CN109551196A - A kind of machine parts'precise assembly system and three-dimensional error measurement method - Google Patents
A kind of machine parts'precise assembly system and three-dimensional error measurement method Download PDFInfo
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- CN109551196A CN109551196A CN201811439347.0A CN201811439347A CN109551196A CN 109551196 A CN109551196 A CN 109551196A CN 201811439347 A CN201811439347 A CN 201811439347A CN 109551196 A CN109551196 A CN 109551196A
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- assembly
- slide block
- video camera
- image
- block mechanism
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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
-
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of machine parts'precise assembly system and three-dimensional error measurement methods, assembly system is characterized in: fixture is mounted on revolution assembly bench, fixture is equipped with calibration point, mobile camera is mounted in fixing seat, the lower part of fixing seat is fixed with fine tuning slide block mechanism, the lower part of fine tuning slide block mechanism is fixed with the clamper for clamping accessory to be installed, fixing seat is fixed on the end of assembly slide block mechanism, horizontal video camera, vertical video camera, the signal output end of mobile camera is connected with image processing module, turn round assembly bench, finely tune slide block mechanism, assembly slide block mechanism is connected with movement executing mechanism.Error measurement method include: unified calibration point, horizontal video camera, vertical video camera three space coordinates；The pickup of accessory to be installed；Accessory to be installed puts part；Error measure.The present invention has the advantages that high degree of automation, accuracy rate are high；Has the function of error measure simultaneously.
Description
Technical field
The invention belongs to Automated assembly technical fields, and in particular to a kind of machine parts'precise assembly system and three-dimensional error are surveyed
Amount method.
Background technique
The human perception external world mainly passes through the sense organs such as vision, tactile, the sense of hearing and smell, and vision is the mankind
Most important sensory function.According to statistics, the external information that people is perceived, which has above, to be obtained by vision.Briefly, machine
Vision can be understood as installing upper sighting device additional to machine, and machine is made to have the function of " vision ", replace human eye in certain fields
It measures and judges, can recognize and understand the thing observed, can determine that the position of target in range seen in it.Machine
Vision is not only the extension of human eye, it may have the partial function of human brain, it is therefore an objective to improve the automation and intelligence degree of machine.
Existing component assembly technology, which mainly passes through, is manually assembled, and the efficiency of assembly is lower, in component assembly line
On, it will use a large amount of operator, provide the production cost of enterprise.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of machine parts'precise assembly system and three-dimensional are provided
Error measurement method.
A kind of machine parts'precise assembly system, including finely tune slide block mechanism, movement executing mechanism, horizontal video camera, take the photograph vertically
Camera, mobile camera, it is characterised in that: the horizontal video camera is installed on the side of fixture, the vertical video camera installation
In the surface of fixture, the fixture is mounted on revolution assembly bench, and the fixture is equipped with calibration point, the mobile camera
It is mounted in fixing seat, the lower part of the fixing seat is fixed with fine tuning slide block mechanism, and the lower part of the fine tuning slide block mechanism is fixed
There is a clamper for clamping accessory to be installed, the fixing seat is fixed on the end of assembly slide block mechanism, the horizontal video camera,
Vertical video camera, mobile camera signal output end be connected with image processing module, the revolution assembly bench, fine tuning cunning
Block mechanism, assembly slide block mechanism are connected with movement executing mechanism.
Preferably, the movement executing mechanism and image processing module are connect with master control Platform communication.
Preferably, the clamper is mechanical clamping jaw or Pneumatic suction cup.
A kind of machine parts'precise assembly three-dimensional error measurement method, which comprises the steps of:
S1, bare bones are fixed on fixture, are demarcated by the calibration point on fixture to horizontal video camera, vertical video camera,
Unified calibration point, horizontal video camera, vertical video camera three space coordinates；
S2, clamper are moved to the top of accessory to be installed under the driving of assembly slide block mechanism, and mobile camera acquisition is to be assembled
The image of part, image are transmitted to master control platform after image processing module is handled, master control platform determine accessory to be installed position and
Posture；
S3, master control platform issue driving signal to movement executing mechanism, and movement executing mechanism passes through control fine tuning slide block mechanism tune
The position of whole clamper, until clamper is located at the clip position of setting, clamper picks up accessory to be installed；
S4, clamper are moved to the top of bare bones under the driving of assembly slide block mechanism, and mobile camera acquires bare bones
Image, image are transmitted to master control platform after image processing module is handled, and master control platform determines position and the posture of bare bones；
S5, master control platform issue driving signal to movement executing mechanism according to the relative position of mobile camera and accessory to be installed,
Movement executing mechanism passes through the position that control fine tuning slide block mechanism adjusts clamper, until clamper puts part position positioned at setting
It sets, clamper puts down accessory to be installed, completes the assembly of part；
Flat image after S6, vertical video camera acquisition bare bones and accessory to be installed assembly, horizontal video camera acquisition bare bones and
It is flat that facade image after accessory assembly to be installed, flat image and facade image are sent into master control after handling by image processing module
Platform, master control platform calculate rigging error according to the Assembly part size of storage.
Preferably, the process of described image processing module processing image is image preprocessing, carrying out image threshold segmentation, image shape
State processing, edge extracting, closed contour extract.
Compared with prior art, beneficial effects of the present invention:
The present invention transmits part position and pose information to master control platform by video camera and image processing module, to control
Entire assembling process has the advantages that high degree of automation, accuracy rate are high；Step-up error measures function simultaneously, can be quasi- in real time
True acquisition rigging error data can provide guidance for assembly technology and part processing.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of machine parts'precise assembly system of the present invention.
In figure, 1, master control platform, 2, image processing module, 3, horizontal video camera, 4, calibration point, 5, fixture, 6, revolution dress
With platform, 7, vertical video camera, 8, clamper, 9, assembly slide block mechanism, 10, mobile camera, 11, fixing seat, 12, fine tuning sliding block
Mechanism, 13, movement executing mechanism.
Specific embodiment
Referring to Fig. 1, a kind of machine parts'precise assembly system, including fine tuning slide block mechanism 12, movement executing mechanism 13, level are taken the photograph
Camera 3, vertical video camera 7, mobile camera 10, it is characterised in that: the horizontal video camera 3 is installed on the side of fixture 5, institute
The surface that vertical video camera 7 is installed on fixture 5 is stated, the fixture 5 is mounted on revolution assembly bench 6, and the fixture 5 is equipped with
Calibration point 4, the mobile camera 10 are mounted in fixing seat 11, and the lower part of the fixing seat 11 is fixed with fine tuning slide block mechanism
12, the lower part of the fine tuning slide block mechanism 12 is fixed with the clamper 8 for clamping accessory to be installed, and the fixing seat 11 is fixed on
Assemble slide block mechanism 9 end, the horizontal video camera 3, vertical video camera 7, mobile camera 10 signal output end with
Image processing module 2 is connected, and the revolution assembly bench 6, fine tuning slide block mechanism 12, assembly slide block mechanism 9 are and Motor execution
Mechanism 13 is connected.
The movement executing mechanism 13 and image processing module 2 and master control platform 1 communicate to connect.
The clamper 8 is mechanical clamping jaw or Pneumatic suction cup.
A kind of machine parts'precise assembly three-dimensional error measurement method, which comprises the steps of:
S1, bare bones are fixed on fixture 5, are carried out by 4 pairs of calibration point horizontal video cameras 3, the vertical video camera 7 on fixture 5
Calibration, unified calibration point 4, horizontal video camera 3,7 three of vertical video camera space coordinates；
S2, clamper 8 are moved to the top of accessory to be installed under the driving of assembly slide block mechanism 9, the acquisition of mobile camera 10 to
The image of assembly parts, image are transmitted to master control platform 1 after the processing of image processing module 2, and master control platform 1 determines accessory to be installed
Position and posture；
S3, master control platform 1 issue driving signal to movement executing mechanism 13, and movement executing mechanism 13 passes through control fine tuning sliding block machine
Structure 12 adjusts the position of clamper 8, until clamper 8 is located at the clip position of setting, clamper 8 picks up accessory to be installed；
S4, clamper 8 are moved to the top of bare bones under the driving of assembly slide block mechanism 9, and mobile camera 10 acquires substantially
The image of part, image are transmitted to master control platform 1 after the processing of image processing module 2, master control platform 1 determine bare bones position and
Posture；
S5, master control platform 1 are issued to movement executing mechanism 13 and are driven according to the relative position of mobile camera 10 and accessory to be installed
Signal, movement executing mechanism 13 are adjusted the position of clamper 8 by control fine tuning slide block mechanism 12, set until clamper 8 is located at
Fixed puts part position, and clamper 8 puts down accessory to be installed, completes the assembly of part；
S6, vertical video camera 7 acquire the flat image after bare bones and accessory to be installed assembly, and horizontal video camera 3 acquires bare bones
With the facade image after accessory to be installed assembly, flat image and facade image are by being sent into master control after the processing of image processing module 2
Platform 1, master control platform 1 calculate rigging error according to the Assembly part size of storage.
The process that described image processing module 2 handles image is image preprocessing, carrying out image threshold segmentation, at morphological image
Reason, edge extracting, closed contour extract.
Technical solution of the present invention is exemplarily described invention above in conjunction with attached drawing, it is clear that present invention specific implementation
It is not subject to the restrictions described above, changes as long as using the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out
Into, or it is not improved the conception and technical scheme of invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (5)
1. a kind of machine parts'precise assembly system, including fine tuning slide block mechanism (12), movement executing mechanism (13), horizontal video camera
(3), vertical video camera (7), mobile camera (10), it is characterised in that: the horizontal video camera (3) is installed on fixture (5)
Side, the vertical video camera (7) are installed on the surface of fixture (5), and the fixture (5) is mounted in revolution assembly bench (6),
The fixture (5) is equipped with calibration point (4), and the mobile camera (10) is mounted on fixing seat (11), the fixing seat
(11) lower part is fixed with fine tuning slide block mechanism (12), and the lower part of fine tuning slide block mechanism (12) is fixed with to be installed for clamping
The clamper (8) of accessory, the fixing seat (11) be fixed on assembly slide block mechanism (9) end, the horizontal video camera (3),
Vertical video camera (7), mobile camera (10) signal output end be connected with image processing module (2), the revolution fills
It is connected with movement executing mechanism (13) with platform (6), fine tuning slide block mechanism (12), assembly slide block mechanism (9).
2. a kind of machine parts'precise assembly system as described in claim 1, it is characterised in that: the movement executing mechanism (13) and
Image processing module (2) and master control platform (1) communicate to connect.
3. a kind of machine parts'precise assembly system as described in claim 1, it is characterised in that: the clamper (8) is mechanical
Clamping jaw or Pneumatic suction cup.
4. a kind of a kind of machine parts'precise assembly three-dimensional error measurement method as described in claim 1, which is characterized in that including such as
Lower step:
S1, bare bones are fixed on fixture (5), by the calibration point (4) on fixture (5) to horizontal video camera (3), vertical camera shooting
Machine (7) is demarcated, unified calibration point (4), horizontal video camera (3), vertical video camera (7) three space coordinates；
S2, clamper (8) are moved to the top of accessory to be installed, mobile camera (10) under the driving of assembly slide block mechanism (9)
The image of accessory to be installed is acquired, image is transmitted to master control platform (1) after image processing module (2) are handled, and master control platform (1) is true
The position of fixed accessory to be installed and posture；
S3, master control platform (1) issue driving signal to movement executing mechanism (13), and movement executing mechanism (13) passes through control fine tuning
Slide block mechanism (12) adjusts the position of clamper (8), until clamper (8) are located at clip position of setting, clamper (8) will be to
Assembly parts pick up；
S4, clamper (8) are moved to the top of bare bones under the driving of assembly slide block mechanism (9), and mobile camera (10) is adopted
Collect the image of bare bones, image is transmitted to master control platform (1) after image processing module (2) are handled, and master control platform (1) determines base
The position of this part and posture；
S5, master control platform (1) are sent out according to the relative position of mobile camera (10) and accessory to be installed to movement executing mechanism (13)
Driving signal out, movement executing mechanism (13) adjust the position of clamper (8) by control fine tuning slide block mechanism (12), until folder
Holder (8) puts part position positioned at setting, and clamper (8) puts down accessory to be installed, completes the assembly of part；
Flat image after S6, vertical video camera (7) acquisition bare bones and accessory to be installed assembly, horizontal video camera (3) acquire base
Facade image after this part and accessory to be installed assembly, flat image and facade image are sent after being handled by image processing module (2)
Enter master control platform (1), master control platform (1) calculates rigging error according to the Assembly part size of storage.
5. a kind of a kind of machine parts'precise assembly three-dimensional error measurement method as claimed in claim 4, it is characterised in that: the figure
As processing module (2) processing image process be image preprocessing, carrying out image threshold segmentation, morphological image process, edge extracting,
Closed contour extracts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811439347.0A CN109551196A (en) | 2018-11-29 | 2018-11-29 | A kind of machine parts'precise assembly system and three-dimensional error measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811439347.0A CN109551196A (en) | 2018-11-29 | 2018-11-29 | A kind of machine parts'precise assembly system and three-dimensional error measurement method |
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| Publication Number | Publication Date |
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| CN109551196A true CN109551196A (en) | 2019-04-02 |
Family
ID=65867764
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811439347.0A Withdrawn CN109551196A (en) | 2018-11-29 | 2018-11-29 | A kind of machine parts'precise assembly system and three-dimensional error measurement method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113770674A (en) * | 2021-09-18 | 2021-12-10 | 中国工程物理研究院机械制造工艺研究所 | Assembling device and assembling method |
| CN118293847A (en) * | 2024-06-05 | 2024-07-05 | 四川卓科智联光电子有限公司 | Intelligent assembly precision detection device and method for camera module |
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| DE102004030945A1 (en) * | 2004-06-26 | 2006-01-12 | Abb Research Ltd. | Method for assembling items using a manipulator has the items supplied in a stack of trays swivel mounted at one corner for controlled access to each tray |
| CN103162623A (en) * | 2013-03-07 | 2013-06-19 | 大连理工大学 | Stereoscopic measuring system for double vertically mounted cameras and calibration method |
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| CN206982133U (en) * | 2017-06-06 | 2018-02-09 | 内蒙古第一机械集团有限公司 | One kind is used for the pinpoint assembling device of machine vision |
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- 2018-11-29 CN CN201811439347.0A patent/CN109551196A/en not_active Withdrawn
Patent Citations (6)
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| DE102004030945A1 (en) * | 2004-06-26 | 2006-01-12 | Abb Research Ltd. | Method for assembling items using a manipulator has the items supplied in a stack of trays swivel mounted at one corner for controlled access to each tray |
| CN103162623A (en) * | 2013-03-07 | 2013-06-19 | 大连理工大学 | Stereoscopic measuring system for double vertically mounted cameras and calibration method |
| CN104959810A (en) * | 2015-07-09 | 2015-10-07 | 威海新北洋正棋机器人股份有限公司 | Assembling system for tiny assemblies |
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| CN206982133U (en) * | 2017-06-06 | 2018-02-09 | 内蒙古第一机械集团有限公司 | One kind is used for the pinpoint assembling device of machine vision |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113770674A (en) * | 2021-09-18 | 2021-12-10 | 中国工程物理研究院机械制造工艺研究所 | Assembling device and assembling method |
| CN118293847A (en) * | 2024-06-05 | 2024-07-05 | 四川卓科智联光电子有限公司 | Intelligent assembly precision detection device and method for camera module |
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Application publication date: 20190402 |