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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 three-dimensional measurement technology with non-contact, measurement speed, high accuracy and other advantages in the forging field has great potential applications. However, the common surface scanning three-dimensional measuring equipment in the measurement process susceptible to measurement planning, data processing and other human factors, the measurement accuracy is difficult to guarantee. In order to solve this problem, this paper proposes an automatic three-dimensional measurement technology based on surface scan and six-degree-of-freedom robot, which is composed of six degrees of freedom robot, three-dimensional measuring head, control system and so on. Large range of features and surface scan measurement speed, high precision advantages. In addition, this technique uses a hand-eye calibration algorithm based on matrix direct product to achieve high-precision automatic combination of multiple measurement data. The practical application shows that the technology can realize fast, accurate and automatic three-dimensional measurement and accuracy detection of industrial products such as complex forgings.