CN104020138B - Body outer panel vision-based detection automatic positioning equipment - Google Patents

Abstract

The invention discloses an automatic positioning device for visual detection of an automobile outer cover. In order to solve the problems of slow speed, low precision and narrow detection range of traditional manual detection, it includes a base, a power device, an image acquisition system, a laser transmitter assembly become. The base includes base frame, image acquisition system bracket, and laser transmitter assembly bracket; the No. 1 camera height adjustment rod of the image acquisition system bracket is fixedly connected with the lower end of the No. The rod is fixedly connected with the lower end of the No. 4 camera height adjustment rod and the base frame; the No. 1 laser height adjustment rod in the laser transmitter assembly bracket is connected with the lower end of the No. 2 laser height adjustment rod, and the No. 1 length control rod in the base frame is connected with the The outer side of the No. 2 length control rod is fixed; the power unit is installed on the No. 1 power guide rail and the No. 2 power guide rail of the base frame; into a stand.

Description

Auto-positioning device for visual inspection of exterior body panels

technical field

The invention relates to an automatic workpiece fixing device in the field of computer vision detection, more specifically, the invention relates to an automatic positioning device applied to the visual detection of the outer cover of an automobile body.

Background technique

As the main means of transportation for people's daily travel, automobiles are not only responsible for carrying functions, but also a handicraft that integrates art and beauty. The equipment and methods used in paint film quality inspection have a decisive effect on the accuracy and speed of car body paint film defect detection.

Refer to Figure 1, which shows the front view of a car door outer panel. At present, most of the car outer panels are inspected for paint film defects by manual visual inspection, but manual inspection cannot detect small differences in car body paint film defects. In addition, the various types of paint film defects and the differences in the technical level of the detection technicians determine that the detection of car body paint film defects is not only affected by objective factors, but also by subjective factors; with computer technology, sensors With the development of technology and image processing technology, the application range of computer vision detection in industrial production has gradually expanded, and its detection accuracy has also been greatly improved. The so-called visual inspection is a detection method that uses images as a means or carrier for detection and transmission of information. Since visual inspection mainly adopts intelligent and digital processing technology, there are few parts that need human control in the inspection process, which can meet the requirements of on-line inspection, and has the advantages of non-contact, fast measurement speed and high degree of automation, and provides a great guarantee for online inspection. new way.

For the detection of paint film defects on car body outer panels, there is no literature report on the use of line structured light combined with computer vision technology for non-contact detection, and no one has proposed related automatic positioning equipment for outer panel detection.

Contents of the invention

The technical problem to be solved by the present invention is to change the problems of slow speed, low precision and narrow detection range of traditional manual detection in industrial production, and provide an automatic positioning device applied to the visual detection of the outer covering of automobile body.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the automatic positioning device for visual detection of the outer cover of the automobile is composed of a base, a power device, an image acquisition system, and a laser emitter assembly.

The base includes a base frame, an image acquisition system bracket and a laser emitter assembly bracket.

The lower end of the No. 1 camera height adjustment rod in the image acquisition system bracket and the No. 2 camera height adjustment rod are vertically connected with the inner side bolts of the No. 1 length control sub-rod in the base frame by two wide-angle irons with the same structure The lower ends of the No. 3 camera height adjustment rod and the No. 4 camera height adjustment rod are connected vertically with the inner side bolts of the No. 2 length control sub-rod in the base frame by two wide-angle irons with the same structure.

The lower ends of the No. 1 laser height adjustment rod and the No. 2 laser height adjustment rod in the laser transmitter assembly bracket adopt two wide angle irons with the same structure and the No. 1 length control rod and the No. 2 length control rod in the base frame. Rod outside bolted connection.

The power unit is installed on the No. 1 power guide rail and No. 2 power guide rail in the base frame for rolling connection; the image acquisition system is installed on the No. 1 camera position adjustment rod and No. 2 camera position adjustment rod in the image acquisition system bracket, and the laser emits The laser transmitter assembly is installed on the laser position adjustment rod in the laser transmitter assembly bracket.

The image acquisition system bracket described in the technical solution also includes a No. 1 camera position adjustment rod and a No. 2 camera position adjustment rod. The two ends of the No. 1 camera position adjustment rod are connected by two narrow-angle irons with the same structure, and the No. 1 camera height adjustment rod is connected with the internal measurement bolt on the upper end of the No. 3 camera height adjustment rod to form a left "door"-shaped frame, and the No. 2 camera The two ends of the position adjustment rod are also connected with two narrow-angle irons with the same structure, and the No. 2 camera height adjustment rod is connected with the internal measurement bolt on the upper end of the No. 4 camera height adjustment rod to form a "door"-shaped frame on the right side, and a "door" on the left side. The font frame has the same structure as the right "door" font frame, and the left "door" font frame and the right "door" font frame are combined into an image acquisition system support.

The laser emitter assembly support described in the technical solution also includes a laser position adjustment rod. The two ends of the laser position adjustment rod are connected by two narrow-angle irons with the same structure, and the No. 1 laser height adjustment rod and the inner bolt on the upper end of the No. 2 laser height adjustment rod are connected to form a "gate"-shaped frame, which is the laser transmitter assembly bracket.

The base frame described in the technical proposal also includes No. 1 width control rod, No. 2 width control rod, No. 1 adjustable width sub-rod, No. 2 adjustable width sub-rod, No. 3 adjustable width sub-rod, and No. 4 adjustable width control rod. Width sub-bar with 4 bases of the same structure. The No. 1 length control rod, the No. 2 width control rod, the No. 2 length control rod and the No. 1 width control rod are connected end-to-end in sequence, and four wide-angle irons with the same structure are connected to form a rectangular plane frame. The No. 1 power guide rail uses two The narrow angle iron and the No. 1 width control rod are connected with the No. 2 width control rod by vertical bolts, and the No. 2 power guide rail is connected with two narrow angle irons and the No. 1 width control rod and the No. 2 width control rod by vertical bolts. One end of the No. 3 adjustable width sub-rod and the No. 4 adjustable width sub-rod are connected by two wide angle irons with the same structure and the same-side bolts at both ends of the No. 1 length control sub-rod to form a "door"-shaped frame, and the No. 3 adjustable width The other end of the width sub-rod and the No. 4 adjustable width sub-rod are vertically connected by two wide angle irons with the same structure and the outside of the left end of the No. 1 length control rod. One end of No. 1 adjustable width sub-rod and No. 2 adjustable width sub-rod are connected by two wide angle irons with the same structure and the same-side bolts at both ends of No. 2 length control sub-rod to form a "door"-shaped frame, and No. 1 adjustable width The width sub-rod and the other end of the No. 2 adjustable width sub-rod are vertically connected by two wide angle irons with the same structure and the outside of the left end of the No. 2 length control rod; two "door"-shaped frames and a rectangular plane in the middle The frames are coplanar; 4 bases with the same structure are connected by 8 wide angle irons with the same structure and the length 1 control rod is connected with the bottom surface bolts at both ends of the 2 length control rod.

The power device described in the technical solution includes a power device chassis, a reverse drive device, and a forward drive device. The power unit chassis includes No. 1 main fixing rod, No. 2 main fixing rod, auxiliary fixing rod, No. 1 stepper motor installation rod, No. 2 stepper motor installation rod, No. 1 workpiece installation auxiliary rod, No. 2 The workpiece is installed with the auxiliary rod, the No. 1 workpiece is installed with the main rod, the No. 2 workpiece is installed with the main rod, and the No. 3 workpiece is installed with the main rod. The No. 1 main fixed rod, the No. 1 stepper motor installation rod, the No. 2 stepper motor installation rod, and the auxiliary fixed rod are placed horizontally parallel to the No. 2 main fixed rod, and the No. 1 gear shaft in the right-hand reverse drive device adopts 4 bearings with the same structure are installed on the right end of No. 1 main fixed rod, No. 1 stepper motor installation rod, No. 2 stepper motor installation rod, auxiliary fixed rod and No. 2 main fixed rod, and the left forward drive device The No. 2 gear shaft adopts 4 bearings with the same structure and is installed on the left end of the No. 1 main fixed rod, the No. 1 stepping motor mounting rod, the No. 2 stepping motor mounting rod, the auxiliary fixing rod and the No. 2 main fixing rod, and the No. 1 workpiece Install the sub-rod and the No. 2 workpiece. Install the sub-rod on the top of the No. 1 main fixed rod and No. 2 main fixed rod in turn, and use the groove to fix the connection. The No. 1 workpiece is installed with the main rod, and the No. 2 workpiece is installed with the main rod and the No. 3 workpiece. The main rods are installed parallel to each other on the No. 1 workpiece installation sub-rod and the No. 2 workpiece installation sub-rod and are fixedly connected by grooves.

The reverse driving device described in the technical solution also includes 2 guide rail wheels with the same structure, No. 1 stepping driver, No. 1 large gear, No. 1 stepping motor gear, No. 1 stepping motor and stepping motor fixing sleeve. The No. 1 large gear is set on the No. 1 gear shaft between the No. 2 stepper motor installation rod and the auxiliary fixed rod and is connected by a key. The No. 1 stepper motor is fixed on the No. 1 stepper motor installation rod by the stepper motor fixing sleeve And in the groove at the right end of the No. 2 stepping motor mounting rod, the No. 1 large gear meshes with the No. 1 stepping motor gear installed on the No. 1 stepping motor output shaft, and the No. 1 stepping driver is installed on the No. 1 stepping motor On the motor mounting rod and the No. 2 stepping motor mounting rod, the No. 1 stepping driver and the No. 1 stepping motor are connected by wires, and two guide wheels with the same structure are installed on both ends of the No. 1 gear shaft and connected by keys.

The forward driving device described in the technical solution also includes 2 guide rail wheels with the same structure, a programmable controller, a No. 2 stepping driver, an encoder fixing sleeve, a No. 2 large gear, a No. 2 stepping motor, an encoder, Encoder gear and No. 2 stepper motor gear. The No. 2 large gear is set on the No. 2 gear shaft between the No. 2 stepper motor installation rod and the auxiliary fixed rod and is connected by a key. The No. 2 stepper motor is fixed on the No. 1 stepper motor installation rod through the stepper motor fixing sleeve And in the groove at the left end of the No. 2 stepping motor installation rod, the No. 2 large gear is meshed with the No. 2 stepping motor gear installed on the No. 2 stepping motor output shaft, and the encoder is fixed and installed on the In the groove at the left end of the auxiliary fixed rod, the encoder gear installed on the output shaft of the encoder meshes with the No. 2 stepping motor gear, and the programmable controller and No. 2 stepping driver are installed on the No. 1 stepping motor installation rod and The No. 2 stepper motor is installed on the rod, the programmable controller is connected with the No. 2 stepper driver by wires, the No. 2 stepper driver is connected with the No. 2 stepper motor by wires, and the two guide wheels with the same structure are installed on the No. 2 gear Both ends of the shaft are connected with a key.

The image acquisition system described in the technical solution includes a camera mounting plate, a camera, a light receiving plate, two No. 2 rotating shafts with the same structure, four fixed nuts with the same structure, and two angle adjustment rulers with the same structure. The camera is installed on the camera mounting plate, and the camera mounting plate is installed on the No. 1 camera position adjustment rod and the No. 2 camera position adjustment rod in the image acquisition system bracket. The two ends of the light receiving board are screwed to one end of the two No. 2 rotating shafts with the same structure, and the other ends of the two No. 2 rotating shafts with the same structure adopt the height adjustment of the No. 2 camera in the bracket of the wide-angle iron and the image acquisition system The rod is connected to the inner side of the No. 4 camera height adjustment rod. Two angle adjustment rulers with the same structure are set on the two No. 2 rotating shafts with the same structure and fixed with two fixed nuts with the same structure.

The mounting plate described in the technical solution consists of a bottom plate, two baffles with the same structure, two No. 1 rotating shafts with the same structure and a camera fixing sleeve. Two rectangular baffles with the same structure are installed vertically in the middle of the rectangular bottom plate parallel to each other. The two rectangular baffles with the same structure are parallel to one side of the rectangular bottom plate. Between the two rectangular baffles with the same structure The distance between them is equal to the width of the camera; one end of the two rectangular baffles with the same structure is provided with a fixed sleeve through hole with the same structure for installing the camera fixing sleeve, and the other end of the two rectangular baffles with the same structure is provided with a camera. The camera through holes with the same structure, the rotary axes of the two fixed sleeve through holes with the same structure are collinear, and the rotary axes of the two camera through holes with the same structure are collinear; the two No. 1 rotary shafts with the same structure are installed in the two The two blind holes of the same structure in the middle of the end face are interference fit, and the camera fixing sleeve is installed on the two through holes of the same structure of the fixing sleeve on the two baffles of the same structure.

The laser emitter assembly described in the technical solution includes a laser emitter base, a No. 1 shaft ball connecting rod, a No. 2 shaft ball connecting rod, a clamping piece, a laser emitter sleeve and a laser emitter. The laser transmitter assembly adopts a laser transmitter with a model number of LD-G650A13; the structure of the No. 1 shaft ball connecting rod is the same as that of the No. 2 shaft ball connecting rod, and the No. One end of the shaft-ball connecting rod is provided with a spherical body, while the other end is a screw rod. The laser transmitter sleeve is a cylindrical sleeve structure, and the laser transmitter is installed in the laser transmitter sleeve and fastened with bolts; the base of the laser transmitter is vertically connected with the screw of the No. 1 shaft ball connecting rod, and the No. 1 shaft ball connecting rod The end with a spherical body is placed in the round hole at one end of the clamping piece for rotational connection, and the end with a spherical body of the No. The screw rod of the shaft-ball connecting rod is connected with the laser emitter sleeve, and the laser emitter is installed in the laser emitter sleeve for fastening.

Compared with prior art, the beneficial effects of the present invention are:

1. At present, there is no unified detection device for the detection of paint film defects on automobile outer panels. The traditional method of manual detection is used for detection. The detection speed and detection reliability are low, and it cannot be effectively carried out in the mass production process. detection. The automatic positioning device for the visual detection of the outer body cover of the present invention aims to use computer vision technology on the basis of non-contact detection to develop an automatic positioning device that can use the visual inspection technology to detect the paint film defect of the outer body cover , this positioning device has fast positioning speed and high precision, and can realize effective detection of paint film defects of outer covering parts, thereby improving the quality of paint film of outer covering parts of vehicle body, completely replacing manual detection methods, and greatly improving detection efficiency.

2. Because the automobile outer surface covering has different curvatures, its reflection angle will change. The method of manual detection is mainly to use surface lighting at different angles, and to find areas with different brightness as detection standards, and the method described in the present invention The automatic positioning device for visual inspection of the outer cover of the vehicle body can adjust the relative angle of the camera and the light receiving screen for the outer cover with different reflection curvatures, so as to achieve the purpose of receiving the reflected light on the surface of the workpiece to be tested reasonably. This method can be conveniently based on different The adjustment of the surface curvature of the detected workpiece is of great significance to the detection accuracy and reliability.

3. The width of the automatic positioning device for visual detection of the outer covering of the automobile body according to the present invention can be adjusted according to the size of different coverings of the automobile body, and the size of the light receiving screen of the detection device can also be replaced according to different requirements. Certain versatility; the automatic positioning device for visual detection of vehicle body outer covering parts according to the present invention is mainly driven by a stepping motor, and can automatically complete the entire detection process without the participation of anyone. In the task of film quality inspection, the speed of movement of the power unit and the time to return to the initial position during the inspection process can be controlled by writing the control program of the automatic positioning device for visual inspection of the outer covering of the vehicle body, thus realizing the online inspection of the outer covering.

4. The automatic positioning device for visual detection of the outer cover of the automobile body according to the present invention is mainly constructed by aluminum alloy rods, and the length and cross-sectional size of the rods can also be replaced according to different needs; the visual inspection of the outer cover of the automobile body Most of the key parts used in the detection automatic positioning device can be obtained through factory processing, which has great advantages in parts replacement, and the cost of the automatic positioning device for visual detection of the outer cover of the automobile body is low, and it has a simple structure, The process is reasonable, easy to operate, and highly economical.

Description of drawings

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

Fig. 1 is the front view of a certain car door outer panel that adopts the automatic positioning device for visual detection of automobile outer cover part of the present invention to detect;

Fig. 2 is an axonometric projection view of the structure of the automatic positioning device for visual detection of the outer cover of the automobile according to the present invention;

Fig. 3 is the axonometric projection view of the base in the visual inspection and automatic positioning device for the outer cover of the automobile according to the present invention;

Fig. 4 is the axonometric projection view of the power device in the automatic positioning device for visual detection of the outer cover of the automobile according to the present invention;

Fig. 5 is an axonometric projection view of the front two sides of the camera of the automatic positioning device for visual detection of the outer cover of the automobile according to the present invention;

Fig. 6 is the front view of the light receiving screen of the automatic positioning device for visual detection of the outer cover of the automobile according to the present invention;

Fig. 7 is the enlarged view of the axonometric projection at the power unit B of the automatic positioning device for visual detection of the automobile outer cover part shown in Fig. 4;

Fig. 8 is an axonometric projection enlarged view of the power unit A of the visual detection and automatic positioning device for automobile outer covering parts shown in Fig. 4;

Fig. 9 is an axonometric projection view of the laser combination structure of the automatic positioning device for visual detection of automobile outer covering parts according to the present invention;

Fig. 10 is an axonometric projection view of the base in the automatic positioning device for visual detection of the outer cover of the automobile according to the present invention;

In the figure: Ⅰ. Base, Ⅱ. Power device, Ⅲ. Image acquisition system, Ⅳ. Laser transmitter assembly, No. 1.1 Length control rod, No. 2.2 Length control rod, No. 3.1 Width control rod, No. 4.2 Width control rod , No. 5.1 power guide rail, No. 6.2 power guide rail, No. 7.1 length control sub-rod, No. 8.2 length control sub-rod, No. 9.1 adjustable width sub-rod, No. 10.2 adjustable width sub-rod, No. 11.3 adjustable width sub-rod, 12.4 No. adjustable width auxiliary rod, No. 13.1 camera height adjustment rod, No. 14.2 camera height adjustment rod, No. 15.3 camera height adjustment rod, No. 16.4 camera height adjustment rod, No. 17.1 camera position adjustment rod, No. 18.2 camera position adjustment rod, 19.1 No. laser height adjustment rod, No. 20.2 laser height adjustment rod, 21. laser position adjustment rod, 22. base, 23. wide angle iron, 24. narrow angle iron, 25.1 main fixing rod, 26.2 main fixing rod, 27. Auxiliary fixed rod, No. 28.1 stepper motor installation rod, No. 29.2 stepper motor installation rod, No. 30.1 workpiece installation sub-rod, No. 31.2 workpiece installation sub-rod, No. 32.1 workpiece installation main rod, No. 33.2 workpiece installation main rod, No. 34.3 Workpiece mounting rod, No. 35.1 gear shaft, No. 36.2 gear shaft, 37. Bearing, 38. Guide wheel, 39. Programmable controller, No. 40.2 stepping driver, No. 41.1 stepping driver, No. 42.1 large gear, No. 43.1 Stepping motor gear, No. 44.1 stepping motor, 45. Stepping motor fixing sleeve, 46. Encoder fixing sleeve, No. 47.2 large gear, No. 48.2 stepping motor, 49. Encoder, 50. Encoder gear, No. 51.2 Stepping motor gear, 52. Camera mounting plate, No. 53.1 rotation shaft, 54. Camera fixing sleeve, 55. Camera, 56. Light receiving plate, No. 57.2 rotation shaft, 58. Fixed nut, 59. Angle adjustment ruler, 60. Laser transmitter base, No. 61.1 shaft ball connecting rod, No. 62.2 shaft ball connecting rod, 63. Clamping piece, 64. Laser transmitter sleeve, 65. Laser transmitter, 66. Base base, 67. Intermediate shaft, 68. Wheel fork, 69. Wheel.

detailed description

The present invention is described in detail below in conjunction with accompanying drawing:

Referring to Fig. 2, the automatic positioning device for visual inspection of the outer cover of the automobile according to the present invention is composed of a base I, a power unit II, an image acquisition system III, and a laser emitter assembly IV. The base I is the assembly base of the automatic positioning device for the visual inspection of the entire automobile outer cover, the power device II is installed on the power guide rail of the base I, and the image acquisition system III and the laser transmitter assembly IV are respectively installed on the bottom of the base I. on the brackets on the left and right sides.

Referring to Fig. 3 and Fig. 10, the base I includes a pedestal, an image acquisition system bracket, a laser emitter assembly bracket, 32 wide-angle irons 23 with the same structure and 16 narrow-angle irons 24 with the same structure.

Among them: the base frame includes No. 1 length control rod 1, No. 2 length control rod 2, No. 1 width control rod 3, No. 2 width control rod 4, No. 1 power guide rail 5, No. 2 power guide rail 6, No. 1 length control pair Rod 7, No. 2 length control sub-rod 8, No. 1 adjustable width sub-rod 9, No. 2 adjustable width sub-rod 10, No. 3 adjustable width sub-rod 11, No. 4 adjustable width sub-rod 12 and 4 structures The same base 22, the base 22 includes a base base 66, an intermediate shaft 67, a wheel fork 68 and a wheel 69;

Image acquisition system bracket includes No. 1 camera height adjustment rod 13, No. 2 camera height adjustment rod 14, No. 3 camera height adjustment rod 15, No. 4 camera height adjustment rod 16, No. 1 camera position adjustment rod 17, No. 2 camera position adjustment rod 18;

The laser emitter assembly bracket includes No. 1 laser height adjustment rod 19 , No. 2 laser height adjustment rod 20 and laser position adjustment rod 21 .

The No. 1 length control rod 1 and the No. 2 length control rod 2 have the same structure, and both are made of aluminum alloy profiles to make straight rod structural parts. In the embodiment, an aluminum alloy with a cross-sectional area of 40×40 mm and a length of 2500 mm is used. Rods; No. 1 width control rod 3 and No. 2 width control rod 4 have the same structure, and they are all made of aluminum alloy profiles to make straight rod structural parts. In the embodiment, an aluminum alloy with a cross-sectional area of 40×40mm and a length of 1500mm is used. Rods: No. 1 length control sub-rod 7 and No. 2 length control sub-rod 8 have the same structure, and they are all straight rod structural members made of aluminum alloy profiles. In the embodiment, the cross-sectional area is 40×40mm and the length is 1000mm Aluminum alloy rods; No. 1 adjustable width sub-rod 9, No. 2 adjustable width sub-rod 10, No. 3 adjustable width sub-rod 11 and No. 4 adjustable width sub-rod 12 have the same sliding combination structure, All are straight rod structural parts made of aluminum alloy profiles. In the embodiment, an aluminum alloy rod with a cross-sectional area of 40×40 mm and a length of 500 mm is used; the height adjustment rod 13 of the No. 1 camera, and the height adjustment rod 14 of the No. 2 camera , No. 3 camera height adjustment rod 15, No. 4 camera height adjustment rod 16, No. 1 laser height adjustment rod 19 and No. 2 laser height adjustment rod 20 have the same structure, all of which are straight rod structural parts made of aluminum alloy profiles. In the embodiment, an aluminum alloy rod with a cross-sectional area of 20×40 mm and a length of 1000 mm is used. The profiles and rods in the embodiments of the present invention all adopt GB\T6892-2006 profiles with a model number of 001.08.3030.

The No. 1 camera position adjustment rod 17, the No. 2 camera position adjustment rod 18 and the laser position adjustment rod 21 have the same structure, all of which are straight rod structural parts made of aluminum alloy profiles. In the embodiment, the cross-sectional area is 20× Aluminum alloy rods with a length of 40mm and a length of 2000mm; the sides of the above rods have grooves for fixed installation, which are respectively fixed by wide-angle irons 23 and narrow-angle irons 24 according to requirements; the materials used for the components of the base 22 Both are 45# steel; the wide-angle iron 23 is a right-angled symmetrical structure, and the narrow-angle iron 24 is also a right-angled symmetrical structure, and both angle irons are made of aluminum alloy; the cross-section of the base base 66 is a square, There is a circular through hole; the intermediate shaft 67 is a cylindrical structure, and its middle part has a circular boss.

Referring to Figure 3, one end of No. 1 length control rod 1 is vertically connected with one end of No. 1 width control rod 3 through the first wide angle iron 23 to form an L-shaped connector, and one end of No. 2 length control rod 2 is connected with No. 2 width control rod One end of the rod 4 is vertically connected to form an L-shaped connector through the second wide angle iron 23, and the other end of the No. 1 length control rod 1 is connected with the other end of the No. 2 width control rod 4 through the third wide angle iron 23 vertical bolts , the other end of No. 2 length control rod 2 is connected with the other end of No. 1 width control rod 3 through the fourth wide angle iron 23 vertical bolts, that is, No. 1 length control rod 1, No. 1 width control rod 3, and No. 2 length Control rod 2 and No. 2 width control rod 4 are connected from end to end to form a rectangular frame with four rods in the same horizontal plane; No. 1 power guide rail 5 is connected to No. 1 through vertical bolts of the first and second narrow angle irons 24 Width control rod 3 and No. 2 width control rod 4 are located in parallel with No. 1 length control rod 1; No. 2 power rail 6 is vertically connected to No. 1 width control rod through the third and fourth narrow angle irons 24 3 and No. 2 width control rod 4, their positional relationship is parallel to No. 2 length control rod 2; the guide wheel 38 of power unit II can roll on No. 1 power guide rail 5 and No. 2 power guide rail 6; No. 3 adjustable width One end of auxiliary rod 11 and No. 4 adjustable width auxiliary rod 12 is connected by the fifth and sixth wide angle iron 23 and the two ends of No. 1 length control auxiliary rod 7. The third adjustable width auxiliary rod 11 and 4 The other end of No. 1 adjustable width sub-rod 12 is connected with the 7th and No. 8 wide angle iron 23 and the outer bolt on the left end of No. 1 length control rod 1, No. 1 adjustable width sub-rod 9 and No. 2 adjustable width sub-rod One end of the rod 10 is connected with the bolts at both ends of the ninth and the tenth wide angle iron 23 and the No. 2 length control sub-rod 8, and the other end of the No. 1 adjustable width sub-rod 9 and the No. 2 adjustable width sub-rod 10 The 11th and 12th wide angle iron 23 and the outer bolt on the left end of No. 2 length control rod 2 are used to connect, No. 1 adjustable width sub-rod 9, No. 2 adjustable width sub-rod 10, No. 2 length control sub-rod 8 Two "door"-shaped frames formed with No. 3 adjustable width sub-rod 11, No. 4 adjustable width sub-rod 12, and No. 1 length control sub-rod 7, and No. 1 length control rod 1 and No. 1 width control rod 3 , No. 2 length control rod 2, and the rectangular frame formed by No. 2 width control rod 4 are coplanar; 4 bases 22 with the same structure are respectively vertically fixed on No. 1 length control rod 1 through the 13th to 20th wide angle irons 23 And on the bottom surface of No. 2 length control rod 2 two ends, the pedestal in the base I described so far is formed.

Referring to FIG. 10 , the four bases 22 with the same structure in the base I all include a base base 66 , an intermediate shaft 67 , wheel forks 68 and wheels 69 . The base base 66 forms an interference fit connection with the upper end of the intermediate shaft 67 through the circular through hole in the middle. Similarly, the lower end of the intermediate shaft 67 is fixedly connected with the top of the wheel fork 68, and the lower end of the wheel fork 68 is connected to the wheel 69 through a pin shaft. Make a swivel connection. The structural features of the base 22 facilitate the base I to have the advantages of rolling and easy to change direction, and the base I can be moved freely according to the detection requirements. Wherein: No. 1 length control sub-rod 7 and No. 2 length control sub-rod 8 sides are provided with T-shaped through grooves.

The upper end of the No. 1 camera height adjustment rod 13 in the image acquisition system bracket and one end of the No. 1 camera position adjustment rod 17 are connected vertically by the first and second narrow angle irons 24, and the No. 1 camera position adjustment rod 17 The other end is connected by vertical bolts at the upper end of the third and fourth narrow angle iron 24 and the upper end of the No. 3 camera height adjustment rod 15 to form a "door"-shaped frame on the left. The lower end of the height adjustment rod 15 is connected by the 21st to 24th wide angle iron 23 and the No. 1 length control sub-rod 7 in the base frame and the left end inner side bolt of the No. 2 length control sub-rod 8; the No. 2 camera height adjustment rod 14 The upper end of the No. 2 camera position adjustment rod 18 is vertically bolted with the fifth and sixth narrow angle irons 24, and the other end of the No. 2 camera position adjustment rod 18 is connected with the seventh and eighth narrow angle irons 24 The upper end of the No. 4 camera height adjustment rod 16 is vertically bolted to form a "door"-shaped frame on the right side. The lower end of the No. 2 camera height adjustment rod 14 and the lower end of the No. 4 camera height adjustment rod 16 adopt the 25th to 28th No. 1 length control sub-rod 7 in a wide angle iron 23 and the base frame is connected with the right end inner side bolt of No. 2 length control sub-rod 8. The left "door" font frame has the same structure as the right "door" font frame, and the left "door" font frame and the right "door" font frame are combined into an image acquisition system support.

No. 1 camera height adjustment rod 13 is perpendicular to No. 2 camera height adjustment rod 14 and No. 1 length control sub-rod 7, No. 3 camera height adjustment rod 15 is perpendicular to No. 4 camera height adjustment rod 16 and No. 2 length control sub-rod 8, No. 1 camera position adjustment rod 17 is parallel to No. 2 camera position adjustment rod 18, and is parallel to No. 1 width control rod 3.

The two ends of the laser position adjustment rod 21 in the laser transmitter assembly bracket are sequentially connected by the inner bolts of the upper ends of the 9th to 12th narrow angle irons 24 and the No. 1 laser height adjustment rod 19 and the upper end of the No. 2 laser height adjustment rod 20 , forming a "door"-shaped frame that is the laser transmitter assembly bracket, the lower ends of the No. 1 laser height adjustment rod 19 and the No. 2 laser height adjustment rod 20 adopt the 29th to 32nd wide-angle irons 23 and the base frame No. 1 length control rod 1 is connected with the outer bolt of No. 2 length control rod 2, laser position adjustment rod 21 is parallel to No. 1 width control rod 3, No. 1 laser height adjustment rod 19 and No. 2 laser height adjustment rod 20 and No. 1 Length control rod 1 and No. 2 length control rod 2 perpendicularly intersect, or in other words, No. 1 laser height adjustment rod 19 and No. 2 laser height adjustment rod 20 and No. 1 width control rod 3 are perpendicular to the plane where No. 1 length control rod 1 is located.

Since the size of the workpiece may vary during the detection process, this base I has designed an adjustable distance between the image acquisition system bracket and the laser emitter assembly bracket, that is, by adjusting the No. 1 adjustable width sub-rod 9 and No. 2 Width adjustment sub-rod 10, No. 3 adjustable width sub-rod 11, No. 4 adjustable width sub-rod 12 on No. 2 length control rod 2 and No. 1 length control rod 1. Then, use wide angle iron 23 and bolt It is fixed on the T-shaped groove on the outside of the left end of No. 2 length control rod 2 and No. 1 length control rod 1.

Referring to Figure 4, Figure 7 and Figure 8, the power unit II mainly includes a power unit chassis, a reverse drive device, and a forward drive device;

The power unit chassis includes No. 1 main fixed rod 25, No. 2 main fixed rod 26, auxiliary fixed rod 27, No. 1 stepper motor installation rod 28, No. 2 stepper motor installation rod 29, and No. 1 workpiece installation rod. Secondary rod 30, No. 2 workpieces are installed secondary rods 31, No. 1 workpieces are installed with main rods 32, No. 2 workpieces are installed with main rods 33, and No. 3 workpieces are installed with main rods 34.

Said reverse driving device 1 includes No. 1 gear shaft 35, bearing 37, 2 identical (i.e. the 1st and 2nd) rail wheels 38, No. 1 stepping driver 41, No. 1 large gear 42, 1 No. stepper motor gear 43, No. 1 stepper motor 44 and stepper motor fixed sleeve 45;

Described forward driving device includes No. 2 gear shaft 36, programmable controller 39, No. 2 step driver 40, encoder fixed cover 46, No. 2 bull gear 47, No. 2 step motor 48, encoder 49, Encoder gear 50, No. 2 stepper motor gear 51 and 2 (ie the 3rd and 4th) guide rail wheels (38) with the same structure;

In the present invention, in order to reduce the weight of the power unit II and improve the accuracy of the operation of the workpiece to be tested in the inspection process, the No. 1 main fixed rod 25 and the No. 2 main fixed rod 26 of the power device II and the auxiliary fixed rods 27 and 1 Stepping motor installation bar 28, No. 2 stepping motor installation bar 29 all adopt aluminum alloy material to make, and on the upper surface of auxiliary fixed bar 27 left ends, be provided with the semicircle groove that encoder 49 is installed, in No. 1 step The two ends of the motor installation rod 28 and the No. 2 step motor installation rod 29 are respectively provided with grooves for installing the No. 1 step motor 44 and the No. 2 step motor 48. , No. 1 stepping motor gear 43 and No. 2 large gear 47, No. 2 stepping motor gear 51, and the requirement of meshing between the encoder gear 50. In the process of workpiece detection, it is necessary to ensure the integrity of the workpiece and prevent the collision damage caused by the excessive hardness of the workpiece installation rod. The main rod for No. 1 workpiece installation 32, No. 2 workpiece installation main rod 33, and No. 3 workpiece installation main rod are made of wooden materials. 34 and No. 1 workpiece installation sub-rod 30 and No. 2 workpiece installation sub-rod 31. The bottom surfaces of No. 1 workpiece installation sub-rod 30 and No. 2 workpiece installation sub-rod 31 are all provided with longitudinal grooves, and the widths of the grooves are respectively larger than 1 The width of No. 2 main fixed rod 25 and No. 2 main fixed rod 26 along the longitudinal cross-section is less than 2mm, and the bottom surfaces of No. 1 workpiece installation main rod 32, No. 2 workpiece installation main rod 33 and No. 3 workpiece installation main rod 34 are all arranged There are transverse grooves, and the widths of the grooves at both ends are less than 2 mm than the widths of the longitudinal cross-sections of No. 1 workpiece installation sub-rod 30 and No. 2 workpiece installation sub-rod 31 respectively. Since wooden materials have the characteristics of good formability, easy replacement, light weight, and low production price, the production of wooden materials meets the dual goals of economy and rationality. The No. 1 workpiece installs the sub-rod 30 and the No. 2 workpiece installs the sub-rod 31 to be fixedly installed on the top surface of the No. 1 main fixed rod 25 and the No. 2 main fixed rod 26 using grooves in turn. The No. 1 workpiece is installed with the sub-rod 30 and the No. 1 main The longitudinal symmetrical planes of the fixed rod 25 are coplanar, the No. 2 workpiece is installed with the auxiliary rod 31 and the longitudinal symmetrical plane of the No. 2 main fixed rod 26 is coplanar, the No. 1 workpiece is installed with the main rod 32, the No. 2 workpiece is installed with the main rod 33, and the No. 3 workpiece is installed. Install the two ends of the main rod 34 in the same way and utilize the groove to be installed on the top surface of the No. 1 workpiece installation sub-rod 30 and the No. 2 workpiece installation sub-rod 31, No. 1 workpiece installation main rod 32, No. 2 workpiece installation main rod 33, The No. 3 workpiece installs the main rod 34 parallel to each other, and is perpendicular to the No. 1 workpiece installed sub-rod 30 and the No. 2 workpiece installed sub-rod 31 .

In addition, the power unit II simulates the detection process of online production. The speed of the power unit II is relatively slow, and it adopts the orbital running mode during the movement, so the working condition of the whole movement is relatively stable. Carbon steel is used to make each gear. This kind of steel undergoes heat treatment of carburizing, quenching and low-temperature tempering in sequence. Although it has the disadvantage of not bearing a large load, it has certain advantages in the manufacture of gears that require high wear resistance and impact resistance. In addition, the power of No. 1 stepper motor 44 and No. 2 stepper motor 48 of model 110BYG250D is not large because this power unit II is selected, and the gears of this material all meet the requirements in terms of strength and durability. The material of No. 1 gear shaft 35 and No. 2 gear shaft 36 of this power unit II is planned to be 45# steel, and the No. 1 gear shaft 35 and No. 2 gear shaft 36 and the bearings 37 with the same structure adopt interference fit. This power unit The type of bearing used in II is 6301-2Z (12mm×37mm×12mm). This kind of bearing has the advantages of good performance and easy replacement.

Referring to Fig. 4, the No. 1 gear shaft 35 in the reverse drive device adopts the interference fit of the first bearing 37 and the right end of the No. 1 stepper motor installation rod 28, and the No. 1 stepper motor installation rod 28 and the No. 1 main fixed rod 25 The distance is between 150mm and 200mm; the right end of the No. 2 stepper motor installation rod 29 adopts the second bearing 37 with the same structure to interfere with the No. 1 gear shaft 35, and the No. 2 stepper motor installation rod 29 and the No. 2 main The distance between the fixed rods 26 is between 150mm and 200mm, and the right end of the secondary fixed rod 27 located between the No. The gear shaft 35 has an interference fit, and the distance between the auxiliary fixed rod 27 and the No. 2 main fixed rod is between 250mm and 300mm; the No. 1 large gear 42 is set on the 1 between the No. 2 stepping motor installation rod 29 and the auxiliary fixed rod 27. No. 1 gear shaft 35 is connected with a key, and No. 1 stepper motor 44 is fixed in the groove at the right end of No. 1 stepper motor installation rod 28 and No. 2 step motor installation rod 29 through step motor fixing sleeve 45. The output shaft of the stepper motor (44) is parallel to the axis of revolution of the No. 1 bull gear 42, and the No. 1 bull gear 42 meshes with the No. 1 stepper motor gear 43 installed on the No. 1 stepper motor 44 output shaft. The driver 41 is installed on the No. 1 stepper motor installation rod 28 and the No. 2 stepper motor installation rod 29 through a semicircular groove, and the red A+, green A-, green A-, Yellow B+ and blue B- are respectively connected to the A+ port, A- port, B+ port and B- port wire of No. 1 stepping driver 41; the AC port of No. 1 stepping driver 41 is connected to the external power supply wire, and the two structures are the same The guide rail wheel 38 is installed on the two ends of No. 1 gear shaft 35 and adopts key connection.

The No. 2 gear shaft 36 in the forward driving device adopts the bearing 37 with the same structure as the 4th to the 6th, the left end of the No. 1 stepper motor installation rod 28, the left end of the No. 2 stepper motor installation rod 29 and the auxiliary fixed rod 27 The left end of the left end is interference fit, the No. 2 large gear 47 is set on the No. 2 gear shaft 36 between the No. 2 stepper motor installation rod 29 and the auxiliary fixed rod 27 and is connected by a key, and the No. 2 stepper motor 48 passes through the stepper motor. The fixed sleeve 45 is fixed in the groove at the left end of the No. 1 stepper motor installation rod 28 and the No. 2 stepper motor installation rod 29. The No. 2 large gear 47 is meshed with the No. 2 stepper motor gear 51, and the encoder 49 adopts an encoding The device fixing sleeve 46 is fixedly installed in the groove at the left end of the auxiliary fixing rod 27, the encoder gear 50 is meshed with the No. 2 stepper motor gear 51, and the programmable controller 39 and the No. 2 stepper driver 40 pass through the semicircular groove. Installed on No. 1 stepper motor installation rod 28 and No. 2 stepper motor installation rod 29, OPTO, DIR (DIR0 to DIR2), CP (CP0 to CP2) of programmable controller 39 are the control lines of the stepper motor driver Terminal, the OPTO of PLC 39 is the public male terminal of No. 1 stepping motor 44 and No. 2 stepping motor 48, OPTO of PLC 39 and No. 1 stepping driver 41 and No. 2 stepping driver 40 OPTO port wire connection; DIR1 of programmable controller 39 is connected with DIR terminal wire of No. 1 stepper motor driver 41, and CP1 of programmable controller 39 is connected with CP end wire of No. 1 stepper motor driver 41; programmable DIR2 of the controller 39 is connected with the DIR terminal wire of No. 2 stepper motor driver 40, CP2 of the programmable controller 39 is connected with the CP end wire of No. 2 stepper motor driver 40, and the two-phase four-phase wire of No. 2 stepper motor 48 The red A+, green A-, yellow B+ and blue B- in the outgoing line are connected with the A+ port, A- port, B+ port and B- port of No. 2 stepper driver 40 in turn; the AC port of No. 2 stepper driver 40 It is connected with an external power supply wire, and two guide rail wheels 38 with the same structure are installed on the two ends of the No. 2 gear shaft 36 and connected by keys.

The forward driving device and the reverse driving device are connected as a whole to No. 1 power guide rail 5 and No. 2 power guide rail 6 through No. 1 main fixed rod 25, No. 2 main fixed rod 26 and main fixed auxiliary rod 27. The forward power is provided by No. 2 The stepper motor 48 passes to the No. 2 bull gear 47, and then drives the guide rail wheel 38 to run on the No. 1 power guide rail 5 and the No. 2 power guide rail 6 through the No. 2 gear shaft 36. Reverse power is passed to No. 1 bull gear 42 by No. 1 stepper motor 44, then drives guide rail wheel 38 to run on No. 1 power guide rail 5 and No. 2 power guide rail 6 through No. 1 gear shaft 35. The positional relationship between No. 1 gear shaft 35 and No. 2 gear shaft 36 is jointly limited by No. 1 main fixed rod 25, No. 2 main fixed rod 26 and auxiliary fixed rod 27, so adopting No. 1 main fixed rod 25 and No. 2 main fixed rod The rod 26 and the auxiliary fixed rod 27 connect the forward driving device and the reverse driving device in the power unit II as a whole, not only can move forward and run according to the requirements during the experiment, but also can automatically return to the original starting position after the experiment is completed, so that The repeatability and operability of visual inspection work are enhanced.

The No. 1 stepper motor 44 and the No. 2 stepper motor 48 in the reverse drive device and the forward drive device adopt 2 fixed sleeves 45 with the same structure to be installed on the No. 1 stepper motor installation rod 28 and the No. 2 step motor installation rod 29 On, and encoder 49 is installed in the groove of secondary fixed rod 27 left ends, encoder 49 is positioned at the right side of No. 2 stepper motor 48, No. 2 stepper motor 48, encoder 49 and No. 1 stepper motor 44 The axes of rotation are parallel to each other.

Referring to Fig. 8, the installation positions of each part of the forward driving device have a great relationship with the realized functions, and the No. 2 stepping motor 48 is installed on one side of the No. 2 bull gear 47, but it must be ensured that the No. 2 bull gear 47 and the No. 2 bull gear No. 2 stepper motor gear 51 is reasonably meshed. Similarly, the installation of encoder 49 must ensure the reasonable meshing of No. 2 stepper motor gear 51 and encoder gear 50. For this reason, encoder 49 is installed on No. 2 stepper motor gear 51 Right side, and be installed in the groove of auxiliary fixed rod 27 left ends, can guarantee like this in the process that No. 2 stepping motor 48 drives No. 2 big gear 47 to rotate, encoder 49 can send to camera 55 in the image acquisition system III The level signal is passed so that the camera can perform image acquisition according to the stride. The installation form of the reverse driving device is the same as that of the forward driving device, but no encoder is installed, because the workpiece does not need to be detected during the backward process, and only needs to be restored to the original position to prepare for the next detection work.

5 and 6, the image acquisition system III mainly includes a camera mounting plate 52, a camera 55, a light receiving plate 56, a second rotating shaft 57, four fixing nuts 58 and an angle adjustment ruler 59.

The camera mounting plate 52 is composed of a base plate, two baffle plates with the same structure, two No. 1 rotating shafts 53 with the same structure, and a camera fixing sleeve 54 .

Described video camera 55 adopts the camera that model is DH-HV1302UM-T, and camera fixing sleeve 54 adopts hard plastics to make, guarantees that camera 55 appearance will not be damaged on the basis of close contact with camera 55; The bottom plate of the camera installation plate 52 is in direct contact with the camera 55, but its force is not large, so it is planned to use wooden materials to make the bottom plate of the camera mounting plate 52 and the two baffle plates with the same structure. The production of aluminum alloy is easier to shape, and it has advantages over metal materials in terms of cost and practicability. The two baffles and the base plate with the same structure are formed at one time to prevent the stability of the wooden assembly from decreasing with the increase in the number of uses. A blind hole for the rotating shaft is provided at the middle position of the end surfaces on both sides of the bottom plate of the camera mounting plate 52 .

Two rectangular baffles with the same structure are installed vertically in the middle of the rectangular bottom plate parallel to each other. The two rectangular baffles with the same structure are parallel to one side of the rectangular bottom plate. Between the two rectangular baffles with the same structure The distance between them is equal to the width of the camera 55; one end of the two rectangular baffles with the same structure is provided with a fixed sleeve through hole with the same structure for installing the camera fixing sleeve 54, and the other end of the two baffles with the same structure is provided with a camera. 55 camera through holes with the same structure, the rotation axes of the two fixed sleeve through holes with the same structure are collinear, and the rotation axes of the two camera through holes with the same structure are collinear; two ends of the No. 1 rotation shaft 53 with the same structure The two blind holes of the same structure installed in the middle of the two ends of the bottom plate form an interference fit, which is the fixed connection. The camera 55 is fastened between the two baffles and the bottom plate with the same structure by using the camera fixing sleeve 54 Inside. The other ends of the two No. 1 rotating shafts 53 with the same structure are respectively connected to the two cuboid wooden parts by rotating shafts, and the No. 1 camera position adjustment rod 17 and the No. 2 camera position adjustment rod in the two wooden parts and the image acquisition system bracket 18 installed vertically and connected by bolts.

The light receiving plate 56 is a semi-transparent mask, and a threaded hole is provided in the middle of the left and right sides of the mask; one end of the No. 2 rotating shaft 57 is a cylindrical alloy structure, the other end is a cuboid alloy structure, and the cylinder alloy structure The top is provided with an external thread; the bottom end of the angle adjustment ruler 59 is provided with a circular hole with the same radius as that of the cylindrical alloy structural member on the No. 2 rotating shaft 57 . Set the angle adjustment ruler 59 on one end of the cylinder alloy structure part of the No. 2 rotating shaft 57 close to the cuboid alloy structure part. It is connected with the middle threaded holes on the left and right end surfaces of the light receiving plate 56, and two fixing screws with the same structure are set on the cylindrical alloy structure of the No. 2 rotating shaft 57 between the left and right light receiving plates 56 and the angle adjustment ruler 59. Nut 58, one is used to fix the angle adjustment ruler 59, and the other is used to fix the light receiving plate 56 after the angle of the light receiving plate 56 is adjusted, the cuboid alloy structural part and No. 2 camera height adjustment rod 14 and No. 4 camera height adjustment rod The inner side of 16 is connected by wide angle iron 23 bolts, which completes the connection between light receiving plate 56 and base; In consideration of economy, the present invention refits the light-receiving plate 56 into a rectangular frame and a piece of common white paper, and the white paper can be connected to the rectangular frame by pasting, and other connection methods are unchanged. Adopting this structure, the white paper not only It is easy to replace and the detection effect is also good.

The automatic positioning device for the visual detection of the automobile outer cover part according to the present invention needs to use the camera 55 to collect the characteristic image of the line structured light strip during the detection process. The device installs a light receiving plate 56 in front of the field of view of the camera 55, and the direction of the light bar receiving plate 56 can be adjusted so as to meet the requirements of different light rays and components to be tested. The camera 55 is installed on the camera mounting plate 52. In order to ensure the stability of the installation, the camera is further fixed on the camera mounting plate 52 with a camera fixing sleeve 54. Since the lens of the camera 55 is required to be kept vertical to the light bar receiving plate 56 during the image acquisition process, it also needs to have an angle adjustment function. In order to achieve the above-mentioned function, a No. 1 rotating shaft 53 is installed on both sides of the camera mounting plate 52, and two The other end of the No. 1 rotating shaft 53 with the same structure is respectively connected with the two rectangular parallelepiped wooden parts with the same structure by means of rotating shafts. The adjustment rod 17 and the No. 2 camera position adjustment rod 18 are vertically installed with a narrow angle iron so that the camera 55 can achieve the purpose of adjusting the angle as required. The light receiving plate 56 is fixed on the No. 2 camera height adjustment rod 14 and the No. 4 camera height adjustment rod 16 by two No. 2 rotation shafts 57 with the same structure at both ends, and the No. 2 rotation shaft 57 is sleeved with angle adjustment. Ruler 59 is used to record and adjust the adjustment angle of light bar receiving plate 56, and then adopts 2 fixed nuts 58 with the same structure that are sleeved on No. 2 rotating shaft 57 to fix the position of light bar receiving plate 56 and angle adjustment ruler 59.

Referring to Fig. 9, the laser emitter assembly IV mainly includes a laser emitter base 60, a No. 1 shaft-ball connecting rod 61, a No. 2 shaft-ball connecting rod 62, a clamping piece 63, a laser emitter cover 64 and a laser launcher 65;

The laser emitter assembly IV adopts a laser emitter 65 with a model number of LD-G650A13. The emitted light is a red straight line. The voltage required for use is also low (3-5v), and it is easy to replace. The laser emitter cover 64 on the clamping sheet 63 top is plastic molding, which can prevent damage to the laser emitter 65, and the clamping sheet 63, No. 1 shaft ball connecting rod 61, No. 2 shaft ball connecting rod 62 and the laser emitter The base 60 is made of 45# steel, which is economical and convenient to manufacture; the structure of the No. 1 shaft ball link 61 and the No. 2 shaft ball link 62 is the same. There is a spherical body, and the other end is a cylinder that is provided with an external thread for connection, that is, a screw; the two clamping pieces 63 have a round through hole at the left and right ends, and the radius of the round hole is smaller than the No. 1 shaft ball connecting rod 61 and 2 The maximum radius of the sphere that the number shaft ball connecting rod 62 has, and the two clamping pieces 63 are provided with two threaded through holes for fixing the relative positions of the two clamping pieces in the inner sides of the two circular through holes.

The laser transmitter base 60 is vertically connected to the threaded end of the No. 1 shaft ball connecting rod 61, and the end with the spherical body of the No. 1 shaft ball connecting rod 61 is placed in the circular hole at one end of the clamping piece 63, and One end with a spherical body of the No. 2 shaft ball connecting rod 62 is placed in the round hole at the other end of the clamping piece 63, and then the relative positions of the two clamping pieces 63 at this time are fixed by bolts, and the two clamping pieces There is a certain gap in the middle of the sheet 63, and the No. 1 shaft-ball connecting rod 61, the No. 2 shaft-ball connecting rod 62 and the clamping sheet 63 form a universal rotating and fixing device, which can adjust the projection direction of the linear structured light.

Referring to Figure 1 and Figure 2, use the automatic positioning device for visual detection of the outer cover of the car to detect the door:

1. Install the car door to be tested

Place the car door to be tested on the No. 1 workpiece installation main rod 32 of the power unit II, the No. 2 workpiece installation main rod 33 and the No. 3 workpiece installation main rod 34, so as to ensure that the car door to be tested is placed horizontally;

2. Detection of car door paint film to be tested

Press the electric control switch of the positioning device, the car door will be driven by the power unit II to move slowly horizontally, and at the same time, the laser 65 emits laser light to scan the outer panel of the car door. Since the encoder 49 will generate a pulse signal during the forward process, the Under the control of the camera 55, the camera 55 starts to collect images of the light reflected from the laser on the light bar receiving plate 56. Wherein the motion of No. 2 stepping motor 48 is by the program control that edits in advance in the programmable controller 39, and No. 2 stepping motor 48 works under the drive of No. 2 stepping driver 40, and No. 2 stepping motor 48 The gear drives the No. 2 bull gear 47 to rotate, and under the drive of the bull gear 47, the No. 2 gear shaft 36 drives the guide rail wheel 38 to move slowly on the guide rail, thereby realizing the defect detection of the paint film on the outer surface of the car door.

3. Positioning device reset

After detection is finished, No. 1 stepping motor 44 carries out return movement under the drive of No. 1 stepping driver 41, and its motion time is to run according to the program operation of programmable controller 39, and its motion process is, No. 1 stepping motor gear 43 drives the No. 1 large gear 42 to move, thereby drives the guide rail wheels 38 at both ends of the No. 1 gear shaft to roll on the guide rail until the initial position.

4. Remove the door

After the reset of the visual detection and positioning device for the outer cover of the automobile is completed, the door is removed from the power unit, and the detection of the paint film on the outer panel of the car door is completed.

Claims (10)

1. An automatic positioning device for visual detection of an outer body covering, characterized in that, the automatic positioning device for visual detection of an outer covering of a vehicle body consists of a base (I), a power unit (II), an image acquisition system (Ⅲ), Composition of laser transmitter assembly (Ⅳ); The base (I) includes a pedestal, an image acquisition system bracket and a laser transmitter assembly bracket; The lower ends of No. 1 camera height adjustment rod (13) and No. 2 camera height adjustment rod (14) in the support of the image acquisition system adopt two wide-angle irons (23) with the same structure to vertically connect with 1 in the pedestal. The inner bolts of the No. 3 length control sub-rod (7) are connected by bolts, and the lower ends of the No. 3 camera height adjustment rod (15) and the No. 4 camera height adjustment rod (16) adopt two wide-angle irons (23) with the same structure to be vertically connected to the base No. 2 length in the frame controls the inboard bolt connection of subrod (8); The lower ends of the No. 1 laser height adjustment rod (19) and the No. 2 laser height adjustment rod (20) in the laser transmitter assembly bracket adopt two wide-angle irons (23) with the same structure and 1 in the base frame. No. length control rod (1) is connected with the outer bolt of No. 2 length control rod (2); The power unit (II) is installed on the No. 1 power guide rail (5) and the No. 2 power guide rail (6) in the pedestal for rolling connection; the image acquisition system (Ⅲ) is installed on the No. 1 camera position adjustment in the image acquisition system bracket On the bar (17) and No. 2 camera position adjustment bar (18), the laser transmitter assembly (IV) is installed on the laser device position adjustment bar (21) in the laser transmitter assembly bracket. 2. According to the automatic positioning device for visual inspection of vehicle body outer covering parts according to claim 1, it is characterized in that, the support of the image acquisition system also includes No. 1 camera position adjustment lever (17) and No. 2 camera position adjustment lever ( 18); The two ends of the No. 1 camera position adjustment rod (17) are connected by two narrow-angle irons (24) with the same structure and the No. 1 camera height adjustment rod (13) is connected with the internal measurement bolt on the upper end of the No. 3 camera height adjustment rod (15) The two ends of the No. 2 camera position adjustment rod (18) also adopt two narrow-angle irons (24) with the same structure and the No. 2 camera height adjustment rod (14) and the No. 4 camera height adjustment rod. The internal bolts on the upper end of the bar (16) are connected to form the right "door" frame, the left "door" frame is the same structure as the right "door" frame, and the left side "door" frame is the same as the right "door" frame. The glyph frame is combined into an image acquisition system bracket. 3. The automatic positioning device for visual detection of the outer cover of the vehicle body according to claim 1, wherein the laser transmitter assembly bracket also includes a laser position adjustment rod (21); The two ends of the laser position adjustment rod (21) are connected by two narrow-angle irons (24) with the same structure and the No. 1 laser height adjustment rod (19) is connected with the internal measurement bolt on the upper end of the No. 2 laser height adjustment rod (20) to form a " The "door" shaped frame is the laser transmitter assembly bracket. 4. The automatic positioning device for visual inspection of vehicle body outer panels according to claim 1, wherein the base frame also includes No. 1 width control rod (3), No. 2 width control rod (4), No. 1 width control rod Adjustable width sub-rod (9), No. 2 adjustable width sub-rod (10), No. 3 adjustable width sub-rod (11), No. 4 adjustable width sub-rod (12) and 4 bases with the same structure (22 ); The No. 1 length control rod (1), the No. 2 width control rod (4), the No. 2 length control rod (2) and the No. 1 width control rod (3) are connected end to end in sequence, and four wide angle irons (23 ) to form a rectangular planar frame, No. 1 power guide rail (5) is connected with 2 narrow angle irons (24) and No. 1 width control rod (3) and No. 2 width control rod (4) with vertical bolts, No. 2 power guide rail (6) Two narrow angle irons (24) and No. 1 width control rod (3) are connected with No. 2 width control rod (4) by vertical bolts; No. 3 adjustable width auxiliary rod (11) is connected with No. 4 adjustable width One end of the sub-rod (12) is connected to a "door"-shaped frame by two wide-angle irons (23) with the same structure and the same-side bolts at both ends of No. 1 length control sub-rod (7), and No. 3 adjustable width sub-rod ( 11) The other end of No. 4 adjustable width sub-rod (12) is vertically connected with the outside of the left end of No. 1 length control rod (1) by two wide angle irons (23) with the same structure; No. 1 adjustable width sub-rod (9) One end of the No. 2 adjustable width sub-rod (10) is connected by two wide angle irons (23) with the same structure and the same-side bolts at both ends of the No. 2 length control sub-rod (8) to form a "door"-shaped frame , the other end of No. 1 adjustable width auxiliary rod (9) and No. 2 adjustable width auxiliary rod (10) adopts 2 wide angle irons (23) with the same structure and the outside of the left end of No. 2 length control rod (2) is vertical Connection; 2 "door" shaped frames are coplanar with the rectangular plane frame located in the middle; 4 bases (22) with the same structure adopt 8 wide angle irons (23) with the same structure and No. 1 length control rod (1 ) is connected with the bottom surface bolts at both ends of No. 2 length control rod (2). 5. According to claim 1, the automatic positioning device for visual inspection of vehicle body outer panels is characterized in that, the power device (II) mainly includes a power device chassis, a reverse drive device, and a forward drive device; The power unit chassis includes No. 1 main fixed rod (25), No. 2 main fixed rod (26), auxiliary fixed rod (27), No. 1 stepper motor installation rod (28), No. 2 stepper motor Installation rod (29), No. 1 workpiece installation sub-rod (30), No. 2 workpiece installation sub-rod (31), No. 1 workpiece installation main rod (32), No. 2 workpiece installation main rod (33) and No. 3 workpiece installation main rod (34); No. 1 main fixed rod (25), No. 1 stepper motor installation rod (28), No. 2 stepper motor installation rod (29), auxiliary fixed rod (27) and No. 2 main fixed rod (26) parallel horizontal ground Place, and the No. 1 gear shaft (35) in the reverse driving device of the right side adopts 4 bearings (37) with the same structure to be installed on No. 1 main fixed rod (25), No. 1 stepper motor mounting rod (28), 2 The right end of the No. stepper motor installation rod (29), the auxiliary fixed rod (27) and the No. 2 main fixed rod (26), the No. 2 gear shaft (36) in the left forward drive device adopts 4 bearings with the same structure (37) be installed on No. 1 main fixed rod (25), No. 1 stepper motor installation rod (28), No. 2 stepper motor installation rod (29), auxiliary fixed rod (27) and No. 2 main fixed rod (26) ), the No. 1 workpiece installation sub-rod (30) and the No. 2 workpiece installation sub-rod (31) are sequentially installed on the No. 1 main fixed rod (25) and the No. 2 main fixed rod (26) and fixedly connected by grooves , No. 1 workpiece installation main rod (32), No. 2 workpiece installation main rod (33) and No. 3 workpiece installation main rod (34) are installed in parallel to each other on No. 1 workpiece installation sub-rod (30) and No. 2 workpiece installation sub-rod The top of the bar (31) is fixedly connected with grooves. 6. According to the automatic positioning device for visual detection of the outer cover of the vehicle body according to claim 5, it is characterized in that the reversing drive device also includes 2 guide rail wheels (38) with the same structure, No. 1 stepper driver (41 ), No. 1 large gear (42), No. 1 stepping motor gear (43), No. 1 stepping motor (44) and stepping motor fixed sleeve (45); The No. 1 large gear (42) is set on the No. 1 gear shaft (35) between the No. 2 stepper motor installation rod (29) and the auxiliary fixed rod (27) and is connected by a key, and the No. 1 stepper motor (44) Adopt stepper motor fixing sleeve (45) to be fixed in the groove on the right end of No. 1 stepper motor installation rod (28) and No. 2 stepper motor installation rod (29), and No. 1 large gear (42) is installed on No. 1 The No. 1 stepper motor gear (43) on the output shaft of the stepper motor (44) is meshed, and the No. 1 stepper driver (41) is installed on the No. 1 stepper motor installation rod (28) and the No. 2 stepper motor installation rod (29), No. 1 stepper driver (41) and No. 1 stepper motor (44) are connected by wires, and 2 rail wheels (38) with the same structure are installed on the two ends of No. 1 gear shaft (35) and adopt key connection. 7. According to the automatic positioning device for visual detection of vehicle body outer covering parts according to claim 5, it is characterized in that, the described forward driving device also includes two guide rail wheels (38) with the same structure, a programmable controller (39) , No. 2 stepping driver (40), encoder fixing sleeve (46), No. 2 large gear (47), No. 2 stepping motor (48), encoder (49), encoder gear (50) and No. 2 Stepping motor gear (51); The No. 2 large gear (47) is set on the No. 2 gear shaft (36) between the No. 2 stepping motor installation rod (29) and the auxiliary fixed rod (27) and is connected by a key, and the No. 2 stepping motor (48) Fix the stepper motor fixing sleeve (45) in the groove on the left end of the No. 1 stepper motor installation rod (28) and the No. 2 stepper motor installation rod (29), and the No. 2 large gear (47) is installed on the No. 2 The No. 2 stepper motor gear (51) on the output shaft of the stepper motor (48) is meshed and connected, and the encoder (49) is fixedly installed in the groove at the left end of the auxiliary fixed rod (27) using the encoder fixing sleeve (46) , the encoder gear (50) installed on the output shaft of the encoder (49) is meshed with the No. 2 stepping motor gear (51), and the programmable controller (39) and the No. 2 stepping driver (40) are installed on 1 No. stepper motor installation rod (28) and No. 2 stepper motor installation rod (29), programmable controller (39) and No. 2 stepper driver (40) adopt wire connection, No. 2 stepper driver (40) Adopt wire connection with No. 2 stepping motor (48), and 2 guide rail wheels (38) identical in structure are installed in the two ends of No. 2 gear shaft (36) and adopt key connection. 8. The automatic positioning device for visual inspection of vehicle body outer covering according to claim 1, characterized in that, the image acquisition system (Ⅲ) comprises a camera mounting plate (52), a camera (55), a light receiving plate (56 ), 2 No. 2 rotating shafts (57) with the same structure, 4 fixed nuts (58) with the same structure and 2 angle adjustment rulers (59) with the same structure; The camera (55) is installed on the camera mounting plate (52), and the camera mounting plate (52) is installed on the No. 1 camera position adjustment lever (17) and the No. 2 camera position adjustment lever (18) in the image acquisition system support; The two ends of the light receiving plate (56) are screwed to one end of two No. 2 rotating shafts (57) with the same structure, and the other ends of the No. 2 rotating shafts (57) with the same structure adopt wide angle irons (23) The No. 2 camera height adjustment rod (14) in the image acquisition system bracket is connected with the inner side of the No. 4 camera height adjustment rod (16), and the 2 angle adjustment rulers (59) with the same structure are set on the 2 No. 2 On the rotating shaft (57) and respectively adopt 2 fixed nuts (58) with the same structure to fix. 9. According to the automatic positioning device for visual inspection of the outer cover of the vehicle body according to claim 8, it is characterized in that, the described mounting plate (52) is composed of a bottom plate, 2 baffle plates with the same structure, and 2 No. 1 rotation plates with the same structure. Shaft (53) and camera fixing sleeve (54); Two rectangular baffles with the same structure are installed vertically in the middle of the rectangular bottom plate parallel to each other. The two rectangular baffles with the same structure are parallel to one side of the rectangular bottom plate. Between the two rectangular baffles with the same structure The distance between is equal to the width of camera (55); One end of 2 identical rectangular baffles of structure is provided with the fixed sleeve through hole of the identical structure of installing camera fixing sleeve (54), the baffle of 2 identical structures of rectangle The other end is provided with the camera through hole with the same structure for installing the camera (55), the rotation axes of the two fixed sleeve through holes with the same structure are collinear, and the rotation axes of the two camera through holes with the same structure are collinear; the two structures are the same The No. 1 rotating shaft (53) is installed in two blind holes with the same structure in the middle of the two ends of the bottom plate for interference fit, and the camera fixing sleeve (54) is installed on the two baffles with the same structure. On the through hole of the fixed sleeve with the same structure. 10. The auto-positioning device for visual inspection of vehicle body outer panels according to claim 1, characterized in that the laser transmitter assembly (IV) includes a laser transmitter base (60), a No. 1 shaft ball connecting rod (61), No. 2 shaft ball connecting rod (62), clamping piece (63), laser transmitter cover (64) and laser transmitter (65); In the described laser transmitter assembly (IV), the laser transmitter (65) with a model number of LD-G650A13 inline, the No. 1 shaft ball connecting rod (61) and the No. 2 shaft ball connecting rod (62) The structure is the same, one end of No. 1 shaft ball connecting rod (61) and No. 2 shaft ball connecting rod (62) is provided with a spherical body, while the other end is a screw rod; the laser transmitter sleeve (64) is a cylindrical sleeve structure, The laser transmitter (65) is installed in the laser transmitter cover (64) and fastened by bolts; Laser transmitter base (60) is vertically connected with the screw rod of No. 1 shaft ball connecting rod (61), and one end with a spherical body of No. 1 shaft ball connecting rod (61) is placed on the circle at one end of clamping sheet (63). In the hole, it is a rotating connection. One end with a spherical body of the No. 2 shaft ball connecting rod (62) is placed in the round hole at the other end of the clip (63) to be a rotating connection. The No. 2 shaft ball connecting rod (62 ) of the screw rod is connected with the laser emitter cover (64), and the laser emitter (65) is installed in the laser emitter cover (64) for fastening.