CN107367242A - Laser three-dimensional scanning detector - Google Patents

Abstract

The invention discloses a kind of laser three-dimensional scanning detector, including 3D scanning systems, the 3D scanning systems connect multi-axis robot, robot control system and software processing system by cable.The beneficial effects of the invention are as follows：This product is measured for automobile and commercial measurement provides quick, accurate, flexible solution；Inside uses special multi-core cable, avoids the outside cabling of robot, hollow gear axle is used inside six-joint robot, line built in multicore is not disturbed by robot motion.

Description

Laser 3D scanning detector

technical field

The invention relates to a detector and belongs to the technical field of industrial measurement.

Background technique

The development of modern manufacturing technology has promoted the diversity and advancement of quality inspection methods. Compared with foreign countries, there is still a relatively large gap between domestic measuring tools and measuring instruments. Most domestic manufacturing enterprises use foreign testing instruments, and domestic products still cannot meet the high-precision requirements of enterprises. China has now become the world's largest automobile production country, but there is still a big gap in technology with developed automobile production countries in Europe and the United States. Among them, the inspection of body-in-white and components is a very representative aspect. Body-in-white and components, due to their complex shape (basically complex three-dimensional curved surfaces), bulky size, and high precision requirements, put forward high requirements for inspection. However, conventional detection methods cannot fully and effectively measure its complex three-dimensional surface.

Contents of the invention

In order to solve the defects in the prior art, the object of the present invention is to provide a fast, accurate and flexible laser three-dimensional scanning detector.

The technical solution of the present invention is: a laser three-dimensional scanning detector, including a 3D scanning system, and the 3D scanning system is connected to a multi-axis robot, a robot control system and a software processing system through a cable.

The 3D scanning system includes a 3D laser sensor. The industrial cameras are installed on both sides of the 3D laser sensor and are at the same height. A ring light source is installed at the front end of the lens of the industrial camera. The ring light source is concentric with the lens of the industrial camera. The 3D laser sensor and the industrial camera The vision processor is connected to the robot control system and the software processing system via Ethernet.

The industrial camera is installed on the long side of the L-shaped fixture on both sides of the 3D laser sensor through accessories, the ring light source is installed on the short side of the L-shaped fixture at the front of the lens of the industrial camera, and the L-shaped fixture is fixed on the On both sides of the backing plate, said backing plate is mounted on the tool flange.

The cable includes an external cable and an internal cable connected to each other through a multi-core wire plug. The external cable is a double-layer reverse helical spring cable, and the double-layer reverse helical spring cable is located at the outer bottom of the 3D scanning system. The inner cable of the layered reverse helical spring cable is connected to the 3D laser sensor and the industrial camera through the cable fixing head, and the inner cable is located inside the multi-axis robot.

The built-in cable and motor wire pass through the central through hole of the hollow gear located in the joint of the multi-axis robot, and are connected to the robot control system and the software processing system. The hollow gear meshes with the pinion, and the motor connects the pinion and the motor wire. The motor is fixedly installed on the joint transmission part of the robot.

The double-layer reverse helical spring cable includes an external spring made of memory metal material, the internal cable is located in the external spring, the winding direction of the external spring is opposite to the winding direction of the internal cable, and the pitch of the external spring The pitch of the outer spring is smaller than the pitch of the inner cable, and the winding tightness of the outer spring is greater than that of the inner cable. The winding diameter of the outer spring is 10-15 times the diameter of the spring wire.

The multi-axis robot is a six-axis robot, and the bottom flange of the first axis of the six-axis robot is the installation work surface, which is installed on the top or on the ground.

The 3D scanning system is connected to the front end flange of the sixth axis of the six-axis robot through the tool flange.

The robot control system includes a robot control box and a teaching pendant electrically connected to the robot control box. The software processing system includes a workstation computer and a printer connected in sequence, and the workstation computer is equipped with three-dimensional scanning detection software.

The beneficial effects of the present invention are: based on laser scanning measurement technology and visual detection technology, the six-axis robot drives the scanning head to quickly scan the workpiece to be inspected to obtain the shape and size information of the workpiece, build a 3D digital model in the software and follow the principle of plastic molding Perform digital model optimization and compare the constructed digital model with the standard digital model to obtain relevant information on product quality and evaluate it; this product provides a fast, accurate and flexible solution for automotive measurement and industrial measurement. A special multi-core cable is used inside to avoid the external wiring of the robot, and a hollow gear shaft is used inside the six-axis robot, so that the multi-core built-in cable can not be disturbed by the robot's movement. At the same time, in the laser three-dimensional scanning detector, the memory metal is used to design the ring-shaped telescopic metal cable, which breaks through the traditional method and completely hides the complicated cables.

Description of drawings

The present invention has 10 accompanying drawings.

Fig. 1 is a structural diagram of the present invention;

Fig. 2 is the internal wiring diagram of the present invention;

Fig. 3 is a structural diagram of the 3D scanning system of the present invention;

Fig. 4 is the internal enlargement figure of the present invention;

Fig. 5 is a sectional view of plane A-A of Fig. 4;

Figure 6 is a partially enlarged view of a double-layer reverse helical spring cable;

Fig. 7 is a schematic diagram of the present invention;

Fig. 8 is a structural diagram of a multi-core wire plug;

Fig. 9 is a side view of Fig. 8;

Figure 10 is a structural diagram of the end of the external cable.

The reference signs in the figure are as follows: 1. 3D scanning system, 1.1, 3D laser sensor, 1.2, industrial camera, 1.3, ring light source, 1.4, accessories, 1.5, L-shaped fixture, 1.6, back plate, 1.7, cable Fixed head, 2, tool flange, 3, multi-axis robot, 4, double-layer reverse helical spring cable, 4.1, external spring, 4.2, internal cable, 4.3, socket, 4.4, female plug, 4.5, cable Fixed head, 5, built-in cable, 6, motor wire, 7, multi-core plug, 7.1, pin, 8, hollow gear, 8.1, center through hole, 9, motor, 10, pinion.

detailed description

Below in conjunction with accompanying drawing 1-10, the present invention will be further described:

The laser three-dimensional scanning detector includes a 3D scanning system 1, and the 3D scanning system 1 is connected to a multi-axis robot 3, a robot control system and a software processing system through cables.

The 3D scanning system 1 includes a 3D laser sensor 1.1, and an industrial camera 1.2 is respectively installed on both sides of the 3D laser sensor 1.1 and is at the same height. A ring light source 1.3 is installed at the front end of the lens of the industrial camera 1.2, and the lens of the ring light source 1.3 and the industrial camera 1.2 Concentric, 3D laser sensor 1.1 and industrial camera 1.2 connect robot control system and software processing system via Ethernet via vision processor.

The industrial camera 1.2 is installed on the long side of the L-shaped fixture 1.5 on both sides of the 3D laser sensor 1.1 through the accessory 1.4, and the ring light source 1.3 is installed on the short side of the L-shaped fixture 1.5 at the front end of the lens of the industrial camera 1.2. The jig 1.5 is fixed on both sides of the backboard 1.6 with bolts, and the backboard 1.6 is installed on the tool flange 2.

The cable includes an external cable and an internal cable 5 interconnected by a multi-core plug 7, the external cable is a double-layer reverse helical spring cable 4, and the external spring 4.1 of the double-layer reverse helical spring cable 4 Located between the outer bottom of the 3D scanning system 1 and the front end of the fourth axis of the multi-axis robot 3, the inner cable of the double-layer reverse helical spring cable 4 is connected to the 3D laser sensor 1.1 and the industrial camera 1.2 through the cable fixing head 1.7, and the built-in wire The cable 5 is located inside the multi-axis robot 3 .

The built-in cable 5 and the motor wire 6 pass through the central through hole 8.1 of the hollow gear 8 located in the joint of the multi-axis robot 3, and are connected to the robot control system and the software processing system. The hollow gear 8 meshes with the pinion 10, and the motor 9 connect the pinion gear 10 and the motor wire 6.

The double-layer reverse helical spring cable 4 includes an external spring 4.1 made of memory metal material, the internal cable 4.2 is located inside the external spring 4.1, and the winding direction of the external spring 4.1 is opposite to the winding direction of the internal cable 4.2 , and the pitch of the external spring 4.1 is smaller than the pitch of the internal cable 4.2, the winding tightness of the external spring 4.1 is greater than that of the internal cable 4.2, and the winding diameter of the external spring 4.1 is 10-15 times the diameter of the spring wire. The end of the internal cable 4.2 is provided with a socket 4.3 matching the pin 7.1 of the multi-core plug 7, and the socket 4.3 is provided with a female plug 4.4 and a cable fixing head 4.5 in sequence.

The multi-axis robot 3 is a six-axis robot, and the bottom flange of the first axis of the six-axis robot is the installation working surface, which is installed on the top or on the ground.

The 3D scanning system 1 is connected to the front end flange of the sixth axis of the six-axis robot through the tool flange 2 .

The robot control system includes a robot control box and a teaching pendant electrically connected to the robot control box. The software processing system includes a workstation computer and a printer connected in sequence, and the workstation computer is equipped with three-dimensional scanning detection software.

According to needs, the combination of multi-axis robot 3, robot control system and software processing system can be used for three-dimensional scanning detection.

The 3D laser sensor can quickly scan the workpiece to be inspected to obtain the shape and size information of the workpiece, and compare it with the standard digital model after building a 3D digital model in the software, so as to obtain relevant information about product quality and evaluate it. The sensor can also perform detection and measurement in 3D for detection of height, inclination, clearance and flush, hole depth, flat mounting, volume and cross-section, etc.

The industrial camera can be quickly positioned and calibrated to provide accurate detection position information when the six-axis robot guides the 3D laser sensor for detection. At the same time, when performing local feature detection, such as positioning holes, edge detection, assembly inspection of gear shafts, etc., it is faster and more convenient to use industrial cameras.

The laser three-dimensional scanning detector includes a 3D scanning system 1, a robot control system and a software processing system. The laser three-dimensional scanning detector is based on laser scanning measurement technology and visual inspection technology. The six-axis robot drives the scanning head to quickly scan the workpiece to be inspected to obtain the shape and size information of the workpiece. The 3D digital model is built in the software and carried out according to the principle of plastic molding. Optimize the digital model and compare the constructed digital model with the standard digital model to obtain relevant information about product quality and evaluate it. In the detection, the 3D laser sensor and industrial camera can be used together according to the detection requirements, or they can be called separately.

The laser 3D scanning detector uses a special multi-core cable inside to avoid the external wiring of the robot. A hollow gear shaft is used inside the six-axis robot so that the multi-core built-in line can not be disturbed by the robot's movement.

At the same time, in the laser three-dimensional scanning detector, the memory metal is used to design the ring-shaped telescopic metal cable, which breaks through the traditional method and completely hides the complicated cables.

The double-layer reverse helical spring cable adopts a double-layer structure, the outer layer is a metal spring with small pitch, tight winding, and large winding diameter, and the inner layer is a cable with large pitch, sparse winding, and small winding diameter. The winding direction of the inner layer cable is opposite to each other, ensuring that the outer layer metal and the inner layer cable will never be entangled. The cable is easy to connect, stable in transmission, long in service life, and cost-effective. It can be used in various extreme and harsh environments. It is suitable for connecting telescopic and rotating equipment, especially for the front end of the robot, which can effectively avoid scratches and disconnection. Safety accidents caused by cables, etc., high safety and strong practicability.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made, these improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (10)

1. A laser three-dimensional scanning detector, characterized in that it comprises a 3D scanning system (1), and the 3D scanning system (1) is connected to a multi-axis robot (3), a robot control system and a software processing system through cables. 2. The laser three-dimensional scanning detector according to claim 1, characterized in that, the 3D scanning system (1) comprises a 3D laser sensor (1.1), and an industrial camera (1.2) is mounted on both sides of the 3D laser sensor (1.1) respectively. Side and at the same height, the front end of the lens of the industrial camera (1.2) is equipped with a ring light source (1.3), the ring light source (1.3) is concentric with the lens of the industrial camera (1.2), and the 3D laser sensor (1.1) and the industrial camera (1.2) pass through The vision processor is connected to the robot control system and the software processing system via Ethernet. 3. The laser three-dimensional scanning detector according to claim 2, characterized in that the industrial camera (1.2) is installed on the L-shaped fixtures (1.5) on both sides of the 3D laser sensor (1.1) through accessories (1.4) The ring light source (1.3) is installed on the short side of the L-shaped fixture (1.5) at the front of the lens of the industrial camera (1.2), and the L-shaped fixture (1.5) is fixed on both sides of the back plate (1.6) with bolts , the back plate (1.6) is installed on the tool flange (2). 4. The laser three-dimensional scanning detector according to claim 1, characterized in that, the cables include an external cable and an internal cable (5) connected to each other through a multi-core plug (7), and the external cable The cable is a double-layer reverse helical spring cable (4), the double-layer reverse helical spring cable (4) is located at the outer bottom of the 3D scanning system (1), and the double-layer reverse helical spring cable (4) passes through the cable fixing head (1.7 ) to connect the 3D laser sensor (1.1) and the industrial camera (1.2), and the built-in cable (5) is located inside the multi-axis robot (3). 5. The laser three-dimensional scanning detector according to claim 4, characterized in that, the built-in cable (5) and the motor wire (6) pass through the hollow gear (8) located in the joint of the multi-axis robot (3) The central through hole (8.1) of the robot is connected to the robot control system and the software processing system, the hollow gear (8) engages the pinion (10), and the motor (9) connects the pinion (10) and the motor line (6). 6. The laser three-dimensional scanning detector according to claim 4, characterized in that, the double-layer reverse helical spring cable (4) includes an external spring (4.1) made of memory metal material, and an internal cable (4.2) Located in the outer spring (4.1), the winding direction of the outer spring (4.1) is opposite to the winding direction of the inner cable (4.2), and the pitch of the outer spring (4.1) is smaller than the pitch of the inner cable (4.2), The winding tightness of the outer spring (4.1) is greater than that of the inner cable (4.2), the winding diameter of the outer spring (4.1) is 10-15 times the diameter of the spring wire, and the end of the inner cable (4.2) is provided with a The pin (7.1) of the multi-core plug (7) is matched with the socket (4.3), and the socket (4.3) is provided with a female plug (4.4) and a cable fixing head (4.5) in sequence, and the internal cable (4.2 ) to connect the 3D laser sensor (1.1) and the industrial camera (1.2) through the cable fixing head (4.5). 7. The laser three-dimensional scanning detector according to claim 1, characterized in that, the multi-axis robot (3) is a six-axis robot, and the flange on the bottom surface of the first axis of the six-axis robot is the installation working surface, which is installed on the top or on the ground . 8 . The laser three-dimensional scanning detector according to claim 7 , wherein the 3D scanning system ( 1 ) is connected to the sixth-axis front end flange of the six-axis robot through the tool flange ( 2 ). 9. The laser three-dimensional scanning detector according to claim 1, wherein the robot control system includes a robot control box and a teaching pendant electrically connected to the robot control box, and the software processing system includes sequentially connected workstations Computers and printers, three-dimensional scanning detection software is installed in the workstation computer. 10. The laser three-dimensional scanning detector according to claim 1, characterized in that there are multiple multi-axis robots (3), robot control systems and software processing systems.