A component parameter detection apparatus and method

Abstract

The application relates to the field of detection equipment, and particularly discloses a kind of component parameter detection equipment, including mechanical arm, mounting plate, first camera and second camera, first camera and second camera are set on mechanical arm by mounting plate, mechanical arm is used to change the relative position and posture of mounting plate relative to the component to be detected;The optical axis of first camera and the optical axis of second camera are parallel to each other, first camera is used to shoot first image, second camera is used to shoot second image, the focusing parameter of first image and the focusing parameter of second image are the same, first image and second image have intersection area to obtain intersection image, intersection image is used to detect the size of the component to be detected.The application also provides a kind of component parameter detection method, by changing the relative position and posture of mounting plate relative to the component to be detected, and combining the size reflected by intersection image, the size of the component to be detected is detected.Thereby the component parameter detection automation can be realized.

Description

Technical Field

[0001] This application relates to the technical field of testing equipment, and in particular to a component parameter testing device and method. Background Technology

[0002] In actual production, it is necessary to inspect parameters such as the overall height, diameter, and elliptical opening of parts. Currently, these parameters are often measured manually, which is quite labor-intensive. Summary of the Invention

[0003] This application provides a component parameter testing device and method, with the aim of automating component parameter testing.

[0004] In a first aspect, a component parameter detection device is provided, including a robotic arm, a mounting plate, a first camera, and a second camera. The first camera and the second camera are mounted on the robotic arm via the mounting plate. The robotic arm is used to change the relative position and orientation of the mounting plate relative to the component to be detected.

[0005] The optical axes of the first camera and the second camera are parallel to each other. The first camera is used to capture a first image, and the second camera is used to capture a second image. The focus parameters of the first image and the focus parameters of the second image are the same. The first image and the second image have an intersection area to obtain an intersection image. The intersection image is used to detect the size of the component to be detected.

[0006] Compared with the prior art, the solution provided in this application has at least the following beneficial technical effects:

[0007] The component parameter detection equipment of this invention can automatically detect the parameters of components, thereby reducing the workload of workers. Furthermore, it can adapt to different types and sizes of components and is compatible with parameter measurement of various specifications of component products.

[0008] In conjunction with the first aspect, in a first implementation of the first aspect, the distance between the image centers of the first image and the second image on the intersecting image, and the camera distance between the first camera and the second camera, are used to detect the size of the component to be detected.

[0009] Secondly, a method for detecting component parameters is provided, the method being applied to the component parameter detection equipment as described in the first implementation of the first aspect, the method comprising:

[0010] The mounting plate is set to be parallel to the total height direction of the component to be tested, and a first image captured by the first camera and a second image captured by the second camera are obtained.

[0011] Based on the intersection area of ​​the first image and the second image, the first image and the second image are overlapped to obtain an intersection image;

[0012] The total height of the component to be detected is determined based on the image center distance, the camera distance, and the image size of the component to be detected in the cross image along the total height direction.

[0013] The component parameter detection equipment of this invention can automatically detect the total height of components, thereby reducing the workload of workers. Furthermore, it can adapt to different types and sizes of components and is compatible with parameter measurement of various component specifications.

[0014] Thirdly, a method for detecting component parameters is provided, the method being applied to the component parameter detection equipment as described in the first implementation of the first aspect, the method comprising:

[0015] The mounting plate is set to be parallel to the bottom surface of the component to be tested, and a first image captured by the first camera and a second image captured by the second camera are obtained.

[0016] Based on the intersection area of ​​the first image and the second image, the first image and the second image are overlapped to obtain an intersection image;

[0017] The outer diameter of the component to be detected is determined based on the image center distance, the camera distance, and the image size of the bottom contour of the component to be detected on the intersecting image.

[0018] The component parameter detection equipment of this invention can automatically detect the outer diameter of components, thereby reducing the workload of workers. Furthermore, it can adapt to different types and sizes of components and is compatible with parameter measurement of various specifications of component products.

[0019] Fourthly, a method for detecting component parameters is provided, the method being applied to the component parameter detection equipment as described in the first implementation of the first aspect, the method comprising:

[0020] The mounting plate is set parallel to the nozzle of the component to be tested, and a first image captured by the first camera and a second image captured by the second camera are obtained.

[0021] Based on the intersection area of ​​the first image and the second image, the first image and the second image are overlapped to obtain an intersection image;

[0022] The nozzle size of the component to be detected is determined based on the image center distance, the camera distance, and the image size of the nozzle profile of the component to be detected on the cross image.

[0023] The component parameter detection equipment of this invention can automatically detect the nozzle size of components, thereby reducing the workload of workers. Furthermore, it can adapt to different types and sizes of components and is compatible with parameter measurement of various specifications of component products.

[0024] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the nozzle shape is circular, and the nozzle size is the nozzle diameter; or,

[0025] The nozzle is elliptical in shape, and the nozzle dimensions are the major axis and the minor axis of the nozzle.

[0026] Fifthly, a method for detecting component parameters is provided, the method being applied to a component parameter detection device as described in any implementation of the first aspect above, the method comprising:

[0027] The mounting plate is set parallel to the nozzle of the component to be tested, and a first image captured by the first camera and a second image captured by the second camera are acquired. The inner wall of the nozzle has a first calibration position, a second calibration position, a third calibration position, and a fourth calibration position. The first calibration position, the second calibration position, the third calibration position, and the fourth calibration position are set on the cross-section of the component to be tested. The first line connecting the first calibration position and the second calibration position is perpendicular to the axis of the component to be tested. The second line connecting the third calibration position and the fourth calibration position is perpendicular to the axis of the component to be tested. The line connecting the midpoint of the first line and the midpoint of the second line is aligned with the axis of the component to be tested.

[0028] Based on the intersection area of ​​the first image and the second image, the first image and the second image are overlapped to obtain an intersection image;

[0029] Based on the image size between the first calibration position and the third calibration position on the cross image, which is the same as the image size between the third calibration position and the fourth calibration position on the cross image, the axial tilt angle of the component to be inspected is determined according to the rotation angle of the robotic arm.

[0030] The component parameter detection equipment of this invention can automatically detect the axial tilt angle of components, thereby reducing the workload of workers. Furthermore, it can adapt to different types and sizes of components and is compatible with parameter measurement of various specifications of component products.

[0031] Sixthly, a method for detecting component parameters is provided, the method being applied to the component parameter detection equipment as described in the first implementation of the first aspect, the method comprising:

[0032] The mounting plate is set to be parallel to the bottom surface of the component to be tested, and a first image captured by the first camera and a second image captured by the second camera are obtained.

[0033] Based on the intersection area of ​​the first image and the second image, the first image and the second image are overlapped to obtain an intersection image;

[0034] The size of the lug hole is determined based on the image center distance, the camera distance, and the image size of the lug hole of the component to be detected on the cross image.

[0035] The component parameter detection equipment of this invention can automatically detect the dimensions of the lug holes of components, thereby reducing the workload of workers. Furthermore, it can adapt to different types and sizes of components and is compatible with parameter measurement of various specifications of component products.

[0036] In a seventh aspect, a method for detecting component parameters is provided, the method being applied to a component parameter detection device as described in the first implementation of the first aspect, the method comprising:

[0037] The mounting plate is set to be parallel to the axis of the component to be tested, and a first image captured by the first camera and a second image captured by the second camera are obtained.

[0038] Based on the intersection area of ​​the first image and the second image, the first image and the second image are overlapped to obtain an intersection image;

[0039] The end distance of the component to be detected is determined based on the image center distance, the camera distance, the projection distance from the midpoint of the first image to the nozzle along the end distance direction on the intersecting image, and the projection distance from the midpoint of the second image to the midpoint of the bottom surface along the end distance direction on the intersecting image.

[0040] The component parameter detection equipment of this invention can automatically detect the end distance of components, thereby reducing the workload of workers. Furthermore, it can adapt to different types and sizes of components and is compatible with parameter measurement of various specifications of component products.

[0041] Eighthly, a control device is provided for performing the method as described in any of the implementations of the second to seventh aspects above. Attached Figure Description

[0042] Figure 1 This is a schematic structural diagram of a component parameter detection device provided in an embodiment of this application.

[0043] Figure 2 This is a partial schematic diagram of a component parameter detection device provided in an embodiment of this application.

[0044] Figure 3 This is a schematic diagram illustrating the principle of a component parameter detection method provided in an embodiment of this application.

[0045] Figure 4 This is a schematic diagram illustrating the principle of a component parameter detection method provided in an embodiment of this application.

[0046] Figure 5 This is a schematic diagram illustrating the principle of a component parameter detection method provided in an embodiment of this application.

[0047] Figure 6 This is a schematic diagram illustrating the principle of a component parameter detection method provided in an embodiment of this application.

[0048] Figure 7 This is a schematic diagram illustrating the principle of a component parameter detection method provided in an embodiment of this application.

[0049] Figure 8 This is a schematic diagram illustrating the principle of a component parameter detection method provided in an embodiment of this application. Detailed Implementation

[0050] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0051] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0052] It should be noted that when the terms "first," "second," etc., are used in the specification, claims, and accompanying drawings of this invention, they are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the invention described herein. Furthermore, when the terms "comprising" and "having," and any variations thereof, are used, it is intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0053] In this invention, when terms such as "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" are used, they indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0054] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0055] Furthermore, in this invention, the terms "installation," "setting," "equipped with," "connection," "linking," and "sleeving," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] Figure 1 This is a schematic structural diagram of a component parameter testing device provided in an embodiment of this application.

[0058] The component parameter testing equipment includes an industrial robot 100, a turntable 200, a vision measurement unit 300, a clamping unit 400, a control unit 500, and a light source unit 600.

[0059] A vision measurement unit 300 is mounted on the robotic arm of an industrial robot 100. The industrial robot 100, acting as a displacement mechanism, carries the vision measurement unit 300. A clamping unit 400 is mounted on a turntable 200 and is used to clamp the part 10 to be inspected, thus fixing the posture of the part 10. The robotic arm of the industrial robot 100 is positioned beside the turntable 200, allowing the vision measurement unit 300 to acquire images of the part 10 clamped on the clamping unit 400 from different angles. The industrial robot 100, the vision measurement unit 300, and the light source unit 600 are all connected to a control unit 500, enabling the control unit 500 to control the motion of the entire system. The light source unit 600 provides illumination to the vision measurement unit 300.

[0060] For example, the industrial robot 100 may be a six-axis industrial robot.

[0061] For example, the turntable 200 may be a single-axis turntable.

[0062] For example, the component parameter detection equipment also includes a turntable drive device. The turntable drive device is connected to the turntable 200 and also to the control unit 500. By providing the turntable drive device, the turntable 200 can act as a displacement mechanism, allowing the turntable 200 to cooperate with the industrial robot 100 to achieve displacement measurement of the component. The turntable drive device can be a stepper motor to control the angle of motor rotation.

[0063] For example, the clamping unit 400 includes a plurality of adjustable fixtures 410 disposed on the turntable 200. The adjustable fixtures 410 can be existing welding fixtures, machine tool fixtures, etc. For example, a tooling fixture formed by a base, a screw, and a clamping block can be used. Furthermore, the plurality of adjustable fixtures 410 are arranged in a ring on the turntable 200. By providing a plurality of adjustable fixtures 410, the clamping unit 400 can clamp parts of various specifications.

[0064] For example, the control unit 500 includes a host computer, a PLC controller, and a robot controller. The PLC controller and the robot controller are respectively connected to the host computer. The robot controller is connected to the industrial robot 100. The PLC controller is connected to the vision measurement unit 300 and the light source unit 600. The host computer can be an industrial computer. Furthermore, the host computer also includes a display connected to the industrial computer.

[0065] For example, the component parameter detection equipment also includes a serial number recognition device. In some embodiments, the serial number recognition device is mounted on the robotic arm of the industrial robot 100 and is connected to the control unit 500. In other embodiments, the serial number recognition device is a handheld barcode scanner for manual scanning. The serial number recognition device automatically identifies the serial number of the component 10 to be inspected, ensuring a one-to-one correspondence between the detection data and the product serial number.

[0066] For example, the component parameter detection equipment also includes a protective unit. The protective unit provides safety protection during the detection process, ensuring that the measuring mechanism does not collide with the workpiece.

[0067] In some embodiments, the protection unit may include a proximity sensor and an alarm connected to a PLC controller. When the proximity sensor detects that the device is close to the component 10 to be detected, the PLC controller may control the alarm to sound an alarm. Furthermore, the protection unit may also include a limit sensor connected to the PLC controller. The limit sensor may be an infrared grating switch.

[0068] Combination Figure 1 and Figure 2 In some embodiments provided in this application, the vision measurement unit 300 includes a first camera 310 and a second camera 320. The first camera 310 and the second camera 320 are fixed to the robotic arm of the industrial robot 100 via a mounting plate. The first camera 310 and the second camera 320 can be industrial cameras. The fields of view of the first camera 310 and the second camera 320 intersect. The optical axes of the first camera 310 and the second camera 320 are parallel to each other. The first camera 310 is used to capture a first image, and the second camera 320 is used to capture a second image. The focus parameters of the first image and the second image are the same. Specifically, the objective lens distance corresponding to the first image is the same as the objective lens distance corresponding to the second image.

[0069] To obtain size information from the first and second images, the overlapping portions of the first and second images can be used to create a cross-image. On this cross-image, the distance between the center of the first image and the center of the second image (referred to as the image center distance), and the distance between the first camera and the second camera (camera distance), are used to detect the size of the component to be detected. Since the objective lens distance can change the size of the object in the image, the actual size of the component to be detected can be obtained by combining the ratio between the image center distance and the camera distance with the size of the component in the image.

[0070] Combination Figure 1 and Figure 2In some embodiments provided in this application, the light source unit 600 includes a horizontal light source 610 and a vertical light source 620. The horizontal light source 610 is disposed on the horizontal side of the clamping unit 400. The horizontal light source 610 can be vertically disposed on the platform where the turntable 200 is located and is located on one side of the clamping unit 400. The vertical light source 620 is disposed on the lower side of the clamping unit 400. The vertical light source 620 is disposed within the cavity formed by the turntable 200 and the clamping unit 400, and the light emitted by the vertical light source 620 can pass through the cavity and illuminate the component 10 to be inspected. Thus, the light emitted by the horizontal light source 610 can project the longitudinal section of the component 10 to be inspected, and the light emitted by the vertical light source 620 can project the cross section of the component 10 to be inspected.

[0071] In some embodiments, such as Figure 2 As shown, the light source unit 600 also includes a vertical ring light source 630. The optical axis of the vertical ring light source 630 can be parallel to the optical axis of the vision measurement unit 300. The vertical ring light source 630 is positioned near the vision measurement unit 300. Specifically, the vertical ring light source 630 can be positioned near both the first camera 310 and the second camera 320. The light emitted by the vertical ring light source 630 can cover the field of view of the vision measurement unit 300.

[0072] The following specific examples illustrate how the component parameter detection equipment of this embodiment measures component parameters.

[0073] During the measurement of parameters of the component 10 to be tested, the control unit 500 controls the industrial robot 100 to adjust its posture in real time according to the product specifications. The control unit 500 completes various dimensional measurements through images acquired by the vision measurement unit 300, such as measuring the overall height, diameter, the angle between the oblique spray axis and the z-axis, the diameter of the support ear, the center distance of the support ear, and the major and minor axes and end distance of the elliptical opening component.

[0074] 1. Overall height measurement

[0075] The schematic diagram of the principle for measuring the total height of component 10 to be tested is shown below. Figure 3 As shown. The industrial robot 100 is equipped with a vision measurement unit 300. The field of view plane of the vision measurement unit 300 (which can be perpendicular to the optical axis of the camera of the vision measurement unit 300) can be set parallel to the transverse light source 610 or perpendicular to the bottom surface of the part 10 to be inspected. The axis of the part 10 to be inspected is projected onto the field of view plane, that is, the axis of the part 10 to be inspected can be tilted or parallel to the field of view plane, thereby realizing the total height of the part 10 to be inspected.

[0076] Figure 3 The diagram illustrates the detection principle for three different components 10 to be tested. Figure 3In the embodiment shown in (a), the axis of the component 10 to be inspected can be parallel to the view plane. The axis of the component 10 to be inspected can be parallel to the overall height direction of the component 10 to be inspected. Figure 3 In the embodiments shown in (b) and (c), the axis of the component 10 to be tested may be tilted relative to the view plane. The axis of the component 10 to be tested may be tilted relative to the total height direction of the component 10 to be tested.

[0077] exist Figure 3 In the illustrated embodiment, the first camera 310 and the second camera 320 are fixed to the robotic arm of the industrial robot 100 via a mounting plate. The mounting plate can be parallel to the transverse light source 610, that is, parallel to the overall height direction of the component 10 to be inspected. The first camera 310 and the second camera 320 in the vision measurement unit 300 respectively acquire images of the component 10 to be inspected. The first camera 310 can acquire images of the component 10 to be inspected near the nozzle, and the first camera 320 can acquire images of the component 10 to be inspected near the bottom surface (i.e., away from the nozzle).

[0078] The control unit 500 calculates the distances h1 and h2 from the image outline to the center of the field of view. Then, the height h of the component 10 to be detected is calculated as follows: h = H + h1 + h2, where H is the center distance between the first image captured by the first camera 310 and the second image captured by the second camera 320, and is a constant; h1 and h2 can be positive or negative.

[0079] In some embodiments, by adjusting the distance between the visual measurement unit 300 and the component 10 to be inspected, the distance between the optical axis projection of the first camera 310 on the component 10 to be inspected and the optical axis projection of the second camera 320 on the component 10 to be inspected can be controlled to be the same as H.

[0080] Figure 3 (d) shows four possible height h detection embodiments.

[0081] When the highest position of the component 10 to be detected is located on the side of the optical axis of the first camera 310 closer to the second camera 320, that is, when the highest position of the component 10 to be detected is located on the side of the center of the first image closer to the second image in the first image, h1 is a negative number. Conversely, when the highest position of the component 10 to be detected is located on the side of the optical axis of the first camera 310 away from the second camera 320, that is, when the highest position of the component 10 to be detected is located on the side of the center of the first image away from the second image in the first image, h1 is a positive number.

[0082] When the lowest position of the component 10 to be detected is located on the side of the optical axis of the second camera 320 closer to the first camera 310, that is, when the lowest position of the component 10 to be detected is located on the side of the center of the second image closer to the first image in the second image, h2 is a negative number. Conversely, when the lowest position of the component 10 to be detected is located on the side of the optical axis of the second camera 320 away from the first camera 310, that is, when the lowest position of the component 10 to be detected is located on the side of the center of the second image away from the first image in the second image, h2 is a positive number.

[0083] exist Figure 3 In the first case shown in (d), both h1 and h2 are negative; Figure 3 In the second case shown in (d), h1 is a positive number and h2 is a negative number; Figure 3 In the third case shown in (d), h1 is negative and h2 is positive; Figure 3 In the fourth case shown in (d), both h1 and h2 are positive numbers.

[0084] 2. Measurement of outer diameter

[0085] The outer diameter is measured using an image method. The vision measurement unit 300 can be positioned opposite the turntable 200 and acquires an image of the bottom arc of the part 10 to be inspected. The vision measurement unit 300 can be located on top of the part 10 to be inspected. The part 10 to be inspected can be located between the vision measurement unit 300 and the turntable 200. Figure 4 In the illustrated embodiment, the mounting plate equipped with the first camera 310 and the second camera 320 can be parallel to the bottom surface of the component 10 to be inspected. The optical axes of the first camera 310 and the second camera 320 can be perpendicular to the bottom surface of the component 10 to be inspected. The vertical light source 620 can illuminate from the bottom of the component 10 to be inspected.

[0086] The control unit 500 can extract the contour from the bottom arc image and perform circle fitting on the contour to obtain the outer diameter. In some embodiments, such as Figure 4 As shown in (a) and (c), since the bottom arc is not obstructed, the contour obtained by extracting the bottom arc can be a closed arc; as Figure 4 As shown in (b), if the bottom arc is blocked by the nozzle, the contour obtained by extracting the bottom arc can be a non-closed arc.

[0087] 3. Nozzle size measurement

[0088] The vision measurement unit 300 can be positioned opposite the turntable 200 and acquires images of the nozzle of the component 10 to be inspected. The optical axis of the vision measurement unit 300 can be perpendicular to the nozzle profile of the component 10 to be inspected. The field of view plane of the vision measurement unit 300 can be parallel to the nozzle profile of the component 10 to be inspected. Figure 5 In the illustrated embodiment, the mounting plate equipped with the first camera 310 and the second camera 320 can be parallel to the nozzle profile of the component 10 to be inspected. The optical axes of the first camera 310 and the second camera 320 can be perpendicular to the nozzle profile of the component 10 to be inspected. The vertical ring light source 630 can illuminate the nozzle of the component 10 to be inspected.

[0089] In some embodiments, such as Figure 5 As shown in (a), since the bottom surface of the component 10 to be inspected is parallel to the nozzle of the component 10 to be inspected, the vision measurement unit 300 can be located on top of the component 10 to be inspected; as Figure 5 As shown in (b), since the nozzle of the component 10 to be inspected is tilted relative to the bottom surface of the component 10, the vision measurement unit 300 can tilt according to the tilt angle of the nozzle; as Figure 5 As shown in (c), since the nozzle of the component 10 to be inspected is perpendicular to the bottom surface of the component 10 to be inspected, the visual measurement unit 300 can be located on one side of the component 10 to be inspected and set opposite to the transverse light source 610.

[0090] When the nozzle profile is circular, such as Figure 5 As shown in (a) and (b), the control unit 500 can extract the contour from the nozzle image and perform circle fitting on the contour to obtain the nozzle diameter.

[0091] When the nozzle profile is elliptical, such as Figure 5 As shown in (c), the control unit 500 can extract the contour from the nozzle image and fit an ellipse based on the contour, thereby calculating the major and minor axes of the elliptical nozzle.

[0092] 4. Angle α between the oblique spray axis and the z-axis

[0093] The vision measurement unit 300 can be positioned opposite the turntable 200 and acquire images of the nozzle of the component 10 to be inspected. The positional relationship between the component 10 to be inspected and the vision measurement unit 300 meets the measurement requirements, so that the vision measurement unit 300 can capture the A, B, C, and D calibration positions on the inner surface of the nozzle. For details, refer to the posture adjustment embodiment for nozzle diameter measurement.

[0094] like Figure 6As shown, AD and BC are the generatrices of the sampling sections, and the angle bisectors of the two generatrices are the axis EF of the component 10 to be inspected. The planes containing A and D are perpendicular to the axis EF of the component 10 to be inspected, and the planes containing B and C are also perpendicular to the axis EF of the component 10 to be inspected. In the figure, the angle between the axis EF and the Y-axis in the image coordinate system is the angle α between the oblique spray axis and the z-axis.

[0095] When the vision measurement unit 300 captures images showing that distances AB and BC are the same, it means that the shooting direction of the vision measurement unit 300 is aligned with the axis of the component 10 to be inspected, and the vision measurement unit 300 is directly facing the nozzle of the component 10 to be inspected. The control unit 500 can obtain the angle α between the oblique spray axis and the z-axis based on the rotation angle of the robotic arm of the industrial robot 100.

[0096] 5. Measurement of apron diameter and apron center distance

[0097] Similar to the outer diameter measurement method or nozzle diameter measurement, the vision measurement unit 300 can be positioned opposite the turntable 200, and can be located on top of the component 10 to be inspected. Using a vertical ring light source 630 for illumination, the vision measurement unit 300 can acquire images of the lug hole 11. The optical axis of the vision measurement unit 300 can be parallel to the hole axis of the lug hole 11. The control unit 500 calculates the hole diameter and center distance of the lug hole 11 based on the images acquired by the vision measurement unit 300 and the distance between the vision measurement unit 300 and the lug hole 11. A schematic diagram of the measurement principle is shown below. Figure 7 As shown.

[0098] 6. End distance measurement

[0099] like Figure 8 As shown, the robotic arm of the industrial robot 100 can be... Figure 7 The state shown is rotated by β to become Figure 8 The state shown. β can be the angle between the axis of the component 10 to be detected and the X-axis. β = 90° - α. The first camera 310 can capture the area of ​​the component 10 to be detected near the nozzle. The second camera 320 can capture the area of ​​the component 10 to be detected near the bottom surface. The control unit 500 calculates the end distance L based on the first image obtained by the first camera 310 and the second image obtained by the second camera 320.

[0100] The end distance L is calculated as follows: L = cos(β)H - x1 + x2, where H is the distance between the image centers of the first image and the second image. x1 is the projection distance in the X direction from the nozzle of the component 10 to the image center of the first image. When the image center of the first image is located on the side of the nozzle away from the image center of the second image, x1 is a positive number. When the image center of the first image is located on the side of the nozzle closer to the image center of the second image, x1 is a negative number. x2 is the projection distance in the X direction from the bottom center of the component 10 to the image center of the second image. When the image center of the second image is located on the side of the bottom center away from the image center of the first image, x2 is a positive number. When the image center of the second image is located on the side of the bottom center closer to the image center of the first image, x2 is a negative number.

[0101] The component parameter detection equipment of this invention can automatically detect parameters such as the total height, diameter, and elliptical opening of components, thereby reducing the workload of workers. Furthermore, the component parameter detection equipment of this invention can adapt to different types and sizes of components and is compatible with parameter measurement of various specifications of component products.

[0102] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims of the present invention.

Claims

1. A method for detecting component parameters, characterized in that, Based on a component parameter detection device, the device includes a robotic arm, a mounting plate, a first camera, and a second camera. The first camera and the second camera are mounted on the robotic arm via the mounting plate. The robotic arm is used to change the relative position and orientation of the mounting plate relative to the component to be detected. The optical axes of the first camera and the second camera are parallel to each other. The first camera is used to capture a first image, and the second camera is used to capture a second image. The focus parameters of the first image and the focus parameters of the second image are the same. The method includes: The mounting plate is set parallel to the nozzle of the component to be tested, and a first image captured by the first camera and a second image captured by the second camera are acquired. The inner wall of the nozzle has a first calibration position, a second calibration position, a third calibration position, and a fourth calibration position. The first calibration position, the second calibration position, the third calibration position, and the fourth calibration position are set on the cross-section of the component to be tested. The first line connecting the first calibration position and the second calibration position is perpendicular to the axis of the component to be tested. The second line connecting the third calibration position and the fourth calibration position is perpendicular to the axis of the component to be tested. The line connecting the midpoint of the first line and the midpoint of the second line is aligned with the axis of the component to be tested. Based on the intersection area of ​​the first image and the second image, the first image and the second image are overlapped to obtain an intersection image; the distance between the image centers of the first image and the second image on the intersection image, and the camera distance between the first camera and the second camera, are used to detect the size of the component to be detected; Based on the image size on the cross image between the first and second calibration positions, which is the same as the image size on the cross image between the third and fourth calibration positions, the axial tilt angle of the component to be inspected is determined according to the rotation angle of the robotic arm.

2. A control device, characterized in that, The control device is used to perform the method as described in claim 1.

Images