CN104708301A - Automatic heating wire assembling device based on machine vision - Google Patents

Automatic heating wire assembling device based on machine vision Download PDF

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Publication number
CN104708301A
CN104708301A CN201510066830.9A CN201510066830A CN104708301A CN 104708301 A CN104708301 A CN 104708301A CN 201510066830 A CN201510066830 A CN 201510066830A CN 104708301 A CN104708301 A CN 104708301A
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China
Prior art keywords
heating wire
camera
angle
coordinate
center
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CN201510066830.9A
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Chinese (zh)
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CN104708301B (en
Inventor
卜琰
郭振民
刘军
徐赤
邵斌
祝晓春
丁毅
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杭州自动化技术研究院有限公司
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Publication of CN104708301A publication Critical patent/CN104708301A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00Resistance welding; Severing by resistance heating
    • B23K11/10Spot welding; Stitch welding
    • B23K11/11Spot welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00Resistance welding; Severing by resistance heating
    • B23K11/02Pressure butt welding

Abstract

The invention relates to an automatic heating wire assembling device based on machine vision. The automatic heating wire assembling device comprises a core feed mechanism, a mechanical arm, a heating wire feed mechanism and a vision measuring system. The core feed mechanism and the heating wire feed mechanism are fixed to the two sides of the front end of the mechanical arm respectively. The vision measuring system is fixed to the front side of the mechanical arm. The vision measuring system comprises a support, a camera and a light source. A supporting platform is arranged at the lower portion of the support. The light source is fixed to the supporting platform. The camera is fixed to the upper portion of the support through a camera supporting plate. The position of the camera is flush with the position of the light source. A camera head of the camera faces downwards. The illumination direction of the light source faces upwards. A pneumatic claw mechanism is fixed to the front end of the mechanical arm through a cylinder installation plate. Human eyes are replaced with the camera for measuring the central positions and angles of heating wires, the accuracy is completely ensured by the camera, reliability and stability are achieved, and fatigue can not occur; human hands are replaced with the mechanical arm for grabbing and putting down the heating wires, the speed is higher, and efficiency is higher.

Description

A kind of heating wire automatic assembling apparatus based on machine vision

Technical field

The invention belongs to field of machine vision, particularly relate to a kind of heating wire automatic assembling apparatus based on machine vision.

Background technology

Along with improving constantly of living standards of the people, the demand of automobile can increase gradually, it is thereupon the develop rapidly of auto Parts Industry, each automobile generally all can be furnished with a cigar lighter, in 2005, only Guangzhou Honda motor corporation cigar lighter demand of a year is 400,000, and the demand of whole automobile industry can be larger.The effect of cigar lighter is exactly facilitate driver to light a cigarette, its operation principle utilizes the 12V power supply in automobile to be heated in specified for temperature ranges by the heating wire in cigar lighter, its core component is exactly the transport element of cigar lighter---heating wire, and the assembly quality of heating wire will directly affect the end product quality of cigar lighter.

The heating wire assembling process of cigar lighter needs first heating wire to be put into sandwich, then utilizes the operation such as spot welding or pressure welding heating wire and sandwich to be fixed together.The preceding working procedure of heating wire needs through Overheating Treatment, heating wire center and angle random distribution after heat treatment, so the key of heating wire assembling process is the position judging heating wire center in cigar lighter, this position is utilized exactly heating wire to be put into sandwich.

Present stage, the heating wire assembling process of cigar lighter all adopts and manually completes, and first operative employee needs, with hand-held heating wire, to utilize human eye to judge heating wire center, then it is put in sandwich exactly, finally utilize spot welding or pressure welding to complete the assembling of heating wire and sandwich.The manual assembly of heating wire is overly dependent upon operative employee, assembling process is higher for the requirement of eyes, the sensation of human eye acumen can ensure the assembly precision that heating wire is final, but, long-term assembling process can cause people's kopiopia, affect heating wire assembly precision, the ultraviolet that the metal dust on heating wire surface and spot welding produce and waste gas, also can affect the healthy of people.Therefore, utilize machine to replace operative employee to realize the heating wire Automated assembly process of cigar lighter, for liberating labour further, improve auto parts and components production efficiency, ensure product consistency great meaning.

Summary of the invention

In order to solve above-mentioned technical problem, the object of this invention is to provide a kind of heating wire automatic assembling apparatus based on machine vision, this device can adjust heating wire center and angle in real time in motion process, heating wire is put into sandwich notch exactly, completes the automatic assembling of heating wire.

In order to realize above-mentioned object, present invention employs following technical scheme:

A kind of heating wire automatic assembling apparatus based on machine vision, comprise sandwich feed mechanism, manipulator, heating wire feed mechanism and vision measurement system, described sandwich feed mechanism and heating wire feed mechanism are separately fixed at the both sides of manipulator front end, described vision measurement system is fixed on the front of manipulator, described vision measurement system comprises support, camera and light source, the bottom of described support is provided with support platform, described light source is fixed in support platform, described camera is fixed on the top of support by camera support plate, the position of described camera and the position of light source align, and the camera of camera down, the direction of illumination of light source upward, the front end of described manipulator is fixed with Qi Zhao mechanism by cylinder mounting plate, heating wire moves between camera and light source from heating wire feed mechanism by Qi Zhao mechanism by described manipulator, trigger photographing signals, light source igniting, simultaneously camera is taken pictures the position of now heating wire and angle information record, then vision measurement system sets up coordinate system, and the center tongue of heating wire is mated according to Built-in Image matching algorithm, calculate position and the angle at heating wire center, the transition matrix of recycling visual coordinate system and robot coordinate system, be the position under robot coordinate system and angle by above-mentioned position and angular transition, the position of described sandwich center to be assembled under robot coordinate system and direction known, the position at heating wire center and the compensation rate of angle is drawn by the position of comparison heating wire and sandwich and angle parameter, manipulator constantly adjusts heating wire in motion process according to these data, heating wire puts into sandwich the most at last.

Preferably: the step that described vision measurement system measures the compensation rate of heating wire center and angle is as follows:

1) pixel coordinate of the photo taken by camera is converted into range coordinate;

2) according to the center tongue of Built-in Image matching algorithm coupling heating wire, the position P of center tongue under visual coordinate system of current heating wire after the match is successful, is obtained v1with angle θ v1;

3) utilize the built-in fitting circle algorithm of smart camera, simulate as heating wire centre bore fitting circle C1, with P v1for positioning datum, draw L1 line segment, the center tongue that line segment L1 is positioned at heating wire is parallel to the center tongue of heating wire; L1 and C1 intersects at P1 and P3 two point, gets the mid point P2 of P1 and P3, and the position of P2 in visual coordinate system is P v2;

4) transformation matrix of visual coordinate system and robot coordinate system is T1, according to following formula, visual coordinate system upper/lower positions P2 is converted into robot coordinate system upper/lower positions P r2;

5) draw sandwich notch and extend line segment L2, sandwich notch center point P 4, P4 is set to P in robot coordinate system bottom r4, under line segment L2 and coordinate, the angle of Vy axle is exactly the angle value θ at sandwich notch center v0;

6) described θ v0and θ v1be the position of heating wire center under robot coordinate system and angle, described P r4and θ v0be the position of sandwich notch center under robot coordinate system and angle, contrast draws position compensation amount Δ p and angle compensation amount Δ θ.

Preferably: described light source adopts backlight pattern.Heating wire boundary profile clearly can be provided, be conducive to the accuracy improving the calculating of heating wire center.

The present invention has following beneficial effect compared to prior art: the heating wire manual assembly process of cigar lighter of comparing, the present invention is based on the mode of machine vision, camera is utilized to replace human eye to carry out heating wire center and angular surveying, precision is ensured by camera completely, less than 0.1mm and 1 degree can be reached, reliable and stable, can not fatigue be produced; Manipulator is utilized to replace staff to complete crawl and the placement of heating wire, compare with manual operation, speed is faster, efficiency is higher, and by completing spot welding or pressure welding operation alternately with the signal of outside spot welding or pressure welding device, full process automatization is unattended, greatly reduces the potential hazard that waste gas and metal dust cause health.

Accompanying drawing explanation

Fig. 1 is that heating wire assembles integral layout figure automatically.

Fig. 2 is vision measurement system location layout figure.

Fig. 3 is sandwich structure schematic diagram.

Fig. 4 is heating wire sandwich assembling schematic diagram.

Fig. 5 is heating wire and sandwich position and goniometer nomogram.

Detailed description of the invention

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is made a detailed explanation.

A kind of heating wire automatic assembling apparatus based on machine vision as depicted in figs. 1 and 2, comprise sandwich feed mechanism 1, manipulator 3, heating wire feed mechanism 5 and vision measurement system, described sandwich feed mechanism 1 and heating wire feed mechanism 5 are separately fixed at the both sides of manipulator 3 front end, described vision measurement system is fixed on the front of manipulator 3, described vision measurement system comprises support 6, camera 8 and light source 10, the bottom of described support 6 is provided with support platform, described light source 10 is fixed in support platform, and described light source 10 adopts backlight pattern.

Described camera 8 is fixed on the top of support 6 by camera support plate 7, the position of described camera 8 and the position of light source 10 align, and the camera of camera 8 down, upward, the front end of described manipulator 3 is fixed with Qi Zhao mechanism 9 by cylinder mounting plate 2 to the direction of illumination of light source 10.

Heating wire 4 moves between camera 8 and light source 10 from heating wire feed mechanism 5 by Qi Zhao mechanism 9 by described manipulator 3, trigger photographing signals, light source 10 is lighted, simultaneously camera 8 is taken pictures the position of now heating wire 4 and angle information record, then vision measurement system sets up coordinate system, and the center tongue of heating wire 4 is mated according to Built-in Image matching algorithm, calculate position and the angle at heating wire 4 center, the transition matrix of recycling visual coordinate system and robot coordinate system, be the position under robot coordinate system and angle by above-mentioned position and angular transition, the position of described sandwich 11 center to be assembled under robot coordinate system and direction known, the position at heating wire 4 center and the compensation rate of angle is drawn by the position of comparison heating wire 4 and sandwich 11 and angle parameter, manipulator constantly adjusts heating wire 4 in motion process according to these data, heating wire 4 puts into sandwich 11 the most at last.

As shown in Figure 5, coordinate system Vx axle and Vy axle are the coordinate system under vision measurement system, P 0for the zero point under visual coordinate system, the step that described vision measurement system measures the compensation rate of heating wire 4 center and angle is as follows:

1) pixel coordinate of the photo taken by camera 8 is converted into range coordinate;

2) according to the center tongue of Built-in Image matching algorithm coupling heating wire 4, the position P of center tongue under visual coordinate system of current heating wire 4 after the match is successful, is obtained v1with angle θ v1;

3) utilize the built-in fitting circle algorithm of smart camera, simulate as heating wire 4 centre bore fitting circle C1, with P v1for positioning datum, draw L1 line segment, the center tongue that line segment L1 is positioned at heating wire 4 is parallel to the center tongue of heating wire 4; L1 and C1 intersects at P1 and P3 two point, gets the mid point P2 of P1 and P3, and the position of P2 in visual coordinate system is P v2;

4) transformation matrix of visual coordinate system and robot coordinate system is T1, according to following formula, visual coordinate system upper/lower positions P2 is converted into robot coordinate system upper/lower positions P r2;

5) draw sandwich 11 notch and extend line segment L2, sandwich 11 notch center point P 4, P4 is set to P in robot coordinate system bottom r4, under line segment L2 and coordinate, the angle of Vy axle is exactly the angle value θ at sandwich 11 notch center v0;

6) numerical value of heating wire 4 angle in two coordinate systems is identical, and the numerical value of sandwich 11 notch angle in two coordinate systems is identical, therefore described P r2and θ v1be the position of heating wire 4 center under robot coordinate system and angle, described P r4and θ v0be the position of sandwich 11 notch center under robot coordinate system and angle, contrast draws position compensation amount Δ p and angle compensation amount Δ θ.

Vision measurement system adopts Cognex 7000 Series Intelligent camera, comprises images match, the multiple types of tools such as fitting circle.

As shown in Figure 1, after preceding working procedure, heating wire 4 is placed on the fixed position on heating wire feed mechanism 1, this position is consistent with the crawl position of manipulator 3, manipulator 3 ring flange is equipped with cylinder mounting plate 2, Qi Zhao mechanism 9 cylinder mounting plate 2 is equipped with, after manipulator 3 moves to heating wire feed mechanism 1 fixed position crawl heating wire 4, heating wire 4 is moved on in the visual field of camera 8, trigger photographing signals, vision measurement system calculates heating wire 4 center and angle according to above-mentioned steps, (the seasonal θ of actual use v0≈ 0 °), by communication mode, heating wire 4 center and angle are transferred to manipulator 3, manipulator is according to position deviation Δ pand angular deviation Δ θ, in moving process, adjust heating wire 4 position and angle in real time, finally put into exactly in sandwich 11, then control outside spot welding or pressure welding device, heating wire 4 and sandwich 11 are fixed together, complete the automatic assembling of heating wire.

As shown in Figure 3 and Figure 4, when heating wire 4 and sandwich 11 complete and correctly assemble, now heating wire 4 should be positioned at sandwich 11 pocket bottom, spot welding follow-up like this or pressure welding operation can allow heating wire fully contact with sandwich, resistance value between guarantee sandwich 11 and heating wire 4 within the limits prescribed, meet the requirement of the cigar lighter efficiency of heating surface, if heating wire 4 does not put into sandwich 11, may directly cause cigar lighter to be scrapped.

Claims (3)

1. the heating wire automatic assembling apparatus based on machine vision, it is characterized in that: comprise sandwich feed mechanism (1), manipulator (3), heating wire feed mechanism (5) and vision measurement system, described sandwich feed mechanism (1) and heating wire feed mechanism (5) are separately fixed at the both sides of manipulator (3) front end, described vision measurement system is fixed on the front of manipulator (3), described vision measurement system comprises support (6), camera (8) and light source (10), the bottom of described support (6) is provided with support platform, described light source (10) is fixed in support platform, described camera (8) is fixed on the top of support (6) by camera support plate (7), the position of described camera (8) and the position of light source (10) align, and the camera of camera (8) down, the direction of illumination of light source (10) upward, the front end of described manipulator (3) is fixed with Qi Zhao mechanism (9) by cylinder mounting plate (2), heating wire (4) moves between camera (8) and light source (10) from heating wire feed mechanism (5) by Qi Zhao mechanism (9) by described manipulator (3), trigger photographing signals, light source (10) is lighted, simultaneously camera (8) is taken pictures the position of now heating wire (4) and angle information record, then vision measurement system sets up coordinate system, and the center tongue of heating wire (4) is mated according to Built-in Image matching algorithm, calculate position and the angle at heating wire (4) center, the transition matrix of recycling visual coordinate system and robot coordinate system, be the position under robot coordinate system and angle by above-mentioned position and angular transition, the position of described sandwich to be assembled (11) center under robot coordinate system and direction known, the position at heating wire (4) center and the compensation rate of angle is drawn by the position of comparison heating wire (4) and sandwich (11) and angle parameter, manipulator constantly adjusts heating wire (4) in motion process according to these data, heating wire (4) puts into sandwich (11) the most at last.
2. a kind of heating wire automatic assembling apparatus based on machine vision according to claim 1, is characterized in that: the step that described vision measurement system measures the compensation rate of heating wire (4) center and angle is as follows:
1) pixel coordinate of the photo taken by camera (8) is converted into range coordinate;
2) according to the center tongue of Built-in Image matching algorithm coupling heating wire (4), the position P of center tongue under visual coordinate system of current heating wire (4) after the match is successful, is obtained v1with angle θ v1;
3) utilize the built-in fitting circle algorithm of smart camera, simulate as heating wire (4) centre bore fitting circle C1, with P v1for positioning datum, draw L1 line segment, the center tongue that line segment L1 is positioned at heating wire (4) is parallel to the center tongue of heating wire (4); L1 and C1 intersects at P1 and P3 two point, gets the mid point P2 of P1 and P3, and the position of P2 in visual coordinate system is P v2;
3) transformation matrix of visual coordinate system and robot coordinate system is T1, according to following formula, visual coordinate system upper/lower positions P2 is converted into robot coordinate system upper/lower positions P r2;
4) draw sandwich (11) notch and extend line segment L2, sandwich (11) notch center point P 4, P4 is set to P in robot coordinate system bottom r4, under line segment L2 and coordinate, the angle of Vy axle is exactly the angle value θ at sandwich (11) notch center v0;
5) described P r2and θ v1be the position of heating wire (4) center under robot coordinate system and angle, described P r4and θ v0be the position of sandwich (11) notch center under robot coordinate system and angle, contrast draws position compensation amount Δ pwith angle compensation amount Δ θ.
3. a kind of heating wire automatic assembling apparatus based on machine vision according to claim 1, is characterized in that: described light source (10) adopts backlight pattern.
CN201510066830.9A 2015-02-09 2015-02-09 Automatic heating wire assembling device based on machine vision CN104708301B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272439A (en) * 2016-10-17 2017-01-04 上汽大众汽车有限公司 A kind of instrumental panel localization method and instrumental panel mechanical hand
CN106670763A (en) * 2017-01-10 2017-05-17 荣旗工业科技(苏州)有限公司 Calculating method of high-precision automatic assembly machine

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JPH1177562A (en) * 1997-09-10 1999-03-23 Shinko Electric Co Ltd Mobile robot
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