Three-dimensional visual automatic detection device and detection method thereof

Abstract

The invention discloses a three-dimensional visual automatic detection device and a detection method thereof.The three-dimensional visual automatic detection device comprises a workbench, a rotating platform is arranged on the workbench, an automatic measuring device is arranged on one side of the rotating platform and comprises a transmission mechanical arm and a scanning device, one end of the transmission mechanical arm is fixed to the workbench, and the other end of the transmission mechanical arm is fixed to the scanning device; the scanning device is movably connected to the other end of the transmission mechanical arm, and when the rotating platform rotates, the transmission mechanical arm can drive the scanning device to move around the rotating platform. According to the invention, the workpiece is placed on the rotating platform to rotate, then the scanning device is driven by the transmission mechanical arm to scan around the rotating platform, and the scanning device does not need to be manually held by hand for operation by means of the cooperative action between the workpiece and the transmission mechanical arm, so that the labor cost can be greatly saved in the measurement process, and the measurement efficiency is improved. And especially under the condition of repeated workpiece scanning, the advantages are very obvious.

Description

Technical Field

[0001] The present invention relates to the field of visual detection, and in particular to a three-dimensional visual automatic detection device and a detection method thereof. Background Art

[0002] In the current production of high-precision accessories, it is usually necessary to scan the three-dimensional structure of the workpiece. For example, in automotive parts and aircraft engine blades, by quickly comparing the scan data with the CAD model, the dimensional deviation, deformation, wear, etc. of the workpiece can be automatically detected to ensure that it meets the design accuracy.

[0003] In the existing technology, the traditional measurement scanning method is: manually holding a measuring head to scan the entire circumference of the object to be measured. Due to the large number of workpiece surfaces, the manual handheld measuring head needs to scan each surface and the operating software needs to be used on the computer interface to complete the measurement of the entire workpiece. The process is time-consuming and laborious, and it is easy for some features to be missed. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a three-dimensional visual automatic detection device, including a workbench, a rotating platform is provided on the workbench, and an automatic measuring device is provided on one side of the rotating platform. The automatic measuring device includes a transmission robotic arm and a scanning device. One end of the transmission robotic arm is fixed on the workbench, and the scanning device is movably connected to the other end of the transmission robotic arm. When the rotating platform rotates, the transmission robotic arm can drive the scanning device to move around the rotating platform.

[0005] Furthermore, the rotating platform includes a supporting plate and a first driving motor, and the first driving motor is arranged at the bottom of the supporting plate.

[0006] Furthermore, the transmission robotic arm includes a first driving member, a second driving member and a third driving member connected in sequence, and a rotating motor is provided in the first driving member, the second driving member and the third driving member. One end of the first driving member is connected to the second driving motor, and the second driving motor can drive the first driving member to rotate. A first connecting tube is provided between the other end of the first driving member and the second driving member, one end of the third driving member is connected to the second driving member through a second connecting tube, and a third driving motor is provided at the other end of the third driving member. The scanning device is connected to the third driving motor, and the third driving motor can drive the scanning device to rotate.

[0007] Furthermore, the first driving member includes a first input end and a first output end, the setting directions of the first input end and the first output end are perpendicular to each other, the first output end can rotate in the perpendicular direction of the first input end, the first input end is connected to the second driving motor, and one end of the first connecting tube is connected to the first output end.

[0008] Furthermore, the second driving member includes a second input end and a second output end, the setting directions of the second input end and the second output end are perpendicular to each other, the second output end can rotate in the perpendicular direction of the second input end, the other end of the first connecting tube is connected to the second input end, and one end of the second connecting tube is connected to the second output end.

[0009] Furthermore, the third driving member includes a third input end and a third output end, the setting directions of the third input end and the third output end are perpendicular to each other, the third output end can rotate in the perpendicular direction of the third input end, the other end of the second connecting tube is connected to the third input end, and the third driving motor is connected to the third output end.

[0010] Furthermore, the scanning device includes a control device and a plurality of cameras for visual scanning, and the third driving motor is connected to the end surface of the control device.

[0011] Furthermore, the scanning device includes a connecting rod, which is connected to a third drive motor. The third drive motor can drive the connecting rod to rotate. A supporting rod is provided at one end of the connecting rod away from the third drive motor, and cameras for visual scanning are connected at both ends of the supporting rod.

[0012] Furthermore, a plurality of fixing holes are provided on the top surface of the supporting plate.

[0013] The present application also provides a three-dimensional visual automatic detection method, including the following steps: Step 1: transport the workpiece to the support plate, start the first drive motor to drive the support plate to rotate; Step 2: start the second drive motor to drive the first drive member to rotate, so that the second drive member and the third drive member move toward the support plate. In this process, when the expected distance is reached, the first connecting tube is driven to rotate, thereby adjusting the relative angle between the second drive member and the third drive member and the support plate, and then the second connecting tube is driven to rotate, and the angle between the third drive member and the support plate is adjusted for the second time. Finally, the third drive motor is started to drive the scanning device to rotate so that it is always facing the support plate; Step 2: Start the scanning device to complete the scanning of the workpiece while the support plate is rotating.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This application places the workpiece on a rotating platform to rotate it, and then uses the transmission robot arm to drive the scanning device to scan around the rotating platform. By utilizing the coordinated action between the two, there is no need for manual handheld scanning equipment to operate, so the labor cost can be greatly saved during the measurement process. Especially when scanning repetitive workpieces, the advantage is very significant.

[0016] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the automatic measuring device of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the automatic measuring device of the present invention from another angle;

[0021] Figure 4 Schematic diagram of the structure of the second scanning device of the present invention.

[0022] The reference numerals and names in the figures are as follows:

[0023] Workbench 10, rotating platform 100, automatic measuring device 20, transmission robot arm 200, scanning device 300, supporting plate 110, first driving motor 120, first driving member 210, second driving member 220, third driving member 230, second driving motor 240, first connecting tube 250, second connecting tube 260, third driving motor 270, first input end 211, first output end 212, second input end 221, second output end 222, third input end 231, third output end 232, control device 310, camera 320, connecting rod 330, supporting rod 340, fixing hole 111. DETAILED DESCRIPTION

[0024] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0025] The present invention will be described in more detail. It should be understood that the specific embodiments described herein are intended only to explain the present invention and are not intended to limit the present invention. It should be noted that when an element is described as being "fixed to" another element, it may be directly on the other element, or one or more intervening elements may be present therebetween. When an element is described as being "connected to" another element, it may be directly connected to the other element, or one or more intervening elements may be present therebetween.

[0026] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself. In the description of the present invention, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0027] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which the present invention pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention.

[0028] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0029] The preferred embodiments of the present invention will now be further described with reference to the accompanying drawings. Figure 1 and Figure 2As shown, a three-dimensional visual automatic detection device includes a workbench 10, a rotating platform 100 is provided on the workbench 10, and an automatic measuring device 20 is provided on one side of the rotating platform 100. The automatic measuring device 20 includes a transmission robot arm 200 and a scanning device 300. One end of the transmission robot arm 200 is fixed on the workbench 10, and the scanning device 300 is movably connected to the other end of the transmission robot arm 200. When the rotating platform 100 rotates, the transmission robot arm 200 can drive the scanning device 300 to move around the rotating platform 100.

[0030] This embodiment is mainly used in the case of measuring the appearance of industrial products. In the working state, the workpiece is first placed on the rotating platform 100, and then the rotating platform 100 is started to rotate, thereby driving the workpiece to rotate. Next, the transmission robot arm 200 is started to drive the scanning device 300 to move around the rotating platform 100, thereby completing the appearance measurement of the entire workpiece.

[0031] Compared with the existing technology, the present application places the workpiece on the rotating platform 100 to rotate it, and then uses the transmission robot arm 200 to drive the scanning device 300 to scan around the rotating platform 100. By utilizing the coordinated action between the two, there is no need for manual handheld scanning equipment to operate, so the labor cost can be greatly saved during the measurement process, especially in the case of scanning repetitive workpieces, the advantage is very significant.

[0032] On the basis of the above embodiment, Figure 1 As shown, the rotating platform 100 includes a supporting plate 110 and a first drive motor 120. The first drive motor 120 is arranged at the bottom of the supporting plate 110. In the working state, the workpiece is first placed on the supporting plate 110, and then the first drive motor 120 is started to drive the supporting plate 110 to rotate, and then drive the workpiece to rotate.

[0033] On the basis of the above embodiment, Figure 2As shown, the transmission robot arm 200 includes a first driving member 210, a second driving member 220 and a third driving member 230 connected in sequence, and the first driving member 210, the second driving member 220 and the third driving member 230 are all provided with a rotating motor, one end of the first driving member 210 is connected to the second driving motor 240, and the second driving motor 240 can drive the first driving member 210 to rotate, and a first connecting pipe 250 is provided between the other end of the first driving member 210 and the second driving member 220, and one end of the third driving member 230 is connected to the second driving member 220 through a second connecting pipe 260. A third drive motor 270 is provided at the other end of the three drive members 230. The scanning device 300 is connected to the third drive motor 270. The third drive motor 270 can drive the scanning device 300 to rotate. When the scanning device 300 needs to be driven, the second drive motor 240 is started to drive the first drive member 210 to rotate. Then, the first drive member 210 drives the second drive member 220 to rotate through the first connecting tube 250. While the second drive member 220 rotates, it drives the third drive member 230 to rotate through the second connecting tube 260, thereby driving the scanning device 300 to move around the rotating platform 100.

[0034] On the basis of the above embodiment, Figure 2 and Figure 3 As shown, the first driving member 210 includes a first input end 211 and a first output end 212. The setting directions of the first input end 211 and the first output end 212 are perpendicular to each other and a rotating motor is installed inside, so that the first output end 212 can rotate in the vertical direction of the first input end 211. The first input end 211 is connected to the second driving motor 240, and one end of the first connecting tube 250 is connected to the first output end 212, so that the first output end 212 can drive the first connecting tube 250 to rotate.

[0035] On the basis of the above embodiment, Figure 2 and Figure 3 As shown, the second driving member 220 includes a second input end 221 and a second output end 222. The setting directions of the second input end 221 and the second output end 222 are perpendicular to each other and a rotating motor is installed inside, so that the second output end 222 can rotate in the vertical direction of the second input end 221. The other end of the first connecting tube 250 is connected to the second input end 221, so that the first connecting tube 250 can drive the entire second driving member 220 to rotate, and one end of the second connecting tube 260 is connected to the second output end 222, so that the second output end 222 can drive the second connecting tube 260 to rotate.

[0036] On the basis of the above embodiment, Figure 2 and Figure 3 As shown, the third driving member 230 includes a third input end 231 and a third output end 232. The setting directions of the third input end 231 and the third output end 232 are perpendicular to each other and a rotating motor is installed inside, so that the third output end 232 can rotate in the vertical direction of the third input end 231. The other end of the second connecting tube 260 is connected to the third input end 231, so that the second connecting tube 260 can drive the entire third driving member 230 to rotate, and the third driving motor 270 is connected to the third output end 232, so that the third output end 232 can drive the second driving motor 240 to rotate.

[0037] On the basis of the above embodiment, Figure 2 and Figure 3 As shown, the scanning device 300 includes a control device 310 and a plurality of cameras 320 for visual scanning, and the third driving motor 270 is connected to the end surface of the control device 310 .

[0038] In addition, the present application also provides another structure of a scanning device 300, which is combined with Figure 2 and Figure 4 As shown, the difference between this structure and the first structure is that the scanning device 300 includes a connecting rod 330, which is connected to the third drive motor 270. The third drive motor 270 can drive the connecting rod 330 to rotate. A support rod 340 is provided at the end of the connecting rod 330 away from the third drive motor 270. Cameras 320 for visual scanning are connected to both ends of the support rod 340. In this way, when the third drive motor 270 can rotate the connecting rod 330, it can drive the camera 320 to rotate, so that it can rotate the workpiece on the platform 100 for multi-angle scanning.

[0039] On the basis of the above embodiment, Figure 1 As shown, a plurality of fixing holes 111 are provided on the top surface of the supporting plate 110 , and the fixing holes 111 are used to fix the workpiece placed on the supporting plate 110 .

[0040] This application also provides a three-dimensional visual automatic detection method, which includes the following steps:

[0041] Step 1: Move the workpiece to the supporting plate 110 and start the first driving motor 120 to drive the supporting plate 110 to rotate;

[0042] Step 2: Start the second drive motor 240 to drive the first drive member 210 to rotate, so that the second drive member 220 and the third drive member 230 move toward the supporting plate 110. During this process, when the desired distance is reached, drive the first connecting tube 250 to rotate, thereby adjusting the relative angle between the second drive member 220 and the third drive member 230 and the supporting plate 110. Then drive the second connecting tube 260 to rotate to adjust the angle between the third drive member 230 and the supporting plate 110 for a second time. Finally, start the third drive motor 270 to drive the scanning device 300 to rotate so that it always faces the supporting plate 110.

[0043] Step 2: Start the scanning device 300 and scan the workpiece while the supporting plate 110 is rotating.

[0044] The foregoing exemplary embodiments are detailed, and the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and all variations that come within the meaning and range of equivalents of the claims are intended to be embraced therein.

Claims

1. A three-dimensional visual automatic detection device, characterized in that: The invention comprises a workbench (10), a rotating platform (100) is arranged on the workbench (10), an automatic measuring device (20) is arranged on one side of the rotating platform (100), and the automatic measuring device (20) comprises a transmission mechanical arm (200) and a scanning device (300), one end of the transmission mechanical arm (200) is fixed on the workbench (10), and the scanning device (300) is movably connected to the other end of the transmission mechanical arm (200), and when the rotating platform (100) rotates, the transmission mechanical arm (200) can drive the scanning device (300) to move around the rotating platform (100).

2. The three-dimensional visual automatic detection device according to claim 1, characterized in that: The rotating platform (100) comprises a supporting plate (110) and a first driving motor (120), wherein the first driving motor (120) is arranged at the bottom of the supporting plate (110).

3. The three-dimensional visual automatic detection device according to claim 2, characterized in that: The transmission mechanical arm (200) comprises a first driving member (210), a second driving member (220) and a third driving member (230) which are connected in sequence. A rotating motor is provided in each of the first driving member (210), the second driving member (220) and the third driving member (230). One end of the first driving member (210) is connected to the second driving motor (240), and the second driving motor (240) can drive the first driving member (210) to rotate. A first connecting tube (250) is provided between the other end of the first driving member (210) and the second driving member (220). One end of the third driving member (230) is connected to the second driving member (220) via a second connecting tube (260). A third driving motor (270) is provided at the other end of the third driving member (230). The scanning device (300) is connected to the third driving motor (270), and the third driving motor (270) can drive the scanning device (300) to rotate.

4. The three-dimensional visual automatic detection device according to claim 3, characterized in that: The first driving member (210) comprises a first input end (211) and a first output end (212); the first input end (211) and the first output end (212) are arranged in directions perpendicular to each other; the first output end (212) can rotate in a direction perpendicular to the first input end (211); the first input end (211) is connected to a second driving motor (240); and one end of the first connecting tube (250) is connected to the first output end (212).

5. The three-dimensional visual automatic detection device according to claim 4, characterized in that: The second driving member (220) comprises a second input end (221) and a second output end (222); the second input end (221) and the second output end (222) are arranged in directions perpendicular to each other; the second output end (222) can rotate in a direction perpendicular to the second input end (221); the other end of the first connecting tube (250) is connected to the second input end (221); and one end of the second connecting tube (260) is connected to the second output end (222).

6. The three-dimensional visual automatic detection device according to claim 5, characterized in that: The third driving member (230) comprises a third input end (231) and a third output end (232); the third input end (231) and the third output end (232) are arranged in directions perpendicular to each other; the third output end (232) can rotate in a direction perpendicular to the third input end (231); the other end of the second connecting tube (260) is connected to the third input end (231); and the third driving motor (270) is connected to the third output end (232).

7. The three-dimensional visual automatic detection device according to any one of claims 3 to 6, characterized in that: The scanning device (300) comprises a control device (310) and a plurality of cameras (320) for visual scanning, and the third driving motor (270) is connected to an end surface of the control device (310).

8. The three-dimensional visual automatic detection device according to any one of claims 3 to 6, characterized in that The scanning device (300) includes a connecting rod (330), the connecting rod (330) is connected to a third drive motor (270), and the third drive motor (270) can drive the connecting rod (330) to rotate. A supporting rod (340) is provided at one end of the connecting rod (330) away from the third drive motor (270), and cameras (320) for visual scanning are connected to both ends of the supporting rod (340).

9. The three-dimensional visual automatic detection device according to claim 2, characterized in that: A plurality of fixing holes (111) are provided on the top surface of the supporting plate (110).

10. A three-dimensional visual automatic detection method, characterized in that: The steps include: Step 1: transporting the workpiece to the supporting plate (110), and starting the first driving motor (120) to drive the supporting plate (110) to rotate; Step 2: Start the second drive motor (240) to drive the first drive member (210) to rotate, so that the second drive member (220) and the third drive member (230) move toward the supporting plate (110). During this process, when the expected distance is reached, drive the first connecting tube (250) to rotate, thereby adjusting the relative angle between the second drive member (220) and the third drive member (230) and the supporting plate (110), and then drive the second connecting tube (260) to rotate, and perform a second adjustment on the angle between the third drive member (230) and the supporting plate (110). Finally, start the third drive motor (270) to drive the scanning device (300) to rotate so that it always faces the supporting plate (110); Step 2: Start the scanning device (300) and scan the workpiece while the supporting plate (110) is rotating.

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