A six degree of freedom measurement system

Abstract

The present application relates to a kind of six degrees of freedom measurement systems, it includes camera;Prism, optical axis is coaxially arranged with camera view axis;Target, be set in the combined field of view of camera and prism and be installed on the target to be measured;The target includes shell, longitudinal drive assembly is installed in shell, guide rod and the mounting seat slidingly connected with guide rod;Through nut is also installed on the top plate of the shell, and the screw rod is connected with the nut inner thread cooperation connection, nut is connected with longitudinal drive assembly;The screw rod one end is connected with mounting seat, the other end is connected with the top plate on transverse drive assembly and passes through transverse drive assembly;Multiple struts are equipped on the transverse drive assembly, and transverse drive assembly drives struts simultaneously close or far away;The top of the screw rod and struts are all installed with mark point.Compared with prior art, the target of the present application can be independently adjusted configuration space, change the distribution of mark point in space, adapt to the measurement scene of space limited.

Description

Technical Field

[0001] This invention belongs to the field of spatial geometry measurement technology, and in particular relates to a six-degree-of-freedom measurement system. Background Technology

[0002] With the development of intelligent manufacturing, the extraction of motion condition information from manufacturing equipment is a crucial feedback link in intelligent manufacturing. As a key sensor in information extraction, the testing system directly determines the working accuracy of the manufacturing system. For example, during the operation of an industrial robot, manufacturing errors, control precision, and changes in ambient temperature will significantly affect the robot's end-effector pose accuracy. Therefore, real-time measurement of the industrial robot's end-effector is necessary to provide feedback on pose errors and achieve high-precision dynamic operation. In the assembly process of large equipment, real-time measurement of the spatial pose of parts is required to ensure smooth assembly.

[0003] Currently, six-degree-of-freedom measurement targets used in industrial settings are typically complex in composition, occupy a large amount of space, are not easy to carry, and are difficult to adapt to complex industrial scenarios with limited space.

[0004] Chinese invention application CN201721004957.9 discloses a six-degree-of-freedom measurement target for industrial robot inspection, in which the target body is mounted on a base plate with multiple mounting holes to accommodate different robot models. However, the adaptability of this measurement target is still limited, and it cannot autonomously adjust the spatial configuration of the target according to the measurement space.

[0005] Therefore, a six-degree-of-freedom measurement system that can adapt to unrestricted space and allow targets to autonomously adjust their configuration space still needs to be developed. Summary of the Invention

[0006] The purpose of this invention is to overcome the limitations of existing technologies in terms of adaptability space and to provide a six-degree-of-freedom measurement system.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] A six-degree-of-freedom measurement system, characterized in that it comprises:

[0009] camera;

[0010] The prism has its optical axis set coaxially with the camera's line of sight.

[0011] The target is set within the combined field of view of the camera and prism and mounted on the target being measured.

[0012] The target includes a housing, within which a longitudinal drive assembly, a guide rod, and a mounting base slidably connected to the guide rod are installed;

[0013] The top plate of the housing is also equipped with a through nut and a screw rod that engages with the internal thread of the nut. The nut is connected to the longitudinal drive assembly. One end of the screw rod is connected to the mounting base, and the other end of the screw rod is connected to and passes through the transverse drive assembly installed on the top plate.

[0014] The lateral drive assembly is provided with multiple pillars, and the lateral drive assembly drives the multiple pillars to move closer to or further away from each other simultaneously.

[0015] Marker points are installed on the top of both the screw and the support.

[0016] Furthermore, the prism is a wedge-shaped prism that rotates around a planar optical axis.

[0017] Furthermore, the longitudinal drive assembly includes a motor, a belt, a drive pulley, a connecting rod, and a driven pulley.

[0018] Furthermore, the motor is connected to the inner wall of the top plate via a connecting rod, and the output shaft of the motor is equipped with a drive pulley. The drive pulley is connected to the driven pulley via a belt, and the driven pulley is coaxially and fixedly connected to a nut.

[0019] Furthermore, the housing includes a top plate, a bottom plate, and a side plate disposed between the top plate and the bottom plate.

[0020] Furthermore, the guide rod is vertically installed on the inner wall of the top plate.

[0021] Furthermore, the mounting base does not contact the side plate, and the screw does not contact the base plate.

[0022] Furthermore, the nut is mounted on the top plate via a first bearing.

[0023] Furthermore, the screw is connected to the mounting base via a second bearing.

[0024] Furthermore, the lateral drive assembly includes a support rod connected to the top plate, and a first mounting plate, a ring frame, a second mounting plate, and a slider mounted on the support rod.

[0025] Furthermore, the first mounting plate is connected to the support rod, and the second mounting plate is slidably connected to the first mounting plate through a ring frame.

[0026] Furthermore, the screw is connected to the second mounting plate of the lateral drive assembly via a guide key.

[0027] Furthermore, the first mounting plate has a non-through T-slot, and the slider is slidably connected to the first mounting plate within the T-slot.

[0028] Furthermore, each of the support pillars is mounted on a corresponding slider.

[0029] Furthermore, the second mounting plate is evenly provided with multiple arc-shaped grooves, and the support column passes through the corresponding arc-shaped groove and can slide on the arc-shaped groove.

[0030] The present invention also provides an application of the above-mentioned six-degree-of-freedom measurement system in complex industrial scenarios with limited space.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] (1) The present invention can drive the marker points on the screw and the marker points on the support to achieve synchronous adjustment in the x, y and z directions by using only the longitudinal drive component inside the target. The target can autonomously adjust the configuration space and change the distribution of the marker points in the space to adapt to the six degrees of freedom measurement in space-constrained scenarios.

[0033] (2) The present invention allows for the arrangement of different numbers and distributions of support pillars on the transverse drive assembly as needed, giving the entire device good flexibility and adjustability.

[0034] (3) The present invention combines a camera and a prism, and a single camera can realize multi-camera multi-view observation and measurement. It has advantages such as compact configuration, convenient and flexible control, accurate line of sight pointing, and adaptive adjustment of observation angle. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0036] Figure 2 This is a front view of the target of the present invention.

[0037] Figure 3 This is a left view of the target of the present invention.

[0038] Figure 4 This is a top view of the target of the present invention.

[0039] Figure 5 This is an AA view of the target of the present invention.

[0040] Figure 6 This is a BB view of the target of the present invention.

[0041] Explanation of markings in the diagram:

[0042] 1-Camera, 2-Prism, 3-Target, 31-House, 311-Top Plate, 312-Bottom Plate, 313-Side Plate, 32-Longitudinal Drive Assembly, 321-Motor, 322-Belt, 323-Driving Pulley, 324-Connecting Rod, 325-Driven Pulley; 33-Guide Rod, 34-Mounting Base, 35-Nut, 351-First Bearing, 36-Screw, 361-Second Bearing, 362-Guide Key, 37-Transverse Drive Assembly, 371-Support Rod, 372-First Mounting Plate, 3721-T-Slot, 373-Ring Frame, 374-Second Mounting Plate, 3741-Arc Groove, 375-Slider, 38-Support Column, 39-Marker Point. Detailed Implementation

[0043] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0044] In this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can be internal connections between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0046] Example 1:

[0047] A six-degree-of-freedom measurement system includes a camera 1, a prism 2, and a target 3.

[0048] The optical axis of prism 2 is set coaxially with the line of sight of camera 1; target 3 is set within the combined field of view of camera 1 and prism 2 and is mounted on the target to be measured.

[0049] The target 3 includes a housing 31, within which a longitudinal drive assembly 32, a guide rod 33, and a mounting base 34 slidably connected to the guide rod 33 are installed. A through nut 35 and a screw 36 threadedly connected to the nut 35 are also installed on the top plate 311 of the housing 31. The nut 35 is connected to the longitudinal drive assembly 32, which drives the nut 35 to rotate, thereby moving the screw. One end of the screw 36 is connected to the mounting base 34, and the other end is connected to and passes through a transverse drive assembly 37 installed on the top plate 311. The transverse drive assembly 37 has multiple supports 38, which can drive the supports 38 to move closer or further away simultaneously. Marking points 39 are installed on the top of the screw 36 and the top of the supports 38.

[0050] In this embodiment, the longitudinal drive component 32 within the target 3 can drive the screw 36 and the marker point 39 on the support column 38 to achieve synchronous adjustment in the x, y, and z directions. The target 3 can autonomously adjust its configuration space and change the distribution of the marker point 39 in space to adapt to six-degree-of-freedom measurement in space-constrained scenarios.

[0051] Example 2:

[0052] A six-degree-of-freedom measurement system includes a camera 1, a prism 2, and a target 3. The optical axis of the prism 2 is coaxial with the line of sight of the camera 1. The prism 2 is a wedge-shaped prism and can rotate around the planar optical axis. The target 3 is set within the combined field of view of the camera 1 and the prism 2 and is mounted on the target to be measured.

[0053] The target 3 includes a housing 31, within which a longitudinal drive assembly 32, a guide rod 33, and a mounting base 34 are installed. The housing 31 includes a top plate 311, a bottom plate 312, and a side plate 313 located between the top plate 311 and the bottom plate 312. The guide rod 33 is vertically mounted on the inner wall of the top plate 311, and the mounting base 34 is slidably connected to the guide rod 33. The mounting base 34 does not contact the side plate 313, and the screw 36 does not contact the bottom plate 312.

[0054] A through nut 35 is also installed on the top plate 311 of the housing 31. The nut 35 is mounted on the top plate 311 via a first bearing 351. The nut 35 is connected to the longitudinal drive assembly 32, which drives the nut 35 to rotate. A screw 36 is connected to the nut 35 via its internal thread. One end of the screw 36 is connected to the mounting base 34 via a second bearing 361, and the other end of the screw 36 is connected to and passes through the transverse drive assembly 37 mounted on the top plate 311 via a guide key 362. The transverse drive assembly 37 has multiple supports 38, which drive the multiple supports 38 to move closer or further away simultaneously. Markers 39 are installed on the top of the screw 36 and the top of the supports 38.

[0055] Specifically, in this embodiment, the longitudinal drive assembly 32 includes a motor 321, a belt 322, a drive pulley 323, a connecting rod 324, and a driven pulley 325. The motor 321 is connected to the inner wall of the top plate 311 through the connecting rod 324. The output shaft of the motor 321 is equipped with the drive pulley 323. The drive pulley 323 is connected to the driven pulley 325 through the belt 322. The driven pulley 325 is coaxially fixedly connected to the nut 35.

[0056] Specifically, in this embodiment, the lateral drive assembly 37 includes a support rod 371 connected to the top plate 311, and a first mounting plate 372, a ring frame 373, a second mounting plate 374, and a slider 375 mounted on the support rod 371. The first mounting plate 372 is connected to the support rod 371, and the second mounting plate 374 is slidably connected to the first mounting plate 372 via the ring frame 373. The screw 36 is connected to the second mounting plate 374 of the lateral drive assembly 37 via a guide key 362. The first mounting plate 372 has a non-through T-slot 3721, and the slider 375 is slidably connected to the first mounting plate 372 within the T-slot 3721. A support column 38 is mounted on the corresponding slider 375; the second mounting plate 374 has a plurality of evenly spaced arc-shaped grooves 3741, through which the support column 38 passes and can slide on the arc-shaped grooves 3741.

[0057] Example 3:

[0058] like Figure 1 As shown, this embodiment proposes a six-degree-of-freedom measurement system, which includes a camera 1, a prism 2 and a target 3. The line of sight of the camera 1 and the optical axis of the prism 2 are arranged coaxially, and the target 3 is set in the combined field of view of the camera 1 and the prism 2.

[0059] like Figure 2 As shown, target 3 includes a longitudinal drive assembly 32, a nut 35, a screw 36, a first bearing 351, a mounting base 34, a guide rod 33, a top plate 311, a side plate 313, a bottom plate 312, a support rod 371, a transverse drive assembly 37, a support column 38, a marker point 39, a guide key 362, and a second bearing 361. The longitudinal drive assembly 32 is mounted on the top plate 311. The longitudinal drive assembly 32 drives the nut 35 to rotate. The nut 35 is mounted on the top plate 311 through the second bearing 361. The nut 35 is screwed to the screw 36. One end of the screw 36 is connected to the mounting base 34 through the first bearing 351. The other end of the screw 36 is connected to the transverse drive assembly 37 through the guide key 362. The screw 36 is equipped with a marker point 39. The mounting base 34 is slidably connected to the guide rod 33. The guide rod 33 is mounted on the top plate 311. The transverse drive assembly 37 drives multiple supports 38 to converge and disperse simultaneously. The supports 38 are equipped with marker points 39. The transverse drive assembly 37 is mounted on the top plate 311 through the support rod 371. The top plate 311 is connected to the bottom plate 312 through the side plate 313.

[0060] like Figure 2 As shown, preferably, the longitudinal drive assembly 32 includes a motor 321, a belt 322, a drive pulley 323, a connecting rod 324, and a driven pulley 325. The motor 321 is connected to the top plate 311 through the connecting rod 324. The output shaft of the motor 321 is equipped with the drive pulley 323, and the drive pulley 323 is connected to the driven pulley 325 through the belt 322.

[0061] like Figure 2-6 As shown, preferably, the lateral drive assembly 37 includes a first mounting plate 372, a ring frame 373, a second mounting plate 374, and a slider 375. The first mounting plate 372 is mounted on the top plate 311 via a support rod 371, and the second mounting plate 374 is slidably connected to the first mounting plate 372 via the ring frame 373. The first mounting plate 372 is provided with a T-slot 3721, and the slider 375 is slidably connected to the first mounting plate 372 within the T-slot 3721. A support column 38 is mounted on the slider 375. The second mounting plate 374 is provided with an arc-shaped groove 3741, and the support column 38 passes through the second mounting plate 374 and is disposed within the arc-shaped groove 3741.

[0062] In this embodiment, the longitudinal drive component 32 within the target 3 drives the nut 35 to rotate, thereby causing the screw 36, which cooperates with the nut 35, to rotate and move up and down along its axis. Simultaneously, the rotation of the screw 36 also causes the second mounting plate 374 in the transverse drive component 37 to rotate, and then the support column 38 mounted on the slider 375 moves closer or further away along the arc groove 3741. Through the above process, the marker points 39 on the screw 36 and the support column 38 achieve synchronous adjustment in the x, y, and z directions. The target 3 can autonomously adjust its configuration space, changing the distribution of the marker points 39 in space to adapt to six-degree-of-freedom measurements in space-constrained scenarios.

[0063] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A six-degree-of-freedom measurement system, characterized in that, include: Camera (1); The prism (2) is set coaxially with the line of sight of the camera (1); The target (3) is set within the combined field of view of the camera (1) and the prism (2) and mounted on the target to be measured; The target (3) includes a housing (31), and a longitudinal drive assembly (32), a guide rod (33), and a mounting base (34) slidably connected to the guide rod (33) are installed inside the housing (31). The longitudinal drive assembly (32) includes a motor (321), a belt (322), a drive pulley (323), a connecting rod (324), and a driven pulley (325); the motor (321) is connected to the inner wall of the top plate (311) through the connecting rod (324), the output shaft of the motor (321) is equipped with the drive pulley (323), the drive pulley (323) is connected to the driven pulley (325) through the belt (322), and the driven pulley (325) is coaxially fixedly connected to the nut (35); The top plate (311) of the housing (31) is also equipped with a through nut (35) and a screw (36) that is threadedly connected to the nut (35). The nut (35) is connected to the longitudinal drive assembly (32). One end of the screw (36) is connected to the mounting base (34), and the other end of the screw (36) is connected to and passes through the transverse drive assembly (37) installed on the top plate (311). The lateral drive assembly (37) is provided with multiple support columns (38), and the lateral drive assembly (37) drives the multiple support columns (38) to move closer or further away simultaneously; the lateral drive assembly (37) includes a support rod (371) connected to the top plate (311), and a first mounting plate (372), a ring frame (373), a second mounting plate (374), and a slider (375) mounted on the support rod (371); the first mounting plate (372) is connected to the support rod (371), and the second mounting plate (374) is slidably connected to the first mounting plate (372) through the ring frame (373); the first mounting plate (372) has a non-through T-slot (3721), and the slider (375) is slidably connected to the first mounting plate (372) in the T-slot (3721); Marker points (39) are installed on the top of both the screw (36) and the support (38).

2. The six-degree-of-freedom measurement system according to claim 1, characterized in that, The prism (2) is a wedge prism, and the prism (2) rotates around the plane optical axis.

3. The six-degree-of-freedom measurement system according to claim 1, characterized in that, The housing (31) includes a top plate (311), a bottom plate (312), and a side plate (313) disposed between the top plate (311) and the bottom plate (312). The guide rod (33) is vertically installed on the inner wall of the top plate (311); The mounting base (34) does not contact the side plate (313), and the screw (36) does not contact the base plate (312).

4. The six-degree-of-freedom measurement system according to claim 1, characterized in that, The nut (35) is mounted on the top plate (311) via the first bearing (351).

5. A six-degree-of-freedom measurement system according to claim 1, characterized in that, The screw (36) is connected to the mounting base (34) via a second bearing (361).

6. A six-degree-of-freedom measurement system according to claim 1, characterized in that, The screw (36) is connected to the second mounting plate (374) of the transverse drive assembly (37) via a guide key (362).

7. A six-degree-of-freedom measurement system according to claim 1, characterized in that, The support (38) is mounted on the corresponding slider (375); The second mounting plate (374) has a plurality of arc-shaped grooves (3741) evenly distributed on it. The support column (38) passes through the corresponding arc-shaped groove (3741) and can slide on the arc-shaped groove (3741).

8. An application of the six-degree-of-freedom measurement system according to any one of claims 1-7 in a space-constrained and complex industrial setting.

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