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Three-dimensional scanning measurement device of robot, and working method

A measuring device and three-dimensional scanning technology, which is applied in the direction of manufacturing tools, metal processing equipment, grinding machine parts, etc., to eliminate the influence of leading dimensions, improve calibration efficiency, and improve accuracy

Inactive Publication Date: 2020-09-11
JIANGSU LANLING ELECTROMECHANICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a robot three-dimensional scanning measurement device to solve the above-mentioned existing technical problem of how to measure online during the polishing process

Method used

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  • Three-dimensional scanning measurement device of robot, and working method
  • Three-dimensional scanning measurement device of robot, and working method
  • Three-dimensional scanning measurement device of robot, and working method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] Such as Figure 4 As shown, the robot three-dimensional scanning measurement device includes measurement and calibration functions. When the image processing terminal 2 selects the measurement function, the robot three-dimensional scanning measurement device enters the measurement state according to the measurement method. The specific measurement method includes the following steps:

[0053] Step 1, target image collection, the camera 302 shoots and collects the target image containing the laser line, and transmits the target image to the image processing terminal 2 through Ethernet;

[0054] Step 2, image processing, image processing is performed on the target image in the image processing terminal 2, and the coordinates of the robot coordinate system are obtained. The image processing includes:

[0055] Step 2.1, image filtering, performing filtering processing on the target image;

[0056] Step 2.2, image threshold segmentation, using the maximum inter-class varian...

Embodiment 2

[0115] The robot three-dimensional scanning measurement device includes a measurement function, and the robot three-dimensional scanning measurement device enters the measurement state according to the measurement method. The specific measurement method includes the following steps:

[0116] Step 1, target image collection, the camera 302 shoots and collects the target image containing the laser line, and transmits the target image to the image processing terminal 2 through Ethernet;

[0117] Step 2, image processing, image processing is performed on the target image in the image processing terminal 2, and the coordinates of the robot coordinate system are obtained. The image processing includes:

[0118] Step 2.1, image filtering, performing filtering processing on the target image;

[0119] Step 2.2, image threshold segmentation, using the maximum inter-class variance method (OSTU) to dynamically set the threshold according to the background and laser lines in the target ima...

Embodiment 3

[0136] The robot three-dimensional scanning measurement device includes a measurement function and a calibration function, and the robot three-dimensional scanning measurement device enters the calibration state according to the calibration method,

[0137] The robot has a rotation axis, so the description of the actual object in space should also include its posture, that is, the orientation and posture of the object. figure 1 As shown, there is a world coordinate system {W} and another coordinate system {P} in the space, Indicates the value of each axis direction of the {P} coordinate system relative to the coordinate system {W}, then the attitude relationship of a point in {P} at {W} can be:

[0138]

[0139] Among them, r 11 ~ r 33 is the unit orthogonal rotation matrix, so Both the transpose matrix and the inverse matrix of are themselves.

[0140] Such as Figure 6 As shown, the conversion relationship between the various coordinate systems in the three-dimensi...

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Abstract

The invention puts forward a three-dimensional scanning measurement device of a robot, and a working method. The three-dimensional scanning measurement device of the robot comprises a front end measurement device and an image processing terminal, wherein the front end measurement device is installed on the tail end mechanical arm of a robot installed above a calibration table; the bottom of the tail end mechanical arm is provided with a tail end tool; the calibration table is provided with a calibration board; the image processing terminal is in communication connection with the front end measurement device and the controller of the robot; and the controller of the robot is connected with a demonstrator. The working method comprises the following steps of: through a calibration method, obtaining a transformation relationship between an image coordinate system and a robot coordinate system, and obtaining a three-dimensional model of a tested workpiece through a measurement method. The three-dimensional scanning measurement device of the robot has the following advantages that the online measurement of the workpiece is realized, measurement data is fed back to the controller and is used for the route planning and the movement compensation calculation of the robot, and the machining precision and the working efficiency of the robot are improved.

Description

technical field [0001] The invention relates to the field of polishing and grinding machining, in particular to a robot three-dimensional scanning measuring device and a working method. Background technique [0002] In the traditional manufacturing industry, grinding and polishing is the most basic process, but its cost accounts for 30% of the total cost, and the high dust and high labor intensity working environment makes it more and more difficult to recruit workers. The polishing robot can not only work continuously for 24 hours, but also have better product polishing quality and consistency. Therefore, application companies have an increasing demand for "machine substitution" in polishing and polishing. [0003] The polishing and grinding robot can replace the traditional manual grinding and polishing of workpieces. It is mainly used for surface polishing of workpieces of various materials, deburring of edges and corners after machining, and inner holes in the inner cav...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B19/00B24B41/04B24B49/12
CPCB24B19/00B24B41/04B24B49/12
Inventor 顾耸智许景波赵建超薛永贵顾耸明
Owner JIANGSU LANLING ELECTROMECHANICAL TECH CO LTD
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