Binocular vision system auxiliary device for guiding autonomous positioning of articulated arm measuring machine

Abstract

The invention relates to the technical field of precision measuring instruments, and discloses a binocular vision system auxiliary device for guiding autonomous positioning of an articulated arm measuring machine, which comprises a driving arm, and the driving arm comprises a positioning mechanism, a fixing mechanism and an adjusting mechanism. According to the binocular vision system auxiliary device for guiding the articulated arm measuring machine, the auxiliary device is fixed at the tail end of the measuring head connecting rod of the measuring machine, so that a binocular vision system is conveniently added at the tail end of the measuring machine, the measuring machine is guided to realize completely autonomous accurate positioning and measurement, and meanwhile, the relative positions of two cameras are adjustable; the problems that a tail end measuring head connecting rod of an existing measuring machine can only be provided with a trigger type measuring head and cannot be additionally provided with a binocular vision system, so that the coordinate of a workpiece target point still needs to be manually positioned in advance, and really, completely, autonomously and accurately positioned and measured cannot be achieved are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of precision measuring instruments, and in particular to a binocular vision system auxiliary device for guiding an articulated arm measuring machine to autonomously position itself. Background Art

[0002] The articulated arm coordinate measuring machine is a non-Cartesian flexible coordinate measuring device with the characteristics of simple structure, small size, flexible portability, high measurement flexibility, and no special requirements for the working environment. It can be integrated into industrial production lines to measure the geometric features of complex workpieces and is widely used in industrial fields such as automobiles, aerospace, reverse engineering, and mold manufacturing.

[0003] Most existing articulated arm coordinate measuring machines perform measurements in manual measurement mode. Due to factors such as human operation deviation, these methods lead to problems such as uncontrollable measurement force, irreproducible measurement results, poor measurement stability, and low measurement accuracy. Therefore, a self-driven articulated coordinate measuring machine is proposed. By introducing an integrated joint module inside the rotary joint, the measuring machine can achieve self-driven control and automatic measurement.

[0004] However, current self-propelled articulated arm coordinate measuring machines (CMMs) still require manual pre-positioning of workpiece target points before performing automatic measurement, which cannot meet the online automatic high-precision inspection requirements of intelligent manufacturing. Therefore, it is proposed to introduce binocular vision technology into the end-point of a self-propelled articulated arm CMM. This pre-positioning of the target point is achieved through binocular vision, thereby guiding the CMM to perform trajectory planning based on its own initial and target coordinates, achieving autonomous positioning and precise measurement of the workpiece target point. However, the existing front-end probe linkage of a self-propelled articulated arm CMM only supports the installation of a trigger probe and lacks a mounting structure suitable for a binocular vision system, making it impossible to integrate the binocular vision system into the CMM end-point. Therefore, structural innovation of the probe linkage of a self-propelled articulated arm CMM is necessary. Existing structural designs that use vision combined with a robotic arm / robot for reconstruction measurement / handling and palletizing tasks are not universal and difficult to apply to self-propelled articulated arm CMMs. Moreover, they do not consider the impact of the distance between the two cameras on visual measurement. Therefore, this patent proposes a binocular vision system auxiliary device for guiding a self-propelled articulated arm CMM to perform autonomous positioning measurement, helping the CMM achieve fully autonomous, precise positioning and dynamic measurement. Summary of the Invention

[0005] The purpose of the present invention is to provide a binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine. By providing a fixing mechanism, this device solves the problem that the front probe connecting rod of the existing measuring machine can only be installed with a trigger probe, and cannot be equipped with a binocular vision system. Positioning and measurement still require manual measurement of the coordinates of the initial and target points, resulting in the measuring machine being unable to meet the online automatic high-precision inspection requirements of intelligent manufacturing. Given that the existing structural design of visual coordination with a robotic arm for reconstruction measurement is difficult to apply to the end of a self-propelled articulated arm coordinate measuring machine, the present invention is proposed to solve the installation and coordination requirements of the self-propelled articulated arm coordinate measuring machine and the binocular vision system, and achieve the goal of binocular vision-guided measuring machine to perform online autonomous precise positioning and dynamic measurement.

[0006] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention is a binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine, comprising a driving arm, wherein the driving arm comprises a positioning mechanism, a fixing mechanism and an adjusting mechanism;

[0008] The positioning mechanism includes a camera module arranged on the front side of a driving arm, a linear module is arranged on the driving arm, and a probe connecting rod is arranged on the front side of the driving arm.

[0009] Furthermore, the left side and the right side of the driving arm are fixedly connected to the linear module mounting seats, and the sides of the two linear module mounting seats close to each other are fixedly connected to the connecting plates.

[0010] Furthermore, the two connecting plates are respectively provided with a plurality of fixing grooves, and a plurality of bolts are respectively threadedly connected in the fixing grooves. The top and bottom of the connecting plate on the left are fixedly connected with a fixing frame 1, and the two fixing frames 1 are both in contact with the probe connecting rod.

[0011] Furthermore, the top and bottom of the connecting plate on the right side are fixedly connected with a second fixing frame, and the two second fixing frames are in contact with the probe connecting rod.

[0012] Furthermore, a shell is provided at the bottom of the driving arm, the inner wall of the shell is slidably connected to a linear module base, a movable platform is provided on the top of the linear module base, and the top of the movable platform extends outside the shell.

[0013] Furthermore, the top of the linear module base is fixedly connected to two guide rails, the movable platforms are slidably connected to the two guide rails, and a screw rod is provided on the top of the linear module base.

[0014] Furthermore, a motor seat is fixedly connected to the right side of the linear module base, a motor is fixedly connected to the inner wall of the motor seat, an output shaft of the motor is fixedly connected to a coupling, and the output shaft of the motor is fixedly connected to the screw rod through the coupling.

[0015] Furthermore, a flange bearing is fixedly connected to the top of the linear module base, and an inner wall of the flange bearing is fixedly connected to the screw rod.

[0016] The present invention has the following beneficial effects:

[0017] 1. The present invention sets a positioning mechanism, and a camera is connected to the linear mechanism platform. The two cameras are used to construct binocular vision technology to locate the coordinates of the object to be measured, and inverse kinematics analysis is performed based on the located coordinates and the current coordinates. The articulated arm is automatically driven to the position of the object to be measured, so that the binocular vision technology is introduced into the successfully developed self-driven articulated arm coordinate measuring machine. Through binocular vision guidance, the self-driven articulated arm coordinate measuring machine can locate the target point on any workpiece in space.

[0018] 2. The present invention sets a fixing mechanism, and the driving arm and the fixing mechanism are connected in the following manner: first, four bolts are passed through the fixing holes above the probe connecting rod, and the fixing slots and the threaded holes in the side grooves of the probe connecting rod are fixed by screws. At the same time, the four outermost holes of the fixing slots are matched with the bolt hole axes, and the connecting plate and the linear module mounting seat are fixed by screws, and the four holes around the connecting plate are matched with the bolts, and installed into the fixing slots and tightened with nuts. The driving arm and the linear module are installed in the following manner: after the shafts on both sides of the linear mechanism housing are inserted into the two inner grooves of the linear module mounting seat, the linear module base is matched with the linear module mounting seat by screws, so that the driving arm and the side rods, linear modules and other components can be tightly connected, and can withstand large external forces and vibrations without being easily loosened, thereby ensuring the stability of the mechanism during operation and helping to improve the reliability and service life of the entire system.

[0019] 3. The present invention employs an adjustment mechanism. The linear mechanism connects the mobile platform to the guide rail, which is threaded with the lead screw. The lead screw is fixed to the motor via a coupling. Controlling the motor's rotation controls the lead screw's rotation, thereby achieving translation of the mobile platform. The camera module is tightly connected to the mobile platform via screws, enabling precise control of the mobile platform's translational motion. The motor provides high-precision position and speed control capabilities.

[0020] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some implementation cases of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 Schematic diagram of the overall structure of the driving arm of the present invention;

[0023] Figure 2 It is a schematic diagram of the partial structure of the fixing mechanism of the present invention;

[0024] Figure 3 Schematic diagram of the partial structure of the housing of the present invention;

[0025] Figure 4 This is a schematic diagram of the camera module structure of the present invention;

[0026] Figure 5 This is a schematic diagram of the disassembled partial structure of the fixing mechanism of the present invention;

[0027] Figure 6 Schematic diagram of the local structure of the probe connecting rod of the present invention;

[0028] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0029] In the figure: 1. Drive arm; 2. Camera module; 3. Linear module; 4. Probe connecting rod; 5. Linear module mounting base; 6. Connecting plate; 7. Fixing slot; 8. Bolt; 9. Fixing frame 1; 10. Fixing frame 2; 11. Housing; 12. Linear module base; 13. Moving platform; 14. Guide rail; 15. Screw; 16. Motor base; 18. Coupling; 17. Motor; 19. Flange bearing. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] See also Figures 1-6As shown, the present invention is a binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine, comprising a driving arm 1, the driving arm 1 comprising a positioning mechanism, a fixing mechanism and an adjusting mechanism, the positioning mechanism comprising a camera module 2 arranged on the front side of the driving arm 1, a linear module 3 being arranged on the driving arm 1, a probe connecting rod 4 being arranged on the front side of the driving arm 1, a linear module mounting seat 5 being fixedly connected to the left and right sides of the driving arm 1, a connecting plate 6 being fixedly connected to the side where the two linear module mounting seats 5 are close to each other, and a plurality of fixing slots 7 are respectively provided on the two connecting plates 6. If A number of bolts 8 are respectively threadedly connected in the fixed grooves 7. A fixing frame 9 is fixedly connected to the top and bottom of the left connecting plate 6. The two fixing frames 9 are in contact with the probe connecting rod 4. A fixing frame 2 10 is fixedly connected to the top and bottom of the right connecting plate 6. The two fixing frames 2 10 are in contact with the probe connecting rod 4. By setting up a positioning mechanism, binocular vision technology is introduced into the successfully developed self-driven articulated arm coordinate measuring machine. Through binocular vision guidance, the self-driven articulated arm coordinate measuring machine can locate the target point on any workpiece in space.

[0032] The bottom of the driving arm 1 is provided with a shell 11, the inner wall of the shell 11 is slidably connected to a linear module base 12, the top of the linear module base 12 is provided with a mobile platform 13, the top of the mobile platform 13 extends to the outside of the shell 11, the top of the linear module base 12 is fixedly connected to two guide rails 14, the mobile platforms 13 are slidably connected to the two guide rails 14, the top of the linear module base 12 is provided with a screw rod 15, the right side of the linear module base 12 is fixedly connected to a motor base 16, and the inner wall of the motor base 16 is fixedly connected to a motor 17 The output shaft of the motor 17 is fixedly connected to the coupling 18, and the output shaft of the motor 17 is fixedly connected to the screw 15 through the coupling 18. The top of the linear module base 12 is fixedly connected to the flange bearing 19, and the inner wall of the flange bearing 19 is fixedly connected to the screw 15. By setting up a fixing mechanism, the connection between the drive arm and the side rod, linear module and other components can be tight, and it can withstand large external forces and vibrations without being easily loosened, thereby ensuring the stability of the mechanism during operation and helping to improve the reliability and service life of the entire system.

[0033] In the linear mechanism, the mobile platform 13 is connected to the guide rail 14, which is threaded with the screw 15. The screw 15 is fixed to the servo motor 17 via a coupling 18. By controlling the rotation of the motor 17, the screw 15 can be controlled to rotate, thereby achieving the translation of the mobile platform. The camera module 2 is tightly connected to the mobile platform 13 via screws. By setting up an adjustment mechanism, the translation of the mobile platform can be precisely controlled. The motor has high-precision position and speed control capabilities.

[0034] When in use, a camera is connected to the linear mechanism platform, and binocular vision technology is constructed through two cameras to locate the coordinates of the object to be measured, and inverse kinematics analysis is performed based on the located coordinates and current coordinates, and the joint arm is automatically driven to the position of the object to be measured. The driving arm is connected to the side rod by passing four bolts 8 through the fixing holes above the probe connecting rod, and fixing the fixing slot 7 and the threaded holes in the side groove of the probe connecting rod 4 are fixed by screws. At the same time, the four outermost holes of the fixing slot 7 are matched with the bolt hole axis, and the connecting plate 6 is fixed to the linear module mounting seat 5 by screws, and the four holes around the connecting plate are matched with the screws. The bolt fits and is installed in the fixed groove 7 and fastened by a nut. The installation method of the driving arm and the linear module is as follows: After the shafts on both sides of the linear mechanism housing 11 are inserted into the two inner grooves of the linear module mounting seat 5, the linear module base 12 is matched with the linear module mounting seat 5 by screws. The moving platform 13 in the linear mechanism is connected to the guide rail 14, and the moving platform 13 is threadedly matched with the lead screw 15. The lead screw 15 and the motor 17 are connected and fixed by a coupling 18. By controlling the rotation of the motor, the rotation of the lead screw can be controlled to realize the translation of the moving platform. The camera module is fastened to the moving platform 13 by screws.

[0035] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine, characterized by: It comprises a driving arm (1), wherein the driving arm (1) comprises a positioning mechanism, a fixing mechanism and an adjusting mechanism; The positioning mechanism comprises a camera module (2) arranged on the front side of a driving arm (1), a linear module (3) is arranged on the driving arm (1), and a probe connecting rod (4) is arranged on the front side of the driving arm (1).

2. The binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine according to claim 1, characterized in that: The left and right sides of the driving arm (1) are both fixedly connected to linear module mounting seats (5), and the sides of the two linear module mounting seats (5) that are close to each other are both fixedly connected to connecting plates (6).

3. The binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine according to claim 2, characterized in that: A plurality of fixing grooves (7) are respectively provided on the two connecting plates (6), and a plurality of bolts (8) are respectively threadedly connected in the fixing grooves (7). A fixing frame (9) is fixedly connected to the top and bottom of the connecting plate (6) on the left side, and the two fixing frames (9) are in contact with the probe connecting rod (4).

4. The binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine according to claim 3, characterized in that: The top and bottom of the connecting plate (6) on the right side are both fixedly connected with a second fixing frame (10), and the two second fixing frames (10) are both in contact with the probe connecting rod (4).

5. The binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine according to claim 4, characterized in that: A housing (11) is provided at the bottom of the driving arm (1), a linear module base (12) is slidably connected to the inner wall of the housing (11), a movable platform (13) is provided at the top of the linear module base (12), and the top of the movable platform (13) extends outside the housing (11).

6. The binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine according to claim 5, characterized in that: The top of the linear module base (12) is fixedly connected to two guide rails (14), and the movable platform (13) is slidably connected to the two guide rails (14). A screw rod (15) is provided on the top of the linear module base (12).

7. The binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine according to claim 6, characterized in that: The right side of the linear module base (12) is fixedly connected to a motor base (16), the inner wall of the motor base (16) is fixedly connected to a motor (17), the output shaft of the motor (17) is fixedly connected to a coupling (18), and the output shaft of the motor (17) is fixedly connected to the screw rod (15) through the coupling (18).

8. The binocular vision system auxiliary device for guiding the autonomous positioning of an articulated arm measuring machine according to claim 7, characterized in that: A flange bearing (19) is fixedly connected to the top of the linear module base (12), and the inner wall of the flange bearing (19) is fixedly connected to the screw rod (15).

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