JP2006031258A - Hole positioning method - Google Patents

Hole positioning method Download PDF

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JP2006031258A
JP2006031258A JP2004207394A JP2004207394A JP2006031258A JP 2006031258 A JP2006031258 A JP 2006031258A JP 2004207394 A JP2004207394 A JP 2004207394A JP 2004207394 A JP2004207394 A JP 2004207394A JP 2006031258 A JP2006031258 A JP 2006031258A
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hole
positioning
axis
center
image
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JP4046110B2 (en
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Kenichi Katsuragawa
健一 桂川
Masahisa Goto
政久 後藤
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Denso Corp
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Denso Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a hole positioning method capable of positioning with high precision a hole formed in a spherical surface of the object to be positioned, even with the displacement of the spherical surface. <P>SOLUTION: The method for positioning a hole 51 formed in a hemispherical surface that is the object 5 to be positioned includes chucking the object; capturing images of the hole formed in the hemispherical surface using a vision device 1 every 120° rotation about a θ-axis; determining the θ-axis center of the positioning object from three images of the hole; determining the ψ-axis angle of the hole with an ideal spherical diameter on the basis of the distance between the θ-axis center determined and the hole; rotating the angle determined with respect to the ψ-axis to position the hole so that it is in a position in front of the vision device; and horizontally (X) or vertically (Y) moving the positioning object such that the center of the hole coincides with the θ-axis center. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、半球面に形成された穴の中心位置を位置決めし、穴の軸方向をθ軸の方向と一致させる穴の位置決め方法に関する。   The present invention relates to a hole positioning method in which the center position of a hole formed in a hemispherical surface is positioned and the axial direction of the hole coincides with the direction of the θ axis.

図１に示されるように、被位置決め物５の半球面を画像で捉える視覚装置１と、被位置決め物５を保持し、θ方向のみに回転移動するθ位置決め部２と、θ位置決め部を支持し、φ方向のみに回転移動するφ位置決め部３と、φ位置決め部を支持し、水平と垂直方向に移動するＸ−Ｙテーブル４とより構成される穴の位置決め装置を使用して、被位置決め物５の半球面に形成された穴５１の中心位置を位置決めし、穴５１の軸方向をθ軸の方向と一致させている。   As shown in FIG. 1, a visual device 1 that captures an image of the hemispherical surface of the object 5 to be positioned, a θ positioning part 2 that holds the object 5 and rotates and moves only in the θ direction, and supports the θ positioning part. Using a hole positioning device composed of a φ positioning part 3 that rotates and moves only in the φ direction, and an XY table 4 that supports the φ positioning part and moves in the horizontal and vertical directions, The center position of the hole 51 formed on the hemispherical surface of the object 5 is positioned, and the axial direction of the hole 51 is made to coincide with the direction of the θ axis.

しかしながら、従来の穴の位置決め方法は、図５に示されるように、視覚装置１の画像で捕えられた全体形状から、画像中心を求め、その画像中心に対する穴中心の角度と画像中心と穴中心との距離から、穴５１のφ軸での角度を理想球面で求め、φ軸で求めた角度を回転し、穴を視覚装置の正面に位置決めしていた。
しかし、実際には表面は理想球面からずれているため、高精度な位置決めが出来ず、１５μｍの取代の加工を行なった場合、加工できない面が残るという問題があった。 However, in the conventional hole positioning method, as shown in FIG. 5, the image center is obtained from the entire shape captured by the image of the visual device 1, and the angle of the hole center with respect to the image center, the image center, and the hole center are obtained. The angle on the φ axis of the hole 51 is obtained from the ideal spherical surface, and the angle obtained on the φ axis is rotated to position the hole in front of the visual device.
However, since the surface is actually deviated from the ideal spherical surface, high-precision positioning cannot be performed, and when machining with a machining allowance of 15 μm is performed, a surface that cannot be machined remains.

本発明は、上記問題に鑑みてなされたものであり、その目的は、被位置決め物の球面に形成された穴を、球面にずれがあっても高精度に位置決め可能な穴の位置決め方法を提供することである。   The present invention has been made in view of the above problems, and an object thereof is to provide a hole positioning method capable of positioning a hole formed on a spherical surface of an object to be positioned with high accuracy even when the spherical surface is displaced. It is to be.

本発明は、前記課題を解決するための手段として、特許請求の範囲の請求項に記載の穴の位置決め方法を提供する。
請求項１に記載の穴の位置決め方法は、被位置決め物である半球面に形成された穴の位置決め方法であって、被位置決め物をチャックし、θ軸を中心に１２０°回転毎に、視覚装置で半球面に形成された穴の画像を捉え、被位置決め物の穴の３つの画像から被位置決め物のθ軸中心を求め、この求めたθ軸中心と穴との距離から理想球径での穴のφ軸角度を求めて、φ軸で求めた角度を回転して、穴が視覚装置の正面位置に来るように位置決めし、次いで穴の中心がθ軸中心と一致するように被位置決め物を水平移動又は垂直移動させるようにしたものである。このように、θ軸を中心に１２０°回転毎に半球面を視覚装置で画像を捉え、３つの画像から被位置決め物のθ軸中心を求めることにより、被位置決め物の回転中心（θ軸）を高精度に求めることができ、また、θ軸中心と穴との距離から理想球径での穴のφ軸角度を求め、回転位置決めした後、穴の中心をθ軸中心と一致させることにより、被位置決め物の半球面の形状誤差などに影響されず、高精度に穴を位置決めできるようになる。 The present invention provides a hole positioning method according to the claims as a means for solving the problems.
The hole positioning method according to claim 1 is a method of positioning a hole formed in a hemispherical surface, which is an object to be positioned, chucking the object to be positioned, and visually recognizing every 120 ° rotation about the θ axis. The device captures the image of the hole formed on the hemispherical surface, finds the θ-axis center of the object to be positioned from the three images of the hole of the object to be positioned, and calculates the ideal spherical diameter from the distance between the obtained θ-axis center and the hole. Find the φ axis angle of the hole, rotate the angle obtained by the φ axis, position the hole so that it is at the front position of the visual device, and then position the hole so that the center of the hole coincides with the center of the θ axis An object is moved horizontally or vertically. Thus, the rotation center of the object to be positioned (θ axis) is obtained by capturing the image of the hemisphere with a visual device every 120 ° rotation around the θ axis and obtaining the center of the object to be positioned from the three images. By obtaining the φ axis angle of the hole at the ideal spherical diameter from the distance between the center of the θ axis and the hole, rotational positioning, and then aligning the center of the hole with the center of the θ axis The hole can be positioned with high accuracy without being affected by the shape error of the hemispherical surface of the object to be positioned.

以下、図面に従って本発明の実施の形態の穴の位置決め方法について説明する。図１は、本発明の実施の形態の穴の位置決め方法を実施するための穴の位置決め装置の全体構成を示す模式図である。本発明の穴の位置決め装置は、基本的に、視覚装置１，θ位置決め部２，φ位置決め部３及びＸ−Ｙテーブル４とより構成されている。   Hereinafter, a hole positioning method according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing an overall configuration of a hole positioning device for carrying out a hole positioning method according to an embodiment of the present invention. The hole positioning device of the present invention basically includes a visual device 1, a θ positioning portion 2, a φ positioning portion 3, and an XY table 4.

視覚装置１は、保持された被位置決め物５の半球面を画像で捉えるものであり、この捉えられた画像は、後述の画像処理装置１１に送られ、ここに視覚データとして記憶される。
θ位置決め部２は、被位置決め物５をチャック等により保持し、θ方向のみに回転移動することができる。
φ位置決め部３は、θ位置決め部２を支持しており、φ方向のみに回転移動することができる。
また、Ｘ−Ｙテーブル４は、θ位置決め部２を支持しているφ位置決め部３を支持していて、水平と垂直方向に移動することができる。 The visual device 1 captures the held hemispherical surface of the object to be positioned 5 as an image, and the captured image is sent to an image processing device 11 described later and stored therein as visual data.
The θ positioning unit 2 holds the object to be positioned 5 with a chuck or the like and can rotate and move only in the θ direction.
The φ positioning unit 3 supports the θ positioning unit 2 and can rotate and move only in the φ direction.
The XY table 4 supports the φ positioning unit 3 that supports the θ positioning unit 2 and can move in the horizontal and vertical directions.

上記構成よりなる本発明の穴の位置決め装置の作動（穴の位置決め方法）について説明する。図２は、本発明の実施の形態の穴の位置決め方法を説明する図であり、図３は、本発明の穴の位置決め装置の作動を説明するブロック図であり、図４は、そのフローチャートである。即ち、本実施形態においては、図３に示すように、視覚装置１で捉えた画像は、画像処理装置１１に送られて視覚データとして記憶されると共に、この記憶された視覚データから、θ軸中心からのφ軸の角度と水平と垂直方向のずれ量を算出して、このデータを制御装置１２に送る。制御装置１２では、このデータに基づいて、θ，φ，Ｘ，Ｙ軸の移動量を算出し、θ，φ，Ｘ，Ｙ軸の各軸に移動指令を出している。   The operation (hole positioning method) of the hole positioning device of the present invention having the above configuration will be described. 2 is a diagram for explaining a hole positioning method according to an embodiment of the present invention, FIG. 3 is a block diagram for explaining the operation of the hole positioning device of the present invention, and FIG. 4 is a flowchart thereof. is there. That is, in this embodiment, as shown in FIG. 3, an image captured by the visual device 1 is sent to the image processing device 11 and stored as visual data. From this stored visual data, the θ axis The angle of the φ axis from the center and the amount of deviation in the horizontal and vertical directions are calculated, and this data is sent to the control device 12. Based on this data, the control device 12 calculates the movement amounts of the θ, φ, X, and Y axes, and issues a movement command to each of the θ, φ, X, and Y axes.

図４のフローチャートに示すように、まず、ステップＳ１で穴の位置決め装置のθ位置決め部２に被位置決め物５をチャックし取り付ける。次に、ステップＳ２で被位置決め物５の穴５1の画像を視覚装置１で捉らえ、ステップＳ３でこの捉らえた画像を画像処理装置１１で１回目の画像として記憶する（図２の画像１）。次いで、ステップＳ４でθ位置決め部２に保持された被位置決め物５をθ方向に１２０°回転させ、ステップＳ５でこの１２０°回転した被位置決め物５の穴５１の画像を視覚装置１で捉らえ、同様にステップＳ６でこの捉えられた画像を画像処理装置１１で２回目の画像として記憶する（図２の画像２）。更に、ステップＳ７でθ位置決め部２に保持された被位置決め物５をθ方向に更に１２０°回転させ、ステップＳ８でこの更に１２０°回転した被位置決め物５の穴５１の画像を視覚装置１で捉らえ、同じくステップＳ９でこの捉えられた画像を画像処理装置１１で３回目の画像として記憶する（図２の画像３）。   As shown in the flowchart of FIG. 4, first, in step S1, the object to be positioned 5 is chucked and attached to the θ positioning portion 2 of the hole positioning device. Next, in step S2, the image of the hole 51 of the object to be positioned 5 is captured by the visual device 1, and in step S3, the captured image is stored as the first image by the image processing device 11 (the image in FIG. 2). 1). Next, in step S4, the positioning object 5 held by the θ positioning unit 2 is rotated by 120 ° in the θ direction, and in step S5, the image of the hole 51 of the positioning object 5 rotated by 120 ° is captured by the visual device 1. Similarly, in step S6, the captured image is stored as a second image in the image processing apparatus 11 (image 2 in FIG. 2). Further, in step S7, the object to be positioned 5 held by the θ positioning unit 2 is further rotated by 120 ° in the θ direction, and in step S8, the image of the hole 51 of the object to be positioned 5 further rotated by 120 ° is displayed on the visual device 1. In step S9, the captured image is stored as a third image in the image processing apparatus 11 (image 3 in FIG. 2).

次に、ステップＳ１０で画像処理装置１１が記憶した３回分の画像データ（画像１〜３）から、３つの穴５1の画像の中心を求め、θの回転軸を求め、θの回転軸の位置を記憶する（θ軸中心）。次いで、ステップＳ１１では、画像処理装置１１でθ軸中心と被位置決め物５の穴５１との距離から理想球径での穴５１のφ軸角度を算出し、これを記憶する。ステップＳ１２では、画像処理装置１１から制御装置１２へθ軸とφ軸角度を出力し、ステップＳ１３で制御装置１２がθ，φ軸の移動量を算出し、ステップＳ１４で制御装置１２がこの移動量に基づいてθ，φ軸に移動指令を出力する。   Next, from the three times of image data (images 1 to 3) stored in the image processing apparatus 11 in step S10, the centers of the images of the three holes 51 are obtained, the θ rotation axis is obtained, and the θ rotation axis position is obtained. Is stored (θ axis center). Next, in step S11, the image processing apparatus 11 calculates the φ-axis angle of the hole 51 at the ideal spherical diameter from the distance between the center of the θ-axis and the hole 51 of the positioned object 5, and stores this. In step S12, the θ-axis and φ-axis angles are output from the image processing apparatus 11 to the control apparatus 12. In step S13, the control apparatus 12 calculates the movement amounts of the θ and φ axes, and in step S14, the control apparatus 12 performs this movement. Based on the amount, a movement command is output to the θ and φ axes.

次に、ステップＳ１５でθ位置決め部２で被位置決め物５を回転し、穴５１の中心位置がθ軸中心に対し所定位置（原点位置）まで回転する。次いで、同様にステップＳ１６でφ位置決め部３で被位置決め物５を回転し、穴５1の中心位置がθ軸中心の真上の位置まで回転し、ステップＳ１７でこのときの穴５１の画像を視覚装置１で捉らえ、ステップＳ１８でこの捉らえられた画像を画像処理装置１１で記憶する（図２の画像４）。   Next, in step S15, the to-be-positioned object 5 is rotated by the θ positioning unit 2, and the center position of the hole 51 is rotated to a predetermined position (origin position) with respect to the θ axis center. Next, similarly, in step S16, the object to be positioned 5 is rotated by the φ positioning unit 3, the center position of the hole 51 is rotated to a position directly above the center of the θ axis, and the image of the hole 51 at this time is visually viewed in step S17. The image is captured by the apparatus 1, and the captured image is stored in the image processing apparatus 11 in step S18 (image 4 in FIG. 2).

次に、ステップＳ１９では、画像処理装置１１で画像４からθ、水平（Ｘ）、垂直（Ｙ）方向のずれを算出し、ステップＳ２０で、このずれに基づいて制御装置１２がθ，Ｘ，Ｙ軸の移動量を算出して移動指令を出力する。ステップＳ２１では、被位置決め物５をθ位置決め部２とＸ−Ｙテーブル４とで穴５１の中心位置を所定位置へ補正移動する。このようにして、ステップＳ２２で被位置決め物５の穴５１の位置決めを完了する。
このように被位置決め物５の穴５１の位置決めをすることにより、球面の形状誤差に左右されずに穴５１の中心を正確に位置決めできるようになる。しかも穴の球面の中心に向う方向がθ軸中心に一致させることができる。 Next, in step S19, the image processing device 11 calculates θ, horizontal (X), and vertical (Y) direction deviations from the image 4, and in step S20, the control device 12 determines θ, X, The movement amount of the Y axis is calculated and a movement command is output. In step S21, the center position of the hole 51 is corrected and moved to a predetermined position by the θ positioning unit 2 and the XY table 4 with respect to the positioning object 5. In this way, the positioning of the hole 51 of the object to be positioned 5 is completed in step S22.
By positioning the hole 51 of the positioning object 5 in this way, the center of the hole 51 can be accurately positioned without being influenced by the shape error of the spherical surface. In addition, the direction toward the center of the spherical surface of the hole can coincide with the center of the θ axis.

以上説明したように、本発明では、θ軸を中心に１２０°回転毎に被位置決め物の半球面を視覚装置で画像として捉え、３つの画像から被位置決め物のθ軸中心を求め、θ軸中心と半球面に形成された穴との距離から理想球径での穴のφ軸角度を求め、回転位置決めした後、穴の中心をθ軸中心と一致させることにより、球面に形成された穴を球面にずれがあっても高精度に位置決めすることができる。   As described above, in the present invention, the hemispherical surface of the object to be positioned is captured as an image by the visual device every 120 ° rotation about the θ axis, and the θ axis center of the object to be positioned is obtained from the three images, and the θ axis The hole formed in the spherical surface is obtained by determining the φ-axis angle of the hole at the ideal spherical diameter from the distance between the center and the hole formed in the hemispherical surface, rotating and positioning, and then aligning the center of the hole with the θ-axis center Can be positioned with high accuracy even if the spherical surface is displaced.

本発明の実施の形態の穴の位置決め方法を実施するのに使用する穴の位置決め装置の全体構成を示す模式図である。It is a schematic diagram which shows the whole structure of the hole positioning device used in enforcing the hole positioning method of embodiment of this invention. 本発明の実施の形態の穴の位置決め方法を説明する図である。It is a figure explaining the positioning method of the hole of embodiment of this invention. 図１の穴の位置決め装置の作動を説明するブロック図である。It is a block diagram explaining the action | operation of the positioning device of the hole of FIG. 図１の穴の位置決め装置の作動を説明するフローチャートである。It is a flowchart explaining the action | operation of the positioning device of the hole of FIG. 従来の穴の位置決め方法を説明する図である。It is a figure explaining the positioning method of the conventional hole.

符号の説明Explanation of symbols

１ 視覚装置
１１ 画像処理装置
１２ 制御装置
２ θ位置決め部
３ φ位置決め部
４ Ｘ−Ｙテーブル
５ 被位置決め物
５１ 穴 DESCRIPTION OF SYMBOLS 1 Visual apparatus 11 Image processing apparatus 12 Control apparatus 2 (theta) positioning part 3 (phi) positioning part 4 XY table 5 Positioning object 51 hole

Claims (1)

被位置決め物である半球面に形成された穴の位置決め方法が、
被位置決め物をチャックし、θ軸を中心に１２０°回転毎に、半球面を視覚装置で捉え、被位置決め物の穴の３つの画像から被位置決め物のθ軸中心を求める段階と、
前記求めたθ軸中心と前記穴との距離から理想球径での前記穴のφ軸角度を求める段階と、
前記求めたφ軸角度を回転し、前記穴が前記視覚装置の正面位置に来るように位置決する段階と、
前記穴の中心が前記θ軸中心と一致するように被位置決め物を水平移動及び垂直移動させる段階と、
を具備することを特徴とする被位置決め物に設けた穴の位置決め方法。 The positioning method of the hole formed in the hemispherical surface that is the object to be positioned is
Chucking the object to be positioned, capturing the hemisphere with a visual device every rotation of 120 ° around the θ axis, and determining the θ axis center of the object to be positioned from three images of the hole of the object to be positioned;
Obtaining a φ-axis angle of the hole at an ideal spherical diameter from a distance between the obtained θ-axis center and the hole;
Rotating the obtained φ axis angle, and positioning so that the hole comes to the front position of the visual device;
Moving the object to be positioned horizontally and vertically so that the center of the hole coincides with the center of the θ axis;
A method of positioning a hole provided in an object to be positioned, comprising:
JP2004207394A 2004-07-14 2004-07-14 Hole positioning method Expired - Fee Related JP4046110B2 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107816941A (en) * 2016-09-14 2018-03-20 波音公司 Perform the photogrammetric identification in the place of work

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107816941A (en) * 2016-09-14 2018-03-20 波音公司 Perform the photogrammetric identification in the place of work

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