CN114571199A - Screw locking machine and screw positioning method - Google Patents
Screw locking machine and screw positioning method Download PDFInfo
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- CN114571199A CN114571199A CN202011387257.9A CN202011387257A CN114571199A CN 114571199 A CN114571199 A CN 114571199A CN 202011387257 A CN202011387257 A CN 202011387257A CN 114571199 A CN114571199 A CN 114571199A
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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
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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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Abstract
The invention relates to the technical field of automatic production, and discloses a screw locking machine and a screw positioning method, wherein the screw locking machine comprises: the system comprises a workbench, a first camera, a second camera, a locking and paying batch and a distance measuring sensor; the first camera is arranged above the workbench and used for shooting images of the product; positioning the position of the screw hole in the image by taking the positioning template as a reference so as to obtain first positioning data of the screw hole, wherein a second camera and the distance measuring sensor are arranged on the mechanical arm, the second camera is used for identifying and positioning the screw hole, and the distance measuring sensor is used for measuring the height of an identification surface of the screw hole; and correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface. The invention can avoid the positioning error of the screw hole caused by the height difference between the calibration surface and the product surface, and improve the positioning precision of the screw hole.
Description
Technical Field
The invention relates to the technical field of automatic production, in particular to a screw locking machine and a screw positioning method.
Background
In the prior art, in order to improve the production efficiency of products and reduce the production labor cost, screw locking machines for screw locking during product assembly are developed. The existing screw locking machine adopts a jig tool to position a product to be processed, needs to manually drive a screw driver to electrically check each screw hole of the product before locking the product, and records the position of each screw hole and the corresponding screw driver posture. When the product is locked, the screw driver is driven to move to the position of the screw hole according to the recorded point position of the screw hole and the attitude information of the screw driver, and the screw hole of the product is locked one by one.
The existing screw locking machine needs to manually calibrate screw hole positions, and is complex to operate; the hole position is positioned by eyes, the positioning precision of the eyes is not high, and the better locking effect can be achieved by repeated testing and adjustment. After the check is finished, in the production process, the requirement on the stability accuracy of the positioning jig is high, and the jig is worn and loosened to influence the locking result.
Disclosure of Invention
Therefore, it is necessary to provide a screw locking machine to solve the above-mentioned technical problem of low screw positioning accuracy.
In order to achieve the above object, the present invention provides a screw driving machine, comprising: the system comprises a workbench, a first camera, a second camera, a locking and paying batch and a distance measuring sensor;
the workbench is used for placing a product to be screwed, and the screw locking screwdriver is used for locking screws in screw holes of the product;
the first camera is arranged above the workbench and used for shooting images of the product;
positioning the screw hole position in the image by taking a positioning template as a reference so as to obtain first positioning data of the screw hole, wherein the positioning template is a local image of the same plane of the image and the screw hole to be locked;
the second camera and the distance measuring sensor are arranged on a mechanical arm, the mechanical arm is used for driving the second camera and the distance measuring sensor to move, the second camera is used for identifying and positioning a screw hole, and the distance measuring sensor is used for measuring the height from the screw hole identification surface to the calibration surface;
and correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface.
Further, the first camera is located right above the workbench, and the height of the first camera is larger than that of the second camera.
Furthermore, the locking pay batch, the second camera and the distance measuring sensor are all arranged on the mechanical arm, and the mechanical arm drives the locking pay batch, the second camera and the distance measuring sensor to move synchronously.
Further, the corrected first positioning data are X1 and Y1;
wherein X2 and Y2 are the first positioning data before correction, h0 is the distance from the first camera to the calibration surface, h2 is the distance from the first camera to the screw hole identification surface, h2 is h0-h3, and h3 is the distance from the screw hole identification surface to the calibration surface.
Further, including the manipulator including a plurality of freely movable joints and driving motor, adjacent two freely movable joints are articulated each other, driving motor is used for driving adjacent two freely movable joint's contained angle, the second camera with range finding sensor set up in the end of manipulator.
Further, the calibration surface is a placing surface of the calibration plate on the workbench when the camera is calibrated.
In order to solve the above technical problem, the present invention provides another technical solution:
a screw positioning method comprises the following steps:
acquiring an image of a product of the screw to be locked through a first camera;
selecting a local image in the same plane as the screw hole to be locked in the image from the image as a positioning template, and positioning the screw hole position in the image according to the positioning template so as to obtain first positioning data of the screw hole;
positioning the screw hole through a second camera, and measuring the height from the screw hole identification surface to the calibration surface through a distance measuring sensor, wherein the second camera and the distance measuring sensor are arranged on a mechanical arm and driven by the mechanical arm to move synchronously;
and correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface.
Further, the calibration surface is a placing surface of the calibration plate on the workbench when the camera is calibrated.
Further, the corrected first positioning data are X1 and Y1;
wherein X2 and Y2 are the first positioning data before correction, h0 is the distance from the first camera to the calibration surface, h2 is the distance from the first camera to the screw hole identification surface, h2 is h0-h3, and h3 is the distance from the screw hole identification surface to the calibration surface.
Further, after the step of correcting the first positioning data of the screw hole according to the distance from the positioning template to the locking surface of the screw hole, the method further comprises the following steps:
and controlling the mechanical arm to drive a second camera to move to the position of the screw hole according to the corrected first positioning data, acquiring an image of the screw hole through the second camera, and verifying the corrected first positioning data according to the image of the screw hole.
Referring to fig. 1, a schematic view of a monocular visual positioning technique used in a screw driving machine in the prior art is shown. The specific position and posture of the product in the real world cannot be confirmed due to the picture of the product shot by the uncalibrated camera. The calibration of the camera is to map the shot image with the real world correspondingly and determine the size and the position of the pixel in the real world. The position coordinates of the camera 2 adopted by the screw locking machine in fig. 1 are calibrated by the origin coordinates (0, 0) on a calibration plane, and the calibration plane is usually the placing plane of the screw product to be locked, however, the product has a certain height, so that a certain height difference (i.e. h0-h2) exists between the identification plane of the camera 2 and the calibration plane. In the conventional visual positioning method, since the distance between the recognized object and the camera cannot be read, when the recognized object is not at the same height as the set height of the calibration surface and is not located at the visual center, the screw hole positions (X2, Y2) recognized by the video camera 2 and the actual screw hole positions (X1, Y1) have a certain recognition error X', which affects the visual positioning accuracy.
The technical scheme is different from the prior art that the first camera above the workbench shoots the images of the product and the positioning template, the second camera moves together with the ranging sensor, the second camera identifies and positions the screw hole, and the ranging sensor measures the distance from the calibration surface to the locking surface of the screw hole; and correcting the first positioning data of the screw hole according to the distance from the calibration surface to the locking surface of the screw hole. Therefore, the positioning inaccuracy caused by the difference between the distance between the calibration surface and the product and the first camera can be avoided, and the visual positioning precision of the screw locking machine is improved.
And, above-mentioned technical scheme carries out the screw hole location through visual positioning to drive the lock and pay the screwdriver and carry out the product screw lock and pay, compare traditional screw machine and reduced the input of frock, tool, thereby practice thrift the manufacturing cost input of enterprise.
Through the screw hole automatic calibration function of vision screw machine, reduce the human input that adapts to different products and debug auto-screwdriving machine to practice thrift the human cost input of enterprise, improve the efficiency of enterprise.
Drawings
FIG. 1 is a diagram illustrating a prior art visual positioning method;
FIG. 2 is a schematic structural diagram of a screw driving machine according to an embodiment;
FIG. 3 is a schematic structural diagram of a pay-per-lock batch according to an embodiment;
FIG. 4 is a flow chart of a method of positioning a screw hole according to an embodiment;
description of reference numerals:
1. locking a pay batch;
11. an electric screwdriver main shaft;
12. an electric screwdriver body;
13. a sleeve;
14. vacuumizing a tube;
2. a first camera;
3. a second camera;
4. a ranging sensor;
5. a work table;
6. a robot arm;
7. a screw;
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 2, the present embodiment provides a screw locking machine, which can be used for locking various screws or bolts such as a straight screw, a cross screw, a hexagon screw, a box screw, etc., and has a visual positioning function, so that the screw hole position on a product can be automatically identified and positioned, the screw hole positioning is not required to be performed manually, and compared with the existing monocular visual positioning technology, the screw locking machine of the present embodiment has higher screw hole positioning accuracy.
As shown in fig. 2, the screw locking machine according to the present embodiment includes a table 5, a first camera 2, a second camera 3, a robot arm 6, a lock-pay-off batch 1, and a distance measuring sensor 4.
Wherein, first camera 2 fixed set up in the top of workstation 5, robotic arm 6 set up in the side of workstation 5, second camera 3 lock pay by cable 1 and range sensor 4 set up in robotic arm 6 is last. The height of the first camera 2 is greater than the height of the second camera 3, so that the first camera 2 is also referred to as the high-level camera and the second camera 3 is also referred to as the low-level camera.
The product of waiting to lock the screw place in on the workstation 5, first camera 2 is used for shooing the image of whole product, and the controller of lock screw machine fixes a position according to the screw hole position on the product of the image pair of product, obtains the first location data (preliminary positioning data) of screw hole. When the first positioning data of the screw hole is obtained from the image of the product, a certain area on the same plane as the screw hole to be locked needs to be scribed on the image of the product as a positioning template for product identification and positioning, the positioning template and the screw hole to be locked are located on the same plane, and the positioning template has features convenient for the first camera 2 to identify, so the positioning template can also be called a feature template. After the positioning template is obtained, setting the central coordinate of the positioning template; the visual algorithm identifies and locates the image of the product by identifying, among the input image of the product, a portion of the image that matches the locating template in the image of the product. Because the relative relation between the identification feature on the product and the screw hole is fixed, the position of the screw hole of the product can be determined after the position of the identification feature in the image of the product is determined, and the first positioning data of the screw hole can be obtained.
The mechanical arm is used for driving the second camera 3, the locking power batch 1 and the distance measuring sensor 4, wherein the locking power batch 1 is used for locking a screw of a screw hole of a product; the second camera 3 is used for identifying and positioning each screw hole on the product, so that the mechanical arm can accurately move to each screw hole; the distance measuring sensor 4 is used for detecting the distance from the calibration surface of the camera to the surface of the product (namely, the locking surface of the screw hole).
As shown in fig. 3, the lock pay screwdriver 1 includes a sleeve, a screwdriver spindle 11 and a screwdriver body 12, the sleeve 12 is sleeved on the periphery of the screwdriver body 12, and the screwdriver body 12 can rotate circumferentially relative to the sleeve 13. An evacuation tube 14 is connected to the outer periphery of the sleeve 12, and the evacuation tube 14 is communicated to the interior of the sleeve 12, so that the sleeve 12 is internally provided with a negative pressure adsorption screw. The electric screwdriver main shaft can be a motor or a pneumatic motor, the electric screwdriver main shaft is connected with the electric screwdriver body, the tail end of the electric screwdriver body is opposite to a screw cap of a screw, and the electric screwdriver main shaft is used for driving the electric screwdriver body to rotate, so that the screw is driven to rotate through the electric screwdriver body and is locked into a screw hole.
And the controller of the screw locking machine transmits the first positioning data of the screws to the mechanical arm 6, and the mechanical arm 6 controls the second camera 3, the locking electric screwdriver 1 and the distance measuring sensor 4 to move above the positions of the screw holes. In the moving process of the mechanical arm, the screw holes are identified and positioned one by one through the second camera 3, so that the mechanical arm 6 is controlled to accurately move to the positions above the screw holes. The height of the screw hole identification face (i.e., the distance from the screw hole identification face to the calibration face) is then detected by the distance measuring sensor 4. Repeating the step for multiple times to enable the distance measuring sensor to measure the height of the identification surface of each screw hole.
And finally, correcting the first positioning data of the screw hole by a controller of the screw locking machine according to the height of the identification surface of the screw hole. Specifically, as shown in fig. 1, the corrected positioning data of the screw holes are X1 and Y1;
the method comprises the steps that X1 is an abscissa, Y1 is an ordinate, X2 and Y2 are used for positioning positions of screw holes in images by taking a positioning template as a reference to obtain first positioning data of the screw holes, h0 is the distance from a first camera to the surface of a product, h2 is the distance from the first camera to an identification surface of the screw holes, h2 is h0-h3, and h3 is the height of the identification surface of the screw holes. As shown in fig. 1, through the correction step, the positioning error of the screw hole caused by the height difference of the surface of the product can be avoided, and the visual positioning precision of the screw hole is improved.
In addition, in the embodiment, the positions of the screw holes in the product can be accurately positioned through visual positioning of the screw locking machine, and the screw locking electric screwdriver is driven to lock the screw of the product. Through the screw hole automatic calibration function of vision screw machine, reduce the human input that adapts to different products and debug auto-screwdriving machine to practice thrift the human cost input of enterprise, improve the efficiency of enterprise.
In another embodiment, when the corrected positioning data of the screw hole (i.e., the corrected first positioning data) is obtained, the controller of the screw locking machine further controls the mechanical arm to drive the second camera to move to the position of the screw hole according to the corrected first positioning data, obtains an image of the screw hole through the second camera, and verifies the corrected first positioning data according to the image of the screw hole.
In some embodiments, robotic arm 6 includes a plurality of freely movable joints, can set up driving motor between two adjacent freely movable joints, makes the contained angle between two adjacent freely movable joints adjustable, lock pay the electricity wholesale, second camera and range finding sensor set up in robotic arm's end (being last section freely movable joint's end), consequently robotic arm can drive lock pay electricity wholesale, second camera and range finding sensor move along not equidirectional in the cubical space to can fix a position, range finding and screw lock payment in the screw hole of different space dimensions.
In another embodiment, as shown in FIG. 4, a screw positioning method is provided. The screw positioning method is characterized by comprising the following steps:
s401, acquiring an image of a product of the screw to be locked through a first camera;
s402, selecting a local image in the same plane as the screw hole to be locked in the image as a positioning template from the image, and positioning the screw hole position in the image according to the positioning template to obtain first positioning data of the screw hole;
s403, positioning the screw hole through a second camera, and measuring the height of the identification surface of the screw hole through a distance measuring sensor, wherein the second camera and the distance measuring sensor are arranged on a mechanical arm and driven by the mechanical arm to move synchronously;
s404, correcting the first positioning data of the screw hole according to the distance from the positioning template to the locking surface of the screw hole.
The screw positioning method is implemented by using the screw locking machine described in fig. 2, and the structure and the working principle of the screw locking machine have been specifically described in the above embodiments, which will be described herein again.
Specifically, in step S401, the product to be screwed is placed on a work table, and then the image of the product is captured by the first camera. When the first positioning data of the screw hole is obtained from the image of the product, a certain area on the same plane as the screw hole to be locked needs to be scribed on the image of the product as a positioning template for product identification and positioning, the positioning template and the screw hole to be locked are located on the same plane, and the positioning template has features convenient for the first camera 2 to identify, so the positioning template can also be called a feature template.
Entering step S402 after the images of the product and the positioning template are obtained, identifying screw holes in the product by a controller of the screw locking machine in step S402, and setting the central coordinates of the positioning template after the positioning template is obtained; the visual algorithm identifies and locates the image of the product by identifying, among the input image of the product, a portion of the image that matches the locating template in the image of the product. Because the relative relation between the identification feature on the product and the screw hole is fixed, the position of the screw hole of the product can be determined after the position of the identification feature in the image of the product is determined, and the first positioning data of the screw hole can be obtained.
In step S403, the controller of the screw locking machine transmits the first positioning data of the screw to the robot arm, and the robot arm controls the second camera, the power locking batch and the distance measuring sensor to move to the positions above the screw holes. In the moving process of the mechanical arm, the screw holes are identified and positioned one by one through the second camera, so that the mechanical arm is controlled to accurately move to the positions above the screw holes. And then the distance between the positioning template and the screw hole is calculated through the position conversion of the mechanical arm. Repeating the step for multiple times, and measuring the distance from each screw hole position positioning template to the screw hole.
In step S404, the distance from the positioning template to the fastening surface of the screw hole is corrected by the controller of the screw locking machine. As shown in fig. 1, the corrected positioning data of the screw holes are X1 and Y1;
the method comprises the steps that X1 is an abscissa, Y1 is an ordinate, X2 and Y2 are used for positioning the position of a screw hole in an image by taking a positioning template as a reference to obtain first positioning data of the screw hole, h0 is the distance from a first camera to the surface of a product, h2 is the distance from the first camera to an identification surface of the screw hole, h2 is h0-h3, and h3 is the height of the identification surface of the screw hole. As shown in fig. 1, through the correction step, the positioning error of the screw hole caused by the height difference of the surface of the product can be avoided, and the visual positioning precision of the screw hole is improved.
In one embodiment, after the step of correcting the first positioning data of the screw hole according to the distance from the calibration surface of the camera to the locking surface of the screw hole, the method further comprises the steps of:
and controlling the mechanical arm to drive a second camera to move to the position of the screw hole according to the corrected first positioning data, acquiring an image of the screw hole through the second camera, and verifying the corrected first positioning data according to the image of the screw hole. And verifying the corrected first positioning data according to the image of the screw hole to ensure that the positioning data after the screw is accurate.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (10)
1. A screw locking machine, comprising: the system comprises a workbench, a first camera, a second camera, a locking and paying batch and a distance measuring sensor;
the workbench is used for placing a product to be screwed, and the screw locking screwdriver is used for locking screws in screw holes of the product;
the first camera is arranged above the workbench and used for shooting images of the product;
positioning the position of the screw hole in the image by taking a positioning template as a reference to obtain first positioning data of the screw hole, wherein the positioning template is a local image of the same plane of the image and the screw hole to be locked;
the second camera and the distance measuring sensor are arranged on a mechanical arm, the mechanical arm is used for driving the second camera and the distance measuring sensor to move, the second camera is used for identifying and positioning a screw hole, and the distance measuring sensor is used for measuring the height from the screw hole identification surface to the calibration surface;
and correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface.
2. The screw locking machine of claim 1, wherein the first camera is located directly above the table, and wherein a height of the first camera is greater than a height of the second camera.
3. The screw locking machine according to claim 1, wherein the power locking batch, the second camera and the distance measuring sensor are all disposed on the mechanical arm, and the mechanical arm drives the power locking batch, the second camera and the distance measuring sensor to move synchronously.
4. The screw locking machine of claim 1, wherein the corrected first positioning data are X1 and Y1;
wherein X2 and Y2 are the first positioning data before correction, h0 is the distance from the first camera to the calibration surface, h2 is the distance from the first camera to the screw hole identification surface, h2 is h0-h3, and h3 is the distance from the screw hole identification surface to the calibration surface.
5. The screw locking machine according to claim 1, wherein the screw locking machine comprises a manipulator, the manipulator comprises a plurality of movable joints and a driving motor, two adjacent movable joints are hinged to each other, the driving motor is used for driving an included angle between two adjacent movable joints, and the second camera and the distance measuring sensor are arranged at the tail end of the manipulator.
6. The screw locking machine of claim 1, wherein the calibration surface is a product placement surface on the work table.
7. A screw positioning method is characterized by comprising the following steps:
acquiring an image of a product of the screw to be locked through a first camera;
selecting a local image in the same plane as the screw hole to be locked in the image from the image as a positioning template, and positioning the screw hole position in the image according to the positioning template so as to obtain first positioning data of the screw hole;
positioning the screw hole through a second camera, and measuring the height from the screw hole identification surface to the calibration surface through a distance measuring sensor, wherein the second camera and the distance measuring sensor are arranged on a mechanical arm and driven by the mechanical arm to move synchronously;
and correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface.
8. The screw positioning method according to claim 7, wherein the calibration surface is a placement surface of a calibration board on the worktable when a camera is used for calibration operation.
9. The screw positioning method according to claim 7, wherein the corrected first positioning data are X1 and Y1;
wherein X2 and Y2 are the first positioning data before correction, h0 is the distance from the first camera to the calibration surface, h2 is the distance from the first camera to the screw hole identification surface, h2 is h0-h3, and h3 is the distance from the screw hole identification surface to the calibration surface.
10. The screw positioning method according to claim 7, further comprising, after the step of correcting the first positioning data of the screw hole according to a distance from the positioning template to a fastening surface of the screw hole, the step of:
and controlling the mechanical arm to drive a second camera to move to the position of the screw hole according to the corrected first positioning data, acquiring an image of the screw hole through the second camera, and verifying the corrected first positioning data according to the image of the screw hole.
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| CN202011387257.9A CN114571199B (en) | 2020-12-01 | 2020-12-01 | Screw locking machine and screw positioning method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115837576A (en) * | 2022-12-27 | 2023-03-24 | 联宝(合肥)电子科技有限公司 | Inclined plane screw hole locking method and inclined screw locking machine |
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| CN106645170A (en) * | 2016-12-21 | 2017-05-10 | 厦门福信光电集成有限公司 | Automatic inspection machine of step electrode |
| CN107598557A (en) * | 2017-11-09 | 2018-01-19 | 深圳市联和智能技术有限公司 | Filature |
| CN208811489U (en) * | 2018-09-05 | 2019-05-03 | 广东贝迪机器人有限公司 | A kind of manipulator lock screws apptss |
| CN110458891A (en) * | 2019-06-12 | 2019-11-15 | 五邑大学 | A kind of screw hole caliberating device using three reconstruct |
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| CN114619235A (en) * | 2022-05-16 | 2022-06-14 | 杭州未名信科科技有限公司 | Screw locking device |
| CN115100297A (en) * | 2022-07-14 | 2022-09-23 | 武汉锐科光纤激光技术股份有限公司 | Motion compensation method and device, electronic equipment, storage medium and screwing method |
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| CN115837576A (en) * | 2022-12-27 | 2023-03-24 | 联宝(合肥)电子科技有限公司 | Inclined plane screw hole locking method and inclined screw locking machine |
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