arm and two-dimensional laser sensor measurement high-speed rail white body on high-speed rail white body assembly line, using the stabilization of the flexible and two-dimensional laser sensor of mechanical arm, the high-precision dimensional measurement to area-of-interest is realized.2. the present invention carries the assembling quality detection that laser sensor realizes white body large-scale workpiece using multi-axis robot, the movement and posture of control mechanical arm can be passed through, realize different shape, the detection of the assembling quality of different angle, the difference in height including the width in gap, height and profile between profile.
Description
Technical field
The present invention relates to the pose measuring apparatus of large-scale workpiece and methods, and specifically high-speed rail white body assembling quality is examined
Survey device and method.
Background technique
High-speed rail is a gold business card made in China, represents the manufacture level and scientific and technological strength of entire country, is a kind of
International influence and the comprehensive of international status embody.White body is most important Large Complicated Structural Component on high-speed rail vehicle, is high
Iron train its " bone " is formed by welding, riveting etc. by over one hundred kind, even hundreds of sheet stamping members, is advanced rail traffic
The important ring in " major products " technology path is equipped, manufacturing property, reliability directly affect the development of high-speed rail train.
With rail vehicle increasing demand, carry out the intelligent manufacturing of high-speed rail white body, for improve manufacturing speed and precision,
Reduce labor intensity important in inhibiting.
Welding procedure occupies 95% processing capacity in high-speed rail intelligent manufacturing, however manually dislikes than great, operating environment
Bad, low efficiency is that current high-speed rail white body manufactures the bottleneck faced, promoted the intelligence of high-speed rail white body welding assembling technique with
Automation can significantly improve manufacture efficiency.Currently, each subsidiary, Zhong Che group, China fabricated in train white body
Cheng Zhong is to be measured by way of manual work to assembling quality, and measurement accuracy and efficiency are lower, measures real-time
Difference, simultaneously because the large labor intensity of manual work, causes test leakage after causing human-body fatigue or accidentally survey.For high-speed rail white body
The core components such as side wall, sleeper beam, need developing intellectual resource high-speed rail white body assembling quality detection device, realize to high-speed rail white body
The detection of assembling quality.The high margin of width, depth and assembly parts between assembly parts is the important indicator of assembling quality, is realized
There is outstanding meaning to production efficiency of its intelligentized on-line checking to enterprise.For side wall, the sleeper beam etc. of different automobile types
Core component, rigging position and assembly features are all different, and the assembled gap of component is relatively small, it is therefore desirable to be passed through
Multi-shaft mechanical arm accurately to control measured zone.
Existing " based on stereoscopic vision and the large-scale workpiece pose measurement system of structure light vision, method ", the system are three-dimensional
Visual sensor acquires global image, and computer carries out detection and coarse positioning to the position of witness marker on large-scale workpiece, obtains
World coordinate system position, and then target position is moved to by the laser structure light vision sensor that mechanical arm carries end, to fixed
Bit flag carries out local precise measurement, obtains accurate three-dimensional coordinate, and large-scale workpiece posture information, completion pair is finally calculated
The precise measurement of large-scale workpiece pose, measuring system are as shown in Figure 1.But the system has the following disadvantages, 1, the system
Global image is acquired by stereo vision sensor, mechanical arm carries the laser structure light vision sensor of end to witness marker
Carry out local precise measurement, obtain accurate three-dimensional coordinate, realize the pose measurement of large-scale workpiece using coordinate information, system at
This height, measurement need measured object carrying out installation fixation, are not implemented and measure the accurate dimension of area-of-interest.
2, the system is by having planned that the mechanical arm of sports-like track moves the laser structure light vision sensor
To region to be collected, operation is measured in specific region, Multiple Shape, multiangular measurement can not be adapted to.
Chinese patent literature discloses " aero-engine high-precision assembly quality detector device people system "
(CN201710777173.8): by the binocular image of the binocular camera acquisition engine on mechanical arm, by computer according to binocular
Image establishes threedimensional model, and then judges testing result, specifically, the actual characteristic point data and standard feature that will test
Point data compares, to judge assembling quality.
Summary of the invention
Object of the present invention is in view of the problems of the existing technology provide a kind of intelligent high-speed rail white body assembling quality
Detection device, it is intended to realize to high-speed rail white body in three dimensions the measurement of any position and to local region of interest reality
Apply the measurement of high-precision size.
The object of the present invention is achieved like this: a kind of intelligence high-speed rail white body assembling quality detection device, including by
The mechanical arm of computer control, the mechanical arm are seven shaft mechanical arms, are equipped on the seven shaft mechanicals arm and connect with the computer
The display screen connect, the seven shaft mechanicals arm end are equipped with two-dimensional laser sensor, and two-dimensional laser sensor and the computer connect
It connects, above-mentioned seven shaft mechanicals arm is mounted on moveable carriage.
It is a further object of the present invention to provide a kind of intelligent high-speed rail white body assembling quality detection methods.
It is another object of the present invention to what is be achieved: a kind of high-speed rail white body assembling quality detection method, by following step
It is rapid to carry out:
A1: the fixture according to large-scale workpiece, position is needed to set the initial position of seven shaft mechanical arms, terminate before starting measurement
Position and path planning constraint, path planning constraint refer to the barrier that seven shaft mechanical arms may be encountered during the motion,
So that seven shaft mechanical arms select optimal path to reach final position i.e. target position when carrying out path planning；
A2: when seven shaft mechanical arms reach the workpiece initial position for needing to measure, two-dimensional laser sensor detects gap
After start to measure, seven shaft mechanical arms are according to the path setting in motion planned, the assembling quality obtained by two-dimensional laser sensor
And gap position synchronizing information is shown on a display screen, until terminating measurement when seven shaft mechanical arms reach final position.
The beneficial effects of the present invention are:
1. completely newly proposing white using mechanical arm and two-dimensional laser sensor measurement high-speed rail on high-speed rail white body assembly line
The assembling quality device of vehicle body is realized using the stabilization of the flexible and two-dimensional laser sensor of mechanical arm to area-of-interest
High-precision dimensional measurement.
2. the present invention carries the assembling quality detection that laser sensor realizes white body large-scale workpiece using multi-axis robot,
Different shape, the detection of the assembling quality of different angle can be realized, including stitch between profile by the movement and posture of control mechanical arm
The difference in height of the width of gap, height and profile.
3. two-dimensional laser sensor and the combination of seven shaft mechanical arms may be implemented by programming and path planning to the white vehicle of high-speed rail
Any position and any attitude measure this large-scale workpiece of body in three dimensions, and real-time measurement improves detection quality
And efficiency.
4. two-dimensional laser sensor uses the three-dimensional measurement principle based on structure light, there is very high precision, while
With very strong anti-interference ability.
Intelligent monitoring train white body assembling quality of the present invention, for the accurate of the core components such as side wall, sleeper beam connection
Property, manufacture and the levels of precision of high-speed rail white body can be accelerated, improve high-speed rail white body production-line, had for the development of high-speed rail
Significance.
Detailed description of the invention
Fig. 1 is the existing large-scale workpiece pose measurement system schematic diagram based on stereoscopic vision and structure light vision.
Fig. 2 is the main view of intelligent high-speed rail white body assembling quality detection device of the invention.
Fig. 3 is the perspective view of Fig. 2.
Fig. 3 a is the portion A enlarged drawing in Fig. 3.
Fig. 4 is present system overhaul flow chart.
Fig. 5 is measured sensor data and vernier caliper reading.
Fig. 6 is the error map repeatedly measured.
Specific embodiment
In Fig. 1,1 is stereo vision sensor, and 2 be computer, and 3 be mechanical arm system, and 4 fill for structured light visual sensing
It sets, 5 be binocular camera, and 6 be mechanical arm controller, and 7 be industrial machinery arm, and 8 be laser emitter, and 9 be CCD camera, 10
For witness marker.
Fig. 2, Fig. 3 are shown, a kind of intelligence high-speed rail white body assembling quality detection device, including the machine controlled by computer
Tool arm, the mechanical arm are seven shaft mechanical arms 1, are equipped with the display screen 2 connecting with the computer on the seven shaft mechanicals arm 1,
Seven shaft mechanicals arm, 1 end is equipped with two-dimensional laser sensor 3, and two-dimensional laser sensor 3 is connect with the computer, and above-mentioned seven
Shaft mechanical arm 1 is mounted on moveable carriage (Fig. 2, Fig. 3 are shown, assembly features 6 to be measured, white body profile 5, machine frame 4).It is aobvious
Display screen shows mechanical arm state and testing result information etc..
Intelligence high-speed rail white body assembling quality detection device of the invention is as shown in Figure 2 and Figure 3, which has two parts structure
At respectively industrial machinery arm and two-dimensional laser sensor.Industrial machinery arm is seven shaft mechanical arms, is multi-joint, multiple degrees of freedom
Robot, act it is more, variation flexibly.Seven shaft mechanical arms have more " freedom of action degree ", first joint J1 of mechanical arm
It can be rotated freely in horizontal plane, the twoth joint J2 can be mobile in vertical plane.Manipulator has " arm " J4, and two " wrist "
Joint J3 and J5, J6, J7 are the corresponding joint of seven shaft mechanical arms.This energy for allowing it to have the arm of the mankind similar with wrist
Power.The seven more joints of axis robot mean that the measurement of any attitude may be implemented, can execute many by the skilled worker talent
The operation that can be completed.
Mechanical arm tail end connects two-dimensional laser sensor, and the measuring principle of the sensor is laser beam by one group of certain lenses
Amplification projects on measured object surface forming a static line laser, and line laser is diffused that project height quick
On the sensor photosensitive matrix of sense, highly sensitive photosensitive element CMOS matrix be can receive from the reflected light of testee
Line forms high-accurate outline image.It is final to export one group of two-dimensional coordinate value, the original of coordinate system according to the line laser received points
Point is relatively fixed with sensor itself.
Intelligent high-speed rail white body assembling quality detection device operational process as shown in figure 4, start detection before need according to
The fixture of large-scale workpiece, the initial position of position setting mechanical arm, final position and path planning constraint, path planning constraint master
Refer to the barrier that mechanical arm may be encountered during the motion, so as to mechanical arm selected when carrying out path planning it is optimal
Path reach target position.When mechanical arm reaches the workpiece starting point for needing to measure, after laser sensor detects gap
Start to detect, mechanical arm is according to the path setting in motion planned, simultaneous display is in system circle after acquiring assembling quality information
In face, terminate to measure when mechanical arm reaches home coordinate.
Here is measured data, three groups of data of every 1mm survey, 50 acquisition average values of every group of survey, as a result as shown in the table.
Table 1 produces measured data
。
Claims (2)
1. a kind of intelligence high-speed rail white body assembling quality detection device, including, the mechanical arm controlled by computer, feature exists
In the mechanical arm is seven shaft mechanical arms (1), is equipped with the display screen connecting with the computer on the seven shaft mechanicals arm (1)
(2), which is equipped with two-dimensional laser sensor (3), two-dimensional laser sensor (3) and the computer
Connection, above-mentioned seven shaft mechanicals arm (1) are mounted on moveable carriage.
2. a kind of high-speed rail white body assembling quality detection method using device as described in claim 1, which is characterized in that by with
Lower step carries out:
A1: the fixture according to large-scale workpiece, position is needed to set the initial position of seven shaft mechanical arms, final position before starting measurement
It being constrained with path planning, path planning constraint refers to the barrier that seven shaft mechanical arms may be encountered during the motion, so as to
Seven shaft mechanical arms select optimal path to reach final position i.e. target position when carrying out path planning；
A2: when seven shaft mechanical arms reach the workpiece initial position for needing to measure, two-dimensional laser sensor is opened after detecting gap
Begin to measure, seven shaft mechanical arms are according to the path setting in motion planned, the assembling quality and seams that obtained by two-dimensional laser sensor
Gap location information synchronizing is shown on a display screen, until terminating measurement when seven shaft mechanical arms reach final position.
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Cited By (6)
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| CN112444283A (en) * | 2019-09-02 | 2021-03-05 | 华晨宝马汽车有限公司 | Detection apparatus for vehicle assembly and vehicle assembly production system |
| CN112629441A (en) * | 2020-12-01 | 2021-04-09 | 武汉工程大学 | 3D curved surface glass contour scanning detection method and system based on line structured light dynamic vision |
| CN112710233A (en) * | 2020-12-18 | 2021-04-27 | 南京航空航天大学 | Large-scale aircraft skin point cloud obtaining equipment and method based on laser point cloud |
| CN114061486A (en) * | 2021-11-19 | 2022-02-18 | 南京航空航天大学 | Automatic measuring device and method for large-scale skin curved surface of airplane |
| CN115415786A (en) * | 2022-08-30 | 2022-12-02 | 北京动力机械研究所 | Man-machine cooperation turbofan engine core machine assembling system and assembling method |
| CN115415785A (en) * | 2022-08-15 | 2022-12-02 | 北京动力机械研究所 | Assembling system and assembling method for core machine of turbofan engine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112444283A (en) * | 2019-09-02 | 2021-03-05 | 华晨宝马汽车有限公司 | Detection apparatus for vehicle assembly and vehicle assembly production system |
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| CN112710233A (en) * | 2020-12-18 | 2021-04-27 | 南京航空航天大学 | Large-scale aircraft skin point cloud obtaining equipment and method based on laser point cloud |
| CN114061486A (en) * | 2021-11-19 | 2022-02-18 | 南京航空航天大学 | Automatic measuring device and method for large-scale skin curved surface of airplane |
| CN115415785A (en) * | 2022-08-15 | 2022-12-02 | 北京动力机械研究所 | Assembling system and assembling method for core machine of turbofan engine |
| CN115415786A (en) * | 2022-08-30 | 2022-12-02 | 北京动力机械研究所 | Man-machine cooperation turbofan engine core machine assembling system and assembling method |
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Application publication date: 20190802 |