CN-121977438-A - Conductive rod ring piece deflection degree detection equipment

CN121977438ACN 121977438 ACN121977438 ACN 121977438ACN-121977438-A

Abstract

The invention relates to a device for detecting deflection degree of a conductive rod ring piece, and belongs to the field of advanced manufacturing. The device comprises a motion mechanism, a visual detection module, a control system and a structural tool, wherein the motion mechanism comprises a three-degree-of-freedom gesture adjusting mechanism, a servo turntable and a single-axis displacement sliding table, the visual detection module comprises a camera, a lens and a light source, the control system is used for communicating with the motion mechanism and the visual detection module to acquire acquisition information and analyze deflection degree data, and the structural tool comprises a coaxial clamping tool and an optical bread board.

Inventors

CUI CAN
ZHENG TAO
DONG RONGHUA
LV NA
JIANG JIALI
Qiu Yini
ZHANG XINRAN

Assignees

北京航天控制仪器研究所

Dates

Publication Date: 20260505
Application Date: 20251218

Claims (9)

1. The device for detecting the deflection degree of the conducting rod ring slice is characterized by comprising a movement mechanism (10), a visual detection module (20), a control system (30) and a structure tool (40); the motion mechanism (10) comprises a three-degree-of-freedom gesture adjusting mechanism (11), a servo turntable (12) and a single-shaft displacement sliding table (13); the structure tool (40) comprises a coaxial clamping tool (41) and an optical bread board (42); The vision detection module (20) comprises a camera (21), a lens (22) and a light source (23); The three-degree-of-freedom gesture adjusting mechanism (11) is fixedly arranged on a stand column of the optical bread board (42), the three-degree-of-freedom gesture adjusting mechanism (11) can realize gesture adjustment of up-down linear motion, left-right swinging and front-back swinging, the servo turntable (12) is arranged on the single-shaft displacement sliding table (13), the central axis of the servo turntable (12) is parallel to the moving direction of the single-shaft displacement sliding table (13), and the single-shaft displacement sliding table (13) is arranged on the optical bread board (42); The visual detection module (20) is used for shooting a conducting rod ring picture and sending the conducting rod ring picture to the control system (30), wherein the camera (21) is arranged on the three-degree-of-freedom gesture adjusting mechanism (11), the lens (22) is screwed on the camera (21) through a threaded structure, the light source (23) is fixedly connected with the three-degree-of-freedom gesture adjusting mechanism (11) through a structural member, and the pose adjustment is carried out through the three-degree-of-freedom gesture adjusting mechanism (11), so that the optimal imaging adjustment of the conducting rod ring in the view field of the camera (21) is realized; The control system (30) is used for communicating with the movement mechanism (10) and the visual detection module (20), shooting pictures of the conducting rod ring sheet in a segmented way under the control of the control system to obtain the whole conducting rod picture; the conducting rod (50) is arranged on the servo turntable (12) through a coaxial clamping tool (41), and the coaxial clamping tool (41) realizes the replacement of conducting rods of different types through a clamping tire locking structure.
2. The device for detecting the deflection degree of a conductive rod ring sheet according to claim 1, wherein the visual detection module (20) is required to perform imaging calibration, specifically: and calculating the pixel distance between adjacent angular points of the checkerboard for each calibration plate image, obtaining the internal and external parameters of a matrix of the camera (21), and completing the calibration of the camera (21).
3. The device for detecting the deflection degree of a conductive rod ring sheet according to claim 1, wherein the adjusting and installing process of the visual detection module (20) for photographing the conductive rod (50) is specifically as follows: firstly, a conducting rod (50) is arranged on a coaxial clamping tool (41), is horizontally placed and is connected to a servo turntable (12) through the coaxial clamping tool (41); Secondly, moving the single-shaft displacement sliding table (13) to ensure that the visual detection module (20) is above the conducting rod; Thirdly, adjusting the installation position of the light source (23) fixedly connected with the three-degree-of-freedom gesture adjusting mechanism (11), and further adjusting the position of the light source (23) away from the conducting rod, wherein the light source is used for irradiating the conducting rod; And fourthly, performing posture adjustment of vertical linear motion, left-right swing and front-back swing through a three-degree-of-freedom posture adjustment mechanism (11), so that the conducting rod is in a view field range of the camera (21) and the lens (22) and keeps a horizontal state, and collecting the ring picture is realized.
4. The device for detecting the deflection of the ring of the conducting rod according to claim 1, wherein the device for detecting the deflection of the ring of the conducting rod is characterized by calculating the deflection of the actual position and the design position of each ring by taking one end of the conducting rod as a detection reference, and specifically comprises the following steps: (1) Through image corrosion expansion, knife lines, burrs and redundant substances in the image are reduced while the boundary information of the ring piece is not lost as much as possible; (2) Performing threshold segmentation operation on the image subjected to image corrosion expansion treatment through a preset threshold value to obtain a binary image of the ring patch; (3) Finding the outer contour boundary of the ring slice in the binary image through a contour tracking algorithm; (4) Obtaining left and right boundary points of each ring piece through a clustering algorithm, carrying out boundary fitting on the left and right boundary points by adopting a least square fitting algorithm, obtaining a straight line corresponding to each boundary, and calculating the deflection degree of the ring piece; (5) And 4 pieces of images of the annular piece in the initial positions, 90 degrees, 180 degrees and 270 degrees are acquired by rotating the conductive rod 3 times through the servo turntable in a multipath azimuth photographing mode, deflection degrees are calculated for the 4 postures of the single annular piece respectively, and parallelism conditions of the single annular piece relative to a reference plane are analyzed.
5. The apparatus for detecting deflection of a conductive rod ring as defined in claim 4, wherein: the deflection degree of the ring piece was calculated by the following formula. 。
6. The device for detecting the deflection degree of the ring of the conducting rod according to claim 4, wherein when one picture cannot cover the ring of the whole conducting rod, the single-axis displacement sliding table (13) is required to be moved once to correspondingly shoot one picture until the whole conducting rod is shot.
7. A conductive rod ring deflection picture detection and identification method based on the conductive rod ring deflection detection device of claim 1, comprising: Firstly, a conducting rod (50) is arranged on a coaxial clamping tool (41), is horizontally placed and is connected to a servo turntable (12) through the coaxial clamping tool (41); Step two, moving the single-shaft displacement sliding table (13) to ensure that the visual detection module (20) is above the conducting rod; Step three, adjusting the installation position of the light source (23) fixedly connected with the three-degree-of-freedom gesture adjusting mechanism (11), and further adjusting the position of the light source (23) away from the conducting rod, wherein the light source is used for irradiating the conducting rod; fourthly, performing posture adjustment of up-down linear motion, left-right swing and front-back swing through a three-degree-of-freedom posture adjustment mechanism (11), enabling a conducting rod to be in a horizontal state within the view field range of a camera (21) and a lens (22), and collecting ring pictures; step five, through image corrosion expansion, knife lines, burrs and redundant substances in the image are reduced while the boundary information of the ring piece is not lost as much as possible; Step six, performing threshold segmentation operation on the image subjected to image corrosion expansion treatment through a preset threshold value to obtain a binary image of the ring patch; Step seven, finding the outer contour boundary of the ring slice in the binary image through a contour tracking algorithm; Step eight, obtaining left and right boundary points of each ring piece through a clustering algorithm, carrying out boundary fitting on the left and right boundary points by adopting a least square fitting algorithm, obtaining a straight line corresponding to each boundary, and calculating the deflection degree of the ring piece; And step nine, adopting a multi-path azimuth photographing mode, rotating the conducting rod for 3 times through the servo turntable, collecting 4 pieces in total, acquiring images of the annular piece in the initial position, the postures of 90 degrees, 180 degrees and 270 degrees, respectively calculating the deflection degree of the 4 postures of the single annular piece, and analyzing the parallelism condition of the single annular piece relative to the reference plane.
8. The method for detecting and identifying the deflection degree picture of the conductive rod ring sheet according to claim 7, wherein the deflection degree of the ring sheet is calculated by the following formula. 。
9. The method for detecting and identifying the deflection degree picture of the conducting rod ring according to claim 7, wherein when one picture cannot cover the ring of the whole conducting rod, the single-axis displacement sliding table is required to be moved once to correspondingly shoot one picture until the whole conducting rod is shot.

Description

Conductive rod ring piece deflection degree detection equipment Technical Field The invention relates to a device for detecting deflection degree of a conductive rod ring piece, and belongs to the field of advanced manufacturing. Background The conducting rod is a key component of the platform conducting device, at present, when the ring piece of the conducting rod is assembled, the assembling position of the ring piece is controlled by adopting a rack, and due to machining errors and fit clearances, the problems that the actual posture of the ring piece deviates from the design position and is deviated from the design reference plane after the conducting rod is assembled, the subsequent slot binding process is difficult, even the situation of slot binding cannot be realized, and the product is scrapped are caused. It is needed to develop a collar piece deflection degree detection device, find out the bad product in time and rework before the glue filling, promote the final assembly quality of conducting rod, promote the product qualification rate. Disclosure of Invention The technical problem of the invention is to overcome the defects of the prior art, provide the conductive rod ring deflection detection equipment, break through key technologies such as ring deflection detection, coaxial fixation of a ring mounting seat and the like, solve the problem of out-of-parallel degree of the ring after assembly, ensure that the ring deflection detection error of a machine vision detection system is less than or equal to 5um, and shorten the single ring detection time from about 1 hour to within 10 minutes. The technical scheme of the invention is as follows: the device for detecting the deflection degree of the conducting rod ring piece comprises a motion mechanism 10, a visual detection module 20, a control system 30 and a structure tool 40; The motion mechanism 10 comprises a three-degree-of-freedom gesture adjusting mechanism 11, a servo turntable 12 and a single-shaft displacement sliding table 13; the structure tooling 40 comprises a coaxial clamping tooling 41 and an optical bread board 42; The vision detection module 20 comprises a camera 21, a lens 22 and a light source 23; The three-degree-of-freedom gesture adjusting mechanism 11 is fixedly arranged on a stand column of the optical bread board 42, the three-degree-of-freedom gesture adjusting mechanism 11 can realize gesture adjustment of up-down linear motion, left-right swing and front-back swing, the servo turntable 12 is arranged on the single-shaft displacement sliding table 13, the central axis of the servo turntable 12 is parallel to the moving direction of the single-shaft displacement sliding table 13, and the single-shaft displacement sliding table 13 is arranged on the optical bread board 42; The visual detection module 20 is used for shooting a conducting rod annular sheet picture and sending the picture to the control system 30, wherein the camera 21 is arranged on the three-degree-of-freedom gesture adjusting mechanism 11, the lens 22 is screwed on the camera 21 through a threaded structure, the light source 23 is fixedly connected with the three-degree-of-freedom gesture adjusting mechanism 11 through a structural member, and the three-degree-of-freedom gesture adjusting mechanism 11 is used for carrying out gesture adjustment to realize optimal imaging adjustment of the conducting rod annular sheet in the view field of the camera 21; The control system 30 is used for communicating with the movement mechanism 10 and the visual detection module 20, and shooting pictures of the conducting rod ring sheet in a segmented way under the control of the control system to obtain the whole conducting rod picture; The conducting rod 50 is arranged on the servo turntable 12 through the coaxial clamping tool 41, and the coaxial clamping tool 41 realizes the replacement of conducting rods of different types through the clamping fixture locking structure. Further, the visual detection module 20 needs to perform imaging calibration, specifically: And calculating the pixel distance between adjacent angular points of the checkerboard for each calibration plate image, obtaining the internal and external parameters of a matrix of the camera 21, and completing the calibration of the camera 21. Further, the adjusting and installing process of the visual detection module 20 for photographing the conductive rod 50 specifically includes: Firstly, a conducting rod 50 is arranged on a coaxial clamping tool 41, is horizontally placed and is connected to a servo turntable 12 through the coaxial clamping tool 41; secondly, moving the single-shaft displacement sliding table 13 to ensure that the visual detection module 20 is above the conducting rod; Thirdly, adjusting the installation position of the light source 23 fixedly connected with the three-degree-of-freedom posture adjusting mechanism 11, and further adjusting the position of the light source 23 away from the