Swing type measuring head robot online measuring system for BIW dimension detection

Abstract

A swing-type measuring head robot online measuring system for body-in-white dimension measurement belongs to the technical field of optical measurement, mechanical engineering and vehicle engineering. The system provided by the invention comprises two swing-type measuring heads, two six-axis robots, two robot control cabinets and a system control cabinet. Based on a line laser scanning three-dimensional visual measuring technology, the two robots respectively carry the swing-type measuring heads to move to an assigned measuring position. A line laser projector projects a line laser to a body-in-white assembly feature. A single-shaft rotary table drives the line laser projector and a monocular camera to swing so as to realize scanning. After the monocular camera acquires a group of light knife images, online measurement of the body-in-white assembly feature is realized through light knife point cloud extraction, triangulation theory, point cloud integration and assembly feature parameter calculation. During the measurement, pose of the swing-type measuring heads is free; influence of environment and illumination factors is little; there is no robot scanning error; stability is high; and real-time and reliable measurement data is provided for the body-in-white dimension detection.

Description

technical field [0001] The invention relates to an on-line measurement system of a swing-type measuring head robot for dimension detection of a body-in-white, in particular to a measurement system based on line laser scanning three-dimensional vision measurement technology, which adopts a swing-type measuring head to realize on-line measurement of assembly features of a body-in-white . It belongs to the technical fields of optical measurement, mechanical engineering and vehicle engineering. Background technique [0002] The welding and manufacturing process of the body-in-white of a car is composed of multiple sub-assemblies such as the bottom plate, side panels, and assembly. During the welding process, unstable positioning of tooling, deformation of welding parts, dimensional deviation of stamping parts, accumulation of design tolerances, and welding operation errors may cause dimensional deviation of the body-in-white, resulting in difficulty in subsequent vehicle assemb...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the shortcomings and deficiencies in the prior art, such as large constraints on the position and posture of the measuring head, being greatly affected by ambient light, and introducing robot motion errors, the present invention proposes a brand-new online measurement of the swing type measuring head robot for the size detection of the body-in-white. system

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