CN113997059A - Compressor workpiece assembling method, device and system and storage medium - Google Patents
Compressor workpiece assembling method, device and system and storage medium Download PDFInfo
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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
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
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Abstract
The invention discloses a compressor workpiece assembling method, a device, a system and a storage medium, wherein the method comprises the following steps: respectively acquiring first coordinate data and second coordinate data of each mounting hole on a compressor base in an image coordinate system and a module coordinate system; and obtaining the conversion coefficient of the module coordinate system and the image coordinate system; transferring a first workpiece through a module according to the first coordinate data, and aligning and assembling the first workpiece with the mounting hole; acquiring third coordinate data of the transferred first workpiece in the image coordinate system, and acquiring fourth coordinate data of the first workpiece in the module coordinate system according to the third coordinate data; and grabbing a second workpiece through a module according to the fourth coordinate data, transferring and carrying out butt joint assembly on the second workpiece and the first workpiece. According to the invention, the machine vision technology is combined with the multi-module to realize the accurate assembly of the compressor base nut, so that the missing assembly caused by manual assembly is avoided, and the assembly efficiency and the assembly quality of the module are improved.
Description
Technical Field
The invention belongs to the technical field of compressors, and particularly relates to a compressor workpiece assembling method, device and system and a storage medium.
Background
On traditional compressor nut assembly production line, the nut assembly is taken out the nut from the material frame by the manual work and is beaten to accomplish on the compressor base double-screw bolt with the electricity wholesale. Three nuts need to be installed on each compressor base, and each nut needs to be assembled in place according to the assembly standard, so that the assembly workload is very large, and when people are tired, the problems of neglected assembly, low assembly efficiency and the like easily occur.
Disclosure of Invention
In order to solve the technical problems mentioned in the background art, the invention provides the compressor workpiece assembling method, the compressor workpiece assembling device, the compressor workpiece assembling system and the storage medium.
In order to achieve the above purpose, the specific technical scheme of the compressor workpiece assembly method, device, system and storage medium of the invention is as follows:
firstly, the invention provides a compressor workpiece assembling method, which comprises the following steps:
respectively acquiring first coordinate data of each mounting hole on a compressor base under an image coordinate system; respectively acquiring second coordinate data of the mounting holes under a module coordinate system; obtaining a conversion coefficient of a module coordinate system and an image coordinate system according to the first coordinate data and the second coordinate data;
transferring a first workpiece through a module according to the first coordinate data, and aligning and assembling the first workpiece with the mounting hole;
acquiring third coordinate data of the transferred first workpiece in the image coordinate system, and acquiring fourth coordinate data of the first workpiece in the module coordinate system according to the third coordinate data and the conversion coefficient;
and grabbing a second workpiece through a module according to the fourth coordinate data, transferring and carrying out butt joint assembly on the second workpiece and the first workpiece.
Further, the module comprises a first module and a second module,
the method further comprises the following steps:
marking and numbering the mounting holes, and recording the corresponding relation between the first module and the second module and the mounting holes;
and controlling the first module or the second module to grab the first workpiece according to the corresponding relation, aligning the first workpiece with the corresponding mounting hole for assembly, controlling the module to grab the second workpiece, and performing butt assembly on the second workpiece and the first workpiece.
Further, before the second workpiece is grabbed by the module according to the fourth coordinate data, transferred and butt-assembled with the first workpiece, the method further comprises:
calculating the pose offset of the first workpiece in a module coordinate system according to the fourth coordinate data and the second coordinate data;
and transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
Secondly, the invention also provides a compressor workpiece assembling device, which comprises:
the acquisition unit is used for respectively acquiring first coordinate data of each mounting hole on the compressor base under an image coordinate system; respectively acquiring second coordinate data of the mounting holes under a module coordinate system; obtaining a conversion coefficient of a module coordinate system and an image coordinate system according to the first coordinate data and the second coordinate data; acquiring third coordinate data of the transferred first workpiece in the image coordinate system, and acquiring fourth coordinate data of the first workpiece in the module coordinate system according to the third coordinate data and the conversion coefficient;
the transfer unit is used for grabbing a first workpiece through a module according to the first coordinate data and aligning and assembling the first workpiece with the mounting hole; and grabbing a second workpiece through a module according to the fourth coordinate data, transferring and carrying out butt joint assembly on the first workpiece.
Further, the module comprises a first module and a second module,
the device further comprises:
the marking unit is used for marking and numbering the mounting holes and recording the corresponding relation between the first module and the second module and the mounting holes;
and the transfer unit is used for controlling the first module or the second module to grab the first workpiece according to the corresponding relation, aligning and assembling the first workpiece with the corresponding mounting hole, controlling the first module or the second module to grab the second workpiece, and butting and assembling the second workpiece with the first workpiece.
Further, the obtaining unit is further configured to calculate a pose offset of the first workpiece in a module coordinate system according to the fourth coordinate data and the second coordinate data before capturing a second workpiece through a module according to the fourth coordinate data, transferring the second workpiece, and performing butt joint assembly with the first workpiece;
and transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
The invention further provides a compressor workpiece assembly system, which comprises:
the industrial camera is used for acquiring an image of the compressor base and an image of the compressor base after the first workpiece is transferred;
the industrial personal computer is used for acquiring first coordinate data of each mounting hole on the base under an image coordinate system, second coordinate data of each mounting hole under a first module coordinate system, third coordinate data of the transferred first workpiece under the image coordinate system and fourth coordinate data of the transferred first workpiece under the first module coordinate system according to the image of the compressor base, controlling the first module to transfer the first workpiece according to the second coordinate data and controlling the first module to transfer the second workpiece according to the fourth coordinate data;
and the module is controlled by an industrial personal computer, is used for transferring the first workpiece to the corresponding mounting hole, and grabbing the second workpiece to be transferred and butt-jointed with the first workpiece for assembly.
Further, the module comprises a first module and a second module,
the first module is used for transferring a first workpiece to the mounting hole corresponding to the first module according to a corresponding relation table preset in an engineering machine, aligning and assembling the first workpiece with the mounting hole, grabbing a second workpiece to be transferred, and butting and assembling the second workpiece with the first workpiece;
the second module is used for transferring the first workpiece to the mounting hole corresponding to the second module according to a corresponding relation table preset in the engineering machine, aligning and assembling the first workpiece with the mounting hole, grabbing the second workpiece for transferring and butting and assembling the second workpiece with the first workpiece; the corresponding relation table comprises corresponding relations among the first module, the second module and the numbers of the mounting holes.
Further, the industrial personal computer is used for calculating the pose offset of the first workpiece in the module coordinate system according to the fourth coordinate data and the second coordinate data;
and transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
Finally, the invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.
The compressor workpiece assembling method, device and system and the storage medium have the following advantages:
according to the compressor workpiece assembling method, device and system and the storage medium, the machine vision technology is combined with the multi-module to realize accurate assembling of the compressor base nut, the method can realize labor reduction and efficiency improvement, the problems of missing assembling and not assembling in place in manual assembling are avoided, and the assembling efficiency and the assembling quality of the module are improved.
Drawings
FIG. 1 is a schematic structural diagram of a compressor workpiece assembly system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a compressor workpiece assembly method according to a first embodiment of the present invention;
FIG. 3 is a flow chart of a compressor workpiece assembly method according to a second embodiment of the present invention;
FIG. 4 is a flow chart of a compressor workpiece assembly method according to a third embodiment of the present invention;
FIG. 5 is a photograph of a compressor mount taken with an industrial camera of the present invention;
fig. 6 is a schematic structural diagram of a compressor workpiece assembling device according to an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 schematically shows a structural schematic diagram of a compressor workpiece assembly system. As shown in fig. 1, the present invention provides a compressor workpiece assembling system, comprising:
the industrial camera is used for acquiring an image of the compressor base and an image of the compressor base after the first workpiece is transferred;
the industrial personal computer is used for acquiring first coordinate data of each mounting hole on the base under an image coordinate system, second coordinate data of each mounting hole under a first module coordinate system, third coordinate data of the transferred first workpiece under the image coordinate system and fourth coordinate data of the transferred first workpiece under the first module coordinate system according to the image of the compressor base, controlling the first module to transfer the first workpiece according to the second coordinate data and controlling the first module to transfer the second workpiece according to the fourth coordinate data;
and the module is controlled by an industrial personal computer, is used for transferring the first workpiece to the corresponding mounting hole, and grabbing the second workpiece to be transferred and butt-jointed with the first workpiece for assembly.
In this embodiment, the modules include a first module and a second module,
the first module is used for transferring a first workpiece to the mounting hole corresponding to the first module according to a corresponding relation table preset in an engineering machine, aligning and assembling the first workpiece with the mounting hole, grabbing a second workpiece to be transferred, and butting and assembling the second workpiece with the first workpiece;
the second module is used for transferring the first workpiece to the mounting hole corresponding to the second module according to a corresponding relation table preset in the engineering machine, aligning and assembling the first workpiece with the mounting hole, grabbing the second workpiece for transferring and butting and assembling the second workpiece with the first workpiece; the corresponding relation table comprises corresponding relations among the first module, the second module and the numbers of the mounting holes.
Two sets of XYZ modules are used, a nut striking tool is installed at the tail end of each module, and nuts are grabbed and assembled on three studs of a compressor chassis. In an actual production line, because the compressor tank body is a cylinder and the three studs A, B, C are located in regular triangles (as shown in fig. 5), the three nuts cannot be assembled by one set of module, and meanwhile, the three nuts are assembled by two sets of modules in consideration of the problems of beat and efficiency. If two sets of vision systems are adopted, the cost is increased, so that a set of fixedly installed industrial camera is used for photographing three studs of a compressor base, the hardware cost is reduced, and meanwhile, the assembly efficiency can be improved.
Specifically, the first workpiece is a stud, the second workpiece is a nut, and the end of the bolt and the nut have the same outer contour, so that the same module can be used for simultaneously assembling the bolt and the mounting hole and assembling the nut and the stud.
The industrial personal computer is provided with a software system, is provided with various industrial control software, has the functions of control, image processing, production information identification and the like, can communicate with the first module and the second module, and realizes integral logic control. In this embodiment, the industrial personal computer is configured to process an image of a compressor base acquired by the industrial camera and an image of the compressor base after the first workpiece is transferred, to obtain first coordinate data of each mounting hole on the base in an image coordinate system, second coordinate data of each mounting hole in a first module coordinate system, third coordinate data of the transferred first workpiece in the image coordinate system, and fourth coordinate data of the transferred first workpiece in the first module coordinate system, and to control the first module to transfer the first workpiece according to the second coordinate data, and control the first module to transfer the second workpiece according to the fourth coordinate data.
The module can be six robots, can realize losing of different gestures to first work piece and second work piece, more is favorable to the operation and the assembly to the work piece.
The industrial personal computer of the embodiment is used for calculating the pose offset of the first workpiece in a module coordinate system according to the fourth coordinate data and the second coordinate data;
and transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
As shown in fig. 6, the present embodiment further provides a compressor workpiece assembling apparatus, including:
the acquisition unit 101 is used for respectively acquiring first coordinate data of each mounting hole on the compressor base in an image coordinate system; respectively acquiring second coordinate data of the mounting holes under a module coordinate system; obtaining a conversion coefficient of a module coordinate system and an image coordinate system according to the first coordinate data and the second coordinate data; acquiring third coordinate data of the transferred first workpiece in the image coordinate system, and acquiring fourth coordinate data of the first workpiece in the module coordinate system according to the third coordinate data and the conversion coefficient;
the transfer unit 201 is used for grabbing a first workpiece through a module according to the first coordinate data and aligning and assembling the first workpiece with the mounting hole; and grabbing a second workpiece through a module according to the fourth coordinate data, transferring and carrying out butt joint assembly on the first workpiece.
As an alternative embodiment of the present invention, the module comprises a first module and a second module,
the device further comprises:
a marking unit 301, configured to mark and number each mounting hole, and record a corresponding relationship between the first module and each mounting hole and the second module;
and the transfer unit 201 is used for controlling the first module or the second module to grab the first workpiece according to the corresponding relation, aligning and assembling the first workpiece with the corresponding mounting hole, controlling the first module or the second module to grab the second workpiece, and butting and assembling the second workpiece with the first workpiece.
Further, the obtaining unit 101 is further configured to calculate a pose offset of the first workpiece in a module coordinate system according to the fourth coordinate data and the second coordinate data before capturing a second workpiece by a module according to the fourth coordinate data, transferring the second workpiece, and performing butt joint assembly with the first workpiece;
and transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
The contents in the above system embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above apparatus embodiment, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above system embodiment.
As shown in fig. 2, the present invention provides a method for assembling a compressor workpiece, comprising the following steps:
s10, respectively acquiring first coordinate data of each mounting hole on the compressor base in an image coordinate system; respectively acquiring second coordinate data of the mounting holes under a module coordinate system; obtaining a conversion coefficient of a module coordinate system and an image coordinate system according to the first coordinate data and the second coordinate data;
s20, transferring the first workpiece through a module according to the first coordinate data, and aligning and assembling the first workpiece with the mounting hole;
s30, acquiring third coordinate data of the transferred first workpiece in the image coordinate system, and acquiring fourth coordinate data of the first workpiece in the module coordinate system according to the third coordinate data and the conversion coefficient;
and S40, grabbing a second workpiece through a module according to the fourth coordinate data, transferring and carrying out butt joint assembly on the second workpiece and the first workpiece.
According to the compressor workpiece assembling method, the machine vision technology is combined with the multi-module to achieve accurate assembling of the compressor base nut, the method can achieve labor reduction and efficiency improvement, the problems that assembling is omitted and the assembling is not in place in manual assembling are solved, and the assembling efficiency and the assembling quality of the module are improved.
Specifically, the industrial camera is moved to a position right above the center of a regular triangle formed by three mounting holes of the compressor base; the method comprises the steps of photographing a compressor base to obtain an original image of the compressor base, creating three mounting hole areas and marking serial numbers by a vision system, and calculating center coordinates of the three mounting holes through a Blob algorithm, wherein the center coordinates are first coordinate data of each mounting hole in an image coordinate system.
Preferably, the image coordinate system is a coordinate system in which an image taken by the camera is located, the image coordinate system uses an upper left corner as an origin, and the first coordinate data of the three mounting holes are image pixel coordinate data using the origin as a starting point, the column direction as an X axis, and the row direction as a Y axis, respectively.
The present embodiment solves the transformation matrix using a three-point hand-eye calibration method. And respectively moving the module to the central positions of the three mounting holes, recording the central coordinates of the three mounting holes in the module coordinate system, namely second coordinate data of the mounting holes in the module coordinate system, and performing three-point calibration on the second coordinate data of the three mounting holes and the first coordinate data in the image coordinate system to obtain a conversion coefficient of the module coordinate system and the image coordinate system.
Specifically, the three-point hand-eye calibration is completed, the first coordinate data is substituted into a formula for calculation, and then the three-point hand-eye calibration can be automatically converted into second coordinate data under a module coordinate system, wherein the calculation formula of the three-point hand-eye calibration is as follows:
wherein, (Rx, Ry) is second coordinate data of the center of the mounting hole under the module coordinate system; (Px, Py) is first coordinate data of the center of the mounting hole under the image coordinate system; a0, a1, B0, B1 are rotational scaling factors, respectively, and a2, B2 are translation factors, respectively.
Further, the module comprises a first module and a second module,
the method further comprises the following steps:
marking and numbering the mounting holes, and recording the corresponding relation between the first module and the second module and the mounting holes;
and controlling the first module or the second module to grab the first workpiece according to the corresponding relation, aligning the first workpiece with the corresponding mounting hole for assembly, controlling the module to grab the second workpiece, and performing butt assembly on the second workpiece and the first workpiece.
Further, as shown in fig. 3, before the second workpiece is captured by the die set according to the fourth coordinate data, transferred and butt-assembled with the first workpiece, the method further includes:
s401, calculating the pose offset of the first workpiece in a module coordinate system according to the fourth coordinate data and the second coordinate data;
s402, transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
Specifically, the pose offset amount includes an x-direction pose offset amount Δ x and a y-direction pose offset amount Δ y, where Δ x is Rx-Rx 0; Δ y — Ry0, (Rx0, Ry0) is second coordinate data of the center position of the mounting hole in the module coordinate system; (Rx, Ry) is fourth coordinate data of the center of the stud after the stud is transferred under the module coordinate system.
The compressor workpiece assembling method provided by the embodiment of the invention uses a mode that one industrial camera corresponds to two modules to position a compressor base nut, and calculates and stores the central coordinates of a compressor base stud template under a module coordinate system respectively by presetting a standard compressor base template; and the vision system calculates and stores the module tool center according to the position deviation point displacement transformation of the stud. Under the known condition at module instrument center, can realize once shooing just accurate location to the double-screw bolt in the actual nut assembling process to calculate the offset that reachs two modules, and then two modules carry out accurate position transform, realize accurate assembly.
In order to facilitate understanding of the embodiment of the present invention, the following description is made with reference to fig. 4, and the implementation process of the method is as follows:
firstly, a compressor base stud template creating process:
1. moving the fixed industrial camera to be right above the central position of a regular triangle formed by three mounting holes of the compressor base;
2. the method comprises the steps that a compressor base is photographed, a vision system creates three mounting hole areas and marks serial numbers, the center coordinates of the three mounting holes are calculated through a Blob algorithm, and first coordinate data of the three mounting holes in an image coordinate system are obtained;
3. the first module moves to the central positions of the three mounting holes respectively, the central coordinates of the three mounting holes under the first module coordinate system, namely second coordinate data, are recorded, and the second coordinate data and the first coordinate data under the image coordinate system are subjected to three-point calibration to obtain a conversion coefficient of the first module coordinate system and the image coordinate system;
4. the second module moves to the central positions of the three mounting holes respectively, records the central coordinates of the three mounting holes under the second module coordinate system, namely second coordinate data ', and carries out three-point calibration on the second coordinate data' and the image coordinate system to obtain the conversion coefficient of the second module coordinate system and the image coordinate system;
5. the first module is used for assembling two first workpieces A, B of the compressor base with corresponding mounting holes;
6. the second module is used for assembling the other first workpiece C of the compressor base with the corresponding mounting hole;
7. and storing the template and data, and finishing building the stud template of the base of the compressor.
Secondly, compressor base nut assembling process:
1. starting vision system software, initializing the vision software and loading the data of the stud template of the base of the compressor;
2. controlling the industrial camera to reach the photographing point;
3. photographing the compressor base provided with the stud once again, and recognizing and calculating a central coordinate point of the stud by using visual system software according to the characteristics of the stud;
4. respectively converting the central coordinates of the stud image into a first module coordinate system and a second module coordinate system according to conversion coefficients calculated when the stud template of the compressor base is established, and calculating pose offset;
5. calculating A, B a pose offset of the stud center position in a first module coordinate system, and calculating a pose offset of the stud C center position in a second module coordinate system;
6. the vision system transmits the calculated pose offset to an industrial personal computer in an Ethernet mode;
7. the industrial personal computer moves the two modules to the central position of the stud according to the pose offset transmitted by the vision system, and then the nut and the stud are accurately assembled.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method as described above.
In this embodiment, the module/unit integrated with the compressor workpiece assembling apparatus may be stored in a computer readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
The compressor workpiece assembling system provided by the embodiment of the invention further comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein the processor executes the computer program to realize the steps in each compressor workpiece assembling method embodiment, such as S10-S40 shown in FIG. 2. Alternatively, the processor, when executing the computer program, implements the functions of the modules/units in the compressor workpiece assembling device embodiments described above, such as the acquiring unit 101, the transferring unit 201, and the marking unit 301 shown in fig. 4.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the compressor work piece assembly apparatus. For example, the computer program may be acquired by the acquisition unit 101, the transfer unit 201, the marking unit 301.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center for the mounting system and that connects the various parts of the overall mounting system using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the humidifier by running or executing the computer programs and/or modules stored in the memory, as well as invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of assembling a compressor workpiece, comprising the steps of:
respectively acquiring first coordinate data of each mounting hole on a compressor base under an image coordinate system; respectively acquiring second coordinate data of the mounting holes under a module coordinate system; obtaining a conversion coefficient of a module coordinate system and an image coordinate system according to the first coordinate data and the second coordinate data;
transferring a first workpiece through a module according to the first coordinate data, and aligning and assembling the first workpiece with the mounting hole;
acquiring third coordinate data of the transferred first workpiece in the image coordinate system, and acquiring fourth coordinate data of the first workpiece in the module coordinate system according to the third coordinate data and the conversion coefficient;
and grabbing a second workpiece through a module according to the fourth coordinate data, transferring and carrying out butt joint assembly on the second workpiece and the first workpiece.
2. The method of claim 1, wherein the die sets comprise a first die set and a second die set,
the method further comprises the following steps:
marking and numbering the mounting holes, and recording the corresponding relation between the first module and the second module and the mounting holes;
and controlling the first module or the second module to grab the first workpiece according to the corresponding relation, aligning the first workpiece with the corresponding mounting hole for assembly, controlling the module to grab the second workpiece, and performing butt assembly on the second workpiece and the first workpiece.
3. The method of claim 1, wherein prior to grasping a second workpiece by a die set, transferring, and butt-fitting with the first workpiece according to the fourth coordinate data, the method further comprises:
calculating the pose offset of the first workpiece in a module coordinate system according to the fourth coordinate data and the second coordinate data;
and transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
4. A compressor workpiece assembly device, comprising:
the acquisition unit is used for respectively acquiring first coordinate data of each mounting hole on the compressor base under an image coordinate system; respectively acquiring second coordinate data of the mounting holes under a module coordinate system; obtaining a conversion coefficient of a module coordinate system and an image coordinate system according to the first coordinate data and the second coordinate data; acquiring third coordinate data of the transferred first workpiece in the image coordinate system, and acquiring fourth coordinate data of the first workpiece in the module coordinate system according to the third coordinate data and the conversion coefficient;
the transfer unit is used for grabbing a first workpiece through a module according to the first coordinate data and aligning and assembling the first workpiece with the mounting hole; and grabbing a second workpiece through a module according to the fourth coordinate data, transferring and carrying out butt joint assembly on the first workpiece.
5. The apparatus of claim 4, wherein the die sets comprise a first die set and a second die set,
the device further comprises:
the marking unit is used for marking and numbering the mounting holes and recording the corresponding relation between the first module and the second module and the mounting holes;
and the transfer unit is used for controlling the first module or the second module to grab the first workpiece according to the corresponding relation, aligning and assembling the first workpiece with the corresponding mounting hole, controlling the first module or the second module to grab the second workpiece, and butting and assembling the second workpiece with the first workpiece.
6. The apparatus according to claim 4, wherein the acquiring unit is further configured to calculate a pose offset of the first workpiece in the module coordinate system according to the fourth coordinate data and the second coordinate data before the second workpiece is captured by the module according to the fourth coordinate data, transferred and butt-assembled with the first workpiece;
and transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
7. A compressor workpiece assembly system, comprising:
the industrial camera is used for acquiring an image of the compressor base and an image of the compressor base after the first workpiece is transferred;
the industrial personal computer is used for acquiring first coordinate data of each mounting hole on the base under an image coordinate system, second coordinate data of each mounting hole under a first module coordinate system, third coordinate data of the transferred first workpiece under the image coordinate system and fourth coordinate data of the transferred first workpiece under the first module coordinate system according to the image of the compressor base, controlling the first module to transfer the first workpiece according to the second coordinate data and controlling the first module to transfer the second workpiece according to the fourth coordinate data;
and the module is controlled by an industrial personal computer, is used for transferring the first workpiece to the corresponding mounting hole, and grabbing the second workpiece to be transferred and butt-jointed with the first workpiece for assembly.
8. The system of claim 7, wherein the modules comprise a first module and a second module,
the first module is used for transferring a first workpiece to the mounting hole corresponding to the first module according to a corresponding relation table preset in an engineering machine, aligning and assembling the first workpiece with the mounting hole, grabbing a second workpiece to be transferred, and butting and assembling the second workpiece with the first workpiece;
the second module is used for transferring the first workpiece to the mounting hole corresponding to the second module according to a corresponding relation table preset in the engineering machine, aligning and assembling the first workpiece with the mounting hole, grabbing the second workpiece for transferring and butting and assembling the second workpiece with the first workpiece; the corresponding relation table comprises corresponding relations among the first module, the second module and the numbers of the mounting holes.
9. The system of claim 7, wherein the industrial personal computer is configured to calculate a pose offset of the first workpiece in a module coordinate system according to the fourth coordinate data and the second coordinate data;
and transferring a second workpiece through a module according to the fourth coordinate data and the pose offset, and carrying out butt joint assembly on the second workpiece and the first workpiece.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 3.
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