A three-dimensional optical automated measuring device for the geometry of a grooving tool product

Abstract

A three-dimensional optical automated measurement device for the geometric dimensions of milled groove parts is disclosed. The measurement system includes an industrial robot, a three-dimensional measuring head, a positioning turntable, a milled groove part positioning fixture, a calibration plate, a safety protection system, and an operating table. For milled groove parts, the measurement method involves building a three-dimensional optical automated measurement system, designing dedicated inspection fixtures, and developing an automatic inspection program to scan the internal and external surfaces of the milled groove parts. This achieves "one-click" rapid measurement of the milled groove parts, solving the problem of complete surface inspection and precise inspection of key dimensions, thus ensuring product quality and reliability.

Description

Technical Field

[0001] This invention relates to a three-dimensional optical automated measurement device for the geometric dimensions of milled groove products, belonging to the field of metrology science and technology. Background Technology

[0002] The thrust chamber of a liquid rocket engine converts the chemical energy of the liquid propellant into kinetic energy to generate power. During operation, the combustion chamber and nozzle need to withstand the scouring of high-temperature heat flow. To avoid oxidation and structural failure of the thrust chamber caused by the high temperature generated by combustion, a large number of evenly distributed spiral cooling channels are usually designed on the combustion chamber and nozzle. The fuel enters the combustion chamber through the cooling channels, which can both pre-treat the fuel and cool the thrust chamber, reducing the temperature of the thrust chamber walls.

[0003] The outer surface of milled grooved parts typically consists of multiple grooves with varying widths and helix angles, and their surface characteristics directly affect cooling performance. Currently, key dimensions such as rib width, groove depth, and remaining wall thickness of milled grooved parts are measured using traditional contact methods, i.e., directly measuring relevant dimensions with measuring equipment such as vernier calipers and groove depth gauges. However, due to the large number of helical grooves on the outer surface of milled grooved parts, traditional inspection methods cannot achieve full coverage of the helical grooves; only a few can be sampled for measurement. This method cannot comprehensively reflect the complete surface characteristics of the product. Therefore, precise inspection of key dimensions such as remaining wall thickness, rib width, and groove depth of milled grooved parts is particularly important. Summary of the Invention

[0004] The technical problem solved by this invention is to address the shortcomings and deficiencies of existing technologies, where traditional manual inspection methods cannot achieve full coverage of spiral groove inspection. This invention proposes a three-dimensional optical automated measurement device for the geometric dimensions of milled groove products.

[0005] The present invention solves the above-mentioned technical problem through the following technical solution: A three-dimensional optical automated measurement device for the geometric dimensions of milled parts includes an industrial robot, a three-dimensional measuring head, a positioning turntable, a milling part positioning fixture, a calibration plate, safety protection components, and an operating table, wherein: A 3D measuring head is mounted on the end flange of the industrial robot to scan the inner and outer surfaces of the milled part; a positioning turntable is connected to the industrial robot, driving the industrial robot to rotate axially to expand its working range; a milled part positioning fixture is fixed to the center of the positioning turntable by fasteners to load the milled part to be measured; a safety protection component is set around the assembly of the industrial robot, 3D measuring head, positioning turntable, and milled part positioning fixture to provide safety protection for the assembly; a calibration plate is set inside the center of the safety protection component to calibrate the components of the assembly; and an operating table is set outside the edge of the safety protection component to collect the calibration and measurement data of the assembly.

[0006] The industrial robot, acting as the scanning actuator of the 3D measuring head, is used to adjust the relative position between the 3D measuring head and the milled part being measured, thereby achieving six-degree-of-freedom pose adjustment of the milled part within the measurement space. The 3D measuring head includes dual measuring cameras and a webcam, used to scan the inner and outer surfaces of the milled part. The positioning turntable, in conjunction with the industrial robot, drives the industrial robot to rotate 360° circumferentially to improve the measurement range.

[0007] The milled part positioning fixture includes a chassis and supporting shaft, a positioning ring, and a bracket, wherein: The milling part positioning fixture chassis is designed with positioning holes, which are fixed to the center position of the positioning turntable by fasteners to ensure the repeatability of the milling part positioning fixture. The support shaft is designed with a positioning groove. The milled part to be tested is clamped and positioned on the tooling by the positioning ring and the bracket to ensure stable clamping of the product. After scanning and testing is completed, the milled part to be tested can be replaced by retracting the bracket.

[0008] The positioning ring and the bracket are both designed as hexagonal prisms with target points on the frame. The three-dimensional measuring head completes the stitching of the scanned surface by scanning the target points, thus realizing a complete scan of the inner and outer surfaces of the milled part being measured.

[0009] The safety protection components include a grating curtain, an emergency stop switch, and a safety fence. The safety fence is used to form an independent working unit. During measurement, the working unit is used to check and identify whether there are foreign objects in the measurement space. The safety fence is set outside the measurement working range of the assembly. The grating curtain serves as the entrance to one side of the safety fence for arranging measuring components or replacing the milled part being measured. The emergency stop switch is used to quickly stop the operation when the measuring device enters a dangerous state. Dangerous states include the three-dimensional measuring head colliding with the positioning fixture or product of the milled part.

[0010] The control panel integrates a measurement and control system and a data processing system, wherein: The control system controls the measurement process of the assembly for the milled part being measured. According to the measurement process requirements, it controls the industrial robot and the positioning turntable to operate in a matching manner and cooperates with the safety protection components to detect the space within the measurement operation range. If there are foreign objects, it immediately controls the industrial robot and the positioning turntable to stop moving and controls the three-dimensional measuring head to import the scanned image into the data processing system. The data processing system is used to store measurement data, store the motion path of the industrial robot, parse the scanned image data, obtain the point cloud data of the inner and outer surfaces of the measured milled part, and process the point cloud data.

[0011] A measurement method based on a three-dimensional optical automated measurement device includes: Before measurement, the industrial robot is controlled to drive the 3D measuring head to scan the calibration plate, store the calibration data in the data processing system, and calibrate the measurement system. The positioning fixture for the milled part is placed and fixed at the center of the positioning turntable. The milled part to be measured is clamped and positioned on the fixture by means of the positioning ring and the bracket. The positioning turntable rotates along the axis. The industrial robot's movement is controlled by the control panel, which scans the milling groove surface and the target points of the milling groove positioning fixture with a 3D measuring head. After recording the current position, the positioning turntable is controlled to rotate axially by one revolution through the control panel. After controlling the industrial robot to move to the next position and ensuring that at least three identical target points are scanned at the previous and next positions to obtain the complete inner and outer surfaces of the milled part, the motion path of the industrial robot is optimized and stored in the data processing system. Based on the optimized motion path, the industrial robot drives the 3D measuring head to scan the milled part under test, so as to achieve rapid and precise measurement of any part of the milled part under test while the 3D measuring head is stationary. When an industrial robot drives a 3D measuring head to scan a milled part, the scanning is performed in the actual scanning sequence. After the scanning measurement is completed, data analysis and calculation are performed to obtain the internal and external surface data of the milled part being measured.

[0012] When the industrial robot drives the three-dimensional measuring head to scan the milled groove, the actual scanning sequence is from inside to outside and from top to bottom. During scanning, the angle of the three-dimensional measuring head is consistent with the helical angle direction of the milled groove. After the scanning measurement is completed, the data processing system analyzes and calculates the scanned image to obtain the inner and outer surfaces of the milled groove, calculates the relevant dimensions of groove depth and groove width, and outputs a test report.

[0013] A measurement method involves calibrating the measurement system, predicting the rib width, groove depth, and helix angle parameters on the outer surface of the milled part, and then setting the parameters of the 3D industrial robot, 3D measuring head, and positioning turntable based on the predicted parameters of the milled part.

[0014] The milling slot positioning fixture is made of aluminum to prevent damage to the product; the positioning ring and bracket adopt a hollow design to facilitate the detection of the measuring device and ensure the coverage of the product measurement; the milling slot positioning fixture is used to restrict the degree of freedom of the milling slot product in space, the spatial position of the product is uniquely determined, and it is ensured that the product is leveled and stationary during the measurement process.

[0015] The advantages of this invention compared to the prior art are: (1) The present invention provides a three-dimensional optical automated measurement device for the geometric dimensions of milled groove products. It can acquire element information of irregular surfaces in real time through non-contact measurement, and process it with three-dimensional processing software to obtain surface data. For milled groove products, the manual inspection is replaced by three-dimensional optical scanning measurement. By building a three-dimensional optical automated measurement system, designing special inspection fixtures and developing automatic inspection programs, the internal and external surfaces of milled groove products are scanned. Finally, by fitting and calculating the internal and external surfaces, all dimensions of each part of the milled groove are obtained, which ensures the measurement accuracy and solves the problem of inspecting the complete surface of the product. (2) This invention achieves complete scanning of the inner and outer surfaces of milled slots by constructing a three-dimensional optical automated measurement system for milled slots with a large aspect ratio, designing special inspection fixtures and developing automatic inspection programs, and forming a complete actual model of the product. This more comprehensively reflects the complete surface features of the product and realizes "one-click" rapid measurement of milled slot products. The model saved during the measurement process can be traced at any time, providing an optimization basis for the product processing technology and ensuring product quality and reliability. Attached Figure Description

[0016] Figure 1 A schematic diagram of a three-dimensional optical automated measurement system for the geometric dimensions of milled groove parts provided by the present invention; Figure 2 This is a schematic diagram of the positioning fixture for the milled groove part provided by the present invention. Detailed Implementation

[0017] A three-dimensional optical automated measurement device for the geometric dimensions of milled groove parts is disclosed. The measurement system includes an industrial robot, a three-dimensional measuring head, a positioning turntable, a milled groove part positioning fixture, a calibration plate, a safety protection system, and an operating table. For milled groove parts, the measurement method involves building a three-dimensional optical automated measurement system, designing dedicated inspection fixtures, and developing an automatic inspection program to scan the internal and external surfaces of the milled groove parts. This achieves "one-click" rapid measurement of the milled groove parts, solving the problem of complete surface inspection and precise inspection of key dimensions, thus ensuring product quality and reliability.

[0018] A three-dimensional optical automated measurement device for the geometric dimensions of milled parts includes an industrial robot, a three-dimensional measuring head, a positioning turntable, a milling part positioning fixture, a calibration plate, safety protection components, and an operating table, wherein: A 3D measuring head is mounted on the end flange of the industrial robot to scan the inner and outer surfaces of the milled part; a positioning turntable is connected to the industrial robot, driving the industrial robot to rotate axially to expand its working range; a milled part positioning fixture is fixed to the center of the positioning turntable by fasteners to load the milled part to be measured; a safety protection component is set around the assembly of the industrial robot, 3D measuring head, positioning turntable, and milled part positioning fixture to provide safety protection for the assembly; a calibration plate is set inside the center of the safety protection component to calibrate the components of the assembly; and an operating table is set outside the edge of the safety protection component to collect the calibration and measurement data of the assembly.

[0019] The industrial robot, acting as the scanning actuator of the 3D measuring head, is used to adjust the relative position between the 3D measuring head and the milled part being measured, thereby achieving six-degree-of-freedom pose adjustment within the measurement space of the milled part. The 3D measuring head includes dual measuring cameras and a webcam, used to scan the inner and outer surfaces of the milled part. The positioning turntable, in conjunction with the industrial robot, drives the industrial robot to rotate 360° circumferentially to improve the measurement range.

[0020] The positioning fixture for milled parts includes a chassis and supporting shaft, a positioning ring, and a bracket, wherein: The support shaft is designed with a positioning groove. The milled part to be tested is clamped and positioned on the tooling by the positioning ring and the bracket. After the scanning and inspection is completed, the milled part to be tested can be replaced by retracting the bracket.

[0021] Both the positioning ring and the bracket are designed as hexagonal prisms with target points on the frame. The three-dimensional measuring head completes the stitching of the scanned surface by scanning the target points, thus achieving a complete scan of the inner and outer surfaces of the milled part being measured.

[0022] The safety protection components include a grating curtain, an emergency stop switch, and a safety fence. The calibration plate is set on the safety fence, which is located outside the measurement operation range of the assembly. The grating curtain serves as the entrance to one side of the safety fence for arranging measuring components or replacing the milled part being measured. The emergency stop switch is used to quickly stop the system when the measurement system enters a dangerous state, such as when the 3D measuring head is about to collide with the positioning fixture or product of the milled part.

[0023] The control panel integrates a measurement and control system and a data processing system, including: The control system controls the measurement process of the assembly for the milled part being measured. According to the measurement process requirements, it controls the industrial robot and the positioning turntable to operate in a matching manner and cooperates with the safety protection components to detect the space within the measurement operation range. If there are foreign objects, it immediately controls the industrial robot and the positioning turntable to stop moving and controls the three-dimensional measuring head to import the scanned image into the data processing system. The data processing system is used to store measurement data, store the motion path of the industrial robot, parse the scanned image data, obtain the point cloud data of the inner and outer surfaces of the measured milled part, and process the point cloud data.

[0024] The measurement method implemented by the three-dimensional optical automated measurement device includes the following steps: Before measurement, the industrial robot is controlled to drive the 3D measuring head to scan the calibration plate, store the calibration data in the data processing system, and calibrate the measurement system. The positioning fixture for the milled part is placed and fixed at the center of the positioning turntable. The milled part to be measured is clamped and positioned on the fixture by means of the positioning ring and the bracket. The positioning turntable rotates along the axis. The industrial robot's movement is controlled by the control panel, which scans the milling groove surface and the target points of the milling groove positioning fixture with a 3D measuring head. After recording the current position, the positioning turntable is controlled to rotate axially by one revolution through the control panel. After controlling the industrial robot to move to the next position and ensuring that at least three identical target points are scanned at the previous and next positions to obtain the complete inner and outer surfaces of the milled part, the motion path of the industrial robot is optimized and stored in the data processing system. Based on the optimized motion path, the industrial robot drives the 3D measuring head to scan the milled part under test, so as to achieve rapid and precise measurement of any part of the milled part under test while the 3D measuring head is stationary. When an industrial robot drives a 3D measuring head to scan a milled part, the scanning is performed in the actual scanning sequence. After the scanning measurement is completed, data analysis and calculation are performed to obtain the internal and external surface data of the milled part being measured.

[0025] When an industrial robot drives a 3D measuring head to scan a milled part, the actual scanning sequence is from inside to outside and from top to bottom. During scanning, the angle of the 3D measuring head is consistent with the helical angle direction of the milled groove. After the scanning measurement is completed, the data processing system analyzes and calculates the scanned image to obtain the inner and outer surfaces of the milled part, calculates the relevant dimensions of groove depth and groove width, and outputs an inspection report.

[0026] After calibrating the measurement system, the parameters of rib width, groove depth, and helix angle on the outer surface of the milled part are predicted. Based on the predicted parameters of the milled part, the setting parameters of the 3D industrial robot, 3D measuring head, and positioning turntable are set.

[0027] The positioning fixture for milled parts is made of aluminum to prevent damage to the product; the positioning ring and bracket adopt a hollow design to facilitate the measurement system's inspection and ensure the coverage of product measurement. The positioning fixture for milled parts can restrict the degree of freedom of the milled parts in space, and the spatial position of the product is uniquely determined, ensuring that it remains flat and stationary during the measurement process; The calibration plate is placed on the safety fence and its position is fixed. The calibration program is stored in the data processing system in advance, and the measurement system can be calibrated periodically.

[0028] The following description, in conjunction with the accompanying drawings and preferred embodiments, provides further details: In the current embodiment, this application discloses a three-dimensional optical automated measurement system and method for the geometric dimensions of milled groove products. The outer surface of the milled groove product is usually composed of multiple milled groove structures with different rib widths, groove depths, and helix angles. During the construction of the automated detection system, it is necessary to consider the parameters of the measuring head, the parameters of the robot, the structural parameters of the turntable, the safety protection system, and the data processing method of the calculation software according to the characteristics of the milled groove product to ensure the stability and accuracy of the product scanning and measurement process.

[0029] like Figure 1 As shown, the present invention provides a three-dimensional optical automated measurement system for the geometric dimensions of milled groove parts, including an industrial robot 1, a three-dimensional measuring head 2, a positioning turntable 3, a milled groove part positioning fixture 4, a calibration plate 5, a safety protection system 6, and an operating table 7.

[0030] Industrial robot 1, as the scanning execution mechanism of 3D measuring head 2, is highly flexible and has a wide coverage. It can adjust the relative position between 3D measuring head 2 and the product being measured, realize pose adjustment in six degrees of freedom in space, and adapt to all milled parts to be measured. The three-dimensional measuring head 2 is mounted on the end flange of the industrial robot 1 and is equipped with two cameras and a camera head for scanning the inner and outer surfaces of the milled part; The positioning turntable 3, as the seventh axis of the measurement system, can achieve 360° circumferential rotation. Through linkage with the industrial robot 1, it can not only effectively expand the working range of the industrial robot 1, but also improve the scanning measurement efficiency. The milling part positioning fixture 4 is fixed to the center position of the positioning turntable 3 by fasteners to ensure the repeatability of the milling part positioning fixture 4. like Figure 2 As shown, the milling groove positioning fixture 4 includes a chassis and a support shaft 8, a positioning ring 9, a bracket 10, etc. The support shaft is designed with a positioning groove. The milling groove to be tested is clamped and positioned on the fixture by the positioning ring 9 and the bracket 10. After the scanning and inspection is completed, the bracket 10 can be picked up to replace the next milling groove to be tested. The positioning ring 9 and the bracket 10 are designed in the form of hexagonal prisms, and target points are arranged on their frames. The three-dimensional measuring head 2 completes the splicing of the scanning surface by scanning the target points, thereby realizing the complete scanning of the inner and outer surfaces of the milled groove part. Calibration plate 5 is placed on the safety fence to calibrate the measurement system periodically; The safety protection system 6 consists of accessories such as light curtain, emergency stop switch and safety fence, forming an independent working unit to ensure personal and process safety. During measurement, it can promptly check and identify whether there are foreign objects in the measurement space. The control panel 7 integrates a control system and a data processing system, which is used to control the entire measurement system, store measurement data, and perform calculations.

[0031] The control system controls the entire measurement system, including controlling the movement of the industrial robot 1 and the positioning turntable 3, and works in conjunction with the safety protection system 6. If there is a foreign object in the measurement space, the industrial robot 1 and the positioning turntable 3 will be stopped immediately. The system can also control the three-dimensional measuring head 2 to import the scanned images into the data processing system. The data processing system is used to store measurement data, store the motion path of industrial robot 1, analyze and solve the scanned images to obtain point cloud data of the inner and outer surfaces of the milled part, and process the point cloud data.

[0032] The above measurement system enables rapid and accurate scanning of milled groove products, obtaining point cloud data of their internal and external surfaces. The measurement steps are as follows: Before measurement, the industrial robot 1 controls the three-dimensional measuring head 2 to scan the calibration plate 5, stores the calibration data in the data processing system, and calibrates the measurement system to ensure the accuracy of the measurement system. The milled part positioning fixture 4 is placed and fixed at the center of the positioning turntable 3. The milled part to be measured is clamped and positioned on the fixture by the positioning ring 9 and the bracket 10. The positioning turntable 3 rotates along the axis. The operating table 7 controls the movement of the industrial robot 1, so that the three-dimensional measuring head 2 scans the milling groove surface and the target point of the milling groove positioning fixture 4, records the position, and then the operating table 7 controls the positioning turntable 3 to rotate one revolution axially. Afterwards, the industrial robot 1 moves to the next position, ensuring that at least 3 identical target points are scanned in the two positions before and after, and after obtaining the complete inner and outer surfaces of the milled part, the motion path of the industrial robot 1 is optimized to ensure that its measurement time is minimized, and then stored in the data processing system. According to the optimized motion path, the industrial robot 1 drives the three-dimensional measuring head 2 to scan the milled part, so as to achieve rapid and precise measurement of any part of the milled part while the three-dimensional measuring head 2 is stationary. When the industrial robot 1 drives the 3D measuring head 2 to scan the milled groove, the actual scanning sequence is from inside to outside and from top to bottom. During the scanning, the angle of the 3D measuring head 2 is consistent with the helical angle direction of the milled groove. After the scanning measurement is completed, the data processing system analyzes and calculates the scanned image to obtain the inner and outer surfaces of the milled part being measured, calculates its groove depth, groove width and other related dimensions, and outputs an inspection report.

[0033] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0034] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A three-dimensional optical automated measurement device for the geometric dimensions of milled groove parts, characterized in that: This includes industrial robots, 3D measuring heads, positioning turntables, milling tooling, calibration plates, safety protection components, and operating tables, among which: A 3D measuring head is mounted on the end flange of the industrial robot to scan the inner and outer surfaces of the milled part; a positioning turntable is connected to the industrial robot, driving the industrial robot to rotate axially to expand its working range; a milled part positioning fixture is fixed to the center of the positioning turntable by fasteners to load the milled part to be measured; a safety protection component is set around the assembly of the industrial robot, 3D measuring head, positioning turntable, and milled part positioning fixture to provide safety protection for the assembly; a calibration plate is set inside the center of the safety protection component to calibrate the components of the assembly; and an operating table is set outside the edge of the safety protection component to collect the calibration and measurement data of the assembly.

2. The three-dimensional optical automated measurement device for the geometric dimensions of milled groove parts according to claim 1, characterized in that: The industrial robot, acting as the scanning actuator of the 3D measuring head, is used to adjust the relative position between the 3D measuring head and the milled part being measured, thereby achieving six-degree-of-freedom pose adjustment of the milled part within the measurement space. The 3D measuring head includes dual measuring cameras and a webcam, used to scan the inner and outer surfaces of the milled part. The positioning turntable, in conjunction with the industrial robot, drives the industrial robot to rotate 360° circumferentially to improve the measurement range.

3. The three-dimensional optical automated measurement device for the geometric dimensions of milled groove parts according to claim 1, characterized in that: The milled part positioning fixture includes a chassis and supporting shaft, a positioning ring, and a bracket, wherein: The milling part positioning fixture chassis is designed with positioning holes, which are fixed to the center position of the positioning turntable by fasteners to ensure the repeatability of the milling part positioning fixture. The support shaft is designed with a positioning groove. The milled part to be tested is clamped and positioned on the tooling by the positioning ring and the bracket to ensure stable clamping of the product. After scanning and testing is completed, the milled part to be tested can be replaced by retracting the bracket.

4. The three-dimensional optical automated measurement device for the geometric dimensions of milled groove products according to claim 3, characterized in that: The positioning ring and the bracket are both designed as hexagonal prisms with target points on the frame. The three-dimensional measuring head completes the stitching of the scanned surface by scanning the target points, thus realizing a complete scan of the inner and outer surfaces of the milled part being measured.

5. The three-dimensional optical automated measurement device for the geometric dimensions of milled groove parts according to claim 4, characterized in that: The safety protection components include a grating curtain, an emergency stop switch, and a safety fence. The safety fence is used to form an independent working unit. During measurement, the working unit is used to check and identify whether there are foreign objects in the measurement space. The safety fence is set outside the measurement working range of the assembly. The grating curtain serves as the entrance to one side of the safety fence for arranging measuring components or replacing the milled part being measured. The emergency stop switch is used to quickly stop the operation when the measuring device enters a dangerous state. Dangerous states include the three-dimensional measuring head colliding with the positioning fixture or product of the milled part.

6. The three-dimensional optical automated measurement device for the geometric dimensions of milled groove parts according to claim 4, characterized in that: The control panel integrates a measurement and control system and a data processing system, wherein: The control system controls the measurement process of the assembly for the milled part being measured. According to the measurement process requirements, it controls the industrial robot and the positioning turntable to operate in a matching manner and cooperates with the safety protection components to detect the space within the measurement operation range. If there are foreign objects, it immediately controls the industrial robot and the positioning turntable to stop moving and controls the three-dimensional measuring head to import the scanned image into the data processing system. The data processing system is used to store measurement data, store the motion path of the industrial robot, parse the scanned image data, obtain the point cloud data of the inner and outer surfaces of the measured milled part, and process the point cloud data.

7. A measurement method implemented by the three-dimensional optical automated measurement device according to claim 6, characterized in that... include: Before measurement, the industrial robot is controlled to drive the 3D measuring head to scan the calibration plate, store the calibration data in the data processing system, and calibrate the measurement system. The positioning fixture for the milled part is placed and fixed at the center of the positioning turntable. The milled part to be measured is clamped and positioned on the fixture by means of the positioning ring and the bracket. The positioning turntable rotates along the axis. The industrial robot's movement is controlled by the control panel, which scans the milling groove surface and the target points of the milling groove positioning fixture with a 3D measuring head. After recording the current position, the positioning turntable is controlled to rotate axially by one revolution through the control panel. After controlling the industrial robot to move to the next position and ensuring that at least three identical target points are scanned at the previous and next positions to obtain the complete inner and outer surfaces of the milled part, the motion path of the industrial robot is optimized and stored in the data processing system. Based on the optimized motion path, the industrial robot drives the 3D measuring head to scan the milled part under test, so as to achieve rapid and precise measurement of any part of the milled part under test while the 3D measuring head is stationary. When an industrial robot drives a 3D measuring head to scan a milled part, the scanning is performed in the actual scanning sequence. After the scanning measurement is completed, data analysis and calculation are performed to obtain the internal and external surface data of the milled part being measured.

8. A measurement method according to claim 7, characterized in that: When the industrial robot drives the three-dimensional measuring head to scan the milled groove, the actual scanning sequence is from inside to outside and from top to bottom. During scanning, the angle of the three-dimensional measuring head is consistent with the helical angle direction of the milled groove. After the scanning measurement is completed, the data processing system analyzes and calculates the scanned image to obtain the inner and outer surfaces of the milled groove, calculates the relevant dimensions of groove depth and groove width, and outputs a test report.

9. A measurement method according to claim 7, characterized in that: After calibrating the measurement system, the parameters of rib width, groove depth, and helix angle on the outer surface of the milled part are predicted. Based on the predicted parameters of the milled part, the setting parameters of the 3D industrial robot, 3D measuring head, and positioning turntable are set.

10. A three-dimensional optical automated measurement device for the geometric dimensions of milled groove parts according to claim 1, characterized in that: The milling slot positioning fixture is made of aluminum to prevent damage to the product; the positioning ring and bracket adopt a hollow design to facilitate the detection of the measuring device and ensure the coverage of the product measurement; the milling slot positioning fixture is used to restrict the degree of freedom of the milling slot product in space, the spatial position of the product is uniquely determined, and it is ensured that the product is leveled and stationary during the measurement process.

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