CN116538919B - Automatic calibration device for multiple laser displacement detection devices - Google Patents
Automatic calibration device for multiple laser displacement detection devices Download PDFInfo
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- CN116538919B CN116538919B CN202310425735.8A CN202310425735A CN116538919B CN 116538919 B CN116538919 B CN 116538919B CN 202310425735 A CN202310425735 A CN 202310425735A CN 116538919 B CN116538919 B CN 116538919B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 72
- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 238000013519 translation Methods 0.000 claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 238000012546 transfer Methods 0.000 claims description 10
- 230000036544 posture Effects 0.000 description 20
- 238000000034 method Methods 0.000 description 13
- 239000013598 vector Substances 0.000 description 9
- 238000005553 drilling Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241000587161 Gomphocarpus Species 0.000 description 1
- 238000000342 Monte Carlo simulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910021421 monocrystalline silicon Inorganic materials 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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Abstract
The invention discloses an automatic calibration device for a plurality of laser displacement detection devices, which comprises a fixed bracket, wherein a movable bracket is arranged in the fixed bracket in a sliding manner, a structured light measurement device and a calibration plate are respectively arranged on two sides of the movable bracket, and a laser displacement detection device is arranged at one end, far away from the movable bracket, of the calibration plate; a support translation device for driving the movable support to linearly move is arranged between the movable support and the fixed support, the calibration plate is connected with the movable support through a calibration plate posture adjustment device, and the calibration plate posture adjustment device drives the calibration plate to deflect; the invention can calibrate a plurality of laser displacement detection devices simultaneously through the calibration plate with flexible and adjustable pose in a relatively narrow space, thereby obtaining enough calibration data to ensure the accuracy of the calibration result of the laser displacement detection devices, and reducing the uncertainty of the calibration result to below five parts per million.
Description
Technical Field
The invention belongs to the technical field of laser displacement sensor calibration, and particularly relates to an automatic calibration device for a plurality of laser displacement detection devices.
Background
The perpendicularity of the holes is an important parameter for assembling the holes of the aircraft, the perpendicularity error of the assembling holes can obviously influence the assembly quality of the aircraft, the stacking fault holes, the countersink depth errors and the ultra-poor concave-convex quantity of the nail heads can be caused, the subsequent riveting connection stress is concentrated, the connection strength of the aircraft structure is reduced, and the safety of long-term service of the aircraft is greatly threatened. The existing hole making mode comprises automatic hole making and manual hole making. For automatic hole making, the normal direction of the peripheral surface of the prefabricated hole is determined by a laser displacement sensor before hole making, and the cutter head is adjusted to be perpendicular to the peripheral surface of the hole according to the normal direction, so that the perpendicularity of hole making is ensured. However, this method lacks a closed loop verification mechanism, and there is a risk of hole overrun due to vibration, manufacturing installation errors, and the like in long-term use. In addition, most of the dispensing holes still rely on manual work due to the limitation of the working space; the perpendicularity of manual hole making is mainly ensured by experience and operation skills of workers, the hole making quality cannot be ensured, and certain quality potential safety hazards exist. Therefore, detection of the perpendicularity of the holes is of great significance whether manual hole making or automatic hole making.
The laser displacement sensor has the advantages of high measurement precision, high speed, small structure, non-contact and the like, so that the laser displacement sensor is more and more widely applied to the field of aircraft assembly quality control, and the premise of performing normal measurement on the surface of the hole is that the laser measurement base point coordinates and the laser emission direction vectors of a plurality of laser displacement sensors are known, and the laser measurement base point coordinates and the laser emission direction vectors are required to be accurately obtained through calibration. At present, the main stream of calibration method is a plane calibration method based on a laser tracker, but in the method, the measuring point of a laser displacement sensor and the measuring point of the laser tracker are positioned on the same side of a calibration flat plate, so that enough operation space is required to obtain, a large calibration plate is required, and the flatness of the calibration plate is difficult to ensure due to the overlarge area of the calibration plate. In addition, the solving process of the flatness of the calibration plate is very sensitive to errors of plane parameters, and stable and accurate results are difficult to obtain by only adopting 6 groups of data in the traditional calibration process. In order to meet the requirement of vertical measurement of the assembly hole within 0.5 degrees, algorithm simulation and Monte Carlo method analysis show that more than 100 groups of calibration plate plane parameter data are needed to participate in calibration to achieve the measurement uncertainty of 0.1 degrees under 95% confidence, so that the error of the plane parameter is less than or equal to 0.05%. Meanwhile, the thinner the thickness of the calibration flat is, the more beneficial to improving the calibration precision. Moreover, because of the limitations of the maximum and minimum angles, it is difficult to manually change the posture of the calibration plate to achieve so many planes as to meet the requirements of actual working conditions, and it is necessary to achieve the calibration by using a calibration device with an automatic change of the plane position and the space posture of the calibration plate.
The invention of bulletin number CN215932130U discloses an automatic calibration device of a laser displacement sensor, which only realizes the calibration of the linearity and the light beam distribution of a single laser displacement sensor by integrating a linear calibration device of the laser displacement sensor and a light beam measuring device on the same equipment. The invention discloses a laser displacement sensor calibration device and a calibration method for normal detection, wherein the method comprises the steps of firstly, drilling holes on the plane of a calibration block by using automatic drilling and riveting equipment, calculating the normal vectors of 24 inclined planes on 4 calibration blocks by using a displacement sensor, then calculating the normal vector of each inclined plane on the calibration block by using the reading of the displacement sensor, and finally, calculating the position and the direction of the displacement sensor under the coordinate system of the tool of the automatic drilling and riveting equipment by combining the included angle between the normal direction of each inclined plane on the calibration block and the hole-making axial direction, which are detected by a three-coordinate measuring instrument. The requirement that the axial direction of the hole making cutter is perpendicular to the hole making flat plate on the calibration block is influenced by the flatness of the hole making flat plate, so that the hole making cutter is difficult to accurately control; according to the method, automatic drilling and riveting equipment is used for hole making, the included angle between the axial direction of the hole making and the normal direction of each inclined plane on the calibration block is detected by a three-coordinate detector, and the calibration system is complex and does not realize integrated and automatic calibration; the calibration blocks are required to be continuously replaced and installed in the calibration process, the position of the end effector is continuously adjusted through the motor driving device, the calibration efficiency is low, and the influence of manual operation is large; the method is equivalent to calibrating the laser displacement sensor according to 24 plane postures, and according to the simulation result of the algorithm, more than 100 groups of data are needed to participate in calibration in order to achieve the measurement uncertainty of 0.1 degrees under the 95% confidence, so that the method is not suitable for calibrating the laser displacement sensor for accurately detecting the perpendicularity of the assembly hole.
Aiming at the defects of the existing laser displacement sensor calibration device, the invention discloses an automatic calibration device for a plurality of laser displacement detection devices.
Disclosure of Invention
The invention aims to provide an automatic calibration device for a plurality of laser displacement detection devices, which can calibrate the plurality of laser displacement detection devices through a calibration plate with flexibly adjustable pose in a relatively narrow space, so as to obtain enough calibration data to ensure the accuracy of the calibration result of the laser displacement detection devices, and reduce the uncertainty of the calibration result to below five parts per million.
The invention is realized by the following technical scheme:
The automatic calibration device for the multiple laser displacement detection devices comprises a fixed support, wherein a movable support is arranged in the fixed support in a sliding manner, a structured light measuring device and a calibration plate are respectively arranged on two sides of the movable support, and a plurality of laser displacement detection devices are arranged at one end, far away from the movable support, of the calibration plate; the movable support and the fixed support are provided with a support translation device for driving the movable support to linearly move, the calibration plate is connected with the movable support through a calibration plate posture adjustment device, and the calibration plate posture adjustment device drives the calibration plate to deflect.
The movable support is driven to linearly move through the direct translation device, and then the calibration plate on one side of the movable support is synchronously driven to linearly translate. Meanwhile, the calibration plate is driven to deflect at multiple angles through the calibration plate attitude adjusting device, and the calibration plate is matched with linear translation of the calibration plate, so that the adjustment of multiple positions and multiple attitudes of the calibration plate is realized. After the pose of the calibration plate is adjusted, an image is projected to the calibration plate through the structured light measuring device, the projected image is resolved through the structured light measuring device, so that a plane equation of one side, close to the movable support, of the calibration plate in the current pose state is obtained, the initial point coordinate and the measuring direction vector of displacement measurement of the laser displacement detecting device of the calibration plate in the current pose state can be further determined through the plane equation, the laser displacement detecting device can be measured and calibrated according to the initial point coordinate and the measuring direction vector, and then the measuring precision of the laser displacement detecting device is improved. And simultaneously, the pose of the calibration plate is adjusted through multiple poses, so that a plurality of sets of plane equation parameters of the calibration plate detected by the structured light measuring device under different pose states can be obtained, and a final plane equation is fitted through the plurality of sets of plane equation parameters, so that the fitting precision is improved.
In order to better realize the invention, the calibration plate posture adjustment device further comprises a posture adjustment motor, a primary adjustment connecting rod, a secondary adjustment connecting rod, a connecting boss and a fixing ring frame, wherein the posture adjustment motor is distributed on one side of the movable bracket according to three vertex positions of a triangle, the connecting boss is circumferentially distributed on the outer side of the fixing ring frame corresponding to the positions of the three posture adjustment motors, and the calibration plate is arranged in the fixing ring frame; the output end of the gesture adjusting motor is provided with a first-stage adjusting connecting rod, one end of the second-stage adjusting connecting rod is flexibly connected with the first-stage adjusting connecting rod, and the other end of the second-stage adjusting connecting rod is flexibly connected with a connecting boss at a corresponding position.
In order to better realize the invention, the device further comprises a connecting block and a spring, wherein the connecting block is arranged on the movable bracket and positioned at one side of the gesture adjusting motor, one end of the spring is connected with the connecting block, and the other end of the spring is flexibly connected with the connecting boss.
In order to better realize the invention, the included angle between the spring and the secondary adjusting connecting rod is 15-40 degrees.
In order to better realize the invention, the bracket translation device further comprises a translation driving motor, a primary driving connecting rod, a secondary driving connecting rod, a switching boss, a switching sliding block and a linear sliding rail, wherein the linear sliding rail is arranged in the fixed bracket, the switching sliding block is sleeved on the linear sliding rail in a sliding way, and the switching sliding block is connected with one side of the movable bracket; the translation driving motors are distributed on the fixed support according to three vertex positions of the triangle, and the switching lug bosses are distributed on one side of the movable support corresponding to the positions of the three translation driving motors; the output end of the translation driving motor is provided with a primary driving connecting rod, one end of the secondary driving connecting rod is flexibly connected with the primary driving connecting rod, and the other end of the secondary driving connecting rod is flexibly connected with the switching boss.
In order to better realize the invention, further, three linear slide rails are distributed in the fixing support according to three vertex positions of the triangle.
In order to better realize the invention, the laser displacement detection device further comprises a fixing gun head, a sensor bracket and a laser displacement sensor, wherein the fixing gun head is arranged on one side of the calibration plate far away from the movable bracket, a plurality of sensor brackets are uniformly arranged at the mounting end of the fixing gun head along the circumferential direction, and the laser displacement sensor is arranged on the sensor bracket towards the calibration plate. In order to better realize the invention, further, the mounting end of the fixing gun head is uniformly provided with four sensor brackets along the circumferential direction, and the adjacent sensor brackets are arranged at intervals of 90 degrees.
In order to better realize the invention, the structured light measuring device further comprises a lens-free laser galvanometer projector, an industrial camera and a master control analysis device, wherein the lens-free laser galvanometer projector is arranged on one side of the calibration plate corresponding to the calibration plate and used for projecting sine stripes on the calibration plate; one side of the industrial camera, which corresponds to the calibration plate, is provided with an image for shooting sine stripes; the master control analysis device is connected with the industrial camera and used for analyzing the images of the sine stripes.
Compared with the prior art, the invention has the following advantages:
Compared with the traditional structure that the structure light measuring device and the laser displacement detecting device are arranged on the same side of the calibration plate, the structure light measuring device and the laser displacement detecting device are respectively arranged on two sides of the calibration plate, so that enough operation space is ensured between the calibration plate and the laser displacement detecting device, and the area of the calibration plate can be reduced to ensure the flatness of the calibration plate; meanwhile, the movable support which linearly slides is arranged between the calibration plate and the structured light measuring device, the calibration plate is arranged on one side, close to the laser displacement detecting device, of the movable support through the calibration plate gesture adjusting device, the support translation device is arranged between the movable support and the fixed support, the movable support and the calibration plate are driven to linearly translate through the support translation device, the calibration plate gesture adjusting device is matched to drive the calibration plate to deflect at multiple angles, and therefore the structured light measuring device can acquire a sufficient number of flatness parameters, uncertainty of a calibration result of the laser displacement detecting device through the calibration plate is guaranteed to be reduced to below five ten thousandths, and accuracy of calibration of the laser displacement detecting device is guaranteed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a calibration plate posture adjustment device;
FIG. 3 is a schematic view of a carriage translation device;
FIG. 4 is a schematic diagram of a laser displacement detection device;
fig. 5 is a schematic structural view of a structured light measuring device.
Wherein: 1-fixing a bracket; 2-a movable bracket; 3-a structured light measuring device; 4-calibrating the plate; 5-a laser displacement detection device; 6-a bracket translation device; 7, calibrating the attitude adjusting device of the plate; 71-an attitude adjusting motor; 72-a primary adjusting connecting rod; 73-a secondary adjustment link; 74-connecting bosses; 75-a holding ring rack; 76-connecting blocks; 77-spring; 61-a translation drive motor; 62-primary drive links; 63-a secondary drive link; 64-switching lug boss; 65-switching sliding blocks; 66-linear slide rails; 51-holding the gun head; 52-a sensor holder; 53-a laser displacement sensor; 31-a lensless laser galvanometer projector; 32-an industrial camera; 33-master control analysis device.
Detailed Description
Example 1:
An automatic calibration device for a plurality of laser displacement detection devices is shown in fig. 1, and comprises a fixed support 1, wherein a movable support 2 is slidably arranged in the fixed support 1, a structured light measuring device 3 and a calibration plate 4 are respectively arranged on two sides of the movable support 2, and a plurality of laser displacement detection devices 5 are arranged at one end, far away from the movable support 2, of the calibration plate 4; a bracket translation device 6 for driving the movable bracket 2 to linearly move is arranged between the movable bracket 2 and the fixed bracket 1, the calibration plate 4 is connected with the movable bracket 2 through a calibration plate posture adjustment device 7, and the calibration plate posture adjustment device 7 drives the calibration plate 4 to deflect.
The fixed support 1 comprises a first triangular fixed support and a second triangular fixed support which are arranged in parallel and aligned, and the first triangular fixed support and the second triangular fixed support are connected through a cross beam to form the fixed support 1. A chamber for installing the movable support 2 is formed between the first triangular fixing support and the second triangular fixing support. The movable support 2 is arranged in a cavity between the first triangular fixed support and the second triangular fixed support in a linear movement mode along the direction parallel to the cross beam, the movable support 2 can be driven to linearly translate through the direct translation device 6, and then the movable support 2 drives the calibration plate 4 to linearly translate so as to adjust the linear position of the calibration plate 4. When the calibration plate 4 moves linearly, the calibration plate 4 is driven to deflect at different angles in different directions by the calibration plate attitude adjusting device 7, so that the deflection angle of the calibration plate 4 is adjusted. By the cooperation of linear movement and deflection, the adjustment of the multiple postures of the calibration plate 4 in space is further realized.
When the calibration plate 4 is adjusted to a pose state, a sine stripe image is projected towards one side of the calibration plate 4 through the structure light measuring device 3 on one side of the calibration plate 4, the three-dimensional point cloud data are obtained by collecting and analyzing the sine stripe image through the structure light measuring device 3, and plane equation parameters of the calibration plate 4, which are close to a plane on one side of the movable support 2, can be calculated through the three-dimensional point cloud data. Through adjusting the calibration plate 4 to a plurality of pose states, a plurality of sets of plane equations are solved through the structured light measuring device 3, and then the calibration plate 4 is calibrated through the plurality of sets of plane equations, so that the plane equation parameters with uncertainty less than or equal to 0.05% are obtained, and the subsequent calibration precision of the laser displacement detecting device 5 is greatly improved.
After plane equation parameters are determined, the initial point coordinates and the measurement direction vectors of the displacement measurement of the laser displacement detection device 5 can be further calculated, and then the laser displacement detection device 5 can be measured and calibrated according to the initial point coordinates and the measurement direction vectors, so that the effectiveness and the accuracy of the measurement result of the laser displacement detection device 5 are ensured.
Further, a 5V power supply and a 24V power supply are arranged on the fixed support 1, the 5V power supply is used for providing direct current voltage for the laser displacement detection device 5, and the 24V power supply is used for providing stable direct current voltage for the support translation device 6 and the calibration plate posture adjustment device 7.
Example 2:
the embodiment is improved on the basis of the embodiment 1, as shown in fig. 2, the calibration plate posture adjustment device 7 comprises a posture adjustment motor 71, a primary adjustment connecting rod 72, a secondary adjustment connecting rod 73, a connection boss 74 and a fixing ring frame 75, wherein the posture adjustment motor 71 is distributed on one side of the movable bracket 2 according to three vertex positions of a triangle, the connection boss 74 is circumferentially distributed on the outer side of the fixing ring frame 75 corresponding to the positions of the three posture adjustment motors 71, and the calibration plate 4 is arranged in the fixing ring frame 75; the output end of the gesture adjusting motor 71 is provided with a first-stage adjusting connecting rod 72, one end of a second-stage adjusting connecting rod 73 is flexibly connected with the first-stage adjusting connecting rod 72, and the other end of the second-stage adjusting connecting rod 73 is flexibly connected with a connecting boss 74 at a corresponding position.
The movable support 2 is a triangular support, three positions of the three gesture adjusting motors 71 corresponding to three vertexes of the movable support 2 are arranged on one side of the movable support 2 close to the calibration plate 4, and three connecting bosses 74 corresponding to the distributed positions of the three gesture adjusting motors 71 are circumferentially arranged on the outer side of the fixing ring frame 75, so that the three connecting bosses 74 are arranged corresponding to three vertexes of a triangular area. When the position and the posture of the calibration plate 4 need to be adjusted, the three gesture adjusting motors 71 drive the corresponding primary adjusting connecting rods 72 and the corresponding secondary adjusting connecting rods 73 to synchronously or asynchronously act, so as to drive the calibration plate 4 to deflect different angles.
Further, the flexible connection comprises a spherical pair connection.
Further, the movable support comprises a connecting block 76 and a spring 77, wherein the connecting block 76 is arranged on the movable support 2 and is located on one side of the posture adjusting motor 71, one end of the spring 77 is connected with the connecting block 76, and the other end of the spring 77 is flexibly connected with the connecting boss 74.
Further, the connection block 76 is located at two-fifths of the side length of the movable bracket 2.
The connection lines among the spring 77, the secondary adjusting connecting rod 73, the connecting block 76 and the gesture adjusting motor 71 form three sides of a variable triangle area, and when the three gesture adjusting motors 71 drive the secondary adjusting connecting rod 73 to act asynchronously, the stability of the calibration plate 4 during deflection is further ensured through the deformation of the spring 77.
Further, the included angle between the spring 77 and the secondary adjusting link 73 is 15 ° -40 °.
Further, a fixing ring groove is arranged in the fixing ring frame 75, and the calibration plate 4 is clamped in the fixing ring groove through a flexible gasket, so that deformation or damage caused by rigid compression of the calibration plate 4 is avoided.
Further, the calibration plate 4 adopts a wafer-level double-side grinding monocrystalline silicon wafer.
Other portions of this embodiment are the same as those of embodiment 1, and thus will not be described in detail.
Example 3:
The embodiment is improved on the basis of the above embodiment 1 or 2, as shown in fig. 3, the bracket translation device 6 includes a translation driving motor 61, a primary driving connecting rod 62, a secondary driving connecting rod 63, a transfer boss 64, a transfer sliding block 65, and a linear sliding rail 66, the inside of the fixed bracket 1 is provided with the linear sliding rail 66, the linear sliding rail 66 is slidingly sleeved with the transfer sliding block 65, and the transfer sliding block 65 is connected with one side of the movable bracket 2; the translation driving motors 61 are distributed on the fixed support 1 according to three vertex positions of a triangle, and the switching bosses 64 are distributed on one side of the movable support 2 corresponding to the positions of the three translation driving motors 61; the output end of the translation driving motor 61 is provided with a primary driving connecting rod 62, one end of a secondary driving connecting rod 63 is flexibly connected with the primary driving connecting rod 62, and the other end of the secondary driving connecting rod 63 is flexibly connected with a switching boss 64.
Further, three linear slide rails 66 are distributed in the fixing support 1 according to three vertex positions of the triangle.
The three translation driving motors 61 synchronously drive a linkage mechanism composed of a primary driving connecting rod 62 and a secondary driving connecting rod 63 to act, and then the movable support 2 is pushed by the linkage mechanism, so that the transfer sliding block 65 on the movable support 2 linearly slides along the linear sliding rail 66, and further the linear movement of the movable support 2 is realized.
Further, the side length of the fixed support 1 is a, the length of the secondary driving connecting rod 63 is 2/5A, the distance from the center point of the output shaft of the translation driving motor 61 to the vertex of the triangular area of the force fixed support 1 is 1/8A, the space included angle between the secondary driving connecting rod 63 and the movable support 2 is θ, and the distance from the connecting position of the secondary driving connecting rod 63 and the movable support 2 to the side length side of the fixed support 1 is L 1 =1/8a+2/5a×cos θ can be calculated according to the geometric relationship.
Further, in order to reduce the influence of torque on the smoothness of the movable support 2 in the linear movement process of the movable support 2 driven by the secondary driving connecting rod 63, a transfer sliding block 65 slidably connecting the movable support 2 with the linear sliding rail 66 is disposed at the adjacent position of the connecting position of the secondary driving connecting rod 63 and the movable support 2.
Further, when θ=60°, L 1 =13/40A, the linear slide 66 is placed at 1/3 of the width of each side of the fixed bracket 1 and parallel to the side length direction.
Further, the flexible connection comprises a spherical pair connection.
Other portions of this embodiment are the same as those of embodiment 1 described above, and thus will not be described again.
Example 4:
The present embodiment is modified on the basis of any one of the foregoing embodiments 1 to 3, as shown in fig. 4, the laser displacement detection device 5 includes a fixing gun head 51, a sensor bracket 52, and a laser displacement sensor 53, where the fixing gun head 51 is disposed on a side of the calibration plate 4 away from the movable bracket 2, a plurality of sensor brackets 52 are uniformly disposed at a mounting end of the fixing gun head 51 along a circumferential direction, and the laser displacement sensor 53 is disposed on the sensor bracket 52 toward the calibration plate 4.
Further, the mounting end of the holding gun head 51 is uniformly provided with four sensor brackets 52 along the circumferential direction, and the adjacent sensor brackets 52 are arranged at a 90-degree interval.
Four laser points are projected towards the calibration plate 4 through the four laser displacement sensors 53, the laser points located on the diagonal are connected to form a cross shape, and the normal vector of the calibration plane of the four laser displacement sensors 53 can be calculated through the cross shape.
Further, the relative distance between the laser displacement sensor 53 and the initial plane of the calibration plate 4 is L, the measuring range of the laser displacement sensor 53 is-L 0-+L0, and the linear movement range of the calibration plate 4 is (L-0.9L 0）-（L+0.9L0).
Other portions of this embodiment are the same as any of embodiments 1 to 3 described above, and thus will not be described again.
Example 5:
The embodiment is modified on the basis of any one of the above embodiments 1 to 4, as shown in fig. 5, the structured light measuring device 3 includes a lens-free laser galvanometer projector 31, an industrial camera 32, and a master control analysis device 33, where the lens-free laser galvanometer projector 31 is disposed on one side of the calibration plate 4 corresponding to the calibration plate 4 and is used for projecting sinusoidal fringes on the calibration plate 4; the industrial camera 32 is arranged on one side of the calibration plate 4 corresponding to the calibration plate and is used for shooting images of sine stripes; the master analyzing device 33 is connected to the industrial camera 32 and is used for analyzing the image of the sinusoidal stripes.
The lens-free laser galvanometer projector 31 is used for projecting high-resolution sine stripes with small view fields on the calibration plate 4, the industrial camera 32 is used for shooting sine stripe images, which are deformed by the high-low fluctuation modulation, on the surface of the measured calibration plate 4, and the master control analysis device 33 is used for analyzing the sine stripe images obtained by the industrial camera 32 and obtaining three-dimensional point cloud data, so that a plane equation of one side, close to the movable support 2, of the calibration plate 4 is obtained.
Other portions of this embodiment are the same as any of embodiments 1 to 4 described above, and thus will not be described again.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.
Claims (8)
1. The automatic calibration device for the multiple laser displacement detection devices comprises a fixed support (1), and is characterized in that a movable support (2) is slidably arranged in the fixed support (1), a structured light measuring device (3) and a calibration plate (4) are respectively arranged on two sides of the movable support (2), and a plurality of laser displacement detection devices (5) are arranged at one end, far away from the movable support (2), of the calibration plate (4); a support translation device (6) for driving the movable support (2) to linearly move is arranged between the movable support (2) and the fixed support (1), the calibration plate (4) is connected with the movable support (2) through a calibration plate posture adjustment device (7), and the calibration plate posture adjustment device (7) drives the calibration plate (4) to deflect; the calibration plate posture adjustment device (7) comprises a posture adjustment motor (71), a primary adjustment connecting rod (72), a secondary adjustment connecting rod (73), a connection boss (74) and a fixing ring frame (75), wherein the posture adjustment motor (71) is distributed on one side of the movable support (2) according to three vertex positions of a triangle, the connection boss (74) is circumferentially distributed on the outer side of the fixing ring frame (75) corresponding to the positions of the three posture adjustment motors (71), and a calibration plate (4) is installed in the fixing ring frame (75); the output end of the gesture adjusting motor (71) is provided with a first-stage adjusting connecting rod (72), one end of a second-stage adjusting connecting rod (73) is flexibly connected with the first-stage adjusting connecting rod (72), and the other end of the second-stage adjusting connecting rod (73) is flexibly connected with a connecting boss (74) at a corresponding position.
2. The automatic calibration device for the multiple laser displacement detection devices according to claim 1, further comprising a connecting block (76) and a spring (77), wherein the connecting block (76) is arranged on the movable support (2) and is positioned on one side of the gesture adjusting motor (71), one end of the spring (77) is connected with the connecting block (76), and the other end of the spring (77) is flexibly connected with the connecting boss (74).
3. An automatic calibration device for a plurality of laser displacement detection devices according to claim 2, wherein the angle between the spring (77) and the secondary adjusting connecting rod (73) is 15 ° -40 °.
4. An automatic calibration device for a plurality of laser displacement detection devices according to any one of claims 1 to 3, wherein the bracket translation device (6) comprises a translation driving motor (61), a primary driving connecting rod (62), a secondary driving connecting rod (63), a transfer boss (64), a transfer sliding block (65) and a linear sliding rail (66), the linear sliding rail (66) is arranged in the fixed bracket (1), the transfer sliding block (65) is sleeved on the linear sliding rail (66) in a sliding manner, and the transfer sliding block (65) is connected with one side of the movable bracket (2); the translation driving motors (61) are distributed on the fixed support (1) according to three vertex positions of a triangle, and the switching bosses (64) are distributed on one side of the movable support (2) corresponding to the positions of the three translation driving motors (61); the output end of the translation driving motor (61) is provided with a primary driving connecting rod (62), one end of a secondary driving connecting rod (63) is flexibly connected with the primary driving connecting rod (62), and the other end of the secondary driving connecting rod (63) is flexibly connected with a switching boss (64).
5. The automatic calibration device for the multiple laser displacement detection devices according to claim 4, wherein three linear slide rails (66) are distributed in the fixing support (1) according to three vertex positions of a triangle.
6. An automatic calibration device for multiple laser displacement detection devices according to any one of claims 1-3, wherein the laser displacement detection device (5) comprises a fixed gun head (51), a sensor bracket (52) and a laser displacement sensor (53), the fixed gun head (51) is arranged on one side of the calibration plate (4) far away from the movable bracket (2), a plurality of sensor brackets (52) are uniformly arranged at the mounting end of the fixed gun head (51) along the circumferential direction, and the sensor bracket (52) is provided with the laser displacement sensor (53) towards the calibration plate (4).
7. The automatic calibration device for the multiple laser displacement detection devices according to claim 6, wherein four sensor brackets (52) are uniformly arranged at the mounting end of the fixing gun head (51) along the circumferential direction, and adjacent sensor brackets (52) are arranged at intervals of 90 degrees.
8. An automatic calibration device for a plurality of laser displacement detection devices according to any one of claims 1 to 3, wherein the structured light measurement device (3) comprises a lens-free laser galvanometer projector (31), an industrial camera (32) and a master control analysis device (33), and the lens-free laser galvanometer projector (31) is arranged on one side of the calibration plate (4) corresponding to the calibration plate (4) and is used for projecting sine stripes; one side of the industrial camera (32) corresponding to the calibration plate (4) is provided with an image for shooting sine stripes; the master control analysis device (33) is connected with the industrial camera (32) and is used for analyzing the images of the sine stripes.
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