CN114260933A - High-precision assembly real-time calibration and alignment method and device - Google Patents
High-precision assembly real-time calibration and alignment method and device Download PDFInfo
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- CN114260933A CN114260933A CN202111681189.1A CN202111681189A CN114260933A CN 114260933 A CN114260933 A CN 114260933A CN 202111681189 A CN202111681189 A CN 202111681189A CN 114260933 A CN114260933 A CN 114260933A
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Abstract
The invention belongs to the technical field of mechanical assembly, and relates to a high-precision assembly real-time calibration and alignment method and device, which comprise an assembly platform, an industrial personal computer, a visual lens, a prism and a manipulator; the assembling platform is provided with a lower assembly part, and the manipulator is arranged above the assembling platform and used for grabbing the upper assembly part and assembling the upper assembly part into the lower assembly part; the prism is arranged on the telescopic device and is positioned between the upper and lower fittings when extending out; visual lenses are arranged on both sides of the prism; the two visual lenses respectively acquire the real-time positions of the upper assembly part and the lower assembly part through the prisms, and after position comparison is carried out through the industrial personal computer, the manipulator is driven to adjust the position of the upper assembly part, so that the upper assembly part and the lower assembly part are aligned. The invention utilizes the prism reflection principle, obtains the position images of the upper and lower fittings in real time through the two vision lenses, completes the calculation of relative coordinates, realizes the real-time positioning closed-loop control, can eliminate the error of a movement mechanism, and meets the precision requirement of the high-precision assembly industry.
Description
Technical Field
The invention belongs to the technical field of mechanical assembly, and relates to a high-precision assembly real-time calibration and alignment method and device.
Background
High-precision assembly is an industrial difficulty relative to people and equipment, the manual assembly efficiency is low, and the precision and the quality cannot be controlled. The introduction of the prior vision system greatly improves the assembly quality, but the prior vision positioning is non-real-time positioning and non-closed-loop control, cannot eliminate errors caused by a movement mechanism, and still cannot meet the requirement of high-precision assembly.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for calibrating alignment in real time in high precision assembly, which solves the problem of high precision assembly requirement.
In order to achieve the purpose, the invention provides the following technical scheme:
a high-precision assembly real-time calibration aligning device comprises an assembly platform, an industrial personal computer, a visual lens, a prism and a manipulator; the manipulator is arranged above the assembling platform and used for grabbing the upper assembling part to be assembled and assembling the upper assembling part into the lower assembling part;
the prism is arranged on the telescopic device and is positioned between the lower assembly part and the upper assembly part when extending out; the visual lens is arranged on each of two sides of the prism; the two vision lenses respectively acquire the real-time positions of the upper assembly part and the lower assembly part through the prism, and after position comparison is carried out through the industrial personal computer, the manipulator is driven to adjust the position of the upper assembly part, so that the upper assembly part and the lower assembly part are aligned.
Further, the prism comprises two triangular prism sheets which are stacked up and down, and each triangular prism sheet comprises a vertical surface, a horizontal surface and an inclined surface; the inclined planes of the triangular prism lenses are attached to each other, the two vision lenses are respectively opposite to the two vertical surfaces one by one, and position information of an upper assembling part and a lower assembling part is respectively obtained. The upper assembly part and the lower assembly part are respectively reflected through inclined planes, the vision lens obtains reflected images, and the images are transmitted to the industrial personal computer for processing.
Further, a suction nozzle used for adsorbing an upper assembly part is arranged on the manipulator, and the suction nozzle is arranged on the rotating rod; the dwang is connected with the manipulator rotation, and its turned angle receives industrial computer control.
The high-precision assembly real-time calibration alignment device is adopted, two vision lenses respectively obtain position images of an upper assembly part and a lower assembly part through a prism, an industrial personal computer obtains relative position coordinates of the upper assembly part and the lower assembly part through comparing the obtained position images of the upper assembly part and the lower assembly part, and a manipulator is controlled to drive the upper assembly part to move, so that the upper assembly part and the lower assembly part are aligned to meet the requirement of assembly.
Further, before the assembly alignment, the initial positions of the two vision lenses are corrected.
The invention has the beneficial effects that:
1) the invention utilizes the prism reflection principle, obtains the position images of the upper and lower fittings in real time through the two vision lenses, completes the calculation of relative coordinates, realizes the real-time positioning closed-loop control, can eliminate the error of a movement mechanism, and meets the precision requirement of the high-precision assembly industry.
2) By adopting the method and the device, the upper assembly part and the lower assembly part do not need to be positioned by adopting a tool in the clamping process, the relative position of the upper assembly part and the lower assembly part is automatically corrected by a system, and no specific requirement is made on the containing and placing of parts.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of the high precision assembly of the real-time alignment calibration device of the present invention;
FIG. 2 is a schematic view of a prism according to the present invention.
Reference numerals: 1-a prism; 2-a first vision lens; 3-a second vision lens; 4-a manipulator; 5-rotating the rod; 6, a suction nozzle; 7-assembling the platform; 8-a telescopic cylinder; 9-mounting accessories; 10-lower assembly parts; 11-upper triangular prism; 12-lower triangular prism.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1-2, a high-precision assembly real-time calibration alignment device includes an assembly platform 7, an industrial personal computer, a vision lens, a prism 1, and a manipulator 4; a lower assembly part 10 to be assembled is placed on the assembly platform 7, and the manipulator 4 is installed above the assembly platform 7 and used for grabbing an upper assembly part 9 to be assembled and assembling the upper assembly part into the lower assembly part 10; the prism 1 is arranged on a telescopic cylinder 8 and is positioned between a lower assembly part 10 and an upper assembly part 9 when extending out, and the telescopic cylinder 8 is fixedly arranged on an assembly platform 7 through bolts; a first visual lens 2 and a second visual lens 3 are respectively arranged on two sides of the prism 1; the first visual lens 2 and the second visual lens 3 respectively acquire real-time positions of the upper assembling part 9 and the lower assembling part 10 through the prism 1, and after position comparison is carried out through an industrial personal computer, the manipulator 4 is driven to adjust the position of the upper assembling part 9, so that the upper assembling part 9 and the lower assembling part 10 are aligned.
The prism 1 comprises an upper triangular prism lens 11 and a lower triangular prism lens 12 which are stacked up and down, wherein the upper triangular prism lens 11 and the lower triangular prism lens 12 respectively comprise a vertical surface, a horizontal surface and an inclined surface; wherein two inclined planes are laminated mutually, and first vision camera lens 2 is relative with the vertical face of last triangular prism piece 11, and second vision camera lens 3 is relative with the vertical face of lower triangular prism piece 12, and last fitting part 9, lower fitting part 10 are respectively through the inclined plane reflection, and the vision camera lens obtains the reflection image to transmit the image to the industrial computer and handle.
The manipulator 4 is provided with a suction nozzle 6 for adsorbing an upper assembling part 9, and the suction nozzle 6 is arranged on the rotating rod 5; the rotating rod 5 is rotatably connected with the manipulator 4, and the rotating angle of the rotating rod is controlled by an industrial personal computer.
A high-precision assembly real-time calibration alignment method is adopted, the high-precision assembly real-time calibration alignment device in the embodiment is utilized, a first visual lens 2 and a second visual lens 3 are utilized to respectively obtain real-time position images of an upper assembly part 9 and a lower assembly part 10 through a prism 1, an industrial personal computer controls a manipulator 4 to drive the upper assembly part 9 to move through comparing position coordinates of the upper assembly part 9 and the lower assembly part 10, and the upper assembly part 9 and the lower assembly part 10 are aligned to meet assembly. And before the assembly alignment, the initial positions of the first visual lens 2 and the second visual lens 3 are corrected to obtain an image initial coordinate, and the industrial personal computer compares the real-time position images of the upper assembly part 9 and the lower assembly part 10 with the initial coordinate to obtain a relative coordinate of the upper assembly part 9 and the lower assembly part 10, so that the assembly position is accurately controlled.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (5)
1. The utility model provides a high accuracy assembly real-time calibration aligning device which characterized in that: the device comprises an assembly platform, an industrial personal computer, a visual lens, a prism and a manipulator; the manipulator is arranged above the assembling platform and used for grabbing the upper assembling part to be assembled and assembling the upper assembling part into the lower assembling part;
the prism is arranged on the telescopic device and is positioned between the lower assembly part and the upper assembly part when extending out; the visual lens is arranged on each of two sides of the prism; the two vision lenses respectively acquire the real-time positions of the upper assembly part and the lower assembly part through the prism, and after position comparison is carried out through the industrial personal computer, the manipulator is driven to adjust the position of the upper assembly part, so that the upper assembly part and the lower assembly part are aligned.
2. The high precision assembly real time calibration alignment device of claim 1, wherein: the prism comprises two triangular prism sheets which are stacked up and down, and each triangular prism sheet comprises a vertical surface, a horizontal surface and an inclined surface; the inclined planes of the triangular prism lenses are attached to each other, the two vision lenses are respectively opposite to the two vertical surfaces one by one, and position information of an upper assembling part and a lower assembling part is respectively obtained.
3. The high precision assembly real time calibration alignment device of claim 1, wherein: the manipulator is provided with a suction nozzle for adsorbing an upper assembly part, and the suction nozzle is arranged on the rotating rod; the dwang is connected with the manipulator rotation, and its turned angle receives industrial computer control.
4. A high-precision assembly real-time calibration and alignment method is characterized by comprising the following steps: the high-precision assembly real-time calibration alignment device according to any one of claims 1 to 3 is adopted, two vision lenses respectively obtain position images of an upper assembly part and a lower assembly part through a prism, an industrial personal computer obtains relative position coordinates of the upper assembly part and the lower assembly part through comparing the obtained position images of the upper assembly part and the lower assembly part, and controls a manipulator to drive the upper assembly part to move so that the upper assembly part and the lower assembly part are aligned to meet assembly requirements.
5. The method of claim 4, wherein the method comprises the following steps: before the alignment is assembled, the initial positions of the two vision lenses are corrected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111681189.1A CN114260933A (en) | 2021-12-28 | 2021-12-28 | High-precision assembly real-time calibration and alignment method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111681189.1A CN114260933A (en) | 2021-12-28 | 2021-12-28 | High-precision assembly real-time calibration and alignment method and device |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655693A (en) * | 2018-03-05 | 2018-10-16 | 北京理工大学 | A kind of quick device and method for changing visual field towards coaxial alignment assembly system |
| CN211234321U (en) * | 2020-02-21 | 2020-08-11 | 苏州灵猴机器人有限公司 | Coaxial alignment detection optical system |
| CN111993423A (en) * | 2020-08-17 | 2020-11-27 | 北京理工大学 | Modular intelligent assembling system |
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2021
- 2021-12-28 CN CN202111681189.1A patent/CN114260933A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655693A (en) * | 2018-03-05 | 2018-10-16 | 北京理工大学 | A kind of quick device and method for changing visual field towards coaxial alignment assembly system |
| CN211234321U (en) * | 2020-02-21 | 2020-08-11 | 苏州灵猴机器人有限公司 | Coaxial alignment detection optical system |
| CN111993423A (en) * | 2020-08-17 | 2020-11-27 | 北京理工大学 | Modular intelligent assembling system |
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