CN110900145B - Dial zero scale mark picking method for pointer press mounting - Google Patents
Dial zero scale mark picking method for pointer press mounting Download PDFInfo
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- CN110900145B CN110900145B CN201911181800.7A CN201911181800A CN110900145B CN 110900145 B CN110900145 B CN 110900145B CN 201911181800 A CN201911181800 A CN 201911181800A CN 110900145 B CN110900145 B CN 110900145B
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- China
- Prior art keywords
- scale mark
- zero scale
- tray
- manipulator
- pointer
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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
- B23P19/02—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 connecting objects by press fit or for detaching same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/02—Recognising information on displays, dials, clocks
Abstract
A dial zero scale mark picking method for pointer press mounting belongs to the technical field of automobile instrument press mounting. The invention aims to solve the problem that during the press mounting of the pointer of the existing automobile instrument, the zero scale line of the dial plate is identified in a manual visual inspection mode, and deviation is easily generated, so that the press mounting displacement of the pointer deviates from the zero scale line. The method comprises the following steps: jacking the tray to a target position of the tray, and enabling the truss manipulator to move to the target position of the manipulator; and obtaining an image to be recognized of the inner dial plate of the tray, comparing the image to be recognized with the image of the prefabricated template to obtain a zero scale mark deviation value, if the zero scale mark deviation value is within a preset deviation threshold value range, calculating a zero scale mark correction value of the dial plate according to the zero scale mark deviation value, judging that the zero scale mark is qualified for pickup at the moment, and controlling the truss manipulator to start pointer press-fitting according to the zero scale mark correction value. The invention enhances the precision of pointer press mounting, thereby avoiding the error press mounting of the pointer under the condition of deviation.
Description
Technical Field
The invention relates to a dial zero scale mark picking method for pointer press mounting, and belongs to the technical field of automobile instrument press mounting.
Background
In the automobile combination instrument industry, due to the fact that instrument products are various, structural change is large, updating speed is high, manual operation is adopted for assembly and inspection of the instruments. In the manual visual inspection and identification process of the zero scale lines of the instrument dial, deviation often occurs in the identification of the zero scale lines of the instrument dial due to the manual observation angle and the personal experience level. Because the installation position of the pointer is determined based on the identification position of the zero scale mark of the dial plate, the identification deviation of the zero scale mark can cause the installation position of the pointer to deviate from the reference line, and then unqualified products are generated.
Disclosure of Invention
The invention provides a dial zero scale mark picking method for pointer press mounting, aiming at the problem that during the press mounting of the pointer of the existing automobile instrument, the dial zero scale mark is identified in a manual visual inspection mode, and deviation is easy to generate, so that the press mounting displacement of the pointer deviates from the zero scale mark.
The invention relates to a dial zero scale mark picking method for pointer press mounting, wherein a dial is loaded in a tray, and a pointer to be pressed is pressed by a truss manipulator; the pickup method comprises the following steps:
jacking the tray to a target position of the tray, and enabling the truss manipulator to move to the target position of the manipulator;
and obtaining an image to be recognized of the inner dial plate of the tray, comparing the image to be recognized with the image of the prefabricated template to obtain a zero scale mark deviation value, if the zero scale mark deviation value is within a preset deviation threshold value range, calculating a zero scale mark correction value of the dial plate according to the zero scale mark deviation value, judging that the zero scale mark is qualified for pickup at the moment, and controlling the truss manipulator to start pointer press-fitting according to the zero scale mark correction value.
According to the dial zero graduation line picking method for pointer press-fitting of the invention,
the specific method for jacking the tray to the target position of the tray and enabling the truss manipulator to move to the target position of the manipulator comprises the following steps:
controlling the tray to lift to a preset tray position;
judging whether the current truss manipulator is in the original point position or not, and if not, judging that the picking is unqualified; if so, continuously judging whether the preset tray position where the tray is located is the target position of the tray, and if not, judging that the picking is unqualified; if so, controlling the truss manipulator to walk to a preset manipulator position; further judging whether the preset manipulator position where the truss manipulator is located is a manipulator target position; if not, judging that the picking is unqualified; if yes, judging that the pickup is currently qualified.
According to the dial zero graduation line picking method for pointer press-fitting of the invention,
the process of obtaining the image to be identified comprises the following steps:
the method comprises the steps of obtaining an original image of an inner dial of the tray through a camera, intercepting a zero scale mark unit in the original image, and performing black-white processing on the zero scale mark unit to obtain an image to be recognized.
According to the dial zero graduation line picking method for pointer press-fitting of the invention,
and when the zero scale mark deviation value is out of the preset deviation threshold value range, judging that the picking is unqualified.
According to the dial zero graduation line picking method for pointer press-fitting of the invention,
and writing the judgment data corresponding to unqualified judgment pick-up in the server, and controlling the truss manipulator to stop press-fitting action by the server.
According to the dial zero graduation line picking method for pointer press-fitting of the invention,
and writing the judgment data corresponding to the qualified judgment in the server, and controlling the truss manipulator to start the press-fitting action by the server.
The invention has the beneficial effects that: the method is based on the joint judgment of the positions of the tray and the truss manipulator, and the pickup judgment of the position of the zero graduation line is carried out by combining an image recognition means. According to the method, when the deviation value of the zero scale mark exceeds the preset deviation threshold value range or any one of the positions of the tray and the truss manipulator does not meet the position requirement, the pointer press-fitting action is not carried out. On the premise that the three conditions meet the preset requirements, the pointer is pressed.
The method enhances the precision of the pointer press-fitting, thereby avoiding the error press-fitting of the pointer caused under the condition of deviation, avoiding additional economic loss and improving the quality of the finished instrument.
Drawings
FIG. 1 is an overall flow chart of the dial zero scale mark picking method for pointer press mounting according to the invention;
FIG. 2 is a flow chart of jacking a pallet to a pallet target position and advancing a truss robot to a robot target position;
fig. 3 is a flowchart for controlling the operation of the truss robot according to the judged zero graduation mark pickup result.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
In a first specific embodiment, shown in fig. 1, the invention provides a dial zero scale mark picking method for pointer press-fitting, wherein a dial is loaded in a tray, and a pointer to be pressed is pressed and mounted through a truss manipulator; the pickup method comprises the following steps:
jacking the tray to a target position of the tray, and enabling the truss manipulator to move to the target position of the manipulator;
and obtaining an image to be recognized of the inner dial plate of the tray, comparing the image to be recognized with the image of the prefabricated template to obtain a zero scale mark deviation value, if the zero scale mark deviation value is within a preset deviation threshold value range, calculating a zero scale mark correction value of the dial plate according to the zero scale mark deviation value, judging that the zero scale mark is qualified for pickup at the moment, and controlling the truss manipulator to start pointer press-fitting according to the zero scale mark correction value.
In the embodiment, before the pointer is pressed, the related content is subjected to triple judgment, namely, the position of the zero scale mark is determined in an image recognition mode on the basis that the position of the tray and the position of the truss manipulator meet the requirements. And when any condition is not met, the truss manipulator is directly pointed to stop the press-fitting action so as to finish the process. Therefore, the press mounting of the pointer is guaranteed under the condition that the three conditions reach the standard, and the quality of the finished instrument is guaranteed.
The dial plate flows into a production line along with the tray, and whether operation is performed or not is judged by reading equipment RFID information; and then, photographing is carried out after the truss manipulator advances in place according to the set stroke.
Further, referring to fig. 2, the specific method for jacking the pallet to the pallet target position and enabling the truss manipulator to travel to the manipulator target position includes:
controlling the tray to lift to a preset tray position;
judging whether the current truss manipulator is in the original point position or not, and if not, judging that the picking is unqualified; if so, continuously judging whether the preset tray position where the tray is located is the target position of the tray, and if not, judging that the picking is unqualified; if so, controlling the truss manipulator to walk to a preset manipulator position; further judging whether the preset manipulator position where the truss manipulator is located is a manipulator target position; if not, judging that the picking is unqualified; if yes, judging that the pickup is currently qualified.
In the embodiment, after the tray is controlled to act, the judgment is carried out once, namely whether the truss manipulator is in the original position at the moment is judged; if not, the process is ended. If yes, judging whether the reached position of the tray is the target position, and if not, ending the process. And if so, controlling the truss manipulator to walk, further judging whether the walking reaches the target position, and if so, judging that the current stage process is qualified. And provides a preliminary position basis for subsequent image recognition.
As an example, the obtaining process of the image to be recognized includes:
the method comprises the steps of obtaining an original image of an inner dial of the tray through a camera, intercepting a zero scale mark unit in the original image, and performing black-white processing on the zero scale mark unit to obtain an image to be recognized. The camera may be a smart camera.
And further, when the zero scale mark deviation value is out of the preset deviation threshold value range, judging that the picking is unqualified.
The preset deviation threshold is obtained through experiments or set according to experience.
And further, as shown in fig. 3, writing the judgment data corresponding to the unqualified picked judgment data into the server, and controlling the truss manipulator to stop the press-fitting action by the server.
The server is used as a storage device for generating data in the press mounting process, and corresponding data are stored in the server no matter whether the process is qualified or not. And the server controls the operation of the truss manipulator according to the specific content of the received data. The server can be a PLC, and the PLC controls the truss manipulator to carry out pointer press mounting according to the feedback data.
Still further, as shown in fig. 3, the judgment data corresponding to the qualified picking-up judgment is written into the server, and the server controls the truss manipulator to start the press-fitting action.
And the server controls the truss manipulator to press the pointer according to the received data when the data is qualified. And after any flow is unqualified, the truss manipulator stops press-fitting.
Aiming at the current requirements for higher and higher accuracy of the instrument, the method combines mechanical positioning and image recognition, effectively avoids the installation error of the pointer and improves the product quality.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (5)
1. A dial plate zero scale mark picking method for pointer press mounting is characterized in that a dial plate is loaded in a tray, and pointers to be pressed mounted are pressed by a truss manipulator; characterized in that the pick-up method comprises:
jacking the tray to a target position of the tray, and enabling the truss manipulator to move to the target position of the manipulator;
acquiring an image to be recognized of a dial plate in the tray, comparing the image to be recognized with a prefabricated template image to obtain a zero scale mark deviation value, if the zero scale mark deviation value is within a preset deviation threshold value range, calculating a zero scale mark correction value of the dial plate according to the zero scale mark deviation value, judging that the zero scale mark is qualified for pickup at the moment, and controlling a truss manipulator to start pointer press-fitting according to the zero scale mark correction value;
the specific method for jacking the tray to the target position of the tray and enabling the truss manipulator to move to the target position of the manipulator comprises the following steps:
controlling the tray to lift to a preset tray position;
judging whether the current truss manipulator is in the original point position or not, and if not, judging that the picking is unqualified; if so, continuously judging whether the preset tray position where the tray is located is the target position of the tray, and if not, judging that the picking is unqualified; if so, controlling the truss manipulator to walk to a preset manipulator position; further judging whether the preset manipulator position where the truss manipulator is located is a manipulator target position; if not, judging that the picking is unqualified; if yes, judging that the pickup is currently qualified.
2. The method for picking up zero graduation mark on dial plate for press mounting of indicator as claimed in claim 1, wherein,
the process of obtaining the image to be identified comprises the following steps:
the method comprises the steps of obtaining an original image of an inner dial of the tray through a camera, intercepting a zero scale mark unit in the original image, and performing black-white processing on the zero scale mark unit to obtain an image to be recognized.
3. The method for picking up zero graduation mark on dial plate for press mounting of indicating hands as claimed in claim 2, wherein,
and when the zero scale mark deviation value is out of the preset deviation threshold value range, judging that the picking is unqualified.
4. The method for picking up zero graduation mark on dial plate for press mounting of indicator as claimed in claim 3, wherein,
and writing the judgment data corresponding to unqualified judgment pick-up in the server, and controlling the truss manipulator to stop press-fitting action by the server.
5. The dial zero-scale-mark picking method for pointer press-fitting according to claim 4, wherein judgment data corresponding to qualified picking is written in a server, and the server controls the truss manipulator to start a press-fitting action.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911181800.7A CN110900145B (en) | 2019-11-27 | 2019-11-27 | Dial zero scale mark picking method for pointer press mounting |
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| CN201911181800.7A CN110900145B (en) | 2019-11-27 | 2019-11-27 | Dial zero scale mark picking method for pointer press mounting |
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| CN110900145A CN110900145A (en) | 2020-03-24 |
| CN110900145B true CN110900145B (en) | 2021-09-10 |
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| CN112819764B (en) * | 2021-01-25 | 2022-07-19 | 湖南省计量检测研究院 | Method for detecting electrode position of membrane electrode MEA (membrane electrode assembly) of stacked fuel cell |
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| CN102990331A (en) * | 2012-11-16 | 2013-03-27 | 合肥永高电子科技有限公司 | Instrument indicator pressing system based on machine vision recognition |
| CN104786035A (en) * | 2014-12-31 | 2015-07-22 | 宁波大正工业机器人技术有限公司 | Automobile instrument automatic pointer pressing device |
| CN104786034A (en) * | 2014-12-31 | 2015-07-22 | 宁波大正工业机器人技术有限公司 | Automobile instrument automatic pointer pressing machine |
| CN104786036A (en) * | 2014-12-31 | 2015-07-22 | 宁波大正工业机器人技术有限公司 | Automobile instrument automatic pointer pressing system |
| CN204639550U (en) * | 2014-12-31 | 2015-09-16 | 宁波大正工业机器人技术有限公司 | The automatic pressing machine of a kind of automobile instrument |
| CN204639549U (en) * | 2014-12-31 | 2015-09-16 | 宁波大正工业机器人技术有限公司 | A kind of automobile instrument automatic pressing needle device |
| CN105598662A (en) * | 2016-03-25 | 2016-05-25 | 航天科技控股集团股份有限公司 | Automatic pointer pressing device for motormeter, system and method for automatically pressing pointer |
-
2019
- 2019-11-27 CN CN201911181800.7A patent/CN110900145B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03281130A (en) * | 1990-03-29 | 1991-12-11 | Suzuki Motor Corp | Inserting device for part |
| CN102990331A (en) * | 2012-11-16 | 2013-03-27 | 合肥永高电子科技有限公司 | Instrument indicator pressing system based on machine vision recognition |
| CN104786035A (en) * | 2014-12-31 | 2015-07-22 | 宁波大正工业机器人技术有限公司 | Automobile instrument automatic pointer pressing device |
| CN104786034A (en) * | 2014-12-31 | 2015-07-22 | 宁波大正工业机器人技术有限公司 | Automobile instrument automatic pointer pressing machine |
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