A three-dimensional laser measuring device based on motor detection

Abstract

The application relates to the technical field of measuring devices, in particular to a three-dimensional laser measuring device based on motor detection. The device comprises a rack and a microcontroller, and further comprises a moving rack, a motor rotating table and two reverse mold boxes are respectively arranged on the moving rack, a motor to be measured is arranged on the motor rotating table, an electric heater and a refrigeration module are arranged on each reverse mold box, a cavity is arranged on the reverse mold box, a turnover frame driven by a turnover motor is arranged on a multi-shaft mechanical arm, a turnover clamp for overturning the motor to be measured is arranged on the turnover frame, a light-reflecting liquid storage tank and a release agent storage tank are respectively arranged on the multi-shaft mechanical arm, a pump body is arranged on the light-reflecting liquid storage tank and the release agent storage tank, and the outlet ends of the two pump bodies are communicated with nozzles through corrugated connecting pipes, and the two nozzles are arranged on the turnover frame. The application has the beneficial effects that through triple data fusion, silicon rubber reverse mold circulation regeneration and full-process automatic integration, high-precision measurement of the motor to be measured during three-dimensional scanning is realized.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of measuring devices, in particular to a three-dimensional laser measuring device based on motor detection. BACKGROUND

[0002] At present, the commonly used technical means in the field of motor detection mainly include contact measurement, non-contact three-dimensional laser scanning and reverse mold copying detection, etc., but various methods have certain limitations in actual application. The contact measurement technology obtains key size data of the motor through physical contact, which can ensure the measurement accuracy of local points, but has obvious shortcomings. On the one hand, for the complex curved surface, deep hole, narrow gap and other structures of the motor surface, the probe is easy to appear measurement blind area, and it is difficult to completely capture the three-dimensional form. On the other hand, the contact measurement is low in efficiency, and needs to be operated point by point for single detection, which is not suitable for the rapid detection demand of batch motors, and frequent contact may scratch the motor surface. The non-contact three-dimensional laser scanning technology is widely used due to its high efficiency and non-damage advantage, but its measurement accuracy is seriously dependent on the optical properties of the motor surface. The motor surface often shows different reflectivity due to material differences. If the reflection is insufficient, the laser scanning is easy to produce sparse point cloud data and lose details. If the reflection is excessive, the light spot is overexposed and the data is distorted, which leads to the decrease of the three-dimensional model reconstruction accuracy. In addition, for the concealed structure of the motor, the laser beam is difficult to effectively penetrate, and there is still a problem of incomplete data collection.

[0003] The reverse mold copying technology uses materials such as silica gel to copy the surface form of the motor, and then scans the mold to indirectly obtain three-dimensional data, which solves the measurement problem of complex structures to a certain extent. However, the traditional reverse mold process has many defects:

[0004] Firstly, the reverse mold material is mostly disposable, and it is difficult to reuse after solidification, resulting in high detection cost;

[0005] Secondly, the solidification period of the reverse mold liquid is long, and is greatly affected by the environmental temperature, so it is difficult to accurately control the molding efficiency;

[0006] Thirdly, during the demolding process, if the surface is not effectively treated, the mold and the motor surface are easy to stick together, which not only affects the molding quality of the mold, but also may damage the motor surface;

[0007] At the same time, the traditional reverse mold and laser scanning data lack effective fusion mechanism, and single mold scanning data is difficult to verify the accuracy of physical measurement, so the reliability of the detection result is insufficient;

[0008] In addition, the existing detection equipment has low automation integration degree, and the motor surface pretreatment, posture adjustment, reverse mold operation and other links rely on manual intervention, which not only increases the labor cost, but also is easy to introduce artificial error due to poor operation consistency, and is difficult to meet the high precision and high efficiency requirements of motor detection in modern mass production, based on this, the present application provides a kind of three-dimensional laser measuring device based on motor detection to solve the problems raised in the above background technology. SUMMARY

[0009] The present application realizes high-precision measurement of the motor to be measured during three-dimensional scanning through triple data fusion, silicone reverse mold recycling and full-process automation integration.

[0010] The technical scheme for solving the above technical problems is as follows: a three-dimensional laser measuring device based on motor detection, comprising a rack and a microcontroller, further comprising:

[0011] The moving rack is provided with an electric rotating table and two symmetrically arranged reverse mold boxes, the electric rotating table is provided with a motor to be measured, each reverse mold box is provided with an electric heater and a refrigeration module, and a cavity is formed in the reverse mold box.

[0012] The multi-axis robot is provided with a turnover frame driven by a turnover motor, the turnover frame is provided with a turnover clamp for turning the motor to be measured, the multi-axis robot is provided with a reflective liquid tank and a release agent tank, the two tanks are provided with pump bodies, the outlet ends of the two pump bodies are communicated with nozzles through corrugated connecting pipes, and the two nozzles are installed on the turnover frame.

[0013] The detection rack is provided with a rotating motor, the output shaft end of the rotating motor is provided with a rotating frame, the rotating frame is provided with a measuring frame driven by a transposition motor, and the measuring frame is provided with a scanner and a probe.

[0014] The microcontroller is configured to:

[0015] The multi-axis robot is controlled to complete one data acquisition of reflective liquid spraying, three-dimensional laser scanning and probe measurement on the motor to be measured in sequence.

[0016] After the multi-axis robot sprays the release agent, the motor to be measured is sequentially attached to the cavities in the two reverse mold boxes, and the second data acquisition of silicone reverse mold is completed.

[0017] The scanner is driven to scan the two silicone reverse molds, and the laser scanning data, probe measurement data and reverse mold scanning data are synchronously fused through ICP algorithm.

[0018] The present application has the following advantages:

[0019] 1. In view of the problems of large blind area of traditional contact measurement, laser scanning relying on surface reflection, and isolated and unverified reverse mold data, the application builds a fusion framework of one-time data collection plus secondary data collection through the coordinated action of the microcontroller, multi-axis robot arm, scanner, probe and two-axis driving platform. During one-time data collection, laser scanning and contact probe measurement form a complement, laser scanning obtains the overall shape of the motor surface, and the probe verifies the complex structure such as deep hole and narrow gap with a precision of 0.01mm. During secondary data collection, the silicone reverse mold physically replicates the surface of the motor to be measured, providing an independent verification reference for the original data. The microcontroller fuses the three types of data through pre-calibration coordinate system, effectively eliminates abnormal data caused by uneven surface reflection and structural shielding, and improves the detail restoration accuracy of the three-dimensional model compared with traditional single method.

[0020] 2. In view of the defects of one-time use and long curing period of traditional reverse mold material, the application uses two-component room temperature vulcanized silicone rubber solution as reverse mold liquid, and combines the temperature closed-loop control of the heater and refrigeration module of the reverse mold box. The temperature of the cavity is reduced to 8℃ by the refrigeration module during the curing stage, so that the curing period is shortened. The temperature is raised to 50℃ by the heater during the regeneration stage to soften the silicone rubber, which is recycled through the flow guide slope and drain valve and then used again after being re-proportioned, thereby improving the material reuse rate and reducing the cost of detection consumables compared with traditional one-time mold. Through the cooperation of the linear transmission module and the overturning motor, the application realizes automatic reverse molding of both sides of the motor, improves the reverse molding efficiency, and solves the problems of high cost and low efficiency of reverse molding.

[0021] 3. In view of the problems of low efficiency and large error caused by manual pretreatment and posture adjustment of existing equipment, the application realizes full-process automation from reflective liquid spraying, laser scanning, probe measurement to release agent spraying and reverse molding through the linkage of multi-axis robot arm and overturning clamp. The visual acquisition probe feeds back the motor surface state in real time, and the microcontroller dynamically adjusts the spray head pressure and robot path to ensure uniform coverage of the reflective liquid, solving the problem of sparse point cloud caused by insufficient surface reflection in traditional laser scanning. The overturning clamp synchronously controls the clamps through the forward and reverse threaded segments to avoid positioning errors caused by manual overturning. The whole process does not require manual intervention, the time consumption of single motor detection is reduced, and the high precision and high efficiency requirements of modern mass production are met.

[0022] 4. In view of the contradiction that laser scanning is sensitive to light reflection and demolding of the reverse mold is easy to damage the motor, a double-spraying system of light reflection liquid and demolding agent is designed, the light reflection liquid adopts an epoxy resin-based formula containing nano-sized aluminum oxide particles, the scanning point cloud density is improved by enhancing the surface laser reflectivity, the demolding agent selects an organosiloxane solution, the mold stripping force is reduced to below 0.5 N by the low surface tension characteristics, the problem that the scanning accuracy is affected by the residue of the traditional silicone demolding agent is avoided, the two pretreatment processes are completed by the same multi-axis mechanical arm without additional cleaning steps, the complex curved surface scanning data distortion problem is solved, the motor surface scratch in the demolding process is avoided, and the collaborative optimization of precision improvement and nondestructive testing is realized.

[0023] Based on the above technical solutions, the application can be further improved as follows.

[0024] As a preferred technical solution of the application, the cavity is filled with a reverse mold liquid, the reverse mold liquid is a two-component room temperature vulcanized silicone rubber solution, and the reverse mold liquid can be reused by heating and softening after curing and demolding, the working temperature range of the electric heater is 40-60 DEG C, the working temperature range of the refrigeration module is 5-15 DEG C, the reverse mold box is made of 304 stainless steel, the opening edge of the cavity is provided with a silica gel sealing frame, the bottom of the cavity is provided with a flow guide slope, and the lowest part of the flow guide slope is provided with a liquid discharge valve.

[0025] As a preferred technical solution of the application, the turnover clamp comprises a bidirectional screw rod rotatably connected to a turnover frame, a driving motor is installed on the turnover frame, an output shaft end of the driving motor is fixedly connected with the bidirectional screw rod, a forward threaded section and a reverse threaded section are symmetrically arranged on the bidirectional screw rod, and a clamp is drivingly installed on each of the forward threaded section and the reverse threaded section.

[0026] As a preferred technical solution of the application, a radial transmission module is further installed on the rack, a lifting frame is drivingly installed on the radial transmission module, an axial transmission module is installed on the lifting frame, the axial transmission module is drivingly connected with the inspection frame, a linear transmission module is installed on the rack, and the linear transmission module is drivingly connected with the moving frame.

[0027] As a preferred technical solution of the application, liquid level sensors are arranged on the inner walls of the light reflection liquid tank and the demolding agent tank, and data ends of the liquid level sensors are electrically connected with a microcontroller.

[0028] As a preferred technical solution of the application, the light reflection liquid tank stores light reflection liquid, the light reflection liquid is an epoxy resin-based light reflection liquid containing nano-sized aluminum oxide particles, and the particle size of the nano-sized aluminum oxide particles ranges from 30 nm to 80 nm.

[0029] As a preferred technical scheme of the present application, the release agent tank stores release agent, and the release agent is an organic siloxane release liquid.

[0030] As a preferred technical scheme of the present application, the multi-axis mechanical arm comprises a rotator mounted on a rack, a rotary seat is mounted on a rotary surface of the rotator, three-section electric curved arms are arranged on the rotary seat, a motor hanging plate is mounted on an execution end of the three-section electric curved arms, and a turning motor is mounted on the motor hanging plate.

[0031] As a preferred technical scheme of the present application, a visual acquisition probe is further mounted on the turning frame, and a data end of the visual acquisition probe is connected with the microcontroller. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of a three-dimensional laser measuring device based on motor detection.

[0033] Figure 2 It is Figure 1 It is a schematic diagram of the structure from another perspective.

[0034] Figure 3 It is a schematic diagram of the structure of the probe and the radial transmission module.

[0035] Figure 4 It is a schematic diagram of the structure of the release agent tank and the rotary seat.

[0036] Figure 5 It is Figure 4 It is a schematic diagram of the structure of the part A in the middle.

[0037] Figure 6 It is a schematic diagram of the structure of the turning frame and the reflective liquid tank.

[0038] Figure 7 It is a schematic diagram of the structure of the motor to be detected and the electric heater.

[0039] In the drawings, the components represented by each reference numeral are listed as follows:

[0040] 1, rack; 2, microcontroller; 3, linear transmission module; 4, moving frame; 5, electric rotary table; 6, release agent tank; 7, motor to be detected; 8, electric heater; 9, refrigeration module; 10, cavity; 11, turning motor; 12, turning frame; 13, reflective liquid tank; 14, release agent tank; 15, spray head; 16, detection frame; 17, rotary motor; 18, rotary frame; 19, indexing motor; 20, measuring frame; 21, scanner; 22, probe; 23, bidirectional screw; 24, clamp; 25, radial transmission module; 26, lifting frame; 27, axial transmission module; 28, rotator; 29, rotary seat; 30, three-section electric curved arm; 31, motor hanging plate; 32, visual acquisition probe. Detailed Implementation

[0041] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0042] The present invention provides the following preferred embodiments:

[0043] like Figures 1-7 As shown, a three-dimensional laser measurement device based on motor detection includes a frame 1 and a microcontroller 2, and also includes:

[0044] The frame 4 is equipped with an electric rotary table 5 and two symmetrically arranged mold boxes 6. The electric rotary table 5 is equipped with a motor to be tested 7.

[0045] A linear drive module 3 is installed on the frame 1, and the linear drive module 3 is connected to the moving frame 4 for transmission.

[0046] Each molding box 6 is equipped with an electric heater 8 and a cooling module 9, and the molding box 6 has a cavity 10.

[0047] The cavity 10 is filled with molding liquid, which is a two-component room temperature vulcanizing silicone rubber solution. After the molding liquid is cured and demolded, it can be reused by heating to soften it.

[0048] The molding box 6 is made of 304 stainless steel. The opening edge of the cavity 10 is equipped with a silicone sealing frame. The bottom of the cavity 10 is equipped with a flow guide slope, and a drain valve is provided at the lowest point of the flow guide slope.

[0049] The operating temperature range of the electric heater 8 is 50℃, and the operating temperature range of the refrigeration module 9 is 8℃.

[0050] By using a two-component room temperature vulcanized silicone rubber solution as the molding liquid, combined with the temperature control of the heater 8 and the cooling module 9, the rapid curing and reuse of the mold were achieved.

[0051] The 304 stainless steel casting box 6, combined with a silicone sealing frame, effectively prevents casting fluid leakage. The design of the guide slope and drain valve facilitates the complete discharge of residual liquid, ensuring the quality of mold forming. Compared with traditional disposable molds, this solution achieves the reuse of casting fluid through heating and softening, reducing testing costs.

[0052] Meanwhile, precise temperature control shortened the mold curing cycle, improved the efficiency of the mold casting of both sides of the motor under test 7, and provided a complete physical model basis for subsequent three-dimensional laser scanning.

[0053] A multi-axis robotic arm, on which a tilting frame 12 driven by a tilting motor 11 is mounted;

[0054] The multi-axis mechanical arm comprises a rotator 28 mounted on a rack 1, a rotary seat 29 mounted on a rotation surface of the rotator 28, three electric curved arms 30 provided on the rotary seat 29, a motor hanging plate 31 mounted at an execution end of the three electric curved arms 30, and a turnover motor 11 mounted on the motor hanging plate 31;

[0055] The turnover frame 12 is provided with a turnover clamp for overturning the motor to be tested 7.

[0056] The turnover clamp comprises a bidirectional screw rod 23 rotationally connected to the turnover frame 12, a driving motor mounted on the turnover frame 12, an output shaft end of the driving motor fixedly connected to the bidirectional screw rod 23, a forward threaded section and a reverse threaded section symmetrically provided on the bidirectional screw rod 23, and a clamp 24 transmissionally installed on each of the forward threaded section and the reverse threaded section.

[0057] The driving motor synchronously controls the two clamps 24 through the forward threaded section and the reverse threaded section, so as to ensure that the center position of the motor to be tested 7 does not change during the overturning process, and to avoid measurement errors caused by clamping deviation.

[0058] When the scanner 21 performs one-time data acquisition, the motor to be tested 7 is placed on the electric rotary table 5, the electric rotary table 5 drives the motor to be tested 7 to rotate at a set speed, the scanner 21 then completes initial three-dimensional data acquisition, and subsequently, the probe 22 performs data acquisition on specified points of the motor to be tested 7 along a set trajectory and set points, to form a first set of data.

[0059] After the first set of data is obtained, the two clamps 24 overturn the motor to be tested 7 by 180°, and subsequently, the multi-axis mechanical arm and the scanner 21 cooperate to complete overall three-dimensional data acquisition of the motor to be tested 7.

[0060] When the automatic reverse mold operation is performed, the turnover clamp cooperates with the linear transmission module 3 and the turnover motor 11 to quickly complete the fitting of the front and back surfaces of the motor to be tested 7 with the mold cavity 10, and to realize automatic reverse mold operation. Compared with the traditional manual overturning or asymmetric clamp, this scheme not only improves the clamping accuracy, but also reduces manual intervention.

[0061] The multi-axis mechanical arm is respectively provided with a reflective liquid tank 13 and a release agent tank 14, the reflective liquid tank 13 and the release agent tank 14 are respectively provided with a pump body, the outlet ends of the two pump bodies are connected to a spray head 15 through a corrugated connecting pipe, and the two spray heads 15 are mounted on the turnover frame 12.

[0062] The inner walls of the reflective liquid tank 13 and the release agent tank 14 are respectively provided with a liquid level sensor, and the data end of the liquid level sensor is electrically connected to the microcontroller 2.

[0063] The reflective liquid tank 13 stores reflective liquid, the reflective liquid is an epoxy resin-based reflective liquid containing nano-sized aluminum oxide particles, and the particle size range of the nano-sized aluminum oxide particles is 50 nm.

[0064] The release agent storage tank 14 stores a release agent, which is an organosiloxane release liquid;

[0065] It also includes a visual acquisition probe 32 mounted on the turnover frame 12, and the data end of the visual acquisition probe 32 is in data connection with the microcontroller 2;

[0066] When the two spray heads 15 are working, the visual acquisition probe 32 is used for real-time acquisition of the surface image of the motor 7 to be measured, and the microcontroller 2 adjusts the working pressure and working or not of the spray head 15 according to the data acquisition result of the visual acquisition probe 32;

[0067] The multi-degree-of-freedom mechanical arm composed of the three-section electric curved arm 30 and the rotator 28 meets the demand of multi-process integration in motor detection, and its execution end carries the turnover frame 12, the spray head 15 and the visual acquisition probe 32 through the motor hanging plate 31, and can complete complex actions such as reflective liquid spraying, three-dimensional laser scanning, probe 22 measurement and release agent spraying in turn. In the working process, the mechanical arm precisely controls the pressure and position of the spray head 15 through the microcontroller 2, dynamically adjusts the spraying parameters in combination with the real-time feedback of the workpiece surface image by the visual acquisition probe 32, and ensures that the reflective liquid uniformly covers the surface of the motor 7 to be measured;

[0068] Compared with the traditional single-axis or fixed-station design, the operation radius of the multi-axis structure is expanded, which adapts to the detection needs of motors of different sizes, and the process switching time is shortened, which improves the integration and flexibility of the detection process;

[0069] In the three-dimensional laser scanning process, the reflective liquid spraying pretreatment can use the high scattering characteristics of nanoparticles to enhance the reflection ability of the surface of the motor 7 to be measured to laser, so as to ensure that the scanner 21 obtains high-density and high-definition point cloud data, avoid scanning blind area or data distortion caused by insufficient surface reflection, and form a consistent reflection layer after the reflective liquid uniformly covers the complex structure of the surface of the motor 7 to be measured, reduce the interference of surface texture and material difference on the scanning result, so that the originally difficult-to-accurately-measure area can be stably imaged. The one-time scanning data after pretreatment and the two-time scanning data of the silicone rubber inverse mold have higher matching degree, and the microcontroller 2 can reduce the error caused by uneven surface reflection when fusing the two types of data, so that the final output three-dimensional model reaches a higher accuracy level in detail restoration;

[0070] The reflective liquid is compatible with the subsequent release agent spraying process, and the inverse mold operation can be performed without additional cleaning steps. In addition, the nanoparticle formula has less dosage and uniform adhesion, which reduces the waste of consumables while ensuring the effect, and is more economical than the traditional multiple coating treatment;

[0071] Before the inverse mold, through the pre-spraying of the inverse mold agent, the low surface tension characteristics of the organosiloxane release agent can reduce the peeling force between the silicone rubber mold and the surface of the motor 7 to be tested to below 0.5 N, avoiding damage to the surface of the motor 7 to be tested during the demolding process;

[0072] The real-time monitoring function of the liquid level sensor can trigger an automatic liquid supplement mechanism to ensure sufficient supply of reflective liquid and release agent during continuous detection, reducing downtime caused by insufficient consumables. Compared with traditional reflective coating or silicone oil release agent, this scheme improves scanning accuracy while reducing consumable costs, and realizes unattended continuous production through automatic liquid supplement;

[0073] The detection frame 16 is installed with a rotary motor 17, the output shaft end of the rotary motor 17 is installed with a rotating frame 18, the rotating frame 18 is installed with a measuring frame 20 driven by a rotating motor 19, and the measuring frame 20 is installed with a scanner 21 and a probe 22 respectively;

[0074] Further comprising a radial transmission module 25 installed on the rack 1, the radial transmission module 25 is installed with a lifting frame 26, the lifting frame 26 is installed with an axial transmission module 27, and the axial transmission module 27 is in transmission connection with the detection frame 16;

[0075] The radial transmission module 25 cooperates with the axial transmission module 27 to form a double-shaft driving platform;

[0076] The probe 22 is a contact displacement probe 22, the measurement accuracy of which is not less than 0.01 mm, and the measurement coordinate system of the probe 22 and the scanner 21 is pre-calibrated consistent by the microcontroller 2;

[0077] The combination design of the double-shaft driving platform and the contact displacement probe 22 realizes the dual data acquisition of "non-contact scanning and contact verification" in motor detection. In the work flow, the double-shaft driving platform drives the scanner 21 to conduct omnidirectional scanning on the motor 7 to be tested and the silicone rubber inverse mold during three-dimensional data scanning, while the probe 22 conducts contact measurement on the key features of the motor 7 to be tested including the bearing hole and the shaft extension end. The coordinate systems of the two are pre-calibrated by the microcontroller 2 to ensure the consistency of data fusion. Compared with the single laser scanning scheme, this design compensates for the measurement blind area of the laser in complex structures such as deep holes and slits through the physical contact verification of the probe 22, so as to improve the overall detection accuracy;

[0078] The microcontroller 2 is configured to:

[0079] Control the multi-axis robot to complete one data acquisition of reflective liquid spraying, three-dimensional laser scanning and probe 22 measurement on the motor 7 to be tested in sequence;

[0080] After the multi-axis robot sprays the release agent, the motor 7 to be measured is sequentially attached to the cavities 10 in the two reverse mold boxes 6, and the secondary data acquisition of the silicone rubber reverse mold is completed.

[0081] The scanner 21 drives the scanning of the two silicone rubber reverse molds, and the laser scanning data, the probe 22 measurement data and the reverse mold scanning data are synchronously fused through the ICP algorithm.

[0082] When the primary and secondary acquisition data are fused, the microcontroller 2 fuses the laser scanning, probe 22 measurement and reverse mold scanning data through the ICP algorithm, so that the three-dimensional model error is reduced.

[0083] The laser scanning data, probe 22 measurement data and reverse mold scanning data form triple data fusion.

[0084] The microcontroller 2 is internally provided with a data fusion module, and the data fusion module is configured to perform coordinate alignment and error correction on the laser scanning data, probe 22 measurement data and silicone rubber reverse mold scanning data through the ICP algorithm.

[0085] The control process solves the problem of insufficient reliability of a single measurement method in traditional motor detection through the innovative mode of one-time data acquisition plus secondary data fusion. In one-time data acquisition, the multi-axis robot cooperates to complete the reflective liquid spraying, three-dimensional laser scanning and probe 22 measurement to obtain the surface original data of the motor 7 to be measured.

[0086] In the secondary data acquisition, the surface of the motor 7 to be measured is replicated by the silicone rubber reverse mold, and the mold data is scanned by the double-axis driving platform. Finally, the two sets of data are fused by the microcontroller 2 algorithm. This process realizes double verification of the physical object and the mold, effectively eliminates abnormal data caused by motor surface defects, improves the reliability of the detection result, and at the same time, the full-process automatic control reduces the manual operation error and adapts to the batch motor detection scene.

[0087] Specifically, when the reverse mold is formed, the reverse mold box 6 on the right side of the electric rotary table 5 is used to form a reverse mold for the front 180° of the motor 7 to be measured, and the reverse mold box 6 on the left side of the electric rotary table 5 is used to form a reverse mold for the back 180° of the motor 7 to be measured. The flipping action of the motor 7 to be measured is performed by the multi-axis robot and the flipping clamp.

[0088] Specifically, during the reverse molding, first, the multi-axis mechanical arm sprays the surface of the motor 7 to be measured with organosiloxane release agent through the spray head 15, then the reversing motor 11 drives the reversing clamp and cooperates with the linear transmission module 3 to make the front surface of the motor 7 to be measured adhere to the cavity 10 of the reverse mold box 6 on the right, and the silicone sealing frame is used to prevent the reverse mold liquid from leaking. At this time, the microcontroller 2 controls the refrigeration module 9 to reduce the temperature of the cavity 10 to 8℃ to accelerate the curing of the two-component room temperature vulcanizing silicone rubber solution in the cavity. After curing, the reversing motor 11 turns the motor 180°, and the linear transmission module 3 transfers it to the left reverse mold box 6 to repeat the adhering and curing process, and after the reverse of the motor is completed, the refrigeration module 9 stops working.

[0089] After the reverse molding is completed, the biaxial driving platform drives the scanner 21 to scan the two silicone rubber molds left in the reverse mold box 6 to obtain secondary data.

[0090] Before reverse molding, the reverse mold liquid is in an uncured state and can be directly filled into the cavity 10. When the motor 7 to be measured is adhered to the cavity 10 for reverse molding, the microcontroller 2 controls the refrigeration module 9 to work, and the temperature of the cavity 10 is reduced to 8℃.

[0091] After the epoxy resin in the reflective liquid is cured to form a dense film, the organosiloxane release agent only forms a monolayer on the surface and does not penetrate into the reflective liquid to affect its reflective performance.

[0092] In terms of temperature control, the refrigeration module 9 maintains a low-temperature environment of 8℃ during the curing stage to shorten the curing period, and the electric heater 8 is started to raise the temperature to 50℃ during the regeneration stage to soften the cured silicone rubber.

[0093] In terms of regeneration logic, based on the reversible characteristics of the two-component room temperature vulcanizing silicone rubber solution after curing, the softened silicone rubber flows into the recovery container through the drain valve, removes impurities, and is re-injected into the cavity 10 after the two-component ratio is supplemented. Through the refrigeration module 9, the cured silicone rubber is cooled and reused. The 304 stainless steel reverse mold box 6 cooperates with the silicone sealing frame to prevent liquid leakage during the high-temperature softening process.

[0094] The three-dimensional laser measuring device based on motor detection of the application realizes high-precision detection of the motor through the cooperation of the microcontroller 2, the linear transmission module 3, the multi-axis mechanical arm, the biaxial driving platform and other systems, and the working process takes data acquisition and fusion as the core.

[0095] Firstly, the microcontroller 2 controls the multi-axis robot to perform a data acquisition, that is, the spray head 15 on the turnover frame 12 sprays an epoxy resin-based reflective liquid containing 50 nm nano-sized aluminum oxide particles, the spraying parameters are adjusted in real time by using the visual acquisition probe 32 to ensure uniform coverage, and then under the cooperation of the electric rotary table 5 driven motor, the biaxial driving platform drives the scanner 21 to complete surface scanning, and the contact probe 22 measures the key features such as bearing holes in a contact manner, and the two groups of data are integrated based on the pre-calibrated coordinate system;

[0096] Then, secondary data acquisition is carried out, the multi-axis robot sprays the silicone demolding agent after the spray head 15 is switched, the bidirectional screw 23 of the turnover motor 11 controls the clamping motor, and the linear transmission module 3 cooperates to accurately fit the two inverse mold boxes 6 in sequence, the microcontroller 2 controls the refrigeration module 9 to reduce the cavity temperature to 8 DEG C to accelerate the curing of the two-component room temperature vulcanized silicone rubber, and after the inverse mold is completed, the electric heater 8 is warmed up to 50 DEG C to soften the silicone rubber for regeneration;

[0097] Finally, the biaxial driving platform drives the scanner to scan the silicone rubber inverse mold to obtain secondary data, and the microcontroller 2 synchronously integrates the primary and secondary data;

[0098] In the system linkage, the three-section electric curved arm 30 of the multi-axis robot and the rotator 28 provide multi-degree-of-freedom motion, ensuring seamless connection of the spraying, clamping, turnover and other processes;

[0099] The cooperation of the linear transmission module 3 and the turnover motor 11 is the key, which ensures that the center position of the motor to be measured 7 does not change when the motor is turned over through the forward thread segment and the reverse thread segment of the bidirectional screw 23, and accurately docks the cavity 10. The necessity of this cooperation is to avoid uneven distribution of inverse mold liquid due to clamping deviation, which directly affects the forming precision of the silicone rubber mold, and provides a reliable physical model for secondary scanning;

[0100] The radial and axial transmission modules 27 of the biaxial driving platform drive the scanner 21 and the probe 22 to realize omnidirectional and dead angle-free measurement, making up for the blind area of single laser scanning in deep hole, narrow gap and complex structure;

[0101] The device finally solves the problems of insufficient reliability of single measurement method, low measurement precision of complex structure, high cost and low efficiency of inverse mold consumables in the prior art, and realizes high-precision measurement in three-dimensional measurement of the motor through the fusion of primary and secondary data and the combination of the reusable silicone inverse mold technology.

[0102] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A three-dimensional laser measurement device based on motor detection, comprising a frame (1) and a microcontroller (2), characterized in that, Also includes: The frame (4) is equipped with an electric rotary table (5) and two mold boxes (6). The electric rotary table (5) is equipped with a motor to be tested (7). Each mold box (6) is equipped with an electric heater (8) and a cooling module (9). A cavity (10) is opened on the mold box (6). A multi-axis robotic arm is equipped with a flipping frame (12) driven by a flipping motor (11). The flipping frame (12) is equipped with a flipping fixture for flipping the motor (7) to be tested. A reflective liquid storage tank (13) and a mold release agent storage tank (14) are respectively installed on the multi-axis robotic arm. A pump body is installed on both the reflective liquid storage tank (13) and the mold release agent storage tank (14). The liquid outlet of the two pump bodies is connected to a nozzle (15) through a corrugated pipe. The two nozzles (15) are installed on the flipping frame (12). A test rack (16) is installed on the test rack (16). A rotary motor (17) is installed on the output shaft end of the rotary motor (17). A measuring rack (20) driven by a rotary motor (19) is rotatably installed on the rotating rack (18). A scanner (21) and a probe (22) are installed on the measuring rack (20). The microcontroller (2) is configured as follows: The multi-axis robotic arm is controlled to spray reflective liquid onto the motor (7) under test and to complete a data acquisition through the scanner (21) and probe (22); After the multi-axis robotic arm sprays the release agent, the front and back sides of the motor under test (7) are successively attached to the cavities (10) in the two mold boxes (6); The drive scanner (21) scans the two silicone rubber molds to complete the secondary data acquisition of the silicone rubber molds, and the scanning data of the scanner (21), the measurement data of the probe (22) and the mold scanning data are synchronously fused through the ICP algorithm.

2. The three-dimensional laser measurement device based on motor detection according to claim 1, characterized in that, The cavity (10) is filled with molding liquid, which is a two-component room temperature vulcanized silicone rubber solution. After the molding liquid is cured and demolded, it can be reused by heating and softening. The working temperature range of the electric heater (8) is 40℃-60℃, and the working temperature range of the refrigeration module (9) is 5℃-15℃. The molding box (6) is made of 304 stainless steel. The opening edge of the cavity (10) is provided with a silicone sealing frame. The bottom of the cavity (10) is provided with a flow guide slope, and the lowest point of the flow guide slope is provided with a drain valve.

3. The three-dimensional laser measurement device based on motor detection according to claim 1, characterized in that, The flipping fixture includes a bidirectional lead screw (23) rotatably connected to the flipping frame (12). A drive motor is installed on the flipping frame (12). The output shaft end of the drive motor is fixedly connected to the bidirectional lead screw (23). A forward thread section and a reverse thread section are symmetrically arranged on the bidirectional lead screw (23). A clamp (24) is drivenly installed on both the forward thread section and the reverse thread section.

4. The three-dimensional laser measurement device based on motor detection according to claim 1, characterized in that, It also includes a radial transmission module (25) installed on the frame (1), a lifting frame (26) is installed on the radial transmission module (25), an axial transmission module (27) is installed on the lifting frame (26), the axial transmission module (27) is connected to the inspection frame (16), and a linear transmission module (3) is installed on the frame (1), the linear transmission module (3) is connected to the moving frame (4).

5. The three-dimensional laser measurement device based on motor detection according to claim 1, characterized in that, The inner walls of the reflective liquid storage tank (13) and the mold release agent storage tank (14) are equipped with liquid level sensors, and the data terminals of the liquid level sensors are electrically connected to the microcontroller (2).

6. The three-dimensional laser measurement device based on motor detection according to claim 1, characterized in that, The reflective liquid storage tank (13) contains reflective liquid, which is an epoxy resin-based reflective liquid containing nano-sized alumina particles, and the particle size range of the nano-sized alumina particles is 30nm-80nm.

7. The three-dimensional laser measurement device based on motor detection according to claim 1, characterized in that, The mold release agent storage tank (14) contains a mold release agent, which is an organosiloxane mold release liquid.

8. The three-dimensional laser measurement device based on motor detection according to claim 1, characterized in that, The multi-axis robotic arm includes a rotator (28) mounted on a frame (1), a rotating seat (29) is mounted on the rotating surface of the rotator (28), a three-section electric curved arm (30) is provided on the rotating seat (29), a motor mounting plate (31) is mounted on the execution end of the three-section electric curved arm (30), and the flipping motor (11) is mounted on the motor mounting plate (31).

9. A three-dimensional laser measurement device based on motor detection according to claim 1, characterized in that, It also includes a vision acquisition probe (32) mounted on the flip frame (12), the data terminal of which is connected to the microcontroller (2).

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