狭窄舱体内装配质量视觉检测系统设计研究

A Mechanism for Narrow Cabin Assembly Quality Detecting by Vision

介绍了用于狭窄舱内零件装配质量检测装置,该装置由底座、升降机构、螺旋运动机构、摄像系统组成。其摄像系统由摄像机、棱镜、光源组成,置于探杆末端,摄像机与探杆同轴,由棱镜反射读取垂直探杆方向的图像。整个装置基于柱坐标系设计,有平移、旋转两个自由度,手动调整摄像系统与待测舱体同轴后,由螺旋运动机构带动摄像系统旋转和平移读取整个舱体内壁的全部图像。该视觉检测装置轴向行程长、回转半径小、刚度高,实验表明摄像系统拍摄平稳,摄像清晰适用于视觉伺服控制需要。

A mechanism is designed for detecting the assembling parts in a narrow cabin,which is made up of a basement,an elevator,a two-degree-of-freedom （ DOF） mechanism and a camera system. The camera system is mounted at the end of detecting shaft,which is made up of a camera,a prism,and a light source. The camera is coaxial with the detecting shaft,and it can grasp the picture of the cabin by a prism,which changes the light from the surface of the cabin to the direction of detecting shaft＇s axis. There are two DOFs in the mechanism that is designed based on cylindrical coordinate. Through the two-DOF mechanism translating and revolving together,the camera system can obtain the whole internal image of the cabin. There are some merits in the mechanism,e. g. long stroke,tiny radius,and high rigidity. The experiment verified that the photo is clear and is suitable for vision servo control.