CN110202362A - The bolt of vision auxiliary positioning tightens error-preventing method - Google Patents
The bolt of vision auxiliary positioning tightens error-preventing method Download PDFInfo
- Publication number
- CN110202362A CN110202362A CN201910566631.2A CN201910566631A CN110202362A CN 110202362 A CN110202362 A CN 110202362A CN 201910566631 A CN201910566631 A CN 201910566631A CN 110202362 A CN110202362 A CN 110202362A
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- bolt
- tightening
- coordinate
- tightens
- tool
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Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to the methods that a kind of bolt of vision auxiliary positioning tightens mistake proofing, fail-safe system is tightened using the bolt of vision auxiliary positioning, the system includes vision positioning system, contain the industry control meter for tightening fail-safe system, tightening control device containing tightening control software, tightening tool, the product orientation reference information to be assembled that setting needs to tighten in containing the industry control meter for tightening fail-safe system first, bolt information to be tightened, it is tightened when tightening bolt operation in tightening tool, pass through the position of vision positioning system dynamic acquisition tightening tool containing the industry control meter for tightening fail-safe system, and it is compared with the required position for tightening bolt, when tightening tool position with it is required tighten bolt location be overlapped or in error range when, setting tightening tool to can tight condition, otherwise tool can not be tightened.The present invention can effectively prevent the case where not tightening according to set sequence, position, it is ensured that bolt tightens quality.
Description
Technical field
The present invention relates to one kind to tighten mounting technology, in particular to a kind of bolt of vision auxiliary positioning tightens mistake proofing side
Method.
Background technique
The tightening technique that current assembly field is related to becomes increasingly complex, and there are many bolt above, needed in assembly according to
Certain sequence, specific tightening method are tightened.Once there is operation error, it is possible to cause the quality for being assembled product
Problem causes heavy losses.
Traditional screwed in place method is carried out based on mechanical positioning methods such as encoders, and it is poor, required that there are positioning accuracies
Frock clamp is huge, the factors such as inconvenient for installation and operation.Multi-user collaborative operation may be needed just to be able to achieve positioning when operation anti-
Mistake is tightened.
Summary of the invention
The present invention be directed to the not high problems of existing machinery formula bolt positioning mistake proofing precision, and it is fixed to propose a kind of vision auxiliary
The bolt of position tightens error-preventing method, and vision positioning system is combined with tightening fail-safe system, to obtain higher precision, operate
Convenient positioning error-preventing method.
To achieve the above object, the technical scheme is that a kind of bolt of vision auxiliary positioning tightens the side of mistake proofing
Method tightens fail-safe system using the bolt of vision auxiliary positioning, which includes vision positioning system, containing tightening fail-safe system
Industry control meter, tightening control device, tightening tool containing tightening control software, first containing tightening the industry control meter of fail-safe system
It is interior to set the product orientation reference information to be assembled for needing to tighten, bolt information to be tightened, spiral shell to be tightened is tightened in tightening tool
When bolt operates, containing tightening the industry control meter of fail-safe system by the position of vision positioning system dynamic acquisition tightening tool, and with
The required position for tightening bolt compares, when tightening tool position is overlapped or in error range with required bolt location of tightening
When, by tightening tool be set as can tight condition, otherwise tool can not be tightened.
Further, the product orientation reference information to be assembled includes two characteristic point coordinate informations, each coordinate information
It is made of two X-axis, Y-axis data, coordinate system is established based on product to be assembled.
Further, the bolt location information to be twisted include bolt to be tightened tighten serial number, each bolt is based on
The permitted location error range of coordinate information, each bolt of product coordinate system to be assembled, to tighten bolt required
Tightening tool program number.
Further, the tightening tool position is the real-time coordinates of vision positioning system Dynamic Recognition, is that view-based access control model is fixed
The coordinate of position system coordinate system.
Further, the tightening tool and it is required tighten bolt carry out position versus when, first according to product orientation to be assembled
Bolt to be tightened is converted to positioning system based on the coordinate of product coordinate system to be assembled by coordinates transformation method by reference information
The coordinate of coordinate system is in the same coordinate system with tightening tool and carries out position versus again.
Further, the error range includes location coordinate information and error range length, in determination range with coordinate
Information is the center of circle, forms a border circular areas by radius of error range length, and reduced coordinates is fallen within circular scope as symbol
It closes and requires, otherwise not meet.
The beneficial effects of the present invention are: the bolt of vision auxiliary positioning of the present invention tightens error-preventing method, fixed using vision
Position system and special algorithm, are combined application by tightening fail-safe system, and machinery positioning mode before being different from is determined to mention
Position precision and operation ease achieve the purpose that promoting assembly tightens quality.
Detailed description of the invention
Fig. 1 is that the bolt of vision auxiliary positioning tightens fail-safe system composite structural diagram；
Fig. 2 is vision system coordinate system and product coordinate system schematic diagram to be assembled；
Fig. 3 is bolt coordinate range schematic diagram；
Fig. 4 is that tightening tool is allowing to tighten schematic diagram outside range；
Fig. 5 is that tightening tool is allowing to tighten schematic diagram in range.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
A kind of method that the bolt of vision auxiliary positioning tightens mistake proofing, tightens mistake proofing system using the bolt of vision auxiliary positioning
System, as shown in Figure 1, the system includes vision positioning system 1, containing the industry control meter 2 for tightening fail-safe system, it is soft containing tightening control
Tightening control device 3, the tightening tool 4 of part.Vision positioning system 1 is placed in 6 top of product 5 to be assembled and bolt to be tightened, and even
It connects containing the industry control meter 2 for tightening fail-safe system, passes through twisting containing tightening control software containing the industry control meter 2 for tightening fail-safe system
Tight controller 3 connects tightening tool 4.
5 positioning datum of the product to be assembled letter that setting needs to tighten first in containing the industry control meter 2 for tightening fail-safe system
Breath, 6 information of bolt to be tightened contain the industry control meter 2 for tightening fail-safe system when tightening tool 4 is tightened and operated wait tighten bolt 6
It is compared by the position of 1 dynamic acquisition tightening tool 4 of vision positioning system, and with the required position for tightening bolt, when stubborn
4 position of clamping tool with it is required tighten bolt location be overlapped or in error range when, tightening tool 4 is set to tighten shape
State, otherwise tool can not be tightened.
As shown in Fig. 2, 5 positioning datum information of product to be assembled includes two characteristic point coordinate information (vision system coordinates
System and product coordinate system to be assembled), each coordinate information is made of two X-axis, Y-axis data, and coordinate system is based on to be assembled
Product is established.
As shown in figure 3,6 coordinate range of bolt to be tightened includes bolt location coordinate 10, error lengths 11, according to bolt position
Set the border circular areas 12. formed with error lengths
6 location information of bolt to be tightened include bolt to be tightened tighten serial number, each bolt be based on production to be assembled
The permitted location error range of the coordinate information of product coordinate system, each bolt tightens the required tightening tool of bolt
Program number.
The position of tightening tool 4 is the real-time coordinates of vision positioning system Dynamic Recognition, is that view-based access control model positioning system is sat
Mark the coordinate of system.
Tightening tool and it is required tighten bolt carry out position versus when, first passed through according to product orientation reference information to be assembled
Bolt to be tightened is converted to the coordinate of positioning-system coordinate system by coordinates transformation method based on the coordinate of product coordinate system to be assembled,
The same coordinate system, which is in, with tightening tool carries out position versus again.
Error range includes location coordinate information and error range length, in determination range using coordinate information as the center of circle,
A border circular areas is formed by radius of error range length, it is to meet the requirements (see figure within circular scope that reduced coordinates, which is fallen in,
5) it is not meet (see Fig. 4) that, reduced coordinates, which is fallen in except circular scope,.
Concrete application embodiment:
A kind of method that the bolt of vision auxiliary positioning tightens mistake proofing, includes the following steps:
1) two positioning datum point information for setting product to be assembled in fail-safe system are being tightened, is being measured by measuring device
The coordinate information of the two points.
2) coordinate information of each bolt to be tightened is measured by measuring device, and is entered into and tightens fail-safe system
It is interior.
3) identifying schemes A is created in vision positioning system, for identification the position letter of two datum marks of step 1 setting
Breath.
4) identifying schemes B is created in vision positioning system, for identification the location information of tightening tool.
5) it when rundown process starts, tightens fail-safe system and the option A of vision positioning system is called to obtain real-time reference point
It sets.
6) the bolt information to be tightened that fail-safe system reads configuration, including position coordinates, error range are tightened.
7) bolt coordinate to be tightened is converted to by vision system coordinate by coordinates transformation method, and passes through error range meter
Calculate specified circular scope.
8) tightening fail-safe system calls the option b of vision positioning system to obtain tightening tool real-time location coordinates, and compares
Whether this coordinate then controls tightening tool if it is within range and carries out tightening operation, otherwise in the circular scope specified by step 8
Continue repeatedly this step to continue to judge location information.
9) it repeats step 8 and all tightens completion until needing to be tightened bolt.
Claims (6)
1. a kind of method that the bolt of vision auxiliary positioning tightens mistake proofing, tightens mistake proofing system using the bolt of vision auxiliary positioning
System, which includes vision positioning system, containing the industry control meter for tightening fail-safe system, the tightening control containing tightening control software
Device, tightening tool, it is characterised in that: the production to be assembled that setting needs to tighten in containing the industry control meter for tightening fail-safe system first
Product positioning datum information, bolt information to be tightened are tightened in tightening tool when tightening bolt operation, containing tightening fail-safe system
Industry control meter carried out pair by the position of vision positioning system dynamic acquisition tightening tool, and with the required position for tightening bolt
Than, when tightening tool position with it is required tighten bolt location be overlapped or in error range when, tightening tool is set as to twist
Tight state, otherwise tool can not be tightened.
2. the method that the bolt of vision auxiliary positioning according to claim 1 tightens mistake proofing, it is characterised in that: described to be installed
It include two characteristic point coordinate informations with product orientation reference information, each coordinate information is made of two X-axis, Y-axis data,
Coordinate system is established based on product to be assembled.
3. the method that the bolt of vision auxiliary positioning according to claim 1 tightens mistake proofing, it is characterised in that: described wait twist
Bolt location information include bolt to be tightened tighten serial number, each bolt based on product coordinate system to be assembled coordinate believe
Breath, tightens the required tightening tool program number of bolt at the permitted location error range of each bolt.
4. the method that the bolt of vision auxiliary positioning according to claim 1 tightens mistake proofing, it is characterised in that: described to tighten
Tool location is the real-time coordinates of vision positioning system Dynamic Recognition, is the coordinate of view-based access control model positioning-system coordinate system.
5. the method that the bolt of vision auxiliary positioning according to claim 1 tightens mistake proofing, it is characterised in that: described to tighten
Tool and required when tightening bolt and carrying out position versus, first according to product orientation reference information to be assembled passes through coordinates transformation method
The coordinate that bolt to be tightened is converted to positioning-system coordinate system based on the coordinate of product coordinate system to be assembled, at tightening tool
Position versus is carried out again in the same coordinate system.
6. the method that the bolt of vision auxiliary positioning according to claim 1 tightens mistake proofing, it is characterised in that: the error
Range includes location coordinate information and error range length, long using coordinate information as the center of circle, with error range in determination range
Degree is that radius forms a border circular areas, and reduced coordinates is fallen within circular scope to meet the requirements, otherwise not meet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910566631.2A CN110202362A (en) | 2019-06-27 | 2019-06-27 | The bolt of vision auxiliary positioning tightens error-preventing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910566631.2A CN110202362A (en) | 2019-06-27 | 2019-06-27 | The bolt of vision auxiliary positioning tightens error-preventing method |
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| Publication Number | Publication Date |
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| CN110202362A true CN110202362A (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910566631.2A Pending CN110202362A (en) | 2019-06-27 | 2019-06-27 | The bolt of vision auxiliary positioning tightens error-preventing method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110814718A (en) * | 2019-11-21 | 2020-02-21 | 四川长虹电器股份有限公司 | Error-proofing method of screw machine |
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|---|---|---|---|---|
| US6122398A (en) * | 1995-04-11 | 2000-09-19 | Matsushita Electric Industrial Co., Ltd. | Method of recognizing a screw hole and screwing method based on the recognition |
| CN103659257A (en) * | 2013-12-16 | 2014-03-26 | 延锋伟世通汽车电子有限公司 | Automatic screw locking device based on computer vision |
| CN106228744A (en) * | 2016-08-29 | 2016-12-14 | 苏州大学 | A kind of assembly line electric tightening rifle fail-safe system |
| CN107030687A (en) * | 2016-02-04 | 2017-08-11 | 上海晨兴希姆通电子科技有限公司 | Position bias detecting method and module, crawl position calibration method, grasping system |
| CN107498299A (en) * | 2017-08-28 | 2017-12-22 | 山东中车同力达智能机械有限公司 | A kind of tool positioning system tightened applied to bolt and operating method |
| CN107984201A (en) * | 2017-11-30 | 2018-05-04 | 中国地质大学（武汉） | A kind of screw hole positioning of view-based access control model servo and lock unload screw method |
| CN109434435A (en) * | 2018-12-03 | 2019-03-08 | 西南交通大学 | A kind of fastener automatic dismantling system and method based on machine vision |
-
2019
- 2019-06-27 CN CN201910566631.2A patent/CN110202362A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6122398A (en) * | 1995-04-11 | 2000-09-19 | Matsushita Electric Industrial Co., Ltd. | Method of recognizing a screw hole and screwing method based on the recognition |
| CN103659257A (en) * | 2013-12-16 | 2014-03-26 | 延锋伟世通汽车电子有限公司 | Automatic screw locking device based on computer vision |
| CN107030687A (en) * | 2016-02-04 | 2017-08-11 | 上海晨兴希姆通电子科技有限公司 | Position bias detecting method and module, crawl position calibration method, grasping system |
| CN106228744A (en) * | 2016-08-29 | 2016-12-14 | 苏州大学 | A kind of assembly line electric tightening rifle fail-safe system |
| CN107498299A (en) * | 2017-08-28 | 2017-12-22 | 山东中车同力达智能机械有限公司 | A kind of tool positioning system tightened applied to bolt and operating method |
| CN107984201A (en) * | 2017-11-30 | 2018-05-04 | 中国地质大学（武汉） | A kind of screw hole positioning of view-based access control model servo and lock unload screw method |
| CN109434435A (en) * | 2018-12-03 | 2019-03-08 | 西南交通大学 | A kind of fastener automatic dismantling system and method based on machine vision |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110814718A (en) * | 2019-11-21 | 2020-02-21 | 四川长虹电器股份有限公司 | Error-proofing method of screw machine |
| CN110814718B (en) * | 2019-11-21 | 2021-11-16 | 四川长虹电器股份有限公司 | Error-proofing method of screw machine |
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Application publication date: 20190906 |