CN221077553U

CN221077553U - Irregular workpiece pose measuring device

Info

Publication number: CN221077553U
Application number: CN202322783641.6U
Authority: CN
Inventors: 贺晨龙; 李明明
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2023-10-17
Filing date: 2023-10-17
Publication date: 2024-06-04
Anticipated expiration: 2033-10-17

Abstract

The utility model discloses an irregular workpiece pose measuring device, which relates to the technical field of workpiece measurement and comprises a base, wherein a camera shooting assembly is arranged on the side surface of the base through a supporting beam and is connected with a computer through a local area network, a horizontal rotation driving assembly is fixed at the top of the base, a sucking disc is fixed at the top of the horizontal rotation driving assembly, a suction hole is formed in the top of the sucking disc, a storage plate is detachably connected to the top of the sucking disc, a through hole coaxial with the suction hole is formed in the top of the storage plate, a horizontal measuring table is connected to the top of the base through supporting legs, and a vertical measuring table is vertically connected to the side surface of the horizontal measuring table. According to the utility model, the rotatable object placing plate is arranged, when views are continuously shot, the shot part of the workpiece can be rotated, the convenience is better than that of a traditional overturning camera assembly, the light supplementing angle of the light supplementing component is not required to be readjusted, and the acquisition time of the pose data of the workpiece is saved.

Description

Irregular workpiece pose measuring device

Technical Field

The utility model relates to the technical field of workpiece measurement, in particular to an irregular workpiece pose measuring device.

Background

Pose refers to the position and direction of an object, robot or person's pose or pose in three-dimensional space. It consists of two elements, position and direction. The position represents the coordinates of the center or reference point of the object in three-dimensional space, and the direction represents the orientation or direction of the object in three-dimensional space. The concept of pose has important applications in the fields of computer graphics, robotics virtual reality, augmented reality, navigation and pose estimation, etc.

According to the pose measuring device disclosed by the publication number CN210689624U, the pose measuring device comprises a bracket, a controller, a driving plate, a light supplementing unit and two sets of image acquisition units, wherein the image acquisition units comprise an electric control rotating mechanism, a camera shooting assembly and a temperature and humidity compensation assembly, the electric control rotating mechanism is fixed on the bracket, and the camera shooting assembly and the temperature and humidity compensation assembly are both fixed on the electric control rotating mechanism; the light supplementing illumination unit comprises an electric control rotary turnover mechanism and a light supplementing illumination assembly arranged on the electric control rotary turnover mechanism; the driving plate is respectively connected with the controller, the electric control rotating mechanism, the temperature and humidity compensation assembly, the electric control rotating turnover mechanism and the light supplementing illumination assembly, and the controller is connected with the camera shooting assembly. The utility model can reduce the influence of environmental factors on measurement under complex working conditions, thereby accurately measuring the pose parameters of the moving object and solving the technical problem that the existing binocular stereoscopic vision video measurement system cannot be normally used under complex working conditions.

The existing pose measuring device is used for collecting pose images of photographed objects in different directions by adjusting the photographing direction of a photographing assembly, and the adjusting mode has the defects that: after each time of adjusting the shooting direction, the light supplementing angle of the light supplementing illuminating component needs to be readjusted, so that the image acquisition time is long.

Disclosure of utility model

The utility model aims to provide an irregular workpiece pose measuring device capable of shortening image acquisition time so as to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides an irregular work piece pose measuring device, the on-line screen storage device comprises a base, the side of base is installed through supporting beam and is made a video recording the subassembly, make a video recording the three views of subassembly and be used for shooing the object, make a video recording the subassembly and be connected with the computer through the LAN, the top of base is fixed with horizontal rotation drive subassembly, the top of horizontal rotation drive subassembly is fixed with the sucking disc, the suction opening has been seted up at the sucking disc top, the top of sucking disc can be dismantled and is connected with the thing board of putting, the through-hole coaxial with the suction opening has been seted up at the top of thing board, the work piece of being shot is placed at the top surface of putting the thing board, start-up sucking disc, the sucking disc produces suction to the work piece through suction opening, avoid the work piece to take place to rock and shift on putting the thing board and see, the top of base is connected with the level measurement platform through the supporting leg, the side of level measurement platform is connected with vertical measurement platform perpendicularly, the adjacent side of level measurement platform and vertical measurement platform are carved with the coordinate respectively, the top of the horizontal measuring table is provided with a tangential channel in a penetrating way, the tangential channel is matched with the object placing plate in a concentric tangential way, four end corners of the base are respectively provided with an angle-adjustable light supplementing component, the light supplementing component is used for supplementing light when a workpiece is shot, the workpiece is placed in the middle of the top of the object placing plate when shot, the front surface of the workpiece is opposite to the camera, the light supplementing component is adjusted, light rays emitted by the light supplementing component are uniformly dispersed on the surface of the workpiece, the servo motor is started, the height of the camera in the vertical direction is adjusted through the output end of the servo motor, thereby the front view of the workpiece is shot through the camera, the top view of the workpiece is shot through the front view camera, the driving motor is started, the output end of the driving motor drives the second bevel gear to rotate through the first bevel gear, the rotating shaft is driven to rotate in the horizontal direction through the second bevel gear, thereby the accessible pivot drives sucking disc and puts thing board and rotate ninety degrees, shoot the side view of work piece through the camera, and upload the image after will shooting to the computer through the LAN and carry out subsequent processing, through setting up the coordinate position that the three views of work piece correspond, thereby be convenient for proofread the error that computer measured value was estimated, through setting up rotatable thing board of putting, when continuously shooting the view, can rotate the shooting position of work piece, the device convenience of traditional upset subassembly of making a video recording is good, and need not to readjust the light filling angle of light filling part, the acquisition time of work piece position appearance data has been saved, through setting up the level measuring table and the vertical measuring table that seal has the coordinate check, the coordinate data of work piece position appearance has been conveniently read directly perceivedly, the accurate position of the data of computer processing is convenient for proofreading, be favorable to reducing measuring error.

As a further scheme of the utility model: the camera shooting assembly comprises a horizontal guide rail and a vertical guide rail, the vertical guide rail is vertically connected with the horizontal guide rail, a servo motor is installed at the top of the vertical guide rail, a camera is connected with the output end of the servo motor in a threaded mode, a connecting rod is vertically welded at the top of the vertical guide rail, a top-down camera is installed at one end of the connecting rod, the camera is used for shooting the front view and the side view of a workpiece, and the top-down camera is used for shooting the top view of the workpiece.

As a further scheme of the utility model: the side of vertical guide rail is fixed with horizontal instruction pole, and the one end of level measurement platform is carved with apart from the scale mark, and the instruction pole is used for instructing apart from the scale mark, is convenient for adjust the mobile position of camera.

As a further scheme of the utility model: the horizontal rotation driving assembly comprises a driving motor, the output end of the driving motor is connected with a first bevel gear, the surface of the first bevel gear is meshed with a second bevel gear, the top of the second bevel gear rolls through a rotating shaft, the rotating shaft and the base movably penetrate through each other, the output end of the driving motor drives the first bevel gear to rotate, the first bevel gear drives the second bevel gear to rotate, and the second bevel gear drives the rotating shaft to rotate in the horizontal direction.

As a further scheme of the utility model: the bottoms of the sucking disc and the object placing plate are respectively provided with a threaded connection hole, and the sucking disc and the object placing plate can be connected by adopting bolts adapting to the threaded connection holes.

As a further scheme of the utility model: the side face of the supporting leg is welded with a stabilizing frame, the rotating shaft penetrates through the stabilizing frame, a bearing is arranged at the joint of the rotating shaft and the stabilizing frame, and the stabilizing frame stabilizes the use position of the rotating shaft to reduce the load at the joint of the second bevel gear and the base.

As a further scheme of the utility model: the light filling part includes the telescopic link, the bottom of telescopic link is fixed with the top of base, the inside of telescopic link runs through there is positioning handle, the top threaded connection of telescopic link has the switching-over platform, the top welding of switching-over platform has the mounting groove, one side loose axle of mounting groove is connected with the light filling lamp, the opposite side screw thread through-connection of mounting groove has the locking hand (hold), the one end of locking hand (hold) and the side stiction contact of light filling lamp, through rotating the switching-over platform, can adjust the angle of light filling lamp at the horizontal direction, through loosening the locking hand (hold), can adjust the irradiation angle of light filling lamp at vertical direction.

As a further scheme of the utility model: the lower extreme bolted connection of vertical measurement platform has leaning board, and leaning board is connected with the top surface of horizontal measurement platform, and leaning board is used for promoting the installation stability of vertical measurement platform.

Compared with the prior art, the utility model has the beneficial effects that:

1. According to the utility model, the rotatable object placing plate is arranged, when views are continuously shot, the shot part of the workpiece can be rotated, the convenience is better than that of a traditional overturning camera assembly, the light supplementing angle of the light supplementing component is not required to be readjusted, and the acquisition time of the pose data of the workpiece is saved.

2. According to the utility model, the horizontal measuring table and the vertical measuring table which are printed with the coordinate grids are arranged, so that the coordinate data of the workpiece pose can be conveniently and intuitively read, the accurate position of the data processed by the computer can be conveniently calibrated, and the measurement error can be reduced.

Drawings

FIG. 1 is a perspective view of the present utility model;

FIG. 2 is a side view of the present utility model;

FIG. 3 is an enlarged view of FIG. 2A in accordance with the present utility model;

FIG. 4 is a diagram of the suction cup attachment configuration of the present utility model;

fig. 5 is a view of the structure of the back view of the present utility model.

In the figure: 1. a base; 2. a driving motor; 3. a first bevel gear; 4. a second bevel gear; 401. a rotating shaft; 5. a suction cup; 6. a connection hole; 7. a storage plate; 8. a through hole; 9. a coordinate grid; 10. support legs; 11. a stabilizing rack; 12. a bearing; 13. a suction hole; 14. a level measurement station; 15. tangential channels; 16. a telescopic rod; 17. a positioning handle; 18. a reversing table; 19. a mounting groove; 20. locking the handle; 21. a light supplementing lamp; 22. a support beam; 23. a horizontal guide rail; 24. a vertical guide rail; 25. a camera; 26. an indication rod; 27. a distance scale line; 28. a vertical measuring station; 281. leaning against the plate; 29. a servo motor; 30. a connecting rod; 31. a depression camera.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-5, the present utility model provides a technical solution: an irregular workpiece pose measuring device comprises a base 1, wherein a camera shooting component is arranged on the side surface of the base 1 through a supporting beam 22 and used for shooting three views of an object, the camera shooting component is connected with a computer through a local area network and comprises a horizontal guide rail 23 and a vertical guide rail 24, the vertical guide rail 24 is vertically connected with the horizontal guide rail 23, a servo motor 29 is arranged at the top of the vertical guide rail 24, a camera 25 is in threaded connection with the output end of the servo motor 29, a connecting rod 30 is vertically welded at the top of the vertical guide rail 24, a pitching camera 31 is arranged at one end of the connecting rod 30, the camera 25 is used for shooting front view and side view of a workpiece, the nodding camera 31 is used for shooting top view of the workpiece, the top of the base 1 is fixedly provided with a horizontal rotation driving component, the horizontal rotation driving component comprises a driving motor 2, the output end of the driving motor 2 is connected with a first bevel gear 3, the surface of the first bevel gear 3 is meshed with a second bevel gear 4, the top of the second bevel gear 4 rolls through a rotating shaft 401, the top of the horizontal rotation driving component is fixedly provided with a sucker 5, the top of the sucker 5 is provided with a suction hole 13, the top of the sucker 5 is detachably connected with a placement plate 7, the top of the placement plate 7 is provided with a through hole 8 coaxial with the suction hole 13, the workpiece to be shot is placed on the top surface of the placement plate 7, starting the sucker 5, sucking the workpiece through the sucking hole 13 and the through hole 8 by the sucker 5, avoiding the workpiece shaking and shifting on the object placing plate 7, connecting the top of the base 1 with a horizontal measuring table 14 through a supporting leg 10, vertically connecting the side surfaces of the horizontal measuring table 14 with a vertical measuring table 28, respectively imprinting the adjacent side surfaces of the horizontal measuring table 14 and the vertical measuring table 28 with a coordinate grid 9, penetrating the top of the horizontal measuring table 14 and providing a tangential channel 15, tangentially adapting the tangential channel 15 to the concentric center of the object placing plate 7, respectively installing angle-adjustable light supplementing components at the four end corners of the base 1, wherein the light supplementing components are used for supplementing light when the workpiece is photographed, the light supplementing component comprises a telescopic rod 16, the bottom of the telescopic rod 16 is fixed with the top of the base 1, a positioning handle 17 penetrates through the inside of the telescopic rod 16, a reversing table 18 is connected with the top of the telescopic rod 16 in a threaded manner, an installation groove 19 is welded at the top of the reversing table 18, a light supplementing lamp 21 is connected with one movable shaft at one side of the installation groove 19, a locking handle 20 is connected with the other side of the installation groove 19 in a threaded manner in a penetrating manner, one end of the locking handle 20 is in static friction contact with the side face of the light supplementing lamp 21, the angle of the light supplementing lamp 21 can be adjusted in the horizontal direction by rotating the reversing table 18, the irradiation angle of the light supplementing lamp 21 can be adjusted in the vertical direction by loosening the locking handle 20, during shooting, a workpiece is placed in the middle of the top of the object placing plate 7, the front surface of the workpiece is opposite to the camera 25, the light supplementing component is adjusted, light rays emitted by the light supplementing component are uniformly dispersed on the surface of the workpiece, the servo motor 29 is started, the height of the camera 25 in the vertical direction is adjusted through the output end of the servo motor 29, thus the front view of the workpiece is shot through the camera 25, the top view of the workpiece is shot through the top-down shooting camera 31 while the front view is shot, the driving motor 2 is started, the output end of the driving motor 2 drives the second bevel gear 4 to rotate through the first bevel gear 3, the rotating shaft 401 is driven to rotate in the horizontal direction through the second bevel gear 4, thereby the sucker 5 and the object placing plate 7 can be driven to rotate ninety degrees through the rotating shaft 401, the side view of the workpiece is shot through the camera 25, the shot image is uploaded to a computer for subsequent processing through a local area network, the coordinate positions corresponding to the three views of the workpiece are convenient to visually observe through the arrangement of the coordinate grid 9, the error estimated by the measured value of the computer is convenient to correct, the shooting part of the workpiece can be rotated during continuous shooting of the view through the arrangement of the rotatable object placing plate 7, the convenience is good compared with the device of the traditional overturning camera assembly, the light supplementing angle of the light supplementing component is not required to be readjusted, the acquisition time of the pose data of the workpiece is saved, the horizontal measuring table 14 and the vertical measuring table 28 which are printed with the coordinate grid 9 are arranged, the method has the advantages that the coordinate data of the workpiece pose can be conveniently and intuitively read, the accurate position of the data processed by the computer can be conveniently checked, and the measurement error can be reduced.

Preferably, as shown in fig. 1, a horizontal indication rod 26 is fixed on the side surface of the vertical guide rail 24, a distance scale line 27 is printed on one end of the horizontal measuring table 14, and the indication rod 26 is used for indicating the distance scale line 27, so as to facilitate adjustment of the moving position of the camera 25.

Preferably, as shown in fig. 2, the rotating shaft 401 movably penetrates through the base 1, the output end of the driving motor 2 drives the first bevel gear 3 to rotate, the first bevel gear 3 drives the second bevel gear 4 to rotate, and the second bevel gear 4 drives the rotating shaft 401 to rotate in the horizontal direction.

Preferably, as shown in fig. 4, the bottoms of the sucking disc 5 and the object placing plate 7 are respectively provided with a threaded connection hole 6, and the sucking disc 5 and the object placing plate 7 can be connected by adopting bolts adapting to the threaded connection holes 6.

Preferably, as shown in fig. 2, a stabilizer 11 is welded on the side of the supporting leg 10, the rotating shaft 401 penetrates through the stabilizer 11, and a bearing 12 is installed at the connection part of the rotating shaft 401 and the stabilizer 11, and the stabilizer 11 stabilizes the use position of the rotating shaft 401 to reduce the load at the connection part of the second bevel gear 4 and the base 1.

Preferably, as shown in fig. 5, a leaning plate 281 is bolted to the lower end of the vertical measuring table 28, the leaning plate 281 is connected to the top surface of the horizontal measuring table 14, and the leaning plate 281 is used to improve the installation stability of the vertical measuring table 28.

Working principle: when the device is used, a workpiece is placed in the middle of the top of the object placing plate 7, the front surface of the workpiece is opposite to the camera 25, the light supplementing component is adjusted, light emitted by the light supplementing component is uniformly dispersed on the surface of the workpiece, the servo motor 29 is started, the height of the camera 25 in the vertical direction is adjusted through the output end of the servo motor 29, therefore, the front view of the workpiece is shot through the camera 25, the top view of the workpiece is shot through the top-down camera 31 while the front view is shot, the driving motor 2 is started, the output end of the driving motor 2 drives the second bevel gear 4 to rotate through the first bevel gear 3, the rotating shaft 401 is driven to rotate in the horizontal direction through the second bevel gear 4, the sucker 5 and the object placing plate 7 are driven to rotate ninety degrees through the rotating shaft 401, the side view of the workpiece is shot through the camera 25, the shot image is uploaded to a computer through a local area network for subsequent processing, and the coordinate position corresponding to the three views of the workpiece is conveniently and intuitively observed through the setting of the coordinate grid 9, so that errors estimated by the computer measurement values are conveniently corrected.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an irregular work piece pose measuring device, including base (1), a serial communication port, the side of base (1) is through supporting beam (22) installs the subassembly of making a video recording, make a video recording the subassembly and be connected with the computer through the LAN, the top of base (1) is fixed with horizontal rotation drive assembly, the top of horizontal rotation drive assembly is fixed with sucking disc (5), sucking hole (13) have been seted up at sucking disc (5) top, the top of sucking disc (5) is dismantled and is connected with puts thing board (7), through-hole (8) coaxial with sucking hole (13) have been seted up at the top of putting thing board (7), the top of base (1) is connected with horizontal measurement platform (14) through supporting leg (10), the side of horizontal measurement platform (14) is connected with vertical measurement platform (28) perpendicularly, the adjacent side of horizontal measurement platform (14) are stamped respectively and are listed up grid (9), tangent passageway (15) have been run through at the top of horizontal measurement platform (14), tangent passageway (15) and put thing board (7) concentric center adaptation, four terminal angle punishment adjustable parts of base (1).

2. The irregular workpiece pose measurement device according to claim 1, wherein: the camera shooting assembly comprises a horizontal guide rail (23) and a vertical guide rail (24), wherein the vertical guide rail (24) is vertically connected with the horizontal guide rail (23), a servo motor (29) is installed at the top of the vertical guide rail (24), a camera (25) is connected with the output end of the servo motor (29) in a threaded mode, a connecting rod (30) is vertically welded at the top of the vertical guide rail (24), and a nodding camera (31) is installed at one end of the connecting rod (30).

3. The irregular workpiece pose measurement device according to claim 2, wherein: a horizontal indicating rod (26) is fixed on the side face of the vertical guide rail (24), and a distance scale mark (27) is printed on one end of the horizontal measuring table (14).

4. The irregular workpiece pose measurement device according to claim 1, wherein: the horizontal rotation driving assembly comprises a driving motor (2), the output end of the driving motor (2) is connected with a first bevel gear (3), a second bevel gear (4) is meshed with the surface of the first bevel gear (3), a rotating shaft (401) is rolled through the top of the second bevel gear (4), and the rotating shaft (401) and the base (1) movably penetrate through each other.

5. The irregular workpiece pose measurement device according to claim 1, wherein: the bottoms of the sucker (5) and the object placing plate (7) are respectively provided with a threaded connection hole (6).

6. The irregular workpiece pose measurement device of claim 4, wherein: the side face of the supporting leg (10) is welded with a stabilizing frame (11), the rotating shaft (401) penetrates through the stabilizing frame (11), and a bearing (12) is arranged at the joint of the rotating shaft (401) and the stabilizing frame (11).

7. The irregular workpiece pose measurement device according to claim 1, wherein: the light supplementing component comprises a telescopic rod (16), the bottom of the telescopic rod (16) is fixed with the top of the base (1), a positioning handle (17) is penetrated in the telescopic rod (16), a reversing table (18) is connected to the top of the telescopic rod (16) in a threaded mode, an installation groove (19) is welded at the top of the reversing table (18), a light supplementing lamp (21) is connected to one movable shaft of the installation groove (19), a locking handle (20) is penetrated in the threaded mode at the other side of the installation groove (19), and one end of the locking handle (20) is in static friction contact with the side face of the light supplementing lamp (21).

8. The irregular workpiece pose measurement device according to claim 1, wherein: the lower end of the vertical measuring table (28) is connected with a leaning plate (281) through bolts, and the leaning plate (281) is connected with the top surface of the horizontal measuring table (14).