自动化三维精密测量技术及其在锻压领域的应用

Automatic 3D precision measurement technology and its application in forging field

面扫描三维测量技术具有非接触、测量速度快、精度高等优势,在锻压领域具有巨大的应用潜力。但是通用的面扫描三维测量设备在测量过程中易受测量规划、数据处理等人为因素影响,测量精度难以保证。为解决此问题,提出一种基于面扫描和六自由度机器手的自动化三维测量技术,该技术由六自由度机器手、三维测量头、控制系统等组成,能够充分利用机器手运动灵活、工作范围大的特点和面扫描测量速度快、精度高的优势。此外,该技术采用了一种基于矩阵直积的手眼标定算法,实现了多次测量数据的高精度自动拼合。实际应用表明,该技术能够实现复杂锻件等工业产品的快速、精确、自动三维测量和精度检测。

Surface scanning 3D measurement technology is of non- contact, fast measuring speed and high accuracy, and it is promising to apply in the field of forging. But the common 3 D measurement equipments are easily affected by human factors such as measurement planning, data processing, etc. , and it is difficult to guarantee the accuracy during measurement. In order to solve those problems, an automatic 3D measurement technology was put forward based on surface scanning and industrial robot with six degrees of freedom, which was composed of six degree of freedom robot hand, 3 D measurement head and control system, etc. Furthermore, it could make full use of the advantages of flexible operation, large working range in robot hand and fast measuring speed, and high accuracy in surface scanning. Additionally, a hand - eye calibration algorithm based on kronecher product was adopted in this technology, which realized a high - preci- sion automatic registration of measurement data. The practical application shows that the technology can realize a fast, accurate, automatic 3D measurement and accuracy test of the complex forging products.