Large complex surface 3D topography robot flexible measuring system

A technology for complex curved surfaces and measurement systems, applied in the field of flexible measurement systems for large-scale complex curved surface three-dimensional topography robots, can solve problems such as inability to achieve online measurement, lack of flexibility in measuring equipment, and measurement efficiency needs to be improved, and achieves a small footprint. , the scope of work is large, the effect of improving the degree of automation

Inactive Publication Date: 2017-03-29
CHANGCHUN UNIV OF SCI & TECH
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Problems solved by technology

[0004] The purpose of the present invention is to provide a large-scale complex surface three-dimensional appearance robot flexible measurement system, to solve the lack of flexibility of the measurement equipment

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  • Large complex surface 3D topography robot flexible measuring system

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[0027] The present invention will be further explained below in conjunction with the drawings.

[0028] The flexible measurement system of the large-scale complex curved three-dimensional shape robot of the present invention includes an industrial robot, a robot control cabinet, a two-axis positioner, a safety light curtain, a safety fence, an IGPS transmitter and an IGPS receiver;

[0029] See attached figure 1 , The measurement method of this measurement system includes the following steps:

[0030] Step 1: Establish a model of a complex surface measurement system;

[0031] a. Establish a mathematical model of the structured light sensor in the scanning measurement system according to the measurement principle of the shape measurement sensor;

[0032] b. Establish the robot D-H model and robot positioning error model according to the robot pose description method, and establish the hand-eye calibration mathematical model of the measurement system;

[0033] c. According to the principl...

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Abstract

A large complex surface 3D topography robot flexible measuring system belongs to the technical field of topography measurement. The technical problem in the prior art that the measuring equipment cannot realize online measurement due to lack of flexibility, and has low degree of automation, low accuracy of point cloud splicing and measuring efficiency yet to be improved is solved. The measuring method of the measuring system comprises the following steps: S1, building a complex surface measuring system model; S2, planning a complex surface trajectory, and performing offline programming; S3, measuring the 3D topography of the complex surface; and S4, processing the measurement data of the complex surface, and using a global point cloud splicing technology based on IGPS to complete point cloud data splicing. For different measurement products, the robot control program can be replaced at any time to adapt to different measurement requirements. An industrial robot can communicate with a computer in real time, and the degree of automation of the system is improved.

Description

technical field [0001] The invention belongs to the technical field of shape measurement, and in particular relates to a flexible measurement system for a three-dimensional shape robot of a large complex curved surface. Background technique [0002] In modern industrial production, especially in aerospace, automotive, weaponry, mold manufacturing and other fields, there are more and more parts with complex curved surface shapes, and the requirements for the structure and shape of parts are very high. Traditional manual offline measurement The method can no longer meet the needs of modern production for surface measurement. How to measure curved surfaces accurately, quickly and online has become one of the current research hotspots; in addition, the speed of product upgrading is accelerating. , more and more tend to develop to flexible production methods with multiple varieties and small batches. If enterprises still adopt traditional fixed detection methods, even if this met...

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Application Information

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IPC IPC(8): G01B11/24
CPCG01B11/24
Inventor 马国庆郑研斌曹国华于正林刘丽
Owner CHANGCHUN UNIV OF SCI & TECH
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