CN114669713A - Riveting machine and control system and control and calibration method thereof - Google Patents
Riveting machine and control system and control and calibration method thereof Download PDFInfo
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- CN114669713A CN114669713A CN202210324286.3A CN202210324286A CN114669713A CN 114669713 A CN114669713 A CN 114669713A CN 202210324286 A CN202210324286 A CN 202210324286A CN 114669713 A CN114669713 A CN 114669713A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
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Abstract
The invention discloses a riveting machine and a control system and a control and calibration method thereof, wherein the control system enables a camera to detect the position relation between a suction nozzle of the riveting machine and a rivet from the side surface of the riveting machine by arranging first to fourth reflective elements, the camera, a light source and the like, and can acquire the relative position relation between the rivet and the suction nozzle of the riveting machine along the central axis directions of the suction nozzle of the riveting machine and the rivet by combining the installation angles of the reflective elements, so that the movement of a displacement table can be controlled by a controller, the central axis of the rivet and the central axis of the suction nozzle of the riveting machine are positioned on the same straight line, the automation of the movement of the displacement table of the riveting machine is realized, and the space along the central axis directions of the suction nozzle of the riveting machine and the rivet is saved.
Description
Technical Field
The invention relates to the technical field of riveting machines, in particular to a riveting machine and a control system and a control and calibration method thereof.
Background
The existing riveting machines are operated automatically, wherein rivets are generally arranged on a displacement table, and displacement data are issued by a controller to mechanically control the movement of the displacement table, so that the rivets can move to the position right below a suction nozzle of the riveting machine, and then the riveting machine adsorbs the rivets to operate; the current moving displacement of the displacement table is controlled, and the rivet and the suction nozzle are shot mainly by using the upper camera or the lower camera, so that the xy-direction position of the rivet is obtained, the mechanical movement of the displacement table is controlled, and the automation of the moving of the rivet is realized. However, there are problems in that there is no extra camera installation space above and below the current riveter equipment, or the camera view is limited and cannot be measured.
Disclosure of Invention
The invention provides a riveting machine and a control system and a control and calibration method thereof, which aim to solve the problem that no redundant space is left above and below the current riveting machine equipment for installing a camera.
In order to solve the above problem, an embodiment of a first aspect of the present invention provides a riveting machine control system, including:
a first reflective element, a second reflective element, a third reflective element, a fourth reflective element, a camera, a first light source, and a second light source;
the first reflective element, the second reflective element, the third reflective element and the fourth reflective element are positioned on one side surface of a suction nozzle of the riveting machine, the camera is positioned on one side surface of each reflective element, which is far away from the suction nozzle, and the first light source and the second light source are positioned on one side surface of the suction nozzle, which is far away from each reflective element;
the first light source is used for irradiating the suction nozzle of the riveting machine and the rivet on the displacement table along a first direction to form a first calculation light beam, the first calculation light beam is reflected to the second reflective element through the first reflective element and is reflected to the camera through the second reflective element, and the camera forms a first image according to the first calculation light beam; the second light source is used for irradiating the riveting machine suction nozzle and the rivet on the displacement table along a second direction to form a second calculation light beam, the second calculation light beam is reflected to the fourth reflective element through the third reflective element and is reflected to the camera through the fourth reflective element, and the camera forms a second image according to the second calculation light beam, wherein the first direction and the second direction are symmetrical along the central axis of the camera, and the first image and the second image are not overlapped;
further comprising: a controller;
the controller is respectively connected with the displacement table and the camera and used for controlling the displacement table to move according to the first image, the second image and the installation angle of each light-reflecting element, so that the central axis of the suction nozzle of the riveting machine and the central axis of the rivet are located on the same straight line.
According to one embodiment of the invention, the center of the bottom surface of the riveting machine suction nozzle is located on the optical axis of the camera;
the light-facing surfaces of the second light reflecting element and the fourth light reflecting element form an included angle of 45 degrees with the optical axis of the camera;
the first calculating light beam reflected by the first reflecting element is incident to the second reflecting element at an angle of 45 degrees, and the second reflecting element reflects the first calculating light beam to be incident to the camera along the optical axis direction of the camera; the second calculating light beam reflected by the third reflecting element is incident to the fourth reflecting element at an angle of 45 degrees, and the fourth reflecting element reflects the second calculating light beam to be incident to the camera along the optical axis direction of the camera.
According to one embodiment of the invention, each of the reflective elements is one of a mirror or a prism.
According to the riveting machine control system provided by the embodiment of the invention, the first to fourth reflective elements, the camera, the light source and the like are arranged, so that the camera can detect the position relation between the suction nozzle of the riveting machine and the rivet from the side surface of the riveting machine, and the relative position relation between the rivet and the suction nozzle of the riveting machine along the central axis directions of the suction nozzle of the riveting machine and the rivet can be obtained by combining the installation angles of the reflective elements, so that the movement of the displacement table can be controlled by the controller, the central axis of the rivet and the central axis of the suction nozzle of the riveting machine are positioned on the same straight line, the automation of the movement of the displacement table of the riveting machine is realized, and the space along the central axis directions of the suction nozzle of the riveting machine and the rivet is saved.
In order to solve the above problem, an embodiment of a second aspect of the present invention provides a riveting machine control method, which is implemented based on the foregoing riveting machine control system, and includes the following steps:
acquiring a first image and a second image;
acquiring a first vertical distance from a suction nozzle of a riveting machine to a rivet in a direction perpendicular to the first calculation light beam according to the first image;
acquiring a second vertical distance from the suction nozzle of the riveting machine to the rivet in the direction perpendicular to the second calculation light beam according to the second image;
calculating and acquiring the actual offset from the suction nozzle of the riveting machine to the rivet according to the first vertical distance, the second vertical distance and the included angle between the first direction and the second direction;
and controlling the displacement table to move according to the actual offset amount so that the central axis of the suction nozzle of the riveting machine and the central axis of the rivet are positioned on the same straight line.
According to an embodiment of the present invention, the calculating and obtaining the actual offset of the riveting machine suction nozzle to the rivet according to the first vertical distance, the second vertical distance, and the included angle between the first direction and the second direction includes:
establishing a plane rectangular coordinate system by taking the suction nozzle of the riveting machine as an original point, the first moving direction of the displacement table as an x axis and the second moving direction as a y axis;
calculating the distance between the suction nozzle of the riveting machine and the rivet and the included angle between the connecting line between the suction nozzle of the riveting machine and the rivet and the x axis according to the first vertical distance, the second vertical distance and the included angle between the first direction and the second direction;
and acquiring the offset of the distance on the x axis and the y axis according to the distance and the included angle between the distance and the x axis.
According to an embodiment of the present invention, the calculating the distance between the riveting machine suction nozzle and the rivet according to the first vertical distance, the second vertical distance and the included angle between the first direction and the second direction, and the included angle between the connecting line between the riveting machine suction nozzle and the rivet and the x-axis includes:
and calculating the distance between the suction nozzle of the riveting machine and the rivet and the included angle between the connecting line between the suction nozzle of the riveting machine and the rivet and the x axis according to a trigonometric function calculation method.
According to the riveting machine control method provided by the embodiment of the invention, the first vertical distance and the second vertical distance are obtained through the image captured by the camera, and the offset between the rivet and the suction nozzle of the riveting machine in the xy direction is obtained through establishing a rectangular coordinate system and a trigonometric function calculation mode, so that the movement of the displacement table can be controlled, the rivet and the central axis of the suction nozzle of the riveting machine can be on the same straight line, the problem that the camera cannot be installed on the central axis is solved, and the automatic control of the displacement table by collecting the image on the side is realized.
In order to solve the above problems, an embodiment of a third aspect of the present invention provides a calibration method for a riveting machine, which is implemented based on the foregoing riveting machine control system and the foregoing riveting machine control method, and includes the following steps:
controlling the displacement table to move through a nine-point calibration algorithm so as to change the position of the rivet on the displacement table;
acquiring nine groups of calibration offsets of nine groups of displacement tables according to the movement of the displacement tables;
calculating and obtaining nine groups of calculated offsets of the displacement table by the rivet machine control method;
and obtaining a calibration error according to the nine groups of calibration offsets and the nine groups of calculated offsets.
According to an embodiment of the present invention, after obtaining the calibration error according to the nine sets of calibration offsets and the nine sets of calculated offsets, the method further includes:
verifying the calibration error, and finishing calibration when the verification result is within the error range; and when the verification result is not in the error range, carrying out calibration again.
According to one embodiment of the invention, verifying the calibration error comprises:
controlling the displacement table to move through a nine-point calibration algorithm so as to change the position of the rivet on the displacement table;
acquiring nine groups of actual offsets of nine groups of displacement tables according to the movement of the displacement tables;
calculating and obtaining nine groups of calculated offsets of the displacement table by the rivet machine control method;
correcting the nine groups of calculated offsets according to the calibration error to obtain the corrected nine groups of calculated offsets;
calculating errors between the nine corrected calculated offsets and the nine actual offsets, and finishing calibration when the errors are within an error range; and when the error is not in the error range, the calibration is carried out again.
According to the calibration method of the riveting machine provided by the embodiment of the invention, through a nine-point calibration method, after the control system is installed, error calibration is carried out on the control system, so that errors caused by installation are avoided to a certain extent, and the measurement precision is improved.
In order to solve the above problem, a fourth aspect of the present invention provides a riveting machine, including the riveting machine control system as described above.
According to the riveting machine provided by the embodiment of the invention, the camera and the reflective element can be arranged from the suction nozzle of the riveting machine and the side surface of the rivet to measure the offset of the rivet relative to the suction nozzle of the riveting machine in the xy direction, so that the offset of the rivet in a overlooking visual angle is indirectly measured through side surface shooting, the problem of insufficient installation space is solved, and the measurement precision is high.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a rivet driver control system according to an embodiment of the present invention;
fig. 2 is a schematic optical path diagram of a control system of a riveting machine according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
fig. 4 is an imaging view of a camera in a control system of a riveting machine according to an embodiment of the present invention;
FIG. 5 is a flowchart of a riveting machine control method according to an embodiment of the present invention;
FIG. 6 is a flowchart of a method for calibrating a riveting machine according to an embodiment of the present invention;
fig. 7 is a block diagram schematically illustrating a riveting machine according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
FIG. 1 is a schematic structural diagram of a rivet driver control system according to an embodiment of the present invention. As shown in fig. 1, the rivet driver control system includes:
a first 101, a second 102, a third 103, a fourth 104, a camera 105, a first 106 and a second 107 light source;
the first light reflecting element 101, the second light reflecting element 102, the third light reflecting element 103 and the fourth light reflecting element 104 are positioned on one side of the riveting machine suction nozzle 108, the camera 105 is positioned on one side of each light reflecting element far away from the suction nozzle 108, and the first light source 106 and the second light source 107 are positioned on one side of the suction nozzle 108 far away from each light reflecting element;
the first light source 106 is used for irradiating the riveting machine suction nozzle 108 and the rivet 109 on the displacement table along a first direction to form a first calculation light beam, the first calculation light beam is reflected to the second reflective element 102 through the first reflective element 101 and is reflected to the camera 105 through the second reflective element 102, and the camera 105 forms a first image according to the first calculation light beam; the second light source 107 is used for irradiating the riveting machine suction nozzle 108 and the rivet 109 on the displacement table along a second direction to form a second calculation light beam, the second calculation light beam is reflected to the fourth reflective element 104 through the third reflective element 103 and is reflected to the camera 105 through the fourth reflective element 104, and the camera 105 forms a second image according to the second calculation light beam;
further comprising: a controller 110;
the controller 110 is connected to the displacement table 111 and the camera 105, respectively, and is configured to control the displacement table 111 to move according to the first image, the second image and the installation angle of each reflective element, so that the central axis of the riveting machine nozzle 108 and the central axis of the rivet 109 are located on the same straight line.
The first light source 106 and the second light source 107 are both parallel light sources, and the emitted light is parallel to the plane of the displacement stage 111. As shown in fig. 1, the camera 105 and the respective reflectors and also the light source may be arranged on a table top parallel to the plane of the displacement table 111. Or directly on the displacement table 111, to which the present invention is not particularly limited. The camera 105 may be a CCD or CMOS industrial camera. Optionally, each reflective element is one of a mirror or a prism.
Wherein, the center of the bottom surface of the riveting machine suction nozzle 108 is positioned on the optical axis of the camera 109;
the light-facing surfaces of the second reflective element 102 and the fourth reflective element 104 form an angle of 45 degrees with the optical axis of the camera 105;
the first calculating light beam reflected by the first reflective element 101 is incident to the second reflective element 102 at an angle of 45 degrees, and the second reflective element 102 reflects the first calculating light beam to be incident to the camera 105 along the optical axis direction of the camera 105; the second calculating light beam reflected by the third reflective element 103 is incident to the fourth reflective element 104 at an angle of 45 degrees, and the fourth reflective element 104 reflects the second calculating light beam to be incident to the camera 105 along the optical axis direction of the camera 105.
It can be understood that, because of the angle of the reflective elements, the imaging light beams finally incident on the camera 105 are all incident parallel to the optical axis of the camera 105, and in addition, because the center of the bottom surface of the nozzle 108 of the riveting machine is located at the optical center of the camera 105, and the top surface of the rivet 109 is on the same plane as the bottom surface of the nozzle 108, further, a first vertical distance from the nozzle 108 to the rivet 109 in a first direction perpendicular to the first direction can be acquired through the first image imaged by the camera 105, and a second vertical distance from the nozzle 108 to the rivet 109 in a second direction perpendicular to the second direction can be acquired through the second image imaged by the camera 105.
Fig. 2 is a schematic optical path diagram of a control system of a riveting machine according to an embodiment of the present invention. As shown in fig. 2, a rectangular plane coordinate system is established with the center of the bottom surface of the suction nozzle as the origin O, the direction parallel to the optical axis of the camera 105 as the y-axis, and the direction perpendicular to the y-axis as the x-axis. (wherein the optical axis direction of the camera 105 may be parallel to one of the directions (such as the y-axis) of the displacement stage 111, and the x-axis is parallel to the other direction of the displacement stage 111). The first vertical distance is the line segment designated OA in fig. 2 and the second vertical distance is the line segment designated OC in fig. 2. The installation angle of the first reflective element 101 is related to the light emitting direction of the first light source 106, i.e. the first direction, and the direction of the light reflected by the first reflective element 101, wherein the light reflected by the first reflective element 101 is parallel to the x-axis, and the included angle between the incident light and the reflected light of the first reflective element 101 is equal to the included angle between the first direction and the x-axis, so that the installation angle of the first reflective element 101 is determined after the included angle between the light emitted by the first light source 106 and the x-axis is determined. Similarly, when the angle between the light emitted from the second light source 107 and the x-axis is determined, the installation angle of the third reflective element 103 is determined. In the embodiment of the invention, the included angle between the ray emitted by the first light source and the x axis is preferably the same as the included angle between the ray emitted by the second light source and the x axis.
Based on this, by solving the triangle through the rectangular coordinate system in fig. 2, the offset amount of the rivet 109 with respect to the suction nozzle 108 in the xy direction can be calculated. Before the offset in the xy direction is solved, the length of OB in fig. 2 and < 2 or < 4+ 7+ 9 need to be calculated. In fig. 2, the known condition is that angle 1 is equal to angle 8; OA is known, OC is known; angle 3+ angle 4 equals 90 °; the angle is 9 plus angle 2 plus angle 5 plus angle 6 is 90 degrees; the angle 7 plus angle 9 plus angle 2 plus angle 5 is equal to 90 degrees; according to the known conditions, the angle 4 is equal to angle 1; the angle 3 is 90 degrees-4; the angle is equal to 7; since the angle 7+ 4 is equal to the angle 3, the angles 7 and 6 can be obtained; in the triangular AOB, cos (less 7 plus less 9) is OA/OB; in the triangle OBC, cos (angle 2+ 5+ angle 6) is OC/OB; wherein, the angle 5 is equal to the angle 1; the angle 2 is equal to the angle 8-9; therefore, in the triangle OBC, cos (. sub.8-. sub.9 +. sub.5 +. sub.6). OC/OB; the finishing method comprises the following steps: cos (90-2 < 1+ > 9) ═ OA/OB (1); [66] cos (90-2 < 1- < 9) < OA/OB (2); the angle 9 and OB can be obtained by solving according to the formula (1) and the formula (2), so that the angle 2 and OB can be obtained, that is, the offset of the rivet 109 in the xy direction can be obtained, the offset in the x direction is OBsin angle 2, and the offset in the y direction is OBcos angle 2. The calculated value is input to the controller 110, and the displacement stage 111 is controlled by the controller 110 to move in the x-axis direction and the y-axis direction.
It should be noted that the first light source 106 and the second light source 107 may not be symmetrical with respect to the optical axis of the camera 105, that is, the included angle between the light emitted from the first light source 106 and the x direction may be different from the included angle between the light emitted from the second light source 107 and the x direction, and finally, the required angle may be calculated by solving the triangle. In other embodiments, the optical axis of the camera 105 may also be at an angle with the x or y direction of the displacement table 111, i.e. the whole control system may be placed in a rotating manner with the suction nozzle 108 as a center point. The present invention is not particularly limited in this regard.
According to the riveting machine control system provided by the embodiment of the invention, the first to fourth reflective elements, the camera, the light source and the like are arranged, so that the camera can detect the position relation between the suction nozzle of the riveting machine and the rivet from the side surface of the riveting machine, and the relative position relation between the rivet and the suction nozzle of the riveting machine along the central axis directions of the suction nozzle of the riveting machine and the rivet can be obtained by combining the installation angles of the reflective elements, so that the movement of the displacement table can be controlled by the controller, the central axis of the rivet and the central axis of the suction nozzle of the riveting machine are positioned on the same straight line, the automation of the movement of the displacement table of the riveting machine is realized, and the space along the central axis directions of the suction nozzle of the riveting machine and the rivet is saved.
Fig. 5 is a flowchart of a riveting machine control method according to an embodiment of the present invention. The method is implemented based on the previous rivet driver control system, and comprises the following steps as shown in figure 5:
s101, acquiring a first image and a second image (shown in figure 4);
s102, acquiring a first vertical distance from a suction nozzle of a riveting machine to a rivet in a direction vertical to a first calculation light beam according to the first image;
s103, acquiring a second vertical distance from the suction nozzle of the riveting machine to the rivet in the direction vertical to the second calculation light beam according to the second image;
s104, calculating and acquiring the actual offset from the suction nozzle of the riveting machine to the rivet according to the first vertical distance, the second vertical distance and the included angle between the first direction and the second direction;
and S105, controlling the displacement table to move according to the actual offset, so that the central axis of the suction nozzle of the riveting machine and the central axis of the rivet are positioned on the same straight line.
Preferably, the calculating and acquiring the actual offset from the suction nozzle of the riveting machine to the rivet according to the first vertical distance, the second vertical distance and the included angle between the first direction and the second direction comprises:
establishing a plane rectangular coordinate system by taking a suction nozzle of the riveting machine as an original point, a first moving direction of the displacement table as an x axis and a second moving direction as a y axis;
calculating the distance between a suction nozzle of the riveting machine and the rivet and the included angle between the connecting line between the suction nozzle of the riveting machine and the rivet and the x axis according to the first vertical distance, the second vertical distance and the included angle between the first direction and the second direction;
and acquiring the offset of the distance on the x axis and the y axis according to the distance and the included angle between the distance and the x axis.
Optionally, calculating a distance between the riveting machine suction nozzle and the rivet according to the first vertical distance, the second vertical distance, and an included angle between the first direction and the second direction, and an included angle between a connecting line between the riveting machine suction nozzle and the rivet and the x-axis includes:
and calculating the distance between the suction nozzle of the riveting machine and the rivet and the included angle between the connecting line between the suction nozzle of the riveting machine and the rivet and the x axis according to a trigonometric function calculation method.
Fig. 2 is a schematic optical path diagram of a control system of a riveting machine according to an embodiment of the present invention. As shown in fig. 2, a rectangular plane coordinate system is established with the center of the bottom surface of the suction nozzle as the origin O, the direction parallel to the optical axis of the camera 105 as the y-axis, and the direction perpendicular to the y-axis as the x-axis. (wherein the optical axis direction of the camera 105 may be parallel to one of the directions (such as the y-axis) of the displacement stage 111, and the x-axis is parallel to the other direction of the displacement stage 111). The first vertical distance is the line segment denoted by OA in fig. 2, and the second vertical distance is the line segment denoted by OC in fig. 2. The installation angle of the first reflective element 101 is related to the light emitting direction of the first light source 106, i.e. the first direction, and the direction of the light reflected by the first reflective element 101, wherein the light reflected by the first reflective element 101 is parallel to the x-axis, and the included angle between the incident light and the reflected light of the first reflective element 101 is equal to the included angle between the first direction and the x-axis, so that the installation angle of the first reflective element 101 is determined after the included angle between the light emitted by the first light source 106 and the x-axis is determined. Similarly, when the angle between the light emitted from the second light source 107 and the x-axis is determined, the installation angle of the third reflective element 103 is determined. In the embodiment of the invention, the included angle between the ray emitted by the first light source and the x axis is preferably the same as the included angle between the ray emitted by the second light source and the x axis.
Based on this, by solving the triangle through the rectangular coordinate system in fig. 2, the offset amount of the rivet 109 with respect to the suction nozzle 108 in the xy direction can be calculated. Before the offset in the xy direction is solved, the length of OB in fig. 2 and < 2 or < 4+ 7+ 9 need to be calculated. In fig. 2, the known condition is that angle 1 is equal to angle 8; OA is known, OC is known; angle 3+ angle 4 equals 90 °; the angle is 9 plus angle 2 plus angle 5 plus angle 6 is 90 degrees; the angle is 7+ and 9+ and 2+ and 5 is 90 degrees; according to the known conditions, the angle 4 is equal to angle 1; the angle 3 is 90 degrees-4; the angle is equal to 7; since the angle 7+ 4 is equal to the angle 3, the angles 7 and 6 can be obtained; in the triangle AOB, cos ([ u ] 7+ [ u ] 9) [ u ] OA/OB; in the triangle OBC, cos (angle 2+ 5+ angle 6) is OC/OB; wherein, the angle 5 is equal to the angle 1; the angle 2 is equal to angle 8-9; therefore, in the triangle OBC, cos (. sub.8-. sub.9 +. sub.5 +. sub.6). OC/OB; the finishing method comprises the following steps: cos (90-2 & lt 1 & plus & lt 9) & gt OA/OB (1); [66] cos (90-2 & lt 1- & gt 9) & lt OA/OB (2); the angle 9 and OB can be obtained by solving according to the formula (1) and the formula (2), so that the angle 2 and OB can be obtained, that is, the offset of the rivet 109 in the xy direction can be obtained, the offset in the x direction is OBsin angle 2, and the offset in the y direction is OBcos angle 2. The calculated value is input to the controller 110, and the displacement stage 111 is controlled by the controller 110 to move in the x-axis direction and the y-axis direction.
Preferably, 2 < 1 > is 37.32 °.
According to the riveting machine control method provided by the embodiment of the invention, the first vertical distance and the second vertical distance are obtained through the image captured by the camera, and the offset between the rivet and the suction nozzle of the riveting machine in the xy direction is obtained through establishing a rectangular coordinate system and a trigonometric function calculation mode, so that the movement of the displacement table can be controlled, the rivet and the central axis of the suction nozzle of the riveting machine can be on the same straight line, the problem that the camera cannot be installed on the central axis is solved, and the automatic control of the displacement table by collecting the image on the side is realized.
Fig. 6 is a flowchart of a calibration method of a riveting machine according to an embodiment of the present invention. The calibration method is realized based on the previous riveter control system and the previous riveter control method, and as shown in fig. 6, the calibration method comprises the following steps:
s201, controlling the displacement table to move through a nine-point calibration algorithm so as to change the position of a rivet on the displacement table;
s202, acquiring nine groups of calibration offsets of the nine groups of displacement tables according to the movement of the displacement tables;
s203, calculating and obtaining nine groups of calculated offsets of the displacement table by a riveting machine control method;
and S204, obtaining a calibration error according to the nine groups of calibration offsets and the nine groups of calculated offsets.
According to an embodiment of the present invention, after obtaining the calibration error according to the nine sets of calibration offsets and the nine sets of calculated offsets, the method further includes:
verifying the calibration error, and finishing calibration when the verification result is within the error range; and when the verification result is not in the error range, carrying out calibration again.
According to one embodiment of the invention, verifying the calibration error comprises:
controlling the displacement table to move through a nine-point calibration algorithm so as to change the position of the rivet on the displacement table;
acquiring nine groups of actual offsets of nine groups of displacement tables according to the movement of the displacement tables;
meanwhile, nine groups of calculated offsets of the displacement table are calculated and obtained through a riveting machine control method;
correcting the nine groups of calculated offsets according to the calibration error, and acquiring the corrected nine groups of calculated offsets;
calculating the error between the corrected nine groups of calculated offsets and the nine groups of actual offsets, and finishing calibration when the error is within the error range; and when the error is not in the error range, the calibration is carried out again.
It is understood that after the prism or the like is installed, the calculation result may be inaccurate due to the mechanical installation error, and thus, the error calibration of the control system is required. Wherein the position of the rivet on the displacement table can be controlled manually, i.e. the relative offset with respect to the suction nozzle is known, and then calculated by means of a control method, and the calculated value is subtracted from the actual mechanical value, so that a calibration error can be derived.
In the subsequent calculation process, the calibration error can be compensated into the calculation result, so that the calculation result is more accurate. It should be noted that, when calculating the calibration error, the calibration may be performed by a nine-point calibration method.
According to the calibration method of the riveting machine provided by the embodiment of the invention, through a nine-point calibration method, after the control system is installed, error calibration is carried out on the control system, errors caused by installation are avoided to a certain extent, and the measurement precision is improved.
Fig. 7 is a block diagram schematically illustrating a riveting machine according to an embodiment of the present invention. As shown in fig. 7, the riveter 200 includes the riveter control system 100 as before.
According to the riveting machine provided by the embodiment of the invention, the camera and the reflective element can be arranged from the suction nozzle of the riveting machine and the side surface of the rivet to measure the offset of the rivet relative to the suction nozzle of the riveting machine in the xy direction, so that the offset of the rivet under the overlooking visual angle can be indirectly measured through side surface shooting, the problem of insufficient installation space is solved, and the measurement precision is high.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A riveter control system, characterized by, includes:
a first retroreflective element, a second retroreflective element, a third retroreflective element, a fourth retroreflective element, a camera, a first light source, and a second light source;
the first reflective element, the second reflective element, the third reflective element and the fourth reflective element are positioned on one side surface of a suction nozzle of the riveting machine, the camera is positioned on one side surface of each reflective element, which is far away from the suction nozzle, and the first light source and the second light source are positioned on one side surface of the suction nozzle, which is far away from each reflective element;
the first light source is used for irradiating the suction nozzle of the riveting machine and the rivet on the displacement table along a first direction to form a first calculation light beam, the first calculation light beam is reflected to the second reflective element through the first reflective element and is reflected to the camera through the second reflective element, and the camera forms a first image according to the first calculation light beam; the second light source is used for irradiating the riveting machine suction nozzle and the rivet on the displacement table along a second direction to form a second calculation light beam, the second calculation light beam is reflected to the fourth reflective element through the third reflective element and is reflected to the camera through the fourth reflective element, the camera forms a second image according to the second calculation light beam, and the first direction and the second direction are parallel to the surface of the displacement table;
further comprising: a controller;
the controller is respectively connected with the displacement table and the camera and used for controlling the displacement table to move according to the first image, the second image and the installation angle of each light-reflecting element, so that the central axis of the suction nozzle of the riveting machine and the central axis of the rivet are located on the same straight line.
2. Riveting machine control system according to claim 1,
the center of the bottom surface of the suction nozzle of the riveting machine is positioned on the optical axis of the camera;
the light-facing surfaces of the second light reflecting element and the fourth light reflecting element form an included angle of 45 degrees with the optical axis of the camera;
the first calculating light beam reflected by the first reflecting element is incident to the second reflecting element at an angle of 45 degrees, and the second reflecting element reflects the first calculating light beam to be incident to the camera along the optical axis direction of the camera; the second calculating light beam reflected by the third reflecting element is incident to the fourth reflecting element at an angle of 45 degrees, and the fourth reflecting element reflects the second calculating light beam to be incident to the camera along the optical axis direction of the camera.
3. A riveter control system according to claim 1 or claim 2, wherein the first and second directions are symmetrical about a central axis of the camera, the first and second images being non-overlapping.
4. A riveter control system according to claim 1 or claim 2, wherein each reflective element is one of a mirror or a prism.
5. A riveting machine control method is realized based on the riveting machine control system according to any one of claims 1-4, and comprises the following steps:
acquiring a first image and a second image;
acquiring a first vertical distance from a suction nozzle of a riveting machine to a rivet in a direction perpendicular to the first calculation light beam according to the first image;
acquiring a second vertical distance from the suction nozzle of the riveting machine to the rivet in the direction perpendicular to the second calculation light beam according to the second image;
calculating and acquiring the actual offset from the suction nozzle of the riveting machine to the rivet according to the first vertical distance, the second vertical distance and the included angle between the first direction and the second direction;
and controlling the displacement table to move according to the actual offset amount so that the central axis of the suction nozzle of the riveting machine and the central axis of the rivet are positioned on the same straight line.
6. A riveter control method according to claim 5, wherein said calculating an actual offset of the riveter suction nozzle to the rivet from the first perpendicular distance, the second perpendicular distance, and the included angle between the first direction and the second direction comprises:
establishing a plane rectangular coordinate system by taking the suction nozzle of the riveting machine as an original point, the first moving direction of the displacement table as an x axis and the second moving direction as a y axis;
calculating the distance between the riveting machine suction nozzle and the rivet and the included angle between the connecting line between the riveting machine suction nozzle and the rivet and the x axis according to the first vertical distance, the second vertical distance and the included angle between the first direction and the second direction;
and acquiring the offset of the distance on the x axis and the y axis according to the distance and the included angle between the distance and the x axis.
7. A riveter control method according to claim 6, wherein said calculating a distance between the riveter suction nozzle and the rivet from the first perpendicular distance, the second perpendicular distance and an angle between the first direction and the second direction, and an angle between a line drawn between the riveter suction nozzle and the rivet and an x-axis comprises:
and calculating the distance between the suction nozzle of the riveting machine and the rivet and the included angle between the connecting line between the suction nozzle of the riveting machine and the rivet and the x axis according to a trigonometric function calculation method.
8. A calibration method of a riveting machine is realized based on the riveting machine control system of any one of claims 1-4 and the riveting machine control method of any one of claims 5-7, and comprises the following steps:
controlling the displacement table to move through a nine-point calibration algorithm so as to change the position of the rivet on the displacement table;
acquiring nine groups of calibration offsets of nine groups of displacement tables according to the movement of the displacement tables;
calculating and obtaining nine groups of calculated offsets of the displacement table by the rivet machine control method;
and obtaining a calibration error according to the nine groups of calibration offsets and the nine groups of calculated offsets.
9. A method of calibrating a riveter machine according to claim 8, further comprising, after obtaining calibration errors from said nine sets of calibration offsets and said nine sets of calculated offsets:
verifying the calibration error, and finishing calibration when the verification result is within the error range; and when the verification result is not in the error range, carrying out calibration again.
10. A method of calibrating a riveter machine according to claim 9, wherein said verifying said calibration error comprises:
controlling the displacement table to move through a nine-point calibration algorithm so as to change the position of the rivet on the displacement table;
acquiring nine groups of actual offsets of nine groups of displacement tables according to the movement of the displacement tables;
calculating and obtaining nine groups of calculated offsets of the displacement table by the rivet machine control method;
correcting the nine groups of calculated offsets according to the calibration error to obtain the corrected nine groups of calculated offsets;
calculating errors between the nine corrected calculated offsets and the nine actual offsets, and finishing calibration when the errors are within an error range; and when the error is not in the error range, the calibration is carried out again.
11. Riveting machine, characterized in that it comprises a riveting machine control system according to any one of claims 1-4.
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