A posture measurement method for docking workpieces

Abstract

The invention relates to a method for measuring the attitude of a docked workpiece, comprising the following steps: Step 1: using a calibration tool to paste a characteristic graphic label on the workpiece; Step 2: removing the calibration tool, and moving the workpiece at the docking end to a docking station; Step 3: Measuring camera measurement, the system calculates the y-axis, z-axis direction offset between the two workpieces and the angular deviation value α around the x-axis according to the measured longitudinal offset; Step 4: The workpiece at the docking end moves to eliminate the deviation in Step 3; Step 5 : Measuring camera measurement, the system calculates the angle deviation value β around the y-axis and the angle deviation value θ around the z-axis of the workpiece at the docking end according to the measured lateral offset; Step 6: Move the workpiece at the docking end to eliminate the deviation in Step 5; Step 7 : Measuring camera measurement, the system calculates the offset in the x-axis direction between the two workpieces according to the measured lateral offset; Step 8: The workpieces at the docking end move to eliminate the deviation in step 7. The measurement and adjustment precision of the invention is greatly improved, and the use is flexible.

Description

technical field [0001] The invention relates to the technical field of automated production, in particular to a posture measurement method for a docked workpiece. Background technique [0002] At present, for the measurement of automatic docking of two workpieces with six degrees of freedom, multiple sets of laser displacement sensors are generally used for external positioning and measurement, but when using laser displacement sensors for measurement, each set of sensors can only be used to detect one degree of freedom of the moving workpiece Changes, and this measurement method has restrictions on the installation position of the sensor, and at the same time has strict requirements on the machining accuracy of the measured workpiece shape. When the shape of the workpiece is irregular or the shape machining accuracy is low, it is difficult to accurately give the distance between the two workpieces. The relationship between position and posture, especially when the pins and ...

AI Technical Summary

Problems solved by technology

[0002] At present, for the measurement of automatic docking of two workpieces with six degrees of freedom, multiple sets of laser displacement sensors are generally used for external positioning and measurement, but when using laser displacement sensors for measurement, each set of sensors can only be used to detect one degree of freedom of the moving workpiece Changes, and this measurement method has restrictions on the installation position of the sensor, and at the same time has strict requirements on the machining accuracy of the measured workpiece shape. When the shape of the workpiece is irregular or the shape machining accuracy is low, it is difficult to accurately give the distance between the two workpieces. The relationship between position and posture, especially when the pins and pin holes used for positioning are inside the workpiece, which is not easy to be detected, it is difficult to implement using traditional measurement methods

In the past, the docking process of this kind of workpiece often relied on manual observation, and the accurate docking could only be achieved after repeated adjustments, and the cooperation of multiple workers was required, the adjustment time was long and the measurement accuracy was greatly affected by naked eye observation.

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