CN105750892A - Automatic screw assembly-in-place detection system on basis of real-time image processing - Google Patents
Automatic screw assembly-in-place detection system on basis of real-time image processing Download PDFInfo
- Publication number
- CN105750892A CN105750892A CN201610228019.0A CN201610228019A CN105750892A CN 105750892 A CN105750892 A CN 105750892A CN 201610228019 A CN201610228019 A CN 201610228019A CN 105750892 A CN105750892 A CN 105750892A
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- torque sensor
- image
- cylinder
- motion control
- assembled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/065—Arrangements for torque limiters or torque indicators in screw or nut setting machines
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention relates to an automatic screw assembly-in-place detection system on basis of real-time image processing. The system comprises an industrial personal computer, a camera, a Googol motion control card, an electrical cabinet, a torque sensor, a signal processing module, a stepping motor, a cylinder, a bottom table, a fast clamping device, a linear guiding rail, a clamping claw, a shaft coupler and a speed reducer, wherein the Googol motion control card is connected with the industrial personal computer through a PCI (Peripheral Component Interconnect) bus; the Googol motion control card and the industrial personal computer are together arranged on the electrical cabinet; the camera is connected with the industrial personal computer; the torque sensor, the signal processing module, the stepping motor, the cylinder and the like are mutually connected with the Googol motion control card; the camera, the torque sensor, a sliding seat, the stepping motor, the cylinder, the fast clamping device, the linear guiding rail, the clamping claw, the sliding seat, the shaft coupler and the speed reducer are fixed on the bottom table through accessory devices. The automatic assembling system disclosed by the invention has the advantages that the assembly precision is guaranteed due to the fact that the system has a high-precision image recognition capability and the high-sensitivity torque sensor, and the inaccuracy caused by manual judgment through naked eyes is prevented.
Description
Technical field
The invention belongs to automated machine assembling field, be specifically related to a kind of auto spiral based on scan picture and be assembled to position detecting system, further relate to a kind of auto spiral assembly equipment.
Background technology
Spiral assembling is modal a kind of assembling mode in mechanical field, for the commonly used Wrench manual assembly of standard component, but for non-standard component, it is often accompanied with some special technical requirements so that manual assembly difficulty is very big, and assemble and be not readily reachable by very much required precision, at work, have in a kind of mechanical mechanism and use spiral assembling mode to connect, make equipment reach sealing effectiveness, adopt manual assembly, be extremely difficult to permissible accuracy.
Summary of the invention
In order to solve above-mentioned Problems existing, the present invention provides a kind of auto spiral based on scan picture to be assembled to position detecting system, also provides for a kind of auto spiral assembly equipment, and the frame for movement of different model can be assembled by this equipment.
The present invention is achieved through the following technical solutions:
Auto spiral based on scan picture is assembled to position detecting system, it is characterized in that: this system includes industrial computer, video camera, solid high motion control card, regulator cubicle, torque sensor, signal processing module, motor, cylinder, end table, quick gripping mechanism, line slideway, claw, shaft coupling, decelerator；Wherein solid high motion control card is connected with industrial computer by pci bus, and it is installed along with on regulator cubicle, video camera is connected with industrial computer by netting twine, torque sensor, signal processing module, motor, cylinder etc. are connected with each other with admittedly high motion control card, video camera, torque sensor, sliding seat, motor, cylinder, quick gripping mechanism, the equipment such as line slideway, claw, sliding seat, shaft coupling, decelerator is fixed on end table by auxiliary device.
As the further prioritization scheme of the present invention, described quick gripping mechanism is divided into standing part and movable part, the difference of movable part clamping object model as required, can move along guide rail, and the length to regulate gripping mechanism adapts to the difference between model.
Further prioritization scheme as the present invention, described claw also has different model according to mounting model difference, but different model claw all can connect with the form that the axle of torque sensor one end is connected with key, is connected by matched in clearance, it is possible to conveniently dismantle at any time to change model.
As the further prioritization scheme of the present invention, described torque sensor, decelerator, motor etc. are each attached on sliding seat, and cylinder can promote sliding seat to move along guide rail.
As the further prioritization scheme of the present invention, described video camera is fixed near the claw on end table, can Real Time Observation and judge assembling situation.
As the further prioritization scheme of the present invention, described signal processing module is connected with torque sensor, the current signal of torque sensor can be changed into voltage signal.
Another one purpose of the present invention is to provide a kind of image processing method in dynamic image with significantly high discrimination.
nullIt is the form of dynamic link library by the video information of camera acquisition by VC++ software encapsulation，Then pass through the function of " Using Call Library Function " in LabVIEW software to transfer packaged dynamic link library，Thus video information is embedded in LabVIEW software program，Video information is a sheet by a sheet continuous print picture，In order to ensure that video information is not lost，Program uses " element enqueue、Obtain quene state、Acquisition queue is quoted、Element dequeue、Release queue quote " etc. function by these pictures adopt queue form export a sheet by a sheet，Then " IMAQCreat is used、IMAQArrayToImage " etc. function convert the image of the RGB form of output to gray level image，" IMAQEdgeTool is adopted when processing gray level image、IMAQOverlayPoints、IMAQFindEdge、IVAStoreStraightEdge.vi " etc. edge indicator function image is carried out rim detection，Identify the border of image，In identification process，Identifying to begin at first in region is selected by mouse，Owing in assembling process, image is continually changing in time，Accurate in order to ensure image image recognition in the process of change，Coding makes the identification region of image move with the conversion of image，Additionally，In order to avoid causing flating due to DE Camera Shake，Cause identification mistake，Write rejecting wrong identification program，Thus guarantee that what program identified all the time in whole assembling process is correct border.
The principle that the present invention assembles automatically is: upper industrial computer runs the automatic setup system of exploitation under LabVIEW2012 environment, program carries out gap based on the real time imaging of camera acquisition and identifies the signal intensity with torque sensor, by admittedly high motion control card, send required pulse to motor and control cylinder advance or retreat, it is achieved assembling function automatically.
The invention has the beneficial effects as follows: by having high-precision dynamic image identification ability and high-sensitive torque sensor, it is ensured that the precision of assembling, it is to avoid the inaccuracy artificially judged by naked eyes.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of auto spiral assembly equipment of the present invention；
Fig. 2 is electric function figure of the present invention；
Fig. 3 is the present invention automatic end socket load system program interface；
Fig. 4 is image recognition processing technical program of the present invention；
In figure；1, end table；2, gripping mechanism is moved；3, by casing clamping body；4, fixing gripping mechanism；5, video camera；6, shell cover；7, claw；8, torque sensor；9, shaft coupling；10, decelerator；11, motor；12, cylinder；13, line slideway；14, sliding seat；15, regulator cubicle；16, industry control host computer；17, pci bus；18, solid high motion control card；19, motor driver；20, video camera；21, signal processing module；22, torque signal oscillogram observation area；23, picture signal Real Time Observation and treatment region；24, model select button；25, border select button；26, method of operation button.
Detailed description of the invention
As it is shown in figure 1, auto spiral assembly equipment mainly includes end table, quick gripping mechanism, video camera, claw, torque sensor, shaft coupling, decelerator, motor, cylinder, line slideway, sliding seat；Described quick gripping mechanism can block different model by casing clamping body, through decelerator etc., power can be delivered to claw by motor, drive claw rotates, sliding seat is promoted again by cylinder, claw can engage with shell cover, drive shell cover rotates, and finally realizes screwing in by casing clamping body shell cover, and video camera is real-time image acquisition in screw-in process.
At Fig. 2, in 3, the image transmitting that collection is returned by video camera is to upper industrial computer, the signal gathered with torque sensor passes through solid high motion control card also by incoming for signal upper industrial computer through signal processing module, industrial computer runs the automatic setup system of exploitation under LabVIEW2012 environment, this system interface is as shown in Figure 3, program interface principal set up torque signal oscillogram observation area, the torque signal that observable detects in real time；Picture signal Real Time Observation and treatment region, the installation situation of recognizable installed object, and judge, send control signal；Model select button, has three kinds of models optional；Border select button, has three kinds of borders optional, housing groove, housing border and installation end socket border, and its middle shell border and installation end socket border can determine whether the axial gap of two objects；Method of operation button, is divided into manually and automatically.
nullIn the diagram，The video information of camera acquisition is the form of dynamic link library by VC++ software encapsulation，Then pass through the function of " Using Call Library Function " in LabVIEW software to transfer packaged dynamic link library，Thus video information is embedded in LabVIEW software program，Video information is a sheet by a sheet continuous print picture，In order to ensure that video information is not lost，Program uses " element enqueue、Obtain quene state、Acquisition queue is quoted、Element dequeue、Release queue quote " etc. function by these pictures adopt queue form export a sheet by a sheet，Then " IMAQCreat is used、IMAQArrayToImage " etc. function convert the image of the RGB form of output to gray level image，" IMAQEdgeTool is adopted when processing gray level image、IMAQOverlayPoints、IMAQFindEdge、IVAStoreStraightEdge.vi " etc. edge indicator function image is carried out rim detection，Identify the border of image，In identification process，Identifying to begin at first in region is selected by mouse，Owing in assembling process, image is continually changing in time，Accurate in order to ensure image image recognition in the process of change，Coding makes the identification region of image move with the conversion of image，Additionally，In order to avoid causing flating due to DE Camera Shake，Cause identification mistake，Write rejecting wrong identification program，Thus guarantee that what program identified all the time in whole assembling process is correct border.
nullThe operation of whole system is through artificial clamping housing，After end socket being contained in advance on claw，It is no need for manual operation at the scene，Assembly work is given the control program of far-end，Having main steps that of program，Based on image procossing，Identified respectively by the housing groove of casing clamping body by border select button，The border of housing border and shell end socket，Obtain axial gap，After the identified acquisition in three kinds of borders，Click and automatically run button，Program can automatically control motor and cylinder runs automatically，In automatic running，First by axial gap as control signal control motor and cylinder，When gap reaches a certain setting in scope，Control signal will be changed，Whether the groove that control signal is on the housing of image recognition aligns with the groove on end socket，Also has torque sensor signal，Wherein torque signal is as alarm signal，If there being fortuitous event，When moment of torsion exceedes set safety value，Motor can stop，Cylinder can retreat，Under normal circumstances，Namely when groove aligns，Motor shuts down，Cylinder is stepped back，Namely install，
The ultimate principle of the present invention, principal character and advantage have more than been shown and described, compared with existing manual operation, the present invention has high-precision recognition capability and high-sensitive torque sensor, ensure that the precision of assembling, avoid the inaccuracy artificially judged by naked eyes, and realize unattended in assembling process, alleviate operative's intensity, improve work efficiency.
Claims (7)
1. one kind is assembled to position detecting system based on the auto spiral of scan picture, it is characterized in that: this system includes industrial computer, video camera, solid high motion control card, regulator cubicle, torque sensor, signal processing module, motor, cylinder, end table, quick gripping mechanism, line slideway, claw, shaft coupling, decelerator；Wherein solid high motion control card is connected with industrial computer by pci bus, and it is installed along with on regulator cubicle, video camera is connected with industrial computer by netting twine, the all solid high motion control card of torque sensor, signal processing module, motor, cylinder is connected with each other, video camera, torque sensor, sliding seat, motor, cylinder, quick gripping mechanism, line slideway, claw, sliding seat, shaft coupling, decelerator all help device to be fixed on end table.
2. the auto spiral based on scan picture according to claim 1 is assembled to position detecting system, it is characterized in that: described quick gripping mechanism is divided into standing part and movable part, the difference of movable part clamping object model as required, can moving along guide rail, the length to regulate gripping mechanism adapts to the difference between model.
3. the auto spiral based on scan picture according to claim 1 is assembled to position detecting system, it is characterized in that: described claw also has different model according to mounting model difference, but different model claw all can connect with the form that the axle of torque sensor one end is connected with key, it is connected by matched in clearance, it is possible to conveniently dismantle at any time to change model.
4. the auto spiral based on scan picture according to claim 1 is assembled to position detecting system, it is characterised in that: described torque sensor, decelerator, motor are each attached on sliding seat, and cylinder can promote sliding seat to move along guide rail.
5. the auto spiral based on scan picture according to claim 1 is assembled to position detecting system, it is characterised in that: described video camera is fixed near the claw on end table, can Real Time Observation and judge assembling situation.
6. the auto spiral based on scan picture according to claim 1 is assembled to position detecting system, it is characterised in that: described signal processing module is connected with torque sensor, the current signal of torque sensor can be changed into voltage signal.
null7. one kind uses the dynamic image processing method that the auto spiral based on scan picture as claimed in claim 1 is assembled to position detecting system，It is the form of dynamic link library by the video information of camera acquisition by VC++ software encapsulation，Then pass through the function of " Using Call Library Function " in LabVIEW software to transfer packaged dynamic link library，Thus video information is embedded in LabVIEW software program，Video information is a sheet by a sheet continuous print picture，In order to ensure that video information is not lost，Program uses " element enqueue、Obtain quene state、Acquisition queue is quoted、Element dequeue and release queue quote " function by these pictures adopt queue form export a sheet by a sheet，Then " IMAQCreat and IMAQArrayToImage " function is used to convert the image of the RGB form of output to gray level image，" IMAQEdgeTool is adopted when processing gray level image、IMAQOverlayPoints、IMAQFindEdge and IVAStoreStraightEdge.vi " image carries out rim detection by edge indicator function，Identify the border of image，In identification process，Identifying to begin at first in region is selected by mouse，Owing in assembling process, image is continually changing in time，Accurate in order to ensure image image recognition in the process of change，Coding makes the identification region of image move with the conversion of image，Additionally，In order to avoid causing flating due to DE Camera Shake，Cause identification mistake，Write rejecting wrong identification program，Thus guarantee that what program identified all the time in whole assembling process is correct border.
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| CN201610228019.0A CN105750892A (en) | 2016-04-07 | 2016-04-07 | Automatic screw assembly-in-place detection system on basis of real-time image processing |
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Cited By (8)
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| CN106354038A (en) * | 2016-09-06 | 2017-01-25 | 江苏艾科瑞思封装自动化设备有限公司 | Intelligent control system of micro-assembly equipment |
| CN106624747A (en) * | 2016-12-04 | 2017-05-10 | 内蒙古航天红峡化工有限公司 | Automatic screwing device for of solid rocket engine dome |
| US20180207758A1 (en) * | 2017-01-20 | 2018-07-26 | Nio Co., Ltd. | Automatic locking/unlocking device |
| CN108406295A (en) * | 2018-02-28 | 2018-08-17 | 山东临工工程机械有限公司 | Excavator pivoting support automatic screwing device |
| CN109596048A (en) * | 2018-11-28 | 2019-04-09 | 英诺菲特(北京)科技有限公司 | Electric boosting steering system torque sensor assembly detection device |
| CN111854650A (en) * | 2020-07-24 | 2020-10-30 | 西北工业大学 | Assembly detection device for actuating part piston assembly |
| CN113390360A (en) * | 2021-06-16 | 2021-09-14 | 内蒙古工业大学 | Method and device for detecting deformation of groove type solar heat collecting pipe |
| CN113458766A (en) * | 2020-03-30 | 2021-10-01 | 广州汽车集团股份有限公司 | Bolt tightening device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106354038A (en) * | 2016-09-06 | 2017-01-25 | 江苏艾科瑞思封装自动化设备有限公司 | Intelligent control system of micro-assembly equipment |
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| CN109596048B (en) * | 2018-11-28 | 2021-07-06 | 英诺菲特(北京)科技有限公司 | Torque sensor assembly detection device of electric power steering system |
| CN113458766A (en) * | 2020-03-30 | 2021-10-01 | 广州汽车集团股份有限公司 | Bolt tightening device |
| CN111854650A (en) * | 2020-07-24 | 2020-10-30 | 西北工业大学 | Assembly detection device for actuating part piston assembly |
| CN111854650B (en) * | 2020-07-24 | 2022-04-29 | 西北工业大学 | Assembly detection device for actuating part piston assembly |
| CN113390360A (en) * | 2021-06-16 | 2021-09-14 | 内蒙古工业大学 | Method and device for detecting deformation of groove type solar heat collecting pipe |
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Application publication date: 20160713 |