Part visual measurement method and measurement tool based on automatic calibration mechanical arm

Abstract

The invention discloses a part visual measurement method and tool based on an automatic calibration mechanical arm, and the method comprises the steps: obtaining the position coordinate data of a part at a calibration station in response to the execution of transferring the part to the calibration station through the mechanical arm; determining coordinate compensation data of the mechanical arm according to the position coordinate data and the calibration coordinate data; and updating the first target coordinate data of the part according to the coordinate compensation data so as to obtain second target coordinate data of the part, and transferring the part to a target measurement station according to the second target coordinate data so as to measure the size of the part. According to the method, accurate size measurement is carried out based on the calibrated coordinate data, it is ensured that the mechanical arm can accurately grab and place the parts in all measurement links, and the problem that the detection precision is reduced due to the fact that the grabbing position is inaccurate is solved. The problem of low efficiency caused by frequent data calibration during automatic measurement of parts is solved.

Description

Technical Field

[0001] The present application belongs to the field of parts measurement, and specifically relates to a parts vision measurement method based on an automatic calibration robot arm and a parts measurement tooling based on vision measurement. Background Art

[0002] In modern industrial production, accurate measurement of parts is crucial to ensure product quality. With the continuous development of automation technology, visual dimension inspection systems are widely used in automated production lines and robotic arms to achieve full automation of the inspection process. Visual dimension inspection systems are usually combined with projection inspection stations and line scan inspection stations to measure the outer diameter, height and end face profile of parts using projection cameras and line scan cameras respectively.

[0003] Because the robotic arm can complete the loading action quickly and accurately, and its movement speed and frequency are much higher than manual operation, it significantly improves production efficiency and is therefore widely used.

[0004] However, due to hardware and environmental factors, the robot arm will produce cumulative errors during long-term and frequent operation, affecting the positioning accuracy; at the same time, although the existing tooling design has reduced the grasping and placement errors caused by uncertain part positions to a certain extent, it still cannot completely avoid the problem of decreased detection accuracy caused by inaccurate grasping position of the robot arm. Summary of the invention

[0005] The present application aims to provide a part vision measurement method based on an automatic calibration robot arm and a part measurement tool based on vision measurement, which at least solves the problem of low efficiency caused by the need for frequent calibration data during automatic measurement of parts.

[0006] In a first aspect, an embodiment of the present application discloses a method for visually measuring parts based on an automatic calibration robot arm, which is applied to a robot arm controller, comprising: In response to the robot arm transferring the part to the calibration station, acquiring position coordinate data of the part at the calibration station; Determining coordinate compensation data of the robotic arm according to the position coordinate data and the calibration coordinate data; The first target coordinate data of the part is updated according to the coordinate compensation data to obtain the second target coordinate data of the part, and the part is transferred to the target measurement station according to the second target coordinate data to measure the size of the part.

[0007] In a second aspect, the present application also discloses a part measurement tool based on visual measurement, including: a calibration station, a target measurement station, a robotic arm, and a robotic arm controller for the robotic arm; The robot arm controller is used to control the robot arm to transfer the part to the calibration station to obtain the position coordinate data of the part at the calibration station, and update the first target coordinate data of the part according to the coordinate compensation data to obtain the second target coordinate data of the part, and transfer the part to the target measurement station according to the second target coordinate data to measure the size of the part; the coordinate compensation data is determined based on the calibration coordinate data and the position coordinate data.

[0008] In summary, in the embodiment of the present application, by comparing the acquired position coordinate data with the predetermined calibration coordinate data, the coordinate compensation data of the robot arm is determined, ensuring that the accumulated errors caused by hardware and environmental factors during the long-term and frequent operation of the robot arm can be corrected in time, ensuring the positioning accuracy of the robot arm; then according to the determined coordinate compensation data, the first target coordinate data of the part is updated to ensure that the part can accurately reach the measurement position according to the second target coordinate data when it is transferred to the target measurement station, further ensuring the accuracy of the measurement data, eliminating the measurement error caused by positioning deviation; realizing the fully automated process of the part from the calibration station to the target measurement station; finally, accurate dimensional measurement is performed based on the calibrated coordinate data, ensuring that in each measurement link, the robot arm can accurately grasp and place the part, reducing the problem of decreased detection accuracy caused by inaccurate grasping position. The problem of inefficiency caused by the need for frequent calibration data during automatic measurement of parts is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In the attached picture: Figure 1 It is a step diagram of a method for visually measuring parts based on an automatic calibration robot arm provided in an embodiment of the present application; Figure 2 is a step diagram of another method for visually measuring parts based on an automatic calibration robot arm provided in an embodiment of the present application; Figure 3 It is a schematic diagram of the overall structure of a part measurement tool based on visual measurement provided in an embodiment of the present application; Figure 4 is a schematic diagram of a mechanical arm in an embodiment of the present application; Figure 5 is a schematic diagram of a calibration station in an embodiment of the application; Figure 6 is a schematic diagram of a projection detection station in an embodiment of the present application; Figure 7 is a schematic diagram of a detection position tooling in an embodiment of the present application; Figure 8 It is a schematic diagram of the use of the detection position tooling in the embodiment of the present application; Fig. 9 is a schematic diagram of a line scanning station in an embodiment of the present application; Fig.10 It is a partial diagram of a line scanning station in an embodiment of the present application; Fig.11 is another partial diagram of the line scanning station in the embodiment of the present application; Fig.12 is a parameter calculation diagram of the second V-shaped groove in the embodiment of the present application; Fig.13 is another parameter calculation diagram of the second V-shaped groove in the embodiment of the present application; Among them: 301-calibration station; 3011-first nesting hole; 302-target measurement station; 3021-projection detection station; 30211-projection camera; 30212-detection position tooling; 302121-placement platform; 3021211-first notch; 3021212-second notch; 3021223-fixing hole; 302122-limiting ring; 3021221-placement opening; 3021222-opening window; 30213-projection fixing tooling; 3022-line scanning station; 30221-laser emission Emitter; 30222-laser receiver; 30223-line scan detection tooling; 302231-V-groove assembly; 3022301-first plate; 3022302-second plate; 3022311-first V-groove; 30223011-second V-groove; 30223012-collecting trough; 302232-fixed block; 3022321-slide; 302233-servo module; 303-mechanical arm; 3031-rotating cylinder; 3032-gripper; A-part; A1-part opening; X-first direction. DETAILED DESCRIPTION

[0010] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0011] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0012] In the description of the present application, it should be understood that the terms "center", "left", "right", "inside", "outside", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0013] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0014] Figure 1 A method for visually measuring parts based on an automatic calibration robot arm is provided in an embodiment of the present application and is applied to a robot arm controller, comprising the following steps: Step 101 , in response to the robot arm transferring the part to the calibration station, obtaining the position coordinate data of the part at the calibration station.

[0015] In some embodiments of the present application, the robot arm needs to transfer the part to the calibration station before transferring the part to the target measurement station in order to obtain the position coordinate data of the part at the calibration station. The process of obtaining the position coordinate data involves using a visual sensor or a measuring device to measure and record the specific position of the part at the calibration station. The position coordinate data is the position information of the part at the calibration station, which is used for subsequent calibration and compensation processes. By obtaining this data, it can be ensured that the accumulated errors caused by hardware and environmental factors during long-term and frequent operation of the robot arm can be corrected in time, thereby ensuring the positioning accuracy of the robot arm.

[0016] In a specific example, the controller instructs the robot arm to transfer the part from the initial position to the calibration station. When the part arrives at the calibration station, the visual sensor begins to measure the position coordinate data of the part and transmits the data to the controller for recording. After the recording is completed, the system analyzes and processes the data to provide an accurate reference for subsequent calibration.

[0017] Step 102, determining coordinate compensation data of the robot arm according to the position coordinate data and the calibration coordinate data.

[0018] In some embodiments of the present application, the coordinate compensation data of the robot arm is determined based on the comparison of the position coordinate data of the part at the calibration station with the pre-stored calibration coordinate data. This process includes extracting the calibration coordinate data from the memory, and then comparing and analyzing the position coordinate data obtained by real-time measurement. The calibration coordinate data is the accurate position coordinate pre-recorded by the system and used as a reference position. Through comparison, the compensation amount required by the robot arm can be calculated to ensure that its positioning error is corrected, further improving the operating accuracy of the robot arm.

[0019] In a specific example, a robotic arm will be used to transfer the part to the calibration station, and the position coordinate data of the part will be obtained through a visual sensor. Subsequently, the control system will compare this data with the calibration coordinate data in storage and calculate the deviation values ​​of the robotic arm in the X, Y, and Z coordinate axes. These deviation values ​​are the coordinate compensation data. With these compensation data, the system can adjust the motion path of the robotic arm in subsequent operations to ensure that the robotic arm can accurately grasp and place the parts, improving the accuracy and efficiency of the measurement.

[0020] Step 103, updating the first target coordinate data of the part according to the coordinate compensation data to obtain the second target coordinate data of the part, and transferring the part to the target measurement station according to the second target coordinate data to measure the size of the part.

[0021] In some embodiments of the present application, the second target coordinate data obtained by updating the first target coordinate data of the part according to the previously determined coordinate compensation data enables the part to be accurately transferred to the target measurement station for dimensional measurement. The specific process includes applying the compensation data to the predetermined measurement coordinates of the part to correct any offset caused by positioning errors. The second target coordinate data is the precise position of the part at the target measurement station, which is used to ensure the accuracy of the measurement process. By updating the target coordinate data, it is ensured that the robot arm can accurately position the part, eliminate the measurement error caused by positioning deviation, and thus improve the reliability of the measurement data.

[0022] In a specific example, the robot needs to transfer the part to the target measurement station. Prior to this, the control system updates the first target coordinate data of the part according to the determined coordinate compensation data. For example, if the robot has a positioning deviation of 1 mm in the X direction, the compensation data will correct the first target coordinate data and obtain a second target coordinate data of x+1 mm to offset the deviation (here x represents the value of the first target coordinate data in the X direction). When the robot places the part at the target measurement station, the position of the part will be consistent with the updated target coordinate. This method ensures the precise positioning of the part at each measurement station, reduces measurement errors, and improves measurement accuracy and efficiency.

[0023] In summary, in the embodiment of the present application, by comparing the acquired position coordinate data with the predetermined calibration coordinate data, the coordinate compensation data of the robot arm is determined, ensuring that the accumulated errors caused by hardware and environmental factors during the long-term and frequent operation of the robot arm can be corrected in time, ensuring the positioning accuracy of the robot arm; then according to the determined coordinate compensation data, the first target coordinate data of the part is updated to ensure that the part can accurately reach the measurement position according to the second target coordinate data when it is transferred to the target measurement station, further ensuring the accuracy of the measurement data, eliminating the measurement error caused by positioning deviation; realizing the fully automated process of the part from the calibration station to the target measurement station; finally, accurate dimensional measurement is performed based on the calibrated coordinate data, ensuring that in each measurement link, the robot arm can accurately grasp and place the part, reducing the problem of decreased detection accuracy caused by inaccurate grasping position. The problem of inefficiency caused by the need for frequent calibration data during automatic measurement of parts is solved.

[0024] Figure 2 Another part visual measurement method based on automatic calibration of a robotic arm provided in an embodiment of the present application is applied to a robotic arm controller and includes the following steps: Step 201 , in response to the robot arm transferring the part to the calibration station, obtaining the position coordinate data of the part at the calibration station.

[0025] The method shown in this step has been explained in step 101 and will not be repeated here.

[0026] Step 202, determining coordinate compensation data of the robot arm according to the position coordinate data and the calibration coordinate data.

[0027] The method shown in this step has been explained in step 102 and will not be repeated here.

[0028] Optionally, step 202 includes the following sub-steps: Step 2021: determine the difference between the position coordinate data and the calibration coordinate data as coordinate compensation data.

[0029] In some embodiments of the present application, the coordinate compensation data of the robot arm is determined by comparing the position coordinate data with the calibration coordinate data. This process first involves extracting the calibration coordinate data from the memory and comparing and analyzing it with the position coordinate data obtained by real-time measurement. The position coordinate data is the actual position of the part on the calibration station, while the calibration coordinate data is the accurate position pre-recorded by the system. By calculating the difference between the two, the coordinate compensation required by the robot arm can be obtained. This ensures that the positioning error of the robot arm is corrected in subsequent operations, thereby improving the positioning accuracy.

[0030] In a specific example, the controller instructs the robot arm to place the part on the calibration station and obtains the position coordinate data of the part through the visual sensor. The system then compares the data with the preset calibration coordinate data. For example, if the actual position of the part in the X-axis direction is offset by 1 mm from the preset position, the system will calculate a compensation amount of 1 mm as the coordinate compensation data in the X-axis direction. This method can accurately determine the calibration compensation amount of the robot arm, ensure the precise positioning of the part in the subsequent measurement station, and improve the accuracy and efficiency of the measurement.

[0031] Step 203, updating the first target coordinate data of the part according to the coordinate compensation data to obtain the second target coordinate data of the part, and transferring the part to the target measurement station according to the second target coordinate data to measure the size of the part.

[0032] The method shown in this step has been explained in step 103 and will not be repeated here.

[0033] Optionally, in order to update the first target coordinate data of the part according to the coordinate compensation data to obtain the second target coordinate data of the part, step 203 includes the following sub-steps: Step 2031: determine the sum of the coordinate compensation data and the first target coordinate data as the second target coordinate data.

[0034] In some embodiments of the present application, the coordinate compensation data is added to the first target coordinate data to determine the second target coordinate data. The first target coordinate data is the preset coordinate of the robot arm when moving the part from one position to another, and the compensation data is a value calculated to correct the positioning error. By adding the two, the adjusted transfer coordinate data is obtained to ensure that the robot arm can accurately place the part at the target measurement station in subsequent operations, eliminating the measurement error caused by positioning deviation.

[0035] In a specific example, before controlling the robot arm to transfer the part to the target measurement station, the system first obtains the first target coordinate data of the robot arm. For example, assume that the first target coordinate data is (X1, Y1, Z1), and the previously calculated compensation data is (ΔX, ΔY, ΔZ). By adding the compensation data to the transfer coordinate data, the system calculates the adjusted transfer coordinates as (X1+ΔX, Y1+ΔY, Z1+ΔZ). The robot arm operates according to the obtained second target coordinate data and accurately places the part at the target measurement station. In this way, the high-precision positioning of the robot arm is ensured, and the accuracy and efficiency of part measurement are improved.

[0036] Step 204: Update the calibration coordinate data according to the value of the position coordinate data.

[0037] In some embodiments of the present application, the calibration coordinate data is updated according to the value of the acquired position coordinate data. This process includes analyzing the position coordinate data of the robot at the calibration station and comparing it with the current calibration coordinate data. Based on the analysis results, the calibration coordinate data is updated in real time to ensure that the data is more accurate and reliable when the calibration is performed next time. The calibration coordinate data is an important reference used by the system to correct the motion path of the robot. By updating the calibration coordinate data, the positioning accuracy of the robot can be continuously improved and the cumulative error can be reduced.

[0038] In a specific example, the robot arm needs to transfer the part to the calibration station and measure the position coordinate data of the part through the visual sensor. The control system can compare the data with the previously stored calibration coordinate data and find that there is a certain deviation. The system updates the calibration coordinate data based on the actual measured data and stores the new coordinate data in the system for subsequent calibration. This method ensures that the positioning error can be corrected in time during the long-term use of the robot arm, ensuring the operating accuracy and measurement accuracy of the robot arm.

[0039] In summary, in the embodiment of the present application, by comparing the acquired position coordinate data with the predetermined calibration coordinate data, the coordinate compensation data of the robot arm is determined, ensuring that the accumulated errors caused by hardware and environmental factors during the long-term and frequent operation of the robot arm can be corrected in time, ensuring the positioning accuracy of the robot arm; then according to the determined coordinate compensation data, the first target coordinate data of the part is updated to ensure that the part can accurately reach the measurement position according to the second target coordinate data when it is transferred to the target measurement station, further ensuring the accuracy of the measurement data, eliminating the measurement error caused by positioning deviation; realizing the fully automated process of the part from the calibration station to the target measurement station; finally, accurate dimensional measurement is performed based on the calibrated coordinate data, ensuring that in each measurement link, the robot arm can accurately grasp and place the part, reducing the problem of decreased detection accuracy caused by inaccurate grasping position. The problem of inefficiency caused by the need for frequent calibration data during automatic measurement of parts is solved.

[0040] like Figure 3 As shown, as a practical application of the method provided in the embodiment of the present application, the embodiment of the present application also provides a part measurement tool 30 based on visual measurement, including: A calibration station 301, a target measurement station 302, a robotic arm 303, and a robotic arm controller (not shown in the figure) of the robotic arm 303; The robot controller is used to control the robot 303 to transfer part A to the calibration station 301 to obtain the position coordinate data of part A at the calibration station 301, and update the first target coordinate data of part A according to the coordinate compensation data to obtain the second target coordinate data of part A, and transfer part A to the target measurement station 302 according to the second target coordinate data to measure the size of part A; the target coordinate data is the coordinate data when part A is transferred to the target measurement station 302; the coordinate compensation data is determined based on the calibration coordinate data and the position coordinate data.

[0041] In some embodiments of the present application, the part measurement tool 30 based on visual measurement includes a calibration station 301, a target measurement station 302 and a robot arm 303. The robot arm 303 is used to transfer part A to the calibration station 301 to collect the position coordinate data of part A, and update the target coordinate data according to the coordinate compensation data, and then transfer part A to the target measurement station 302 for dimensional measurement. The target coordinate data is the coordinate data when part A is transferred to the target measurement station 302, and the coordinate compensation data is determined based on the calibration coordinate data and the position coordinate data. Through this structural design, the cumulative error problem caused by hardware and environmental factors during the long-term operation of the robot arm can be effectively solved, and the precise positioning of the part on the target measurement station 302 can be ensured, thereby improving the accuracy and efficiency of the measurement. This design makes the part measurement process more automated and efficient, reduces human intervention, and improves overall production efficiency and product quality.

[0042] like Figure 4 As shown, optionally, in some embodiments of the present application, a movable structure provided with a rotating cylinder 3031 and a clamp 3032 can be used as a mechanical arm 303 .

[0043] In some embodiments of the present application, a movable structure provided with a rotating cylinder 3031 and a clamp 3032 can be used as a mechanical arm 303. The rotating cylinder 3031 is used to realize the rotating action of the mechanical arm, and the clamp 3032 is used to grab and place parts. The specific structure of the mechanical arm 303 can be varied, including but not limited to various types of clamps or manipulator configurations. No further limitation is made here, so that the present application has a wider applicability. Through this design, the mechanical arm 303 can perform grabbing and placing actions more flexibly, improve the flexibility and accuracy of the operation, enable the mechanical arm to cope with various complex feeding and measurement tasks, and further improve the efficiency and accuracy of the entire system.

[0044] Optional, such as Figure 5 As shown, a first nesting hole 3011 is provided on the top of the calibration station 301, and the inner diameter of the first nesting hole 3011 matches the outer diameter of the part.

[0045] In some embodiments of the present application, a first nested hole 3011 is provided at the top of the calibration station 301. The inner diameter of the first nested hole 3011 matches the outer diameter of the part to ensure that the part can be firmly placed on the calibration station. The purpose of this design is to accurately position the part on the calibration station to ensure the accuracy and stability of the measurement. Through this design, the part can be firmly fixed on the calibration station and the measurement result will not be affected by position offset. The matching inner diameter of the first nested hole 3011 provides a reliable reference position, which helps to improve the accuracy and reliability of the entire measurement system, reduce calibration errors, and enhance the accuracy of the robot arm operation.

[0046] Optional, such as Figures 6 to 8 As shown, the target measurement station includes a projection detection station 3021; The projection inspection station 3021 includes a projection camera 30211 whose lenses are horizontally and relatively arranged, and an inspection station tooling 30212 arranged between the lenses of the two projection cameras 30211 in relative directions; A placement platform 302121 is provided on the top of the detection position tooling 30212, and a first notch 3021211 is opened on the top of the placement platform; When part A is placed on the placement platform 302121 , the tangent surface between part A and the placement platform 302121 is determined by the projection camera based on the bottom surface of part A captured through the first slot 3021211 .

[0047] In some embodiments of the present application, the target measurement station 302 includes a projection detection station 3021. The projection detection station 3021 includes a projection camera 30211 with a horizontal lens and arranged relatively to each other, and a detection position tooling 30212 arranged between the lenses of the two projection cameras 30211 in relative directions. A placement platform 302121 is arranged on the top of the detection position tooling 30212, and a first notch 3021211 is opened on the top of the placement platform 302121. When part A is placed on the placement platform 302121, the tangent surface between part A and the placement platform 302121 is determined by the bottom surface of part A collected by the projection camera 30211 through the first notch 3021211. This design ensures the stability and precise positioning of part A on the placement platform 302121, and the projection camera 30211 can accurately obtain the bottom surface data of part A through the first notch 3021211, thereby improving the accuracy and stability of the measurement. This helps reduce measurement errors and ensures the reliability of measurement results.

[0048] Optional, such as Figure 6 As shown, in some embodiments of the present application, a projection fixing tool 30213 may be provided at the bottom of the projection detection station 3021 to achieve relative fixation of the projection camera 30211 and the detection station tool 30212 .

[0049] In some embodiments of the present application, a projection fixing tool 30213 can also be set at the bottom of the projection detection station 3021 to achieve relative fixation of the projection camera 30211 and the detection position tool 30212. The projection fixing tool 30213 is used to stabilize the positional relationship between the projection camera 30211 and the detection position tool 30212 to ensure that the two components do not move relative to each other during the measurement process. Through this design, the accuracy and stability of the measurement can be effectively improved, ensuring that during the projection detection process, the projection camera 30211 and the detection position tool 30212 always maintain a consistent positional relationship, reducing the measurement error caused by relative movement. This structural design helps to obtain more accurate and reliable measurement data, and further improves the quality and efficiency of part measurement.

[0050] Optional, such as Figures 6 to 8 As shown, the placement platform 302121 is cylindrical, and the detection position tooling is also provided with a barrel-shaped limit ring 302122 buckled on the placement platform; The bottom of the cylindrical barrel of the limiting ring 302122 is provided with a placement opening 3021221 for placing the part A, and the inner diameter of the placement opening 3021221 matches the outer diameter of the part A; An opening window 3021222 is provided on the side wall of the limiting ring 302122 . When the projection camera determines the tangent surface between part A and the placement platform 302121 based on the bottom surface of part A captured through the first slot 3021211 , the shooting light passes through the opening window 3021222 .

[0051] In some embodiments of the present application, the placement platform 302121 is cylindrical, and the detection position tooling is further provided with a barrel-shaped limit ring 302122 buckled on the placement platform 302121. The barrel bottom position of the limit ring 302122 is provided with a placement opening 3021221 for placing part A, and the inner diameter of the placement opening 3021221 matches the outer diameter of part A. The side wall of the limit ring 302122 is provided with an opening window 3021222, and when the projection camera 30211 determines the tangent surface between part A and the placement platform 302121 according to the bottom surface of part A collected through the first notch 3021211, the shooting light can pass through the opening window 3021222. This design ensures that part A has a stable positioning on the placement platform 302121, and the limit ring 302122 provides additional physical restrictions to prevent part A from shifting during the detection process. Through the opening window 3021222, the projection camera 30211 can still accurately collect the bottom surface data of part A, thereby ensuring the accuracy and stability of the measurement while ensuring the reliability of the measurement results.

[0052] Optional, such as Figures 6 to 8As shown, a second slot 3021212 is provided on the top of the placement platform 302121, and a fixing hole 3021223 is provided between the opening windows 3021222 on the side wall of the limiting ring 302122. When the limiting ring 302122 is buckled on the placement platform 302121, the fixing hole 3021223 is used to keep the limiting ring 302122 and the placement platform 302121 relatively fixed by inserting a fixing bolt into the second slot 3021212.

[0053] In some embodiments of the present application, a second notch 3021212 is further provided on the top of the placement platform 302121. An opening window 3021222 is provided on the side wall of the limiting ring 302122, and a fixing hole 3021223 is provided between the opening windows 3021222. When the limiting ring 302122 is buckled on the placement platform 302121, the limiting ring 302122 and the placement platform 302121 can be kept relatively fixed by inserting a fixing bolt inserted into the second notch 3021212. The design of the second notch 3021212 and the fixing hole 3021223 ensures the stable positioning of the limiting ring 302122 to prevent movement or deviation during the measurement process. Through this design, the limiting ring 302122 and the placement platform 302121 can be firmly connected to ensure the stability of part A during measurement. This structure not only prevents the part A from moving and affecting the measurement accuracy, but also provides a reliable measurement environment for the projection detection station 3021, thereby improving the accuracy and reliability of the measurement results.

[0054] Optional, such as Figures 6 to 8 As shown, in some embodiments of the present application, the first notch 3021211 and the second notch 3021212 can be set as two vertical branches of a cross-shaped groove, so that the two notches can obtain mutual functions.

[0055] In some embodiments of the present application, the first notch 3021211 and the second notch 3021212 can be set as two vertical branches of a cross-shaped groove. The first notch 3021211 and the second notch 3021212 respectively form two vertical branches of the groove. This design allows the two notches to obtain mutual functions, thereby improving the versatility and adaptability of the placement platform 302121. The structure of this cross-shaped groove design allows part A to be positioned more stably and accurately when placed on the placement platform 302121. Through two vertical notches, the placement platform 302121 can better adapt to different detection requirements, enhance the flexibility and reliability of the entire detection system, and further improve the accuracy and efficiency of measurement.

[0056] Optional, as shown in Figure 9 to Fig.11 As shown, the target measurement station includes a line scanning station 3022: The line scanning station 3022 includes a laser transmitter 30221 and a laser receiver 30222 which are respectively arranged horizontally and coplanarly, and a line scanning detection tool 30223 which is used to move in a first direction in the horizontal plane formed by the laser transmitter and the laser receiver; the first direction X is perpendicular to the laser emitted by the laser transmitter 30221; The line scanning detection tool 30223 includes a vertically arranged V-groove assembly 302231, and the plane where the first V-groove 3022311 of the V-groove assembly 302231 is located is parallel to the first direction X; When the part opening A1 of part A is placed on the first V-groove 3022311 facing the laser emitter 30221, the laser receiver 30222 measures the depth of the part opening A1 by receiving the reflected light of the laser emitted by the laser emitter 30221; the reflected light is formed by the laser being reflected after entering the part opening A1.

[0057] In some embodiments of the present application, the target measurement station 302 includes a line scanning station 3022. The line scanning station 3022 includes a laser emitter 30221 and a laser receiver 30222 respectively arranged in a horizontal coplanar manner, and a line scanning detection tool 30223 used to move in a first direction X in a horizontal plane formed by the laser emitter 30221 and the laser receiver 30222. The first direction X is perpendicular to the laser emitted by the laser emitter 30221. The line scanning detection tool 30223 includes a vertically arranged V-groove assembly 302231, and the plane where the first V-groove 3022311 of the V-groove assembly 302231 is located is parallel to the first direction X. When the part opening A1 of the part A is placed on the first V-groove 3022311 facing the laser emitter 30221, the laser receiver 30222 measures the depth of the part opening A1 by receiving the reflected light of the laser emitted by the laser emitter 30221. The reflected light is formed by the laser entering the part opening A1 and then being reflected. With this design, the line scanning station 3022 can accurately measure the opening depth of part A, ensuring the accurate positioning of part A during the measurement process. The horizontal coplanar arrangement of the laser transmitter 30221 and the laser receiver 30222, as well as the movement of the line scanning detection fixture 30223, enable the system to accurately align and measure various parts of part A, improving the accuracy and reliability of the measurement.

[0058] In the present application, the specific opening angle of the first V-shaped groove may be 60°, 90°, 120°, etc., and is not further limited here.

[0059] Optionally, as shown in Figures 9 to Fig.11 As shown, the V-groove assembly 302231 includes a first plate 3022301 close to the laser emitter and a second plate 3022302 away from the laser emitter; A second V-shaped groove 30223011 is formed at the notch of the first plate 3022301 where the first V-shaped groove 3022311 is formed, and the opening of the second V-shaped groove 30223011 faces the laser emitter.

[0060] In some embodiments of the present application, the V-groove assembly 302231 includes a first plate 3022301 close to the laser emitter 30221 and a second plate 3022302 away from the laser emitter 30221. A second V-groove 30223011 is provided at the notch of the first V-groove 3022311 formed in the first plate 3022301, and the opening of the second V-groove 30223011 faces the laser emitter 30221. The first V-groove 3022311 provides a stable placement surface, and the second V-groove 30223011 further ensures that the laser can accurately enter the opening of the part for measurement. Through this design, it can be ensured that the laser emitted by the laser emitter 30221 can accurately enter the opening A1 of the part and be reflected to the laser receiver 30222, providing accurate depth measurement. This structural design improves the accuracy and reliability of the measurement and ensures stable measurement at different positions and angles.

[0061] Optional, as shown in Figure 9 to Fig.11 As shown, the line scanning detection tooling 30223 also includes a fixed block 302232, and a slide groove 3022321 arranged parallel to the first direction X is arranged on the top of the fixed block 302232, and the first plate 3022301 and the second plate 3022302 are fixed to the fixed block 302232 through the slide groove 3022321 respectively.

[0062] In some embodiments of the present application, the line scanning detection tool 30223 also includes a fixed block 302232, and the top of the fixed block 302232 is provided with a slide groove 3022321 arranged in parallel with the first direction X. The first plate 3022301 and the second plate 3022302 are fixed to the fixed block 302232 by the slide groove 3022321 respectively. The slide groove 3022321 provides a guide rail, so that the first plate 3022301 and the second plate 3022302 can move and be fixed in parallel in the first direction X, ensuring the stability and flexibility of the line scanning detection tool. Through this design, the line scanning detection tool 30223 can accurately measure various parts of the part A at different positions and angles, improving the accuracy and reliability of the measurement. The combined structure of the fixed block 302232 and the slide groove 3022321 ensures the stable positioning of the V-groove assembly 302231, reduces the position deviation during the measurement process, and enhances the accuracy and stability of the overall detection system.

[0063] Optional, such as Fig. 9As shown, the line scanning detection tooling 30223 also includes a servo module 302233, and the servo module 302233 is used to move the line scanning detection tooling 30223 so that the line scanning detection tooling 30223 moves in the first direction X.

[0064] In some embodiments of the present application, the line scanning detection tooling 30223 also includes a servo module 302233. The servo module 302233 is used to move the line scanning detection tooling 30223 so that it can move in the first direction X. The servo module 302233 is a precision motion control component that realizes the precise positioning and movement of the line scanning detection tooling 30223 through an electric servo system. Through this design, the servo module 302233 can ensure that the line scanning detection tooling 30223 can accurately move along a predetermined path when performing measurement, thereby improving the efficiency and accuracy of the measurement. The introduction of the servo module not only enhances the flexibility and automation of the detection system, but also reduces human intervention, thereby ensuring the stability and reliability of the measurement process.

[0065] Optional, such as Fig.12 As shown, the opening angle θ of the second V-shaped groove 30223011 is given by the following formula: ; Among them, h is the distance from the laser receiver 30222 to the laser, l is the distance from the laser transmitter 30221 to the laser reflection point of part A; m and n are the value ranges of l respectively.

[0066] In some embodiments of the present application, the size of the opening angle θ of the second V-groove 30223011 is determined according to the above formula. By using this formula, the opening angle of the V-groove can be calculated to ensure that the laser can accurately enter the reflection point of part A and smoothly return to the laser receiver 30222. This design ensures that the laser can be accurately injected and reflected during the measurement process, ensuring the success of the measurement. By reasonably determining the opening angle of the V-groove, interference with the laser reflected light can be avoided, ensuring the accuracy of the measurement results. This structural design improves the effectiveness and accuracy of the entire measurement system.

[0067] As a specific embodiment of the present application in practical application, the size of h can be 53.5 mm, the value range of l can be between 68.41 mm and 84.41 mm, and the size of θ is between 32.12° and 38.55°.

[0068] Optional, such as Fig.13 As shown, the opening angle of the first V-shaped groove 3022311 is 90°, and the starting vertical line b of the V-shape of the second V-shaped groove 30223011 on the first plate 3022301 is given by the following formula: , ; Among them, a represents the horizontal distance from the top of the first V-shaped groove 3022311 to the part, R represents the radius of the part, b represents the length from the bottom of the first V-shaped groove 3022311 to the starting vertical line b, and H represents the height of the first V-shaped groove 3022311.

[0069] In some embodiments of the present application, the opening angle of the first V-shaped groove 3022311 is 90°, and the starting vertical line b of the V-shape of the second V-shaped groove 30223011 on the first plate 3022301 is given by the above formula. Through these formulas, the specific position and size of the notch can be accurately calculated. This design and the formula of the opening angle θ together ensure that the laser can accurately enter and reflect during the measurement process, thereby improving the accuracy and reliability of the measurement. By reasonably setting the various parameters of the V-shaped groove, measurement errors can be effectively avoided, ensuring the stability of the part in the groove and the accuracy of the measurement. This structural design improves the effectiveness and accuracy of the entire measurement system.

[0070] As a specific embodiment of the present application in practical application, a may be 5 mm, and the value range of R may be between 1.5 mm and 7 mm.

[0071] Optional, such as Fig.13 As shown, a collecting groove 30223012 is also formed at the bottom end of the first V-shaped groove 3022311.

[0072] In some embodiments of the present application, a collecting groove 30223012 is further provided at the bottom of the first V-shaped groove 3022311. The collecting groove 30223012 is used to capture and collect metal chips on the parts during the measurement process to prevent them from being scattered in the measurement area. Metal chips are generated during the processing and measurement process, and these metal chips can be effectively collected and concentrated by setting a collecting groove. Through this design, the measurement environment is more tidy, the interference of metal chips on the measurement accuracy is reduced, and the accuracy of the measurement results is ensured. In addition, this structural design also facilitates subsequent cleaning and maintenance work, and improves the efficiency and reliability of the entire measurement system.

[0073] As a specific embodiment of the present application in practical application, the collecting groove may be a rectangular groove with a cross section of 3 mm (horizontally) × 2 mm (vertically).

[0074] In summary, in the embodiment of the present application, by comparing the acquired position coordinate data with the predetermined calibration coordinate data, the coordinate compensation data of the robot arm is determined, ensuring that the accumulated errors caused by hardware and environmental factors during the long-term and frequent operation of the robot arm can be corrected in time, ensuring the positioning accuracy of the robot arm; then according to the determined coordinate compensation data, the first target coordinate data of the part is updated to ensure that the part can accurately reach the measurement position according to the second target coordinate data when it is transferred to the target measurement station, further ensuring the accuracy of the measurement data, eliminating the measurement error caused by positioning deviation; realizing the fully automated process of the part from the calibration station to the target measurement station; finally, accurate dimensional measurement is performed based on the calibrated coordinate data, ensuring that in each measurement link, the robot arm can accurately grasp and place the part, reducing the problem of decreased detection accuracy caused by inaccurate grasping position. The problem of inefficiency caused by the need for frequent calibration data during automatic measurement of parts is solved.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0076] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and purpose of the present application, and the scope of the present application is defined by the claims and their equivalents. Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to encompass any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0077] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for visual measurement of parts based on an automatic calibration robot arm, characterized in that: Applied to robot arm controllers, including: In response to the robot arm transferring the part to the calibration station, acquiring position coordinate data of the part at the calibration station; Determining coordinate compensation data of the robotic arm according to the position coordinate data and the calibration coordinate data; The first target coordinate data of the part is updated according to the coordinate compensation data to obtain the second target coordinate data of the part, and the part is transferred to a target measurement station according to the second target coordinate data to measure the size of the part.

2. The method for visual measurement of parts based on an automatic calibration robot arm according to claim 1, characterized in that: The method further comprises: The calibration coordinate data is updated according to the value of the position coordinate data.

3. The method for visual measurement of parts based on an automatic calibration robot arm according to claim 1, characterized in that: Determining the coordinate compensation data of the robot arm according to the position coordinate data and the calibration coordinate data includes: determining the difference between the position coordinate data and the calibration coordinate data as the coordinate compensation data; Updating the first target coordinate data of the part according to the coordinate compensation data to obtain the second target coordinate data of the part includes: The sum of the coordinate compensation data and the first target coordinate data is determined as the second target coordinate data.

4. A part measurement tool based on visual measurement, characterized in that: include: a calibration station, a target measurement station, a robotic arm, and a robotic arm controller for the robotic arm; The robot arm controller is used to control the robot arm to transfer the part to the calibration station to obtain the position coordinate data of the part at the calibration station, and update the first target coordinate data of the part according to the coordinate compensation data to obtain the second target coordinate data of the part, and transfer the part to the target measurement station according to the second target coordinate data to measure the size of the part; the coordinate compensation data is determined based on the calibration coordinate data and the position coordinate data.

5. The part measurement tool based on visual measurement as claimed in claim 4, characterized in that: A first nesting hole is provided on the top of the calibration station, and the inner diameter of the first nesting hole matches the outer diameter of the part.

6. The part measurement tool based on visual measurement as claimed in claim 4, characterized in that: The target measurement station includes a projection detection station; The projection inspection station includes a projection camera with horizontal and relatively arranged lenses, and an inspection position tooling arranged between the relative directions of the two projection camera lenses; A placement platform is provided on the top of the detection position tooling, and a first notch is opened on the top of the placement platform; When the part is placed on the placement platform, the tangent surface between the part and the placement platform is determined by the projection camera based on the bottom surface of the part captured through the first slot.

7. The part measurement tool based on visual measurement according to claim 6, characterized in that: The placement platform is cylindrical, and the detection position tooling is further provided with a barrel-shaped limiting ring buckled on the placement platform; The bottom of the cylindrical barrel of the limiting ring is provided with a placement opening for placing parts, and the inner diameter of the placement opening matches the outer diameter of the part; An opening window is provided on the side wall of the limiting ring. When the projection camera determines the tangent surface between the part and the placement platform according to the bottom surface of the part captured through the first notch, the shooting light passes through the opening window.

8. The part measuring tool based on visual measurement as claimed in claim 7, characterized in that: A second slot is also provided on the top of the placement platform, and a fixing hole is also provided between the opening windows on the side wall of the limiting ring. When the limiting ring is buckled on the placement platform, the fixing hole is used to keep the limiting ring and the placement platform relatively fixed by a fixing bolt inserted into the second slot.

9. The part measurement tool based on visual measurement as claimed in claim 4, characterized in that: The target measurement station includes a line scanning station: The line scanning station comprises a laser transmitter and a laser receiver respectively arranged in a horizontal coplanar manner, and a line scanning detection tooling for moving in a horizontal plane formed by the laser transmitter and the laser receiver in a first direction in the horizontal plane; the first direction is perpendicular to the laser emitted by the laser transmitter; The line scanning detection tooling comprises a vertically arranged V-groove assembly, wherein the plane where the first V-groove of the V-groove assembly is located is parallel to the first direction; When the part opening of the part is placed on the first V-groove toward the laser transmitter, the laser receiver measures the depth of the part opening by receiving the reflected light of the laser emitted by the laser transmitter; the reflected light is formed by the laser being reflected after entering the part opening.

10. The part measurement tool based on vision measurement according to claim 9, characterized in that: The V-groove assembly includes a first plate close to the laser emitter and a second plate away from the laser emitter; A second V-shaped groove is formed at the notch of the first plate where the first V-shaped groove is formed, and the opening of the second V-shaped groove faces the laser emitter.

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