CN116929209A - Detection equipment and detection method for rod-shaped materials - Google Patents
Detection equipment and detection method for rod-shaped materials Download PDFInfo
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- CN116929209A CN116929209A CN202310853604.XA CN202310853604A CN116929209A CN 116929209 A CN116929209 A CN 116929209A CN 202310853604 A CN202310853604 A CN 202310853604A CN 116929209 A CN116929209 A CN 116929209A
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- 238000001514 detection method Methods 0.000 title claims abstract description 84
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- 230000033001 locomotion Effects 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 20
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- 238000010073 coating (rubber) Methods 0.000 claims description 6
- 229920003225 polyurethane elastomer Polymers 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
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- 230000003139 buffering effect Effects 0.000 claims description 4
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- 239000013078 crystal Substances 0.000 description 6
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- 238000004364 calculation method Methods 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The application relates to detection equipment and a detection method for rod-shaped materials, wherein the detection equipment comprises upright posts, a conveying mechanism is cooperatively arranged between the two upright posts, a motor is fixed at the bottom of the conveying mechanism, the motor drives the conveying mechanism to move, a cross beam is simultaneously arranged at the top of the two upright posts, an air cylinder is fixed at one side end face of the cross beam, a multi-degree-of-freedom mechanical arm is cooperatively arranged at the bottom of the cross beam through a moving mechanism, a scanner is cooperatively arranged at the working end of the mechanical arm, the moving mechanism is connected with the output end of the air cylinder, and the air cylinder drives the moving mechanism to drive the mechanical arm to linearly move along a second horizontal direction. By arranging the mechanical arm and the scanner, the detection equipment can replace manual work to realize full-automatic detection of the dimension parameters and geometric tolerance of the workpiece, and has accurate detection result, small error range and high detection precision; meanwhile, the automatic production mode can effectively save detection time and improve detection efficiency.
Description
Technical Field
The application relates to the technical field of crystal bar detection, in particular to detection equipment and a detection method for rod-shaped materials.
Background
In the process of manufacturing the solar monocrystalline silicon piece, the monocrystalline silicon rod is required to be ground and cut into square pieces, and the monocrystalline square rod is manufactured. During the machining process of the single crystal square rods, because of the limitations of equipment and technology, individual differences exist in the dimensional parameters and geometric tolerances of each single crystal square rod, so that the problem of unqualified products occurs. Therefore, after the single crystal square bar is machined, the size parameters and geometric tolerance of the single crystal square bar are detected through a detection procedure, defective products are removed, and the product qualification rate is ensured.
In the prior art, the detection of dimensional parameters and geometric tolerances is carried out on a single crystal square rod by using a measuring instrument manually. The manual detection mode has the problems of inaccurate measurement structure, large measurement error and low precision, and the quality of subsequent products is difficult to ensure; meanwhile, the manual detection has long time and low speed, and the production efficiency is low.
Disclosure of Invention
The inventor aims at the defects in the prior art, and provides a detection device and a detection method for rod-shaped materials, and by providing the detection device, the automatic, large-batch and high-precision measurement on the dimension parameters and geometric tolerance of workpieces with individual differences can be realized, so that the detection precision is effectively improved, and the processing quality of products is ensured; meanwhile, the detection time is saved, and the production efficiency is improved.
The technical scheme adopted by the application is as follows:
the detection equipment for the rod-shaped materials comprises two upright posts which are arranged in parallel at intervals, wherein a conveying mechanism is cooperatively arranged between the two upright posts, a motor is fixed at the bottom of the conveying mechanism, and the motor drives the conveying mechanism to move so as to drive a workpiece placed at the top of the conveying mechanism to linearly move along a first horizontal direction; the top of the two upright posts is provided with a cross beam at the same time, one side end surface of the cross beam is provided with a cylinder, the bottom of the cross beam is provided with a multi-degree-of-freedom mechanical arm in a matched manner through a motion mechanism, the working end of the mechanical arm is provided with a scanner in a matched manner, the motion mechanism is connected with the output end of the cylinder, and the cylinder drives the motion mechanism to drive the mechanical arm to do linear motion along the second horizontal direction; the top of one upright post is provided with a control cabinet in a matching way, and the detection equipment is provided with an industrial personal computer for processing the scanning result of the scanner; during detection, the motor drives the conveying mechanism to convey the workpiece in place, and meanwhile, the air cylinder drives the moving mechanism to move the mechanical arm in place, so that the scanner arranged at the working end of the mechanical arm is driven to move in place, and the mechanical arm with multiple degrees of freedom drives the scanner to move in a certain space range, so that the surface size parameters and geometric tolerance of the workpiece are scanned.
As a further improvement of the above technical scheme:
the first horizontal direction and the second horizontal direction are mutually perpendicular.
The conveying mechanism has the structure that: the device comprises a conveying frame, wherein roller sets are rotatably arranged at the top of the conveying frame, each roller set comprises a plurality of rollers which are arranged in parallel at intervals, one end of each roller is provided with a driving sprocket in a matched manner, and a conveying base for placing workpieces is arranged at the top of each roller set in a matched manner;
the bottom of the conveying frame is fixedly provided with a box-shaped motor mounting seat, a motor is mounted in the motor mounting seat in a matched manner, the output end of the motor is connected with a driving sprocket, a synchronous chain is mounted between the driving sprocket and a driving sprocket in a matched manner, the motor drives the driving sprocket to rotate, and the driving sprocket drives all the driving sprockets to rotate simultaneously through the synchronous chain, so that rollers in the roller set are driven to rotate simultaneously;
the top of the conveying frame is provided with a stopper and a punctuation frame in a matching mode, the stopper limits the displacement of the conveying base in the advancing direction, and the punctuation frame is used for arranging marks during detection.
The structure of the motion mechanism is as follows: including the slide rail of several parallel interval arrangements, the slide rail is fixed in the bottom of crossbeam, and the cooperation is installed the several slider on the single slide rail, the connecting plate is installed in the bottom cooperation of slider, the fixed first connecting seat in top of connecting plate, first connecting seat is connected with the output of the cylinder of fixing in crossbeam one side, and the top of connecting plate is fixed still and is bumped the piece, bump the piece and install the stop gear cooperation installation at the crossbeam opposite side, the bottom of connecting plate is fixed with the second connecting seat that is used for installing the arm.
The limit mechanism has the structure that: the anti-collision device comprises two limiting mounting seats which are oppositely arranged at intervals, wherein a polyurethane rubber coating screw and a buffering plug are arranged on a single limiting mounting seat in a matched mode, and the polyurethane rubber coating screw and the buffering plug are used for limiting the movement stroke of a collision block.
The detection method using the detection equipment for the rod-shaped materials comprises the following steps:
s1, installing a scanner at the working end of a mechanical arm, arranging reflective mark points on the surface of a workpiece to be used as marks for scanner identification, integrating two cameras and a laser emitter on the scanner, calibrating the two cameras on the scanner, enabling the visual fields of the two cameras to intersect to form a common visual field, and ensuring that more than four marks exist in the common visual field of the two cameras;
s2, a laser transmitter of the scanner transmits a plurality of wire harness lasers, and the mechanical arm drives the scanner to move in a certain space range, and marks on the surface of a workpiece are captured through two cameras in the moving process of the scanner, so that three-dimensional point clouds on the surface of the workpiece are obtained;
s3, according to the three-dimensional point cloud obtained by the scanner, sequentially splicing the three-dimensional point cloud by adopting a data splicing method, so as to synchronously generate a corresponding three-dimensional acquisition data model of the workpiece;
s4, the industrial personal computer compares the synchronously generated acquired data model of the workpiece with a pre-stored standard data model, and the dimensional parameters and geometric tolerance of the workpiece can be measured from the acquired data model.
S1, reasonably arranging the dot density of the marks, and avoiding the obvious characteristic area of a workpiece in the mark arrangement, so that the loss of key characteristic data is prevented, and the patterns formed by the three marks are prevented from presenting isosceles triangle or equilateral triangle shapes;
when the scanner scans the marks, the marks are required to be identified in six directions which are right above, front, back, left, right and inclined by 45 degrees.
And S3, in the data splicing process, when the situation of data splicing loss occurs, the mechanical arm drives the scanner to move back to the data lost area to stay for 2S-5S, and the scanner performs rescanning.
S4, a standard data model of a workpiece is prestored in the industrial personal computer system, and the workpiece comprises various sizes and various shapes;
the dimension parameters which can be measured include end face side length, diagonal line length, hypotenuse chord length, right angle side length and total length, and the geometric tolerance includes verticality and flatness;
the precision ranges of the end face side length, the diagonal line length and the total length are +/-0.03 mm, the precision ranges of the hypotenuse chord length and the right angle side length are +/-0.1 mm, the precision range of the perpendicularity is +/-0.1 DEG, and the precision range of the flatness is +/-0.1 mm.
When the detection equipment is used for the first time, the detection equipment is not used for a long time; when the detection equipment is rocked, the detection equipment is transported, the single-frame scanning data volume of the detection equipment is small, the data points cannot be spliced, and the marks cannot be identified, the two cameras are required to be recalibrated;
the workpiece needs to remain completely stationary during scanning of the workpiece by the scanner.
The beneficial effects of the application are as follows:
the application has compact and reasonable structure and convenient operation, and the mechanical arm and the scanner are arranged, so that the detection equipment can replace manual work to realize full-automatic detection of the dimension parameters and geometric tolerance of the workpiece, and has accurate detection result, small error range and high detection precision; meanwhile, the automatic production mode can effectively save detection time and improve detection efficiency.
The application also has the following advantages:
(1) According to the application, the limiting mechanism is arranged, so that the moving path of the mechanical arm can be effectively limited, the mechanical arm is ensured to drive the scanner to scan the whole range of the surface of the workpiece within a certain stroke, and the detection efficiency is improved.
(2) According to the application, by arranging the stopper, the conveying base can be effectively ensured to be conveyed in place, and the problem of detection result distortion caused by the fact that the stop position of the workpiece is not in place is prevented.
(3) According to the method and the device, the uniqueness of the space three-dimensional point cloud can be guaranteed by reasonably arranging the positions of the identification points, so that the detection precision is improved.
(4) According to the application, the scanner respectively adopts six directions of right above, front, back, left, right and inclined 45 degrees to identify the marks, so that the identification precision of the marks can be ensured, and the detection precision is effectively improved.
(5) According to the application, the data acquired by the scanner is spliced by adopting the data splicing method, so that the corresponding three-dimensional model of the workpiece is produced, and the data splicing method can quickly and accurately form the three-dimensional model of the workpiece under the condition that the space three-dimensional point cloud is unique, and can effectively improve the detection efficiency.
(6) According to the application, the maximum size parameter can reach +/-0.03 mm, the verticality can reach +/-0.1 degrees, the flatness can reach +/-0.1 mm, the detection accuracy is high, the detection result is reliable, defective products can be effectively detected, and the product quality is ensured.
Drawings
Fig. 1 is a schematic structural view of the present application.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a top view of fig. 1.
Fig. 4 is a schematic structural view of a conveying mechanism in the present application.
Fig. 5 is a front view of fig. 4.
Fig. 6 is a schematic view of the installation structure of the scanner in the present application.
Fig. 7 is a front view of fig. 6.
Fig. 8 is a rear view of fig. 6.
Fig. 9 is a schematic view of the present application in an operating state.
FIG. 10 is a diagram of dimensional parameters and geometric tolerances according to the present application.
Wherein: 1. a column; 2. a conveying mechanism; 3. a movement mechanism; 4. a mechanical arm; 5. a scanner; 6. a motor; 7. a cylinder; 8. a workpiece; 9. a limiting mechanism; 10. a control cabinet; 11. a cross beam;
201. a conveying frame; 202. a roller set; 203. a conveying base; 204. a stopper; 205. a drive sprocket; 206. a motor mounting seat; 207. a punctuation frame;
301. a slide rail; 302. a slide block; 303. a connecting plate; 304. a first connection base; 305. a second connecting seat; 306. a bump;
901. a limit mounting seat; 902. polyurethane encapsulation screw; 903. and a buffer plug.
Detailed Description
The following describes specific embodiments of the present application with reference to the drawings.
Embodiment one:
the structure and function of this embodiment are as follows:
as shown in fig. 1 to 9, the detection device for a rod-shaped material in this embodiment includes two columns 1 arranged in parallel at intervals, a conveying mechanism 2 is cooperatively installed between the two columns 1, a motor 6 is fixed at the bottom of the conveying mechanism 2, and the motor 6 drives the conveying mechanism 2 to move, so as to drive a workpiece 8 placed at the top of the conveying mechanism 2 to make linear movement along a first horizontal direction; the tops of the two upright posts 1 are simultaneously provided with a cross beam 11, one side end surface of the cross beam 11 is provided with a cylinder 7, the bottom of the cross beam 11 is provided with a multi-degree-of-freedom mechanical arm 4 in a matched manner through a motion mechanism 3, the working end of the mechanical arm 4 is provided with a scanner 5 in a matched manner, the motion mechanism 3 is connected with the output end of the cylinder 7, and the cylinder 7 drives the motion mechanism 3 to drive the mechanical arm 4 to do linear motion along a second horizontal direction; the top of one upright column 1 is provided with a control cabinet 10 in a matching way, and the detection equipment is provided with an industrial personal computer for processing the scanning result of the scanner 5; during detection, the motor 6 drives the conveying mechanism 2 to convey the workpiece 8 into place, and the air cylinder 7 drives the moving mechanism 3 to move the mechanical arm 4 into place, so that the scanner 5 arranged at the working end of the mechanical arm 4 is driven to move into place, and the mechanical arm 4 with multiple degrees of freedom drives the scanner 5 to move in a certain space range, so that the surface dimension parameters and geometric tolerance of the workpiece 8 are scanned. The detection equipment comprises a stand column 1, a conveying mechanism 2, a motion mechanism 3, a mechanical arm 4, a scanner 5, a motor 6, a cylinder 7, a control cabinet 10 and a cross beam 11; a motion mechanism 2 is cooperatively arranged between the two upright posts 1 and is used for conveying a workpiece 8; the tops of the two upright posts 1 are connected through a cross beam 11, and a movement mechanism 3 is arranged at the bottom of the cross beam 11 and used for driving a mechanical arm 4 to do linear movement; the mechanical arm 4 can rotate at multiple angles and is provided with multiple rotating shafts, so that the scanner 5 can be driven to scan the surface of the workpiece 8 in a certain spatial range.
The scanner 5 adopts a three-dimensional scanner, and acquires a space three-dimensional point cloud of the workpiece 8 based on a binocular vision principle; when the scanner 5 works, the spatial position relation between the scanner 5 and the workpiece 8 is obtained by means of the matching of the marking points of the scanning current frame and the marking point library stored in the industrial personal computer in advance, laser is emitted by the laser emitter to irradiate the surface of the scanned workpiece 8, reflected light is captured by the two industrial cameras, and the shape data of the workpiece 8 is obtained through calculation.
The first horizontal direction and the second horizontal direction are perpendicular to each other. The direction of the conveying mechanism 2 for conveying the workpiece 8 along the straight line is perpendicular to the direction of the moving mechanism 3 for driving the mechanical arm 4 to do the straight line movement, so that the workpiece 8 and the scanner 5 can move to a designated position, and the scanner 5 can complete the scanning task of the workpiece 8.
The conveying mechanism 2 has the structure that: the device comprises a conveying frame 201, wherein a roller set 202 is rotatably arranged at the top of the conveying frame 201, the roller set 202 comprises a plurality of rollers which are arranged in parallel at intervals, one end of each roller is provided with a driving chain wheel 205 in a matched manner, and a conveying base 203 for placing a workpiece 8 is arranged at the top of the roller set 202 in a matched manner; the bottom of the conveying frame 201 is fixedly provided with a box-shaped motor mounting seat 206, a motor 6 is mounted in the motor mounting seat 206 in a matched manner, the output end of the motor 6 is connected with a driving sprocket, a synchronous chain is mounted between the driving sprocket and the driving sprocket 205 in a matched manner, the motor 6 drives the driving sprocket to rotate, and the driving sprocket drives all the driving sprockets 205 to simultaneously rotate through the synchronous chain, so that rollers in the roller set 202 are driven to simultaneously rotate; a stopper 204 and a punctuation frame 207 are mounted on the top of the conveying frame 201 in a matching manner, the stopper 204 limits displacement of the conveying base 203 in the advancing direction, and the punctuation frame 207 is used for arranging marks during detection.
The structure of the movement mechanism 3 is as follows: the mechanical arm comprises a plurality of parallel sliding rails 301 which are arranged at intervals, wherein the sliding rails 301 are fixed at the bottom of a cross beam 11, a plurality of sliding blocks 302 are mounted on a single sliding rail 301 in a matched manner, a connecting plate 303 is mounted at the bottom of each sliding block 302 in a matched manner, a first connecting seat 304 is fixed at the top of each connecting plate 303, each first connecting seat 304 is connected with the output end of a cylinder 7 fixed at one side of the cross beam 11, a collision block 306 is also fixed at the top of each connecting plate 303, each collision block 306 is mounted in a matched manner with a limiting mechanism 9 mounted at the other side of the cross beam 11, and a second connecting seat 305 for mounting the mechanical arm 4 is fixed at the bottom of each connecting plate 303.
The limit mechanism 9 has the structure that: the device comprises two limiting mounting seats 901 which are arranged at intervals relatively, wherein a polyurethane rubber coating screw 902 and a buffer plug 903 are arranged on the single limiting mounting seat 901 in a matched mode, and the polyurethane rubber coating screw 902 and the buffer plug 903 are used for limiting the movement stroke of the collision block 306.
The embodiment provides the detection equipment for the rod-shaped materials, which can realize automatic, large-batch and high-precision measurement on the dimension parameters and geometric tolerance of the workpieces with individual differences, thereby effectively improving the detection precision and ensuring the processing quality of products; meanwhile, the detection is rapid, the detection time is short, the detection time can be effectively saved, and the production efficiency is improved.
Embodiment two:
the embodiment provides a detection method for a rod-shaped material by using the detection device for the rod-shaped material provided in the first embodiment, including the following steps:
s1, installing a scanner 5 at the working end of a mechanical arm 4, setting reflective mark points on the surface of a workpiece 8 to be used as marks for identifying the scanner 5, integrating two cameras and a laser emitter on the scanner 5, calibrating the two cameras on the scanner 5, enabling the visual fields of the two cameras to intersect to form a common visual field, and ensuring that more than four marks exist in the common visual field of the two cameras;
s1.1, in order to ensure the uniqueness of the three-dimensional point cloud, the point density of the marks needs to be reasonably arranged, the mark arrangement needs to avoid an obvious characteristic area of a workpiece 8 so as to prevent key characteristic data loss, the more irregular the pattern formed by the marks is, the less prone to misspellings, the pattern formed by the three marks is prevented from presenting an isosceles triangle or an equilateral triangle shape, the marks are attached to different horizontal planes as much as possible, and the splicing precision is higher;
s1.2, when the scanner 5 scans the marks, the marks are required to be identified in six directions which are right above, front, back, left, right and inclined by 45 degrees respectively so as to ensure the identification accuracy of the marks;
s1.3, when the detection equipment is used for the first time, the detection equipment is not used for a long time; when the detection equipment is rocked, the detection equipment is transported, the single-frame scanning data volume of the detection equipment is small, the data points cannot be spliced, and the marks cannot be identified, the two cameras are required to be recalibrated;
s1.4. scanner 5 uses blue light scanning;
s1.5, setting a common focal length of two cameras on the scanner 5 as a reference distance, setting a common focal length range as a depth of field, and setting the reference distance and the depth of field of the scanner 5 to be related to a laser wave band and resolution;
s2, a laser transmitter of the scanner 5 transmits a plurality of wire harness lasers, meanwhile, the mechanical arm 4 drives the scanner 5 to move within a certain space range, and marks on the surface of the workpiece 8 are captured through two cameras in the moving process of the scanner 5, so that three-dimensional point clouds on the surface of the workpiece 8 are obtained;
s2.1, the mechanical arm 4 adjusts the distance and the angle between the scanner 5 and the workpiece 8 in real time, so that the scanner 5 can automatically acquire the three-dimensional surface information of the whole workpiece 8;
s2.2, reasonably planning a scanning path and a scanning speed of the scanner 5, ensuring that a data acquisition model is reliable, checking color prompts in the scanning process in real time, and avoiding orange peel phenomenon caused by excessive data noise;
s2.3, ensuring that a scanning path of the scanner 5 forms a closed loop, and performing diffusion scanning from the middle to the periphery of the workpiece 8 during scanning, so that the measurement accuracy is improved;
s3, according to the three-dimensional point cloud acquired by the scanner 5, sequentially splicing the three-dimensional point cloud by adopting a data splicing method, so as to synchronously generate a corresponding three-dimensional acquisition data model of the workpiece 8;
s3.1, in the process of data splicing, when the situation of data splicing loss occurs, the mechanical arm 4 drives the scanner 5 to move back to a data lost area to stay for 2S-5S, and the scanner 5 performs rescanning;
s3.2, if the recovery is not carried out for a long time, the scanning is carried out again by means of manual reset;
s4, the industrial personal computer compares the synchronously generated acquired data model of the workpiece 8 with a pre-stored standard data model, and the dimensional parameters and geometric tolerance of the workpiece 8 can be measured from the acquired data model;
s4.1, a standard data model of a workpiece 8 is prestored in an industrial personal computer system, and the workpiece 8 comprises various sizes and various shapes;
s4.2. as shown in fig. 10, the dimension parameters that can be measured include an end face side length L1, a diagonal line length L2, a hypotenuse chord length L3, a right angle side length L4, and a total length L5, and the geometric tolerance includes verticality and flatness;
the precision ranges of the end face side length L1, the diagonal line length L2 and the total length L5 are +/-0.03 mm, the precision ranges of the hypotenuse chord length L3 and the right angle side length L4 are +/-0.1 mm, the precision range of the perpendicularity is +/-0.1 DEG, and the precision range of the flatness is +/-0.1 mm;
the workpiece 8 needs to remain completely stationary during scanning of the workpiece 8 by the scanner 5.
The implementation provides a detection method for rod-shaped materials, which can finish high-precision and multi-parameter detection, performs multi-angle scanning on the marks on the workpiece 8 through the scanner 5, and then performs processing calculation on the acquired signals through the industrial personal computer, so that the dimensional parameters and geometric tolerance of the workpiece 8 are obtained, and the detection method is high in detection precision, rapid in calculation, high in detection speed and high in result reliability.
The above description is intended to illustrate the application and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the application.
Claims (10)
1. A check out test set for bar-shaped material, its characterized in that: the automatic feeding device comprises two upright posts (1) which are arranged in parallel at intervals, a conveying mechanism (2) is cooperatively arranged between the two upright posts (1), a motor (6) is fixed at the bottom of the conveying mechanism (2), and the motor (6) drives the conveying mechanism (2) to move, so that a workpiece (8) placed at the top of the conveying mechanism (2) is driven to linearly move along a first horizontal direction;
the top of two upright posts (1) is provided with a cross beam (11) at the same time, one side end surface of the cross beam (11) is provided with a cylinder (7), the bottom of the cross beam (11) is provided with a multi-degree-of-freedom mechanical arm (4) in a matched manner through a motion mechanism (3), the working end of the mechanical arm (4) is provided with a scanner (5) in a matched manner, the motion mechanism (3) is connected with the output end of the cylinder (7), and the cylinder (7) drives the motion mechanism (3) to drive the mechanical arm (4) to do linear motion along a second horizontal direction;
the top of one upright post (1) is provided with a control cabinet (10) in a matching way, and the detection equipment is provided with an industrial personal computer for processing the scanning result of the scanner (5);
during detection, the motor (6) drives the conveying mechanism (2) to convey the workpiece (8) in place, and meanwhile, the air cylinder (7) drives the moving mechanism (3) to move the mechanical arm (4) in place, so that the scanner (5) arranged at the working end of the mechanical arm (4) is driven to move in place, and the mechanical arm (4) with multiple degrees of freedom drives the scanner (5) to move in a certain space range, so that the surface size parameters and geometric tolerance of the workpiece (8) are scanned.
2. A detection apparatus for rod-like materials as set forth in claim 1, wherein: the first horizontal direction and the second horizontal direction are mutually perpendicular.
3. A detection apparatus for rod-like materials as set forth in claim 1, wherein: the conveying mechanism (2) has the structure that: the automatic feeding device comprises a conveying frame (201), wherein a roller set (202) is rotatably arranged at the top of the conveying frame (201), the roller set (202) comprises a plurality of rollers which are arranged in parallel at intervals, one end of each roller is provided with a transmission chain wheel (205) in a matched manner, and a conveying base (203) for placing a workpiece (8) is arranged at the top of the roller set (202) in a matched manner;
the bottom of the conveying frame (201) is fixedly provided with a box-shaped motor mounting seat (206), a motor (6) is mounted in the motor mounting seat (206) in a matched manner, the output end of the motor (6) is connected with a driving sprocket, a synchronous chain is mounted between the driving sprocket and a transmission sprocket (205) in a matched manner, the motor (6) drives the driving sprocket to rotate, and the driving sprocket drives all the transmission sprockets (205) to rotate simultaneously through the synchronous chain, so that rollers in the roller set (202) are driven to rotate simultaneously;
a stopper (204) and a punctuation frame (207) are mounted on the top of the conveying frame (201) in a matched mode, the stopper (204) limits displacement of the conveying base (203) in the advancing direction, and the punctuation frame (207) is used for arranging marks during detection.
4. A detection apparatus for rod-like materials as set forth in claim 1, wherein: the structure of the motion mechanism (3) is as follows: including several parallel interval arrangement's slide rail (301), slide rail (301) are fixed in the bottom of crossbeam (11), and the cooperation is installed several slider (302) on single slide rail (301), connecting plate (303) are installed in the bottom cooperation of slider (302), first connecting seat (304) are fixed at the top of connecting plate (303), first connecting seat (304) are connected with the output of cylinder (7) of fixing in crossbeam (11) one side, and ram (306) are still fixed at the top of connecting plate (303), ram (306) are installed with the stop gear (9) cooperation of installing in crossbeam (11) opposite side, and the bottom of connecting plate (303) is fixed with second connecting seat (305) that are used for installing arm (4).
5. A test device for rod-shaped articles as defined in claim 4, wherein: the limit mechanism (9) has the structure that: the anti-collision device comprises two limiting mounting seats (901) which are oppositely arranged at intervals, wherein a polyurethane rubber coating screw (902) and a buffering plug (903) are arranged on the single limiting mounting seat (901) in a matched mode, and the polyurethane rubber coating screw (902) and the buffering plug (903) are used for limiting the movement stroke of a collision block (306).
6. A detection method using the detection apparatus for a rod-like material according to claim 1, characterized in that: the method comprises the following steps:
s1, installing a scanner (5) at the working end of a mechanical arm (4), setting a reflective mark point on the surface of a workpiece (8) to be used as a mark for identifying the scanner (5), integrating two cameras and a laser emitter on the scanner (5), and calibrating the two cameras on the scanner (5) so that the fields of view of the two cameras intersect to form a common field of view, and ensuring that more than four marks exist in the common field of view of the two cameras;
s2, a laser transmitter of the scanner (5) transmits a plurality of wire harness lasers, meanwhile, the mechanical arm (4) drives the scanner (5) to move in a certain space range, and marks on the surface of the workpiece (8) are captured through two cameras in the moving process of the scanner (5), so that three-dimensional point clouds on the surface of the workpiece (8) are obtained;
s3, according to the three-dimensional point cloud acquired by the scanner (5), sequentially splicing the three-dimensional point cloud by adopting a data splicing method, so as to synchronously generate a corresponding three-dimensional acquisition data model of the workpiece (8);
s4, the industrial personal computer compares the synchronously generated collected data model of the workpiece (8) with a pre-stored standard data model, and the dimensional parameters and geometric tolerance of the workpiece (8) can be measured from the collected data model.
7. A method for detecting a rod-like material as defined in claim 6, wherein: s1, reasonably arranging the dot density of the marks, and avoiding the obvious characteristic area of a workpiece (8) in the mark arrangement, so as to prevent key characteristic data from being lost, wherein the patterns formed by the three marks are prevented from presenting isosceles triangle or equilateral triangle shapes;
when the scanner (5) scans the marks, the marks are required to be identified in six directions which are right above, front, back, left, right and inclined by 45 degrees.
8. A method for detecting a rod-like material as defined in claim 6, wherein: and S3, in the data splicing process, when the situation of data splicing loss occurs, the mechanical arm (4) drives the scanner (5) to move back to the data lost area to stay for 2S-5S, and the scanner (5) performs rescanning.
9. A method for detecting a rod-like material as defined in claim 6, wherein: s4, a standard data model of a workpiece (8) is prestored in the industrial personal computer system, and the workpiece (8) comprises various sizes and various shapes;
the dimension parameters which can be measured include end face side length, diagonal line length, hypotenuse chord length, right angle side length and total length, and the geometric tolerance includes verticality and flatness;
the precision ranges of the end face side length, the diagonal line length and the total length are +/-0.03 mm, the precision ranges of the hypotenuse chord length and the right angle side length are +/-0.1 mm, the precision range of the perpendicularity is +/-0.1 DEG, and the precision range of the flatness is +/-0.1 mm.
10. A method for detecting a rod-like material as defined in claim 6, wherein: when the detection equipment is used for the first time, the detection equipment is not used for a long time; when the detection equipment is rocked, the detection equipment is transported, the single-frame scanning data volume of the detection equipment is small, the data points cannot be spliced, and the marks cannot be identified, the two cameras are required to be recalibrated;
during scanning of the workpiece (8) by the scanner (5), the workpiece (8) needs to remain completely stationary.
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