CN112935775A - Intelligent visual full-automatic screw locking method and device - Google Patents
Intelligent visual full-automatic screw locking method and device Download PDFInfo
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- CN112935775A CN112935775A CN202110113714.3A CN202110113714A CN112935775A CN 112935775 A CN112935775 A CN 112935775A CN 202110113714 A CN202110113714 A CN 202110113714A CN 112935775 A CN112935775 A CN 112935775A
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- 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
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Abstract
The invention discloses an intelligent vision full-automatic screw locking method and device, belonging to the technical field of assembly, wherein the intelligent vision full-automatic screw locking method comprises the following steps: acquiring an image of a to-be-assembled part; acquiring parameter information of the screw hole according to the image, and generating a shortest assembly path according to the parameter information of the screw hole; and controlling the tightening gun to move according to the corresponding shortest assembly path so as to install the screw into the corresponding screw hole. The intelligent vision full-automatic screw locking device adopts the intelligent vision full-automatic screw locking method for locking. By collecting image information, the shortest assembly path is finally obtained, and the tightening gun is controlled to move according to the shortest assembly path, so that automatic tightening is realized, the labor intensity is reduced, the phenomena of wrong tightening, missing tightening and the like are avoided, and the production efficiency and the qualified rate are improved.
Description
Technical Field
The invention relates to the technical field of assembly, in particular to an intelligent visual full-automatic screw locking method and device.
Background
In some household electrical appliance assembly lines, workers need to manually use a tightening device to tighten screws at corresponding positions according to process requirements in the face of important components such as flat plates.
In general, a worker is required to move a part to an operation table, align a fixed reference position, manually observe the number and the pattern of screw holes, and perform nail taking, screw gun torque value setting and tightening operations according to the visual observation result.
In the screwing process, the positions needing to be screwed are very many, the operation links are relatively complex, the labor intensity of workers is high, the phenomenon of screwing missing is easy to occur, the time and the labor are wasted in the assembling process, and the assembling efficiency is low.
Disclosure of Invention
The invention aims to provide an intelligent visual full-automatic screw locking method and device, and aims to solve the technical problems of high labor intensity and low assembly efficiency in the prior art.
As the conception, the technical scheme adopted by the invention is as follows:
an intelligent vision full-automatic screw locking method comprises the following steps:
acquiring an image of a to-be-assembled part;
acquiring parameter information of the screw hole according to the image, and generating a shortest assembly path according to the parameter information of the screw hole;
and controlling the tightening gun to move according to the corresponding shortest assembly path so as to install the screw into the corresponding screw hole.
The parameter information of the screw holes comprises position coordinates of each screw hole, the type of the screw required by each screw hole and the number of screws of each type, N screw holes belonging to the same type are located on the same assembly path, and the assembly path only passes through each screw hole once.
Wherein the tightening gun has an initial position, and a start point of each of the assembly paths is the initial position.
And analyzing the sum of the sequential connection of the first line segment and the N-1 middle line segments to obtain the shortest assembly path corresponding to the screw hole of the model.
And the position coordinate of the last screw hole of one shortest assembly path is the starting point of the other shortest assembly path.
The parameter information of the screw holes comprises the tightening force of the screw required by each screw hole, the tightening force is obtained in real time in the process of tightening the screw by a tightening gun, and if the current tightening force is larger than the set tightening force, an alarm device is triggered.
Wherein, obtain the parameter information of screw hole according to the image, include:
analyzing the image to obtain the model of the to-be-assembled part, comparing the model with a given model, judging whether the to-be-assembled part is correct or not, and if not, triggering an alarm device; and if the screw hole parameters are correct, calling parameter information of the screw hole corresponding to the piece to be assembled from the database.
And after the assembly is finished, acquiring the image of the assembly to be assembled again, and judging whether all the screws are installed in place according to the image.
Wherein, judge according to the image whether all screws are installed in place, include:
and detecting whether the height of the screw protruding out of the screw hole is within a set range, if so, installing the screw in place, and if not, triggering an alarm device.
The intelligent vision full-automatic screw locking device adopts the intelligent vision full-automatic screw locking method for locking, and comprises the following steps:
a supporting seat;
the operation table is connected with the supporting seat in a sliding mode and can move linearly along a first direction, and an assembly part to be assembled can be fixed on the operation table;
the bracket is arranged on the supporting seat;
the mounting seat is connected with the support in a sliding mode and can move linearly along a second direction;
the tightening gun is connected with the mounting seat in a sliding mode and can move linearly along a third direction, and the first direction, the second direction and the third direction are mutually perpendicular in pairs;
and the camera is fixedly connected with the mounting seat.
The invention has the beneficial effects that:
the invention provides an intelligent visual full-automatic screw locking method, which comprises the following steps: acquiring an image of a to-be-assembled part; acquiring parameter information of the screw hole according to the image, and generating a shortest assembly path according to the parameter information of the screw hole; and controlling the tightening gun to move according to the corresponding shortest assembly path so as to install the screw into the corresponding screw hole. By collecting image information, the shortest assembly path is finally obtained, and the tightening gun is controlled to move according to the shortest assembly path, so that automatic tightening is realized, the labor intensity is reduced, the phenomena of wrong tightening, missing tightening and the like are avoided, and the production efficiency and the qualified rate are improved.
Drawings
Fig. 1 is a schematic view of an intelligent visual fully-automatic screw locking device provided by an embodiment of the invention;
fig. 2 is a flowchart of an intelligent visual fully-automatic screw locking method according to an embodiment of the present invention;
FIG. 3 is a first schematic diagram illustrating an assembly path of an intelligent visual fully-automatic screw locking method according to a first embodiment of the present invention;
fig. 4 is a second schematic diagram of an assembly path of the intelligent visual full-automatic screw locking method according to the first embodiment of the present invention;
fig. 5 is a third schematic diagram of an assembly path of the intelligent visual full-automatic screw locking method according to the first embodiment of the present invention;
fig. 6 is a fourth schematic diagram of an assembly path of the intelligent visual full-automatic screw locking method according to the first embodiment of the present invention;
FIG. 7 is a first schematic diagram of an assembly path of an intelligent visual full-automatic screw locking method according to a second embodiment of the present invention;
FIG. 8 is a second schematic diagram of an assembly path of the intelligent visual full-automatic screw locking method according to the second embodiment of the present invention;
fig. 9 is a third schematic diagram of an assembly path of the intelligent visual full-automatic screw locking method provided by the second embodiment of the invention;
fig. 10 is a fourth schematic diagram of an assembly path of the intelligent visual full-automatic screw locking method according to the second embodiment of the present invention.
In the figure:
1. a supporting seat; 2. an operation table; 3. a support; 4. screwing down the gun; 5. a camera; 6. a first servo motor; 7. a mounting seat; 8. a second servo motor; 9. a third servo motor; 10. an alarm device; 11. and (5) a human-computer interaction interface.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Referring to fig. 1, an embodiment of the present invention provides an intelligent visual full-automatic screw locking device, including a support base 1, an operation platform 2, a bracket 3, a tightening gun 4, and a camera 5. Can fix on the operation panel 2 and treat the assembly part, treat to be provided with a plurality of screw holes on the assembly part, a plurality of screw holes can be same specification, also can be multiple specification. The tightening gun 4 is used to tighten screws into threaded holes. The camera 5 is used to take an image of the component to be assembled.
The operation table 2 is arranged on the support base 1 and is connected with the support base 1 in a sliding mode, and the operation table 2 can move linearly along the first direction. Specifically, a first servo motor 6 is arranged on the support base 1, the output end of the first servo motor 6 is connected with a first transmission mechanism, and the first transmission mechanism is connected with the operating platform 2. The first transmission mechanism may be a rack and pinion mechanism including a first gear connected to the first servo motor 6 and a first rack connected to the operation table 2, the first gear being engaged with the first rack.
The intelligent visual full-automatic screw locking device further comprises a mounting seat 7, the tightening gun 4 is connected with the mounting seat 7, the mounting seat 7 is connected with the support 3 in a sliding mode, and the camera 5 is fixedly connected with the mounting seat 7.
Specifically, the mount 7 is linearly slidable in the second direction with respect to the bracket 3. A second servo motor 8 is arranged on the horizontal strut, the output end of the second servo motor 8 is connected with a second transmission mechanism, and the second transmission mechanism is connected with the mounting seat 7. The second transmission mechanism may be a rack and pinion mechanism including a second gear connected to the second servo motor 8 and a second rack connected to the mounting base 7, the second gear being engaged with the second rack.
The tightening gun 4 can move linearly in a third direction, and the first direction, the second direction and the third direction are mutually perpendicular in pairs. A third servo motor 9 is arranged on the mounting seat 7, the output end of the third servo motor 9 is connected with a third transmission mechanism, and the third transmission mechanism is connected with the tightening gun 4. The third transmission mechanism may be a rack and pinion mechanism including a third gear connected to the third servo motor 9 and a third rack connected to the tightening gun 4, the third gear being engaged with the third rack.
In this embodiment, the first direction and the second direction are in a horizontal plane and perpendicular to each other, and the third direction is in a vertical plane. Specifically, it may be: the first direction is along the Y-axis direction, the second direction is along the X-axis direction, and the third direction is along the Z-axis direction. Through the cooperation of first servo motor 6, second servo motor 8 and third servo motor 9, realize three-coordinate space and move and fix a position, consequently can screw up the screw in optional position.
In addition, the intelligent visual full-automatic screw locking device also comprises an alarm device 10 which gives an alarm when an error occurs in the assembling process. The alarm device 10 may be an audible and visual alarm.
The intelligent visual full-automatic screw locking device further comprises a human-computer interaction interface 11, the human-computer interaction interface can display the steps to be assembled and the current assembling state, the steps to be assembled are mainly used for guiding an operator to operate, and the current assembling state is convenient for the operator to know the assembling process in real time.
Example one
Referring to fig. 2, an embodiment of the present invention further provides an intelligent visual full-automatic screw locking method, which can automatically implement screw tightening, save time and labor, and improve assembly efficiency. In the intelligent visual full-automatic screw locking method provided by the embodiment, human-computer interaction is required, namely, the assembly is completed through the cooperation of an operator and a machine.
The intelligent visual full-automatic screw locking method comprises the following steps:
acquiring an image of a to-be-assembled part;
acquiring parameter information of the screw hole according to the image, and generating a shortest assembly path according to the parameter information of the screw hole;
the tightening guns 4 are controlled to move according to the corresponding shortest assembly paths to install screws into the corresponding screw holes.
Firstly, after the power-on, the man-machine interface 11 displays the steps to be assembled, such as: please fix the part to be assembled to the console 2 and click the "start" button.
An operator fixes the to-be-assembled part to the operating platform 2 according to the to-be-assembled step, after the fixing is finished, the operator clicks a 'start' button, the controller obtains a start instruction at the moment to control the camera 5 to obtain an image of the to-be-assembled part, the camera 5 transmits the image to the controller, the controller analyzes the image to obtain parameter information of the screw hole, and the shortest assembling path is generated according to the parameter information of the screw hole.
Specifically, the controller prestores the given model of the component to be assembled according to the assembling task. The controller analyzes the image, firstly obtains the model of the part to be assembled, compares the model with a given model, judges whether the part to be assembled is correct or not, and triggers the alarm device 10 if the part to be assembled is incorrect; if the result is correct, the next step is carried out. The controller is internally stored with a database, and the parameter information of the screw hole corresponding to the part to be assembled of the model is called.
In order to facilitate the operator to know the assembling process in real time, the information on the human-computer interaction interface 11 is updated as the assembling process progresses. During the process of acquiring and analyzing the image, characters are displayed on the human-computer interaction interface 11 to prompt the user, so that the operator can know the current assembly state in time. For example: the method comprises the steps of acquiring an image, analyzing the image, correctly installing a to-be-assembled part, acquiring parameter information of a screw hole, generating a shortest assembling path and the like.
The parameter information of the screw holes comprises position coordinates of each screw hole, the type of the screw required by each screw hole and the number of screws of each type, N screw holes belonging to the same type are located on the same assembly path, and the assembly path only passes through each screw hole once. The invalid movement of the tightening gun 4 is avoided, so that the movement distance of the tightening gun 4 is shortest, and the time is saved.
The tightening gun 4 is fitted with one type of screw at a time, and therefore with as many types of screws, with as many independent fitting paths.
After generating the shortest assembly path, the controller generates a step to be assembled according to the shortest assembly path and guides an operator in time. Specifically, the step to be assembled includes the type of screw to be loaded each time and the number of screws, as displayed on the human-machine interface 11: please load M screws for model a and click the "start" button.
After the operator finishes filling, the operator clicks the start button, and the controller obtains a start instruction at the moment and controls the tightening gun 4 to move according to the corresponding shortest assembly path so as to install the screw into the corresponding screw hole.
The tightening gun 4 has an initial position, in this embodiment, the starting point of each assembly path is the initial position, and each time a screw of one model is assembled, the tightening gun 4 returns to the initial position to wait for the assembly of a screw of the next model. In the shortest assembly path, the distance of the last screw back to the initial position after the tightening gun 4 is assembled is not considered.
A first line segment is formed between the initial position and one of the screw holes, an intermediate line segment is formed between every two screw holes, and the shortest assembly path corresponding to the screw hole of the model is obtained by analyzing the sum of the sequential connection of the first line segment and the N-1 intermediate line segments.
That is to say, if the N screw holes of the same model are located on the first assembly path, a first line segment is formed between the initial position and one of the screw holes, and an intermediate line segment is formed between every two screw holes, the first assembly path is the sum of the first line segment and the N-1 intermediate line segments which are sequentially connected. Wherein, according to the arrangement combination, N screw holes belonging to the same model are provided with N! And (4) assembling paths, and selecting the shortest assembling path from the assembling paths.
The parameter information of the screw holes comprises the screwing force of the screw required by each screw hole, the screwing force is obtained in real time in the process of screwing the screw by the screwing gun 4, and if the current screwing force is larger than the set screwing force, the alarm device 10 is triggered.
And when the tightening gun 4 finishes assembling all the types of screws according to all the shortest assembling paths, acquiring the image of the part to be assembled again, and judging whether all the screws are installed in place according to the image.
Optionally, after the tightening gun 4 completes the assembly of the screws of the same model according to the shortest assembly path, the image of the assembly part to be assembled is obtained again, and whether all the screws of the model are installed in place is judged according to the image.
Judging whether all the screws are installed in place according to the image, comprising the following steps:
and detecting whether the height of the screw protruding out of the screw hole is within a set range, if so, installing the screw in place, and if not, triggering the alarm device 10.
To more clearly describe the assembly process, an example is illustrated.
Before assembly begins, the tightening gun 4 is in the initial position, and the human-computer interface 11 displays: please fix the part to be assembled to the console 2 and click the "start" button.
After the controller obtains the start instruction, the controller controls the camera 5 to acquire an image of the to-be-assembled member, and acquires parameter information of the screw hole according to the image, such as: position coordinates of M and M screw holes of the a-type screws and position coordinates of N and N screw holes of the B-type screws are required.
The controller generates an assembly path according to the parameter information of the screw holes, and in this embodiment, the assembly path includes a plurality of first paths and a plurality of second paths, a shortest first path is selected from the plurality of first paths, a shortest second path is selected from the plurality of second paths, the shortest first path is used for assembling screws of a model A, and the shortest second path is used for assembling screws of a model B.
Referring to fig. 3 to 6, the first path is acquired as follows:
the initial position and the position coordinates of the M screw holes are connected in sequence by straight lines. Taking the initial position as the point O and M ═ 5 as an example, the point O and five points M1, M2, M3, M4, and M5 are connected to form a first path.
In this embodiment, only four connections are shown, including O-M1-M2-M3-M4-M5, O-M2-M1-M3-M4-M5, O-M2-M1-M4-M3-M5, O-M5-M1-M2-M3-M4.
In practical applications, all the connection modes are compared to select the shortest first path according to the algorithm of permutation and combination.
Similarly, a second path is obtained, and taking the initial position as the point O and N ═ 5 as an example, the point O and five points N1, N2, N3, N4, and N5 are connected to form the second path.
In this embodiment, only four connections are shown, including O-N1-N2-N3-N4-N5, O-N2-N1-N5-N4-N3, O-N1-N2-N4-N3-N5, O-N5-N1-N3-N2-N4. For ease of distinction, the first path is indicated by a solid line and the second path is indicated by a dashed line.
In practical applications, all the connection modes are compared to select the shortest second path according to the algorithm of permutation and combination.
How many types of screws, how many independent shortest assembly paths are generated.
Displaying the steps to be assembled on the human-computer interaction interface 11, such as: please load M screws for model a and click the "start" button.
After the operator has filled M screws of type a, the start button is clicked, and the controller obtains a start command and controls the tightening gun 4 to move along the shortest first path.
The tightening guns 4 move according to the corresponding shortest assembly paths to install screws into the corresponding screw holes. The controller generates a position deviation compensation value according to the position coordinates of each screw hole to know the displacement required by the tightening gun 4 to reach each screw hole. According to the interpolation method, the movement path of the tightening gun 4 is a straight line.
Example two
For the sake of simplicity, only the differences between the second embodiment and the first embodiment will be described. The difference is that each time one type of screw is assembled, the tightening gun 4 waits for the assembly of the next type of screw at the position coordinate of the last screw hole, that is, the position coordinate of the last screw hole of one shortest assembly path is the starting point of the other shortest assembly path.
When two types of screws exist, the position coordinate of the last screw hole of the shortest first path is used as the initial position coordinate of the second path, the shortest second path is selected from the second paths, and the position coordinate of the last screw hole of the shortest first path is used as the starting point of the second paths. Here, the distance for returning the tightening gun 4 to the initial position can be saved every time a screw of one type is assembled, thereby further saving the assembly time.
Referring to fig. 7 to 10, an example will be described for more clearly describing the assembly process.
For example: position coordinates of M and M screw holes of the a-type screws and position coordinates of N and N screw holes of the B-type screws are required.
The first path is obtained in the same manner as in the first embodiment, and the shortest first path is selected from the plurality of first paths. Assuming that O-M1-M2-M3-M4-M5 is the shortest first path, then M5 is the starting point of all second paths.
The principle of acquiring the second path is to connect the point M5 with five points N1, N2, N3, N4 and N5 to form the second path.
In this embodiment, only four types of connections are shown, including M5-N4-N5-N3-N2-N1, M5-N5-N4-N3-N2-N1, M5-N5-N4-N3-N1-N2, M5-N2-N1-N3-N4-N5.
In practical applications, all the connection modes are compared to select the shortest second path according to the algorithm of permutation and combination.
The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, which changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An intelligent visual full-automatic screw locking method is characterized by comprising the following steps:
acquiring an image of a to-be-assembled part;
acquiring parameter information of the screw hole according to the image, and generating a shortest assembly path according to the parameter information of the screw hole;
and controlling the tightening gun to move according to the corresponding shortest assembly path so as to install the screw into the corresponding screw hole.
2. The intelligent visual full-automatic screw locking method according to claim 1, wherein the parameter information of the screw holes comprises position coordinates of each screw hole, the type of the screw required by each screw hole and the number of screws of each type, wherein N screw holes belonging to the same type are located on the same assembly path, and the assembly path passes through each screw hole only once.
3. The intelligent vision fully-automatic screw locking method according to claim 2, wherein the tightening gun has an initial position, and the starting point of each of the assembly paths is the initial position.
4. The intelligent visual full-automatic screw locking method according to claim 3, wherein a first line segment is formed between the initial position and one of the screw holes, an intermediate line segment is formed between every two screw holes, and the shortest assembly path corresponding to the screw hole of the model is obtained by analyzing the sum of the sequential connection of the first line segment and the N-1 intermediate line segments.
5. The intelligent visual full-automatic screw locking method according to claim 2, wherein the position coordinate of the last screw hole of one shortest assembly path is the starting point of the other shortest assembly path.
6. The intelligent visual full-automatic screw locking method according to claim 1, wherein the parameter information of the screw holes comprises the tightening force of the screw required by each screw hole, the tightening force is obtained in real time in the process of tightening the screw by a tightening gun, and if the current tightening force is greater than the set tightening force, an alarm device is triggered.
7. The intelligent visual full-automatic screw locking method according to claim 1, wherein the obtaining of parameter information of the screw hole according to the image comprises:
analyzing the image to obtain the model of the to-be-assembled part, comparing the model with a given model, judging whether the to-be-assembled part is correct or not, and if not, triggering an alarm device; and if the screw hole parameters are correct, calling parameter information of the screw hole corresponding to the piece to be assembled from the database.
8. The intelligent visual full-automatic screw locking method according to claim 1, wherein after assembly is completed, the image of the assembly part to be assembled is obtained again, and whether all screws are installed in place is judged according to the image.
9. The intelligent vision full-automatic screw locking method according to claim 8, wherein judging whether all screws are installed in place according to the image comprises:
and detecting whether the height of the screw protruding out of the screw hole is within a set range, if so, installing the screw in place, and if not, triggering an alarm device.
10. An intelligent vision full-automatic screw locking device, which is characterized in that the intelligent vision full-automatic screw locking method of any one of claims 1 to 9 is adopted for locking, and comprises the following steps:
a supporting seat;
the operation table is connected with the supporting seat in a sliding mode and can move linearly along a first direction, and an assembly part to be assembled can be fixed on the operation table;
the bracket is arranged on the supporting seat;
the mounting seat is connected with the support in a sliding mode and can move linearly along a second direction;
the tightening gun is connected with the mounting seat in a sliding mode and can move linearly along a third direction, and the first direction, the second direction and the third direction are mutually perpendicular in pairs;
and the camera is fixedly connected with the mounting seat.
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| US11195266B2 (en) * | 2019-06-11 | 2021-12-07 | Wuyi University | Method for planning screw locking path using ant colony algorithm |
| CN114473087A (en) * | 2022-02-28 | 2022-05-13 | 歌尔股份有限公司 | Workpiece inner hole machining method, device, equipment and storage medium |
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