A part vision measurement method and measurement tooling based on an automatically calibrated robotic arm

Abstract

The present application discloses a part vision measurement method and a measurement tooling based on an automatically calibrated robotic arm, including: in response to the execution of transferring a part to a calibration station by the robotic arm, obtaining the position coordinate data of the part when it is at the calibration station; determining the coordinate compensation data of the robotic arm according to the position coordinate data and the calibration coordinate 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, and transferring the part to a target measurement station according to the second target coordinate data to measure the size of the part. The present application performs accurate size measurement based on the calibrated coordinate data, ensuring that the robotic arm can accurately grasp and place the part in each measurement link, and reducing the problem of the decrease in detection accuracy caused by inaccurate grasping positions. It solves the problem of low efficiency caused by the need for frequent calibration data during the automatic measurement of parts.

Description

Technical Field

[0001] This application belongs to the field of part measurement, and particularly relates to a part vision measurement method based on an automatically calibrated robotic arm and a part measurement tooling based on vision measurement. Background Art

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

[0003] Since robotic arms can quickly and accurately complete the loading action, and their action speed and frequency are much higher than manual operations, significantly improving production efficiency, they have been widely used.

[0004] However, due to the cumulative errors caused by hardware and environmental factors during the long-term and frequent operation of robotic arms, the positioning accuracy is affected; at the same time, through the existing tooling design, although the grasping and placement errors caused by the uncertainty of part positions are reduced to a certain extent, the problem of reduced detection accuracy caused by inaccurate grasping positions of robotic arms cannot be completely avoided. Summary of the Invention

[0005] This application aims to provide a part vision measurement method based on an automatically calibrated robotic arm and a part measurement tooling based on vision measurement, and at least solve the problem of low efficiency caused by the need for frequent calibration data during part automated measurement.

[0006] In a first aspect, an embodiment of this application discloses a part vision measurement method based on an automatically calibrated robotic arm, which is applied to a robotic arm controller and includes:

[0007] In response to the execution of transferring a part to a calibration station by the robotic arm, obtain the position coordinate data of the part when it is at the calibration station;

[0008] Determine the coordinate compensation data of the robotic arm according to the position coordinate data and calibration coordinate data;

[0009] 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.

[0010] In a second aspect, an embodiment of this application also discloses a part measurement tooling based on vision measurement, including:

[0011] A calibration station, a target measurement station, a robotic arm, and a robotic arm controller of the robotic arm;

[0012] The robotic arm controller is configured to control the robotic arm to transfer a part to the calibration station to obtain position coordinate data of the part when it is at the calibration station, and update first target coordinate data of the part according to coordinate compensation data to obtain second target coordinate data of the part, and transfer the part to the target measurement station according to the second target coordinate data to perform dimensional measurement on the part; the coordinate compensation data is determined according to calibration coordinate data and the position coordinate data.

[0013] In summary, in the embodiment of the present application, by comparing the obtained position coordinate data with predetermined calibration coordinate data, the coordinate compensation data of the robotic arm is determined, ensuring that during the long-term and frequent operation of the robotic arm, the cumulative errors caused by hardware and environmental factors can be corrected in a timely manner, ensuring the positioning accuracy of the robotic arm; furthermore, according to the determined coordinate compensation data, the first target coordinate data of the part is updated to ensure that when the part is transferred to the target measurement station, it can accurately reach the measurement position according to the second target coordinate data, further ensuring the accuracy of the measurement data and eliminating the measurement errors caused by positioning deviations; realizing the full-automatic 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 robotic arm can accurately grasp and place the part, reducing the problem of decreased detection accuracy caused by inaccurate grasping positions. Solving the problem of low efficiency caused by the need for frequent calibration of data during the automatic measurement of parts. Description of the Drawings

[0014] In the drawings:

[0015] Figure 1 is a step diagram of a method for visual measurement of parts based on an automatically calibrated robotic arm provided by an embodiment of the present application;

[0016] Figure 2 is a step diagram of another method for visual measurement of parts based on an automatically calibrated robotic arm provided by an embodiment of the present application;

[0017] Figure 3 is a schematic diagram of the overall structure of a part measurement tooling based on visual measurement provided by an embodiment of the present application;

[0018] Figure 4 is a schematic diagram of the robotic arm in an embodiment of the present application;

[0019] Figure 5 is a schematic diagram of the calibration station in an embodiment of the application;

[0020] Figure 6 It is a schematic diagram of the projection detection station in the embodiment of the present application;

[0021] Figure 7 It is a schematic diagram of the fixture at the detection position in the embodiment of the present application;

[0022] Figure 8 It is a schematic diagram of the use of the fixture at the detection position in the embodiment of the present application;

[0023] Figure 9 It is a schematic diagram of the line scan station in the embodiment of the present application;

[0024] Figure 10 It is a partial view of the line scan station in the embodiment of the present application;

[0025] Figure 11 It is another partial view of the line scan station in the embodiment of the present application;

[0026] Figure 12 It is a schematic diagram for calculating a parameter of the second V-groove in the embodiment of the present application;

[0027] Figure 13 It is another schematic diagram for calculating a parameter of the second V-groove in the embodiment of the present application;

[0028] Wherein: 301 - calibration station; 3011 - first nested hole; 302 - target measurement station; 3021 - projection detection station; 30211 - projection camera; 30212 - fixture at the detection position; 302121 - placement platform; 3021211 - first slot; 3021212 - second slot; 3021223 - fixing hole; 302122 - limiting ring; 3021221 - placement opening; 3021222 - opening window; 30213 - projection fixing fixture; 3022 - line scan station; 30221 - laser emitter; 30222 - laser receiver; 30223 - line scan detection fixture; 302231 - V-groove assembly; 3022301 - first plate; 3022302 - second plate; 3022311 - first V-groove; 30223011 - second V-groove; 30223012 - collection groove; 302232 - fixing block; 3022321 - sliding groove; 302233 - servo module; 303 - robotic arm; 3031 - rotary cylinder; 3032 - gripper; A - part; A1 - part opening; X - first direction. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0030] The terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0031] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "left", "right", "inner", "outer", "circumferential", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 construed as a limitation of the present application.

[0032] In the description of the present 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0033] Figure 1 It is a part vision measurement method based on an automatic calibration robotic arm provided by an embodiment of the present application, which is applied to a robotic arm controller and includes the following steps:

[0034] Step 101, in response to the execution of the robotic arm transferring the part to the calibration station, obtain the position coordinate data of the part when it is at the calibration station.

[0035] In some embodiments of the present application, the robotic arm needs to transfer the part to the calibration station before transferring it to the target measurement station, so as to obtain the position coordinate data of the part when it is at the calibration station. The process of obtaining the position coordinate data involves using a vision 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 and is used for subsequent calibration and compensation processes. By obtaining this data, it can be ensured that during the long-term and frequent operation of the robotic arm, the cumulative errors caused by hardware and environmental factors can be corrected in a timely manner, ensuring the positioning accuracy of the robotic arm.

[0036] In a specific example, the controller instructs the robotic arm to transfer the part from the initial position to the calibration station. When the part reaches the calibration station, the vision sensor starts 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 these data to provide an accurate reference for subsequent calibration.

[0037] Step 102: Determine the coordinate compensation data of the robotic arm according to the position coordinate data and the calibration coordinate data.

[0038] In some embodiments of the present application, based on the comparison between the position coordinate data of the part at the calibration station and the pre-stored calibration coordinate data, the coordinate compensation data of the robotic arm is determined. This process includes extracting the calibration coordinate data from the memory and then performing a comparative analysis with the position coordinate data obtained by real-time measurement. The calibration coordinate data is the accurate position coordinate pre-recorded by the system and is used as the reference position. By comparing, the compensation amount required by the robotic arm can be calculated to ensure that its positioning error is corrected and the operation accuracy of the robotic arm is further improved.

[0039] In a specific example, the 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 vision sensor. Subsequently, the control system compares this data with the calibration coordinate data in the storage and calculates the deviation values of the robotic arm in the X, Y, and Z axis directions. These deviation values are the coordinate compensation data. Through these compensation data, the system can adjust the movement path of the robotic arm in subsequent operations to ensure that the robotic arm can accurately grasp and place the part, improving the accuracy and efficiency of measurement.

[0040] Step 103: 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.

[0041] 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 offsets caused by positioning errors. The second target coordinate data is the accurate 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 robotic arm can accurately position the part, eliminating measurement errors caused by positioning deviations, and thus improving the reliability of the measurement data.

[0042] In a specific example, the robotic arm needs to transfer the part to the target measurement station. Before that, the control system updates the first target coordinate data of the part according to the already determined coordinate compensation data. For example, if there is a 1 - millimeter positioning deviation of the robotic arm in the X direction, the compensation data will correct the first target coordinate data to obtain a second target coordinate data of x + 1 millimeter (where x represents the value of the first target coordinate data in the X direction) to offset this deviation. When the robotic arm places the part at the target measurement station, the position of the part will be consistent with the updated target coordinates. By this method, the accurate positioning of the part at each measurement station is ensured, reducing measurement errors and improving the accuracy and efficiency of the measurement.

[0043] In summary, in the embodiments of the present application, by comparing the acquired position coordinate data with the predetermined calibration coordinate data, the coordinate compensation data of the robotic arm is determined, ensuring that the cumulative errors caused by hardware and environmental factors during the long - term and frequent operation of the robotic arm can be corrected in a timely manner, ensuring the positioning accuracy of the robotic arm; and then, according to the determined coordinate compensation data, the first target coordinate data of the part is updated to ensure that when the part is transferred to the target measurement station, it can accurately reach the measurement position according to the second target coordinate data, further ensuring the accuracy of the measurement data and eliminating measurement errors caused by positioning deviations; realizing the full - automation process of the part from the calibration station to the target measurement station; and finally, accurate dimensional measurement is performed based on the calibrated coordinate data to ensure that the robotic arm can accurately grasp and place the part in each measurement link, reducing the problem of reduced detection accuracy caused by inaccurate grasping positions. Solving the problem of low efficiency caused by the need for frequent calibration data during the automatic measurement of parts.

[0044] Figure 2 It is another part vision measurement method based on an automatically calibrated robotic arm provided by the embodiments of the present application, which is applied to a robotic arm controller and includes the following steps:

[0045] Step 201, in response to the execution of the robotic arm transferring the part to the calibration station, acquire the position coordinate data of the part when it is at the calibration station.

[0046] The method shown in this step has been described in step 101 and will not be elaborated here.

[0047] Step 202: Determine the coordinate compensation data of the robotic arm according to the position coordinate data and the calibration coordinate data.

[0048] The method shown in this step has been described in step 102 and will not be elaborated here.

[0049] Optionally, step 202 includes the following sub-steps:

[0050] Step 2021: Determine the difference between the position coordinate data and the calibration coordinate data as the coordinate compensation data.

[0051] In some embodiments of the present application, the coordinate compensation data of the robotic 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 performing a comparative analysis with the position coordinate data obtained by real-time measurement. The position coordinate data is the actual position of the part at 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 amount required for the robotic arm can be obtained. This can ensure that in subsequent operations, the positioning error of the robotic arm is corrected, thereby improving the positioning accuracy.

[0052] In a specific example, the robotic arm is instructed by the controller to place the part at the calibration station, and the position coordinate data of the part is obtained through a vision sensor. Then, the system compares this 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 millimeter from the preset position, the system will calculate a compensation amount of 1 millimeter as the coordinate compensation data in the X-axis direction. By this method, the calibration compensation amount of the robotic arm can be accurately determined, ensuring the precise positioning of the part at the subsequent measurement station and improving the accuracy and efficiency of the measurement.

[0053] Step 203: 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.

[0054] The method shown in this step has been described in step 103 and will not be elaborated here.

[0055] 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:

[0056] Step 2031, determine the second target coordinate data as the sum of the coordinate compensation data and the first target coordinate data.

[0057] 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 when the robotic arm moves a 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, ensuring that the robotic arm can accurately place the part at the target measurement station in subsequent operations and eliminating the measurement error caused by positioning deviation.

[0058] In a specific example, before controlling the robotic arm to transfer the part to the target measurement station, the system first obtains the first target coordinate data of the robotic arm. For example, assume 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 coordinate as (X1 + ΔX, Y1 + ΔY, Z1 + ΔZ). The robotic arm operates according to the obtained second target coordinate data and precisely places the part at the target measurement station. By this method, the high-precision positioning of the robotic arm is ensured, improving the accuracy and efficiency of part measurement.

[0059] Step 204, update the calibration coordinate data according to the value of the position coordinate data.

[0060] In some embodiments of the present application, the calibration coordinate data will be updated according to the value of the acquired position coordinate data. This process includes analyzing the position coordinate data of the robotic arm at the calibration station and comparing it with the current calibration coordinate data. According to the analysis result, the calibration coordinate data is updated in real time to ensure that the data is more accurate and reliable when the next calibration is performed. The calibration coordinate data is an important reference for the system to correct the movement path of the robotic arm. By updating the calibration coordinate data, the positioning accuracy of the robotic arm can be continuously improved and the cumulative error can be reduced.

[0061] In a specific example, the robotic arm needs to transfer the part to the calibration station, and the position coordinate data of the part is measured by a vision sensor. The control system can compare this data with the previously stored calibration coordinate data and find that there is a certain deviation. The system updates the calibration coordinate data according to the actual measured data and stores the new coordinate data in the system for subsequent calibration use. This method ensures that during the long-term use of the robotic arm, the positioning error can be corrected in a timely manner, ensuring the operation accuracy and measurement accuracy of the robotic arm.

[0062] In summary, in the embodiment of the present application, by comparing the obtained position coordinate data with the predetermined calibration coordinate data, the coordinate compensation data of the robotic arm is determined, ensuring that during the long-term and frequent operation of the robotic arm, the cumulative errors caused by hardware and environmental factors can be corrected in a timely manner, ensuring the positioning accuracy of the robotic arm; and then, according to the determined coordinate compensation data, the first target coordinate data of the part is updated, ensuring that when the part is transferred to the target measurement station, it can accurately reach the measurement position according to the second target coordinate data, further ensuring the accuracy of the measurement data and eliminating the measurement errors caused by positioning deviations; realizing the full-automatic process of the part from the calibration station to the target measurement station; and finally, accurate dimension measurement is performed based on the calibrated coordinate data, ensuring that in each measurement link, the robotic arm can accurately grasp and place the part, reducing the problem of reduced detection accuracy caused by inaccurate grasping positions. Solving the problem of low efficiency caused by the need for frequent calibration data during the automatic measurement of parts.

[0063] As Figure 3 shown, as an actual application of the method provided in the embodiment of the present application, the embodiment of the present application also provides a part measurement tooling 30 based on vision measurement, including:

[0064] a calibration station 301, a target measurement station 302, a robotic arm 303, and a robotic arm controller of the robotic arm 303 (not shown in the figure);

[0065] The robotic arm controller is used to control the robotic arm 303 to transfer the part A to the calibration station 301 to obtain the position coordinate data of the part A when it is at the calibration station 301, and update the first target coordinate data of the part A according to the coordinate compensation data to obtain the second target coordinate data of the part A, and transfer the part A to the target measurement station 302 according to the second target coordinate data to perform dimension measurement on the part A; the target coordinate data is the coordinate data when the part A is transferred to the target measurement station 302; the coordinate compensation data is determined according to the calibration coordinate data and the position coordinate data.

[0066] In some embodiments of the present application, the part measurement tooling 30 based on vision measurement includes a calibration station 301, a target measurement station 302, and a robotic arm 303. The robotic arm 303 is used to transfer part A to the calibration station 301 to collect the position coordinate data of part A, 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 according to 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 robotic arm can be effectively solved, ensuring the precise positioning of the part at the target measurement station 302, thereby improving the measurement accuracy and efficiency. This design makes the measurement process of the part more automated and efficient, reduces human intervention, and improves the overall production efficiency and product quality.

[0067] As Figure 4 shown, optionally, in some embodiments of the present application, a movable structure provided with a rotary cylinder 3031 and a gripper 3032 can be used as the robotic arm 303.

[0068] In some embodiments of the present application, a movable structure provided with a rotary cylinder 3031 and a gripper 3032 can be used as the robotic arm 303. The rotary cylinder 3031 is used to realize the rotation action of the robotic arm, and the gripper 3032 is used to grasp and place the part. The specific structure of the robotic arm 303 can be diverse, including but not limited to various types of gripper or manipulator configurations. No further limitation is made here, making the present application more widely applicable. Through this design, the robotic arm 303 can execute the grasping and placing actions more flexibly, improving the operation flexibility and accuracy, enabling the robotic arm to handle various complex loading and measurement tasks, and further enhancing the efficiency and accuracy of the entire system.

[0069] Optionally, as Figure 5 shown, a first nested hole 3011 is provided at the top of the calibration station 301, and the inner diameter of the first nested hole 3011 matches the outer diameter of the part.

[0070] 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, ensuring that the part can be stably placed on the calibration station. The purpose of this design is to accurately position the part on the calibration station, ensuring the accuracy and stability of the measurement. Through this design, the part can be firmly fixed on the calibration station and will not affect the measurement result due to position deviation. 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, reduces calibration errors, and enhances the accuracy of the robotic arm operation.

[0071] Optionally, as Figures 6 to 8 shown, the target measurement station includes a projection detection station 3021;

[0072] The projection detection station 3021 includes projection cameras 30211 with horizontally and oppositely arranged lenses, and a detection position tooling 30212 arranged between the opposite directions of the lenses of the two projection cameras 30211;

[0073] A placement platform 302121 is provided at the top of the detection position tooling 30212, and a first notch 3021211 is opened at the top of the placement platform;

[0074] When the part A is placed on the placement platform 302121, the tangent plane between the part A and the placement platform 302121 is determined by the projection camera based on the bottom surface of the part A collected through the first notch 3021211.

[0075] In some embodiments of the present application, the target measurement station 302 includes a projection detection station 3021. The projection detection station 3021 includes projection cameras 30211 with horizontally and oppositely arranged lenses, and a detection position tooling 30212 arranged between the opposite directions of the lenses of the two projection cameras 30211. A placement platform 302121 is provided at the top of the detection position tooling 30212, and a first notch 3021211 is opened at the top of the placement platform 302121. When the part A is placed on the placement platform 302121, the tangent plane between the part A and the placement platform 302121 is determined by the bottom surface of the part A collected by the projection camera 30211 through the first notch 3021211. This design ensures the stability and accurate positioning of the part A on the placement platform 302121. The projection camera 30211 can accurately obtain the bottom surface data of the part A through the first notch 3021211, thereby improving the accuracy and stability of the measurement. This helps to reduce measurement errors and ensure the reliability of the measurement results.

[0076] Optionally, as Figure 6As shown, in some embodiments of the present application, the relative fixation of the projection camera 30211 and the detection position tooling 30212 can also be achieved by arranging a projection fixation tooling 30213 at the bottom of the projection detection station 3021.

[0077] In some embodiments of the present application, the relative fixation of the projection camera 30211 and the detection position tooling 30212 can also be achieved by arranging a projection fixation tooling 30213 at the bottom of the projection detection station 3021. The projection fixation tooling 30213 is used to stabilize the positional relationship between the projection camera 30211 and the detection position tooling 30212, ensuring that the two components do not move relative to each other during the measurement process. Through this design, the measurement accuracy and stability can be effectively improved, ensuring that during the projection detection process, the projection camera 30211 and the detection position tooling 30212 always maintain a consistent positional relationship, reducing measurement errors caused by relative movement. This structural design helps to obtain more accurate and reliable measurement data, further improving the quality and efficiency of part measurement.

[0078] Optionally, as Figures 6 to 8 shown, the placement platform 302121 is cylindrical, and the detection position tooling is further provided with a cylindrical limiting ring 302122 buckled on the placement platform;

[0079] At the bottom position of the cylindrical barrel of the limiting ring 302122, there is a placement opening 3021221 for placing part A, and the inner diameter of the placement opening 3021221 matches the outer diameter of part A;

[0080] An opening window 3021222 is formed on the side wall of the limiting ring 302122. When the projection camera determines the tangent plane between part A and the placement platform 302121 based on the bottom surface of part A collected through the first notch 3021211, the shooting light passes through the opening window 3021222.

[0081] In some embodiments of the present application, the placement platform 302121 is cylindrical, and the inspection position tooling is further provided with a cylindrical limiting ring 302122 buckled on the placement platform 302121. At the bottom position of the cylindrical barrel of the limiting ring 302122, there is a placement opening 3021221 for placing part A, and the inner diameter of the placement opening 3021221 matches the outer diameter of part A. An opening window 3021222 is formed on the side wall of the limiting ring 302122. When the projection camera 30211 determines the tangent plane between part A and the placement platform 302121 based on 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 stable positioning of part A on the placement platform 302121. At the same time, the limiting ring 302122 provides additional physical restrictions to prevent part A from shifting in position during the inspection process. Through the opening window 3021222, the projection camera 30211 can still accurately collect the bottom surface data of part A, ensuring the accuracy and stability of the measurement on the premise of ensuring the reliability of the measurement result.

[0082] Optionally, as Figures 6 to 8 shown, a second notch 3021212 is further formed at the top of the placement platform 302121, and fixing holes 3021223 are formed 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 holes 3021223 are used to keep the limiting ring 302122 and the placement platform 302121 relatively fixed by inserting fixing bolts into the second notch 3021212.

[0083] In some embodiments of the present application, a second notch 3021212 is further formed at the top of the placement platform 302121. The side wall of the limiting ring 302122 is provided with an opening window 3021222, and fixing holes 3021223 are formed 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 fixing bolts into the second notch 3021212. The design of the second notch 3021212 and the fixing holes 3021223 ensures the stable positioning of the limiting ring 302122 and prevents it from moving or deviating 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 part A from affecting the measurement accuracy due to movement but also provides a reliable measurement environment for the projection inspection station 3021, improving the accuracy and reliability of the measurement result.

[0084] Optionally, as Figures 6 to 8As shown, in some embodiments of the present application, the first notch 3021211 and the second notch 3021212 can be set as the vertical branches of a cross-shaped groove, so that the two notches can obtain mutual functions.

[0085] In some embodiments of the present application, the first notch 3021211 and the second notch 3021212 can be set as the 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 can enable the two notches to obtain mutual functions, improving the versatility and adaptability of the placement platform 302121. With this cross-shaped groove design structure, when the part A is placed on the placement platform 302121, it can be positioned more stably and accurately. Through the two vertical notches, the placement platform 302121 can better adapt to different detection requirements, enhancing the flexibility and reliability of the entire detection system, and further improving the measurement accuracy and efficiency.

[0086] Optionally, as shown in FIGS. 9 to Figure 11 As shown, the target measurement station includes a line scan station 3022:

[0087] The line scan station 3022 includes a laser emitter 30221 and a laser receiver 30222 that are horizontally coplanar, and a line scan detection tool 30223 that moves in a first direction within the horizontal plane formed by the laser emitter and the laser receiver; the first direction X is perpendicular to the laser emitted by the laser emitter 30221;

[0088] The line scan 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;

[0089] When the part opening A1 of the part A faces the laser emitter 30221 and is placed on the first V-groove 3022311, 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.

[0090] In some embodiments of the present application, the target measurement station 302 includes a line scan station 3022. The line scan station 3022 includes a laser emitter 30221 and a laser receiver 30222 that are horizontally coplanar, and a line scan detection tooling 30223 that moves in the horizontal plane formed by the laser emitter 30221 and the laser receiver 30222 in a first direction X in the horizontal plane. The first direction X is perpendicular to the laser emitted by the laser emitter 30221. The line scan detection tooling 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 reflecting after entering the part opening A1. Through this design, the line scan station 3022 can accurately measure the opening depth of part A and ensure the accurate positioning of part A during the measurement process. The horizontal coplanar arrangement of the laser emitter 30221 and the laser receiver 30222, and the movement of the line scan detection tooling 30223 enable the system to accurately align and measure each part of part A, improving the accuracy and reliability of the measurement.

[0091] In the present application, the specific included angle size of the first V-groove can be angles such as 60°, 90°, 120°, etc., and no further limitation is made here.

[0092] Optionally, as shown in FIGS. 9 to Figure 11 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;

[0093] At the notch of the first plate 3022301 where the first V-groove 3022311 is formed, a second V-groove 30223011 is provided, and the opening of the second V-groove 30223011 faces the laser emitter.

[0094] 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. At the notch of the first V-groove 3022311 formed on the first plate 3022301, a second V-groove 30223011 is provided, and the opening of the second V-groove 30223011 faces the laser emitter 30221. The first V-groove 3022311 provides a stable placement surface, while 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.

[0095] Optionally, as shown in FIGS. 9 to Figure 11 As shown, the line scan detection tooling 30223 further includes a fixing block 302232. A chute 3022321 arranged parallel to the first direction X is provided at the top of the fixing block 302232. The first plate 3022301 and the second plate 3022302 are respectively fixed to the fixing block 302232 through the chute 3022321.

[0096] In some embodiments of the present application, the line scan detection tooling 30223 further includes a fixing block 302232. A chute 3022321 arranged parallel to the first direction X is provided at the top of the fixing block 302232. The first plate 3022301 and the second plate 3022302 are respectively fixed to the fixing block 302232 through the chute 3022321. The chute 3022321 provides a guide rail, enabling the first plate 3022301 and the second plate 3022302 to move and be fixed in parallel in the first direction X, ensuring the stability and flexibility of the line scan detection tooling. Through this design, the line scan detection tooling 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 fixing block 302232 and the chute 3022321 ensures the stable positioning of the V-groove assembly 302231, reduces the position offset during the measurement process, and enhances the accuracy and stability of the overall detection system.

[0097] Optionally, as Figure 9 shown, the line scan detection tooling 30223 further includes a servo module 302233 for moving the line scan detection tooling 30223 so that the line scan detection tooling 30223 moves in the first direction X.

[0098] In some embodiments of the present application, the line scan detection tooling 30223 further includes a servo module 302233. The servo module 302233 is used to move the line scan 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 scan detection tooling 30223 through an electric servo system. With this design, the servo module 302233 can ensure that the line scan detection tooling 30223 moves precisely along the predetermined path during measurement, improving the efficiency and accuracy of measurement. The introduction of the servo module not only enhances the flexibility and automation of the detection system but also reduces human intervention, ensuring the stability and reliability of the measurement process.

[0099] Optionally, as Figure 12 shown, the opening angle θ of the second V-groove 30223011 is given by the following formula:

[0100] ;

[0101] where h is the distance from the laser receiver 30222 to the laser, l is the distance from the laser emitter 30221 to the laser reflection point of the part A; m and n are the value ranges of l respectively.

[0102] In some embodiments of the present application, 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 the part A and return smoothly to the laser receiver 30222. This design ensures that the laser can be accurately emitted and reflected during the measurement, guaranteeing 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 result. This structural design improves the effectiveness and precision of the entire measurement system.

[0103] As a specific embodiment of the present application in practical applications, the value of h can be 53.5 mm, the value range of l can be between 68.41 mm and 84.41 mm, and at this time, the value of θ is between 32.12° and 38.55°.

[0104] Optionally, as Figure 13 shown, the included angle of the first V-groove 3022311 is 90°, and the starting vertical line b of the V-shape of the second V-groove 30223011 on the first plate 3022301 is given by the following formula:

[0105] ,

[0106] ;

[0107] Wherein, a represents the horizontal distance from the top end of the first V-shaped groove 3022311 to the part, R represents the radius of the part, b represents the length from the bottom end 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.

[0108] 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, together with the formula for the opening angle θ, ensures that the laser can accurately enter and reflect during the measurement process, 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.

[0109] As a specific embodiment of the present application in practical applications, a can be 5 mm, and in this case, the value range of R can be between 1.5 mm and 7 mm.

[0110] Optionally, as Figure 13 shown, a collection groove 30223012 is also opened at the bottom end of the first V-shaped groove 3022311.

[0111] In some embodiments of the present application, a collection groove 30223012 is also opened at the bottom end of the first V-shaped groove 3022311. The collection groove 30223012 is used to capture and collect metal chips on the part during the measurement process to prevent them from scattering in the measurement area. Metal chips are generated during the processing and measurement processes, and by setting the collection groove, these metal chips can be effectively collected in a centralized manner. Through this design, the measurement environment is cleaner, reducing the interference of metal chips on the measurement accuracy and ensuring the accuracy of the measurement results. In addition, this structural design also facilitates subsequent cleaning and maintenance work, improving the efficiency and reliability of the entire measurement system.

[0112] As a specific embodiment of the present application in practical applications, the collection groove can be a rectangular groove with a cross-section of 3 mm (horizontal direction) × 2 mm (vertical direction).

[0113] In summary, in the embodiments of the present application, by comparing the acquired position coordinate data with the predetermined calibration coordinate data, the coordinate compensation data of the robotic arm is determined, ensuring that during the long-term and frequent operation of the robotic arm, the cumulative errors caused by hardware and environmental factors can be corrected in a timely manner, ensuring the positioning accuracy of the robotic arm; and then, according to the determined coordinate compensation data, the first target coordinate data of the part is updated, ensuring that when the part is transferred to the target measurement station, it can accurately reach the measurement position according to the second target coordinate data, further ensuring the accuracy of the measurement data and eliminating the measurement errors caused by positioning deviations; realizing the full-automatic process of the part from the calibration station to the target measurement station; and finally, accurate dimensional measurement is performed based on the calibrated coordinate data, ensuring that in each measurement link, the robotic arm can accurately grasp and place the part, reducing the problem of reduced detection accuracy caused by inaccurate grasping positions. This solves the problem of low efficiency caused by the need for frequent calibration data during the automatic measurement of parts.

[0114] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0115] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the present application is defined by the claims and their equivalents. After considering the specification and practicing the application disclosed herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0116] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited 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; 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; 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 notch; 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.

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 according to the calibration coordinate data and the position coordinate data; 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 notch; 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.

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: 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.

7. The part measuring 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.

8. The part measuring tool based on visual measurement as claimed in claim 7, 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.

Images