CN114571199B - Screw locking machine and screw positioning method - Google Patents
Screw locking machine and screw positioning method Download PDFInfo
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- CN114571199B CN114571199B CN202011387257.9A CN202011387257A CN114571199B CN 114571199 B CN114571199 B CN 114571199B CN 202011387257 A CN202011387257 A CN 202011387257A CN 114571199 B CN114571199 B CN 114571199B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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Abstract
The invention relates to the technical field of automatic production, and discloses a screw locking machine and a screw positioning method, wherein the screw locking machine comprises the following steps: the device comprises a workbench, a first camera, a second camera, a locking electric batch and a ranging sensor; the first camera is arranged above the workbench and is used for shooting images of the product; positioning the position of a screw hole in the image by taking a positioning template as a reference, so as to obtain first positioning data of the screw hole, wherein a second camera and a distance measuring sensor are arranged on a mechanical arm, the second camera is used for identifying the positioning screw hole, and the distance measuring sensor is used for measuring the height of an identification surface of the screw hole; and correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface. The invention can avoid the positioning error of the screw hole caused by the height difference between the calibration surface and the surface of the product, and improves the positioning precision of the screw hole.
Description
Technical Field
The invention relates to the technical field of automatic production, in particular to a screw locking machine and a screw positioning method.
Background
In the prior art, in order to improve the production efficiency of products and reduce the production labor cost, screw locking machines for locking screws during product assembly are developed. The existing screw locking machine adopts a jig tool to position a product to be processed, before locking the product, a screw driver is required to manually drive an electromechanical driver to calibrate each screw hole of the product, and the position of each screw hole and the gesture of the corresponding screw driver are recorded. When the product is locked, the screw driver is driven to move to the position of the screw hole according to the recorded screw hole point position and electric batch posture information, and the screw holes of the product are locked one by one.
The existing screw locking machine needs to manually calibrate screw hole sites and is complex in operation; hole site positioning is carried out by human eyes, the positioning precision of the human eyes is not high, and the human eyes can achieve better locking effect only by repeated test and adjustment. In the production process after the correction is finished, the requirement on the stability and the accuracy of the positioning jig is high, and the abrasion and loosening of the jig can influence the locking result.
Disclosure of Invention
For this reason, it is necessary to provide a screw locking machine for solving the above-mentioned technical problem of low screw positioning accuracy.
In order to achieve the above object, the present invention provides a screw locking machine comprising: the device comprises a workbench, a first camera, a second camera, a locking electric batch and a ranging sensor;
The workbench is used for placing products to be screwed, and the locking electric batch is used for locking screw holes of the products;
the first camera is arranged above the workbench and is used for shooting images of the product;
Positioning the positions of the screw holes in the image by taking a positioning template as a reference, so as to obtain first positioning data of the screw holes, wherein the positioning template is a partial image of the same plane as the screw holes to be locked in the image;
The second camera and the ranging sensor are arranged on a mechanical arm, the mechanical arm is used for driving the second camera and the ranging sensor to move, the second camera is used for identifying a positioning screw hole, and the ranging sensor is used for measuring the height from the screw hole identification surface to the calibration surface;
And correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface.
Further, the first camera is located right above the workbench, and the height of the first camera is larger than that of the second camera.
Further, the locking electric batch, the second camera and the ranging sensor are all arranged on the mechanical arm, and the mechanical arm drives the locking electric batch, the second camera and the ranging sensor to synchronously move.
Further, the corrected first positioning data are X1 and Y1;
wherein X2 and Y2 are the first positioning data before correction, h0 is a distance from the first camera to the calibration surface, h2 is a distance from the first camera to the screw hole identification surface, h2=h0-h 3, and h3 is a distance from the screw hole identification surface to the calibration surface.
Further, the robot comprises a plurality of movable joints and a driving motor, wherein two adjacent movable joints are hinged with each other, the driving motor is used for driving two adjacent movable joints to form an included angle, and the second camera and the ranging sensor are arranged at the tail end of the robot.
Furthermore, the calibration surface is a calibration plate placement surface on the workbench when the camera performs calibration operation.
In order to solve the technical problems, the invention provides another technical scheme:
a screw positioning method comprises the following steps:
acquiring an image of a product to be screwed by a first camera;
selecting a partial image, which is in the same plane with the screw hole to be locked, in the image as a positioning template, and positioning the position of the screw hole in the image according to the positioning template so as to obtain a first positioning data of the screw hole;
Positioning the screw hole through a second camera, and measuring the height from the screw hole identification surface to the calibration surface through a ranging sensor, wherein the second camera and the ranging sensor are arranged on a mechanical arm, and the mechanical arm drives the mechanical arm to synchronously move;
And correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface.
Furthermore, the calibration surface is a calibration plate placement surface on the workbench when the camera performs calibration operation.
Further, the corrected first positioning data are X1 and Y1;
wherein X2 and Y2 are the first positioning data before correction, h0 is a distance from the first camera to the calibration surface, h2 is a distance from the first camera to the screw hole identification surface, h2=h0-h 3, and h3 is a distance from the screw hole identification surface to the calibration surface.
Further, after the step of correcting the first positioning data of the screw hole according to the distance from the positioning template to the locking surface of the screw hole, the method further comprises the steps of:
And controlling the mechanical arm to drive the second camera to move to the position of the screw hole according to the corrected first positioning data, acquiring an image of the screw hole through the second camera, and verifying the corrected first positioning data according to the image of the screw hole.
As shown in fig. 1, a monocular visual positioning technique adopted in a screw locking machine in the prior art is schematically shown. Because the picture of the product shot by the uncalibrated camera cannot confirm the specific position and posture of the product in the real world. The calibration of the camera is to map the photographed image with the real world, and determine the size and position of the pixels in the real world. The position coordinates of the camera 2 used in the screw locking machine in fig. 1 are calibrated by the origin coordinates (0, 0) on the calibration surface, and the calibration surface is usually the placement surface of the product to be locked with screws, however, the product has a certain height, so that a certain height difference (i.e. h0-h 2) exists between the identification surface of the camera 2 and the calibration surface. In the existing visual positioning method, because the distance between the identified object and the camera cannot be interpreted, when the height of the identified object is different from the set height of the calibration surface and is not located in the visual center, the screw hole positions (X2, Y2) identified by the camera 2 and the actual screw hole positions (X1, Y1) have a certain identification error X', so that the visual positioning accuracy is affected.
Compared with the prior art, the technical scheme is characterized in that the first camera above the workbench shoots images of the product and the positioning template, the second camera moves together with the ranging sensor, the second camera recognizes and positions the screw hole, and the ranging sensor measures the distance from the calibration surface to the locking surface of the screw hole; and correcting the first positioning data of the screw hole according to the distance from the calibration surface to the locking surface of the screw hole. Therefore, inaccurate positioning caused by the difference between the calibration surface and the distance between the product and the first camera can be avoided, and the visual positioning precision of the screw locking machine is improved.
In addition, the screw hole positioning is carried out through visual positioning by the technical scheme, and the locking electric batch is driven to lock the product screw, so that the investment of tools and jigs is reduced compared with the traditional screw machine, and the production cost investment of enterprises is saved.
Through the screw hole automatic calibration function of vision screw machine, reduce the manpower input of adaptation different products to automatic lock screw machine debugging to practice thrift the human cost input of enterprise, improve enterprise efficiency.
Drawings
FIG. 1 is a schematic diagram of a prior art visual positioning method;
FIG. 2 is a schematic view of a screw locking machine according to an embodiment;
FIG. 3 is a schematic diagram of a lock batch according to an embodiment;
FIG. 4 is a flowchart of a method for positioning screw holes according to an embodiment;
Reference numerals illustrate:
1. locking the electric batch;
11. An electric batch main shaft;
12. An electric batch body;
13. A sleeve;
14. vacuumizing the tube;
2. a first camera;
3. a second camera;
4. a ranging sensor;
5. a work table;
6. A mechanical arm;
7. a screw;
Detailed Description
In order to describe the technical content, constructional features, achieved objects and effects of the technical solution in detail, the following description is made in connection with the specific embodiments in conjunction with the accompanying drawings.
Referring to fig. 2, the present embodiment provides a screw locking machine, which can be used for locking various screws or bolts such as a straight screw, a cross screw, a hexagonal screw, a quincuncial screw, etc., and has a visual positioning function, which can automatically identify and position the screw hole on the product without manually positioning the screw hole, and has higher screw hole positioning accuracy compared with the existing monocular visual positioning technology.
As shown in fig. 2, the screw locking machine of the present embodiment includes a table 5, a first camera 2, a second camera 3, a robot arm 6, a locking electric batch 1, and a distance measuring sensor 4.
The first camera 2 is fixedly arranged above the workbench 5, the mechanical arm 6 is arranged on the side edge of the workbench 5, and the second camera 3, the locking electric batch 1 and the ranging sensor 4 are arranged on the mechanical arm 6. The first camera 2 has a height which is greater than the height of the second camera 3, so that the first camera 2 is also referred to as a high-order camera and the second camera 3 is also referred to as a low-order camera.
The product to be screwed is placed on the workbench 5, the first camera 2 is used for shooting an image of the whole product, and the controller of the screwing machine is used for positioning the position of the screw hole on the product according to the image of the product to obtain first positioning data (preliminary positioning data) of the screw hole. When the first positioning data of the screw hole is obtained from the image of the product, a certain area on the same plane as the screw hole to be locked needs to be marked on the image of the product as a positioning template for product identification and positioning, the positioning template and the screw hole to be locked are positioned on the same plane, and the positioning template is provided with a characteristic which is convenient for the identification of the first camera 2, so the positioning template can be also called a characteristic template. After the positioning template is obtained, setting the center coordinates of the positioning template; the vision algorithm identifies a portion of the input image of the product that matches the positioning template in the image of the positioning product, thereby identifying and positioning the image of the product. Because the relative relation between the identification feature and the screw hole on the product is fixed, the position of the screw hole of the product can be determined after the position of the identification feature in the image of the product is determined, and the first positioning data of the screw hole can be obtained.
The mechanical arm is used for driving the second camera 3, the locking electric batch 1 and the ranging sensor 4, wherein the locking electric batch 1 is used for locking screws of screw holes of products; the second camera 3 is used for identifying and positioning each screw hole on the product, so that the mechanical arm can accurately move to each screw hole; the distance measuring sensor 4 is used for detecting the distance from the calibration surface of the camera to the surface of the product (namely, the locking surface of the screw hole).
As shown in fig. 3, the locking electric batch 1 includes a sleeve, an electric batch main shaft 11, and an electric batch body 12, wherein the sleeve 12 is sleeved on the outer periphery of the electric batch body 12, and the electric batch body 12 can rotate circumferentially relative to the sleeve 13. The outer periphery of the sleeve 12 is connected with a vacuumizing tube 14, and the vacuumizing tube 14 is communicated to the inside of the sleeve 12, so that negative pressure adsorption screws are formed in the sleeve 12. The electric screwdriver main shaft can be a motor or a pneumatic motor, the electric screwdriver main shaft is connected with the electric screwdriver main body, the tail end of the electric screwdriver main shaft is opposite to a nut of a screw, and the electric screwdriver main shaft is used for driving the electric screwdriver main shaft to rotate, so that the electric screwdriver main shaft drives the screw to rotate, and the screw is locked into a screw hole.
The controller of the screw locking machine transmits the first positioning data of the screws to the mechanical arm 6, and the mechanical arm 6 controls the second camera 3, the locking electric batch 1 and the ranging sensor 4 to move to the positions above all screw holes. During the movement process of the mechanical arm, the second camera 3 is used for identifying and positioning the screw holes one by one, so that the mechanical arm 6 is controlled to accurately move to the upper part of the screw holes. The height of the screw hole recognition surface (i.e., the distance from the screw hole recognition surface to the calibration surface) is then detected by the ranging sensor 4. This step is repeated a plurality of times so that the ranging sensor detects the height of the recognition surface of each screw hole.
And finally, the controller of the screw locking machine corrects the first positioning data of the screw hole according to the height of the screw hole identification surface. Specifically, as shown in fig. 1, the positioning data of the corrected screw hole is X1 and Y1;
Wherein X1 is an abscissa, Y1 is an ordinate, X2 and Y2 are positions of screw holes in the image by taking a positioning template as a reference, first positioning data of the screw holes are obtained, h0 is a distance from a first camera to a product surface, h2 is a distance from the first camera to an identification surface of the screw holes, h2=h0-h 3, and h3 is a height of the identification surface of the screw holes. As shown in FIG. 1, through the correction step, the screw hole positioning error caused by the height difference of the product surface can be avoided, and the visual positioning precision of the screw hole is improved.
In addition, in the embodiment, the positions of all screw holes on a product can be accurately positioned through visual positioning of the screw locking machine, and the electric batch is driven to lock the product screw, so that the input of tools and jigs is reduced compared with the traditional screw locking machine, and the production cost input of enterprises is saved. Through the screw hole automatic calibration function of vision screw machine, reduce the manpower input of adaptation different products to automatic lock screw machine debugging to practice thrift the human cost input of enterprise, improve enterprise efficiency.
In another embodiment, when the corrected positioning data (i.e., the corrected first positioning data) of the screw hole is obtained, the controller of the screw locking machine further controls the mechanical arm to drive the second camera to move to the position of the screw hole according to the corrected first positioning data, and obtains an image of the screw hole through the second camera, and verifies the corrected first positioning data according to the image of the screw hole.
In some embodiments, the mechanical arm 6 includes a plurality of movable joints, a driving motor may be disposed between two adjacent movable joints, so that an included angle between two adjacent movable joints may be adjusted, and the locking electric batch, the second camera and the ranging sensor are disposed at an end of the mechanical arm (i.e., an end of a last movable joint), so that the mechanical arm may drive the locking electric batch, the second camera and the ranging sensor to move in different directions in a three-dimensional space, thereby positioning, ranging and screw locking on screw holes distributed in different space dimensions.
In another embodiment, as shown in fig. 4, a screw positioning method is provided. The screw positioning method is characterized by comprising the following steps:
s401, acquiring an image of a product to be screwed by a first camera;
S402, selecting a partial image, which is in the same plane as a screw hole to be locked, in the image from the image as a positioning template, and positioning the position of the screw hole in the image according to the positioning template so as to obtain first positioning data of the screw hole;
s403, positioning the screw hole through a second camera, and measuring the height of the screw hole identification surface through a ranging sensor, wherein the second camera and the ranging sensor are arranged on a mechanical arm, and the mechanical arm drives the mechanical arm to synchronously move;
s404, correcting the first positioning data of the screw hole according to the distance from the positioning template to the locking surface of the screw hole.
The above-mentioned screw positioning method is implemented by using the screw locking machine shown in fig. 2, and the structure and working principle of the screw locking machine are specifically described in the above embodiments, which are repeated here.
Specifically, in step S401, the product to be locked with the screw is first placed on a workbench surface, and then an image of the product is captured by a first camera. When the first positioning data of the screw hole is obtained from the image of the product, a certain area on the same plane as the screw hole to be locked needs to be marked on the image of the product as a positioning template for product identification and positioning, the positioning template and the screw hole to be locked are positioned on the same plane, and the positioning template is provided with a characteristic which is convenient for the identification of the first camera 2, so the positioning template can be also called a characteristic template.
After the images of the product and the positioning template are obtained, entering a step S402, wherein a controller of a screw locking machine in the step S402 identifies a screw hole on the product, and after the positioning template is obtained, setting the center coordinate of the positioning template; the vision algorithm identifies a portion of the input image of the product that matches the positioning template in the image of the positioning product, thereby identifying and positioning the image of the product. Because the relative relation between the identification feature and the screw hole on the product is fixed, the position of the screw hole of the product can be determined after the position of the identification feature in the image of the product is determined, and the first positioning data of the screw hole can be obtained.
In step S403, the controller of the screw locking machine transmits the first positioning data of the screws to the mechanical arm, and the mechanical arm controls the second camera, the locking electric batch and the ranging sensor to move above the positions of the screw holes. In the moving process of the mechanical arm, the screw holes are identified and positioned one by one through the second camera, so that the mechanical arm is controlled to accurately move to the upper part of the screw holes. And then the distance from the positioning template to the screw hole is converted through the position of the mechanical arm. Repeating the steps for a plurality of times, and measuring the distance from the positioning template of each screw hole to the screw hole.
In step S404, the controller of the screw locking machine corrects the first positioning data of the screw hole by the distance from the positioning template to the locking surface of the screw hole. As shown in fig. 1, the corrected positioning data of the screw hole is X1 and Y1;
Wherein X1 is an abscissa, Y1 is an ordinate, X2 and Y2 are positions of screw holes in the image by taking a positioning template as a reference, first positioning data of the screw holes are obtained, h0 is a distance from a first camera to a product surface, h2 is a distance from the first camera to an identification surface of the screw holes, h2=h0-h 3, and h3 is a height of the identification surface of the screw holes. As shown in FIG. 1, through the correction step, the screw hole positioning error caused by the height difference of the product surface can be avoided, and the visual positioning precision of the screw hole is improved.
In one embodiment, after the step of correcting the first positioning data of the screw hole according to the distance from the calibration surface of the camera to the locking surface of the screw hole, the method further includes the steps of:
And controlling the mechanical arm to drive the second camera to move to the position of the screw hole according to the corrected first positioning data, acquiring an image of the screw hole through the second camera, and verifying the corrected first positioning data according to the image of the screw hole. And verifying the corrected first positioning data according to the image of the screw hole can ensure that the positioning data after the screw is accurate.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the invention.
Claims (5)
1. A screw locking machine, comprising: the device comprises a workbench, a first camera, a second camera, a locking electric batch and a ranging sensor;
The workbench is used for placing products to be screwed, and the locking electric batch is used for locking screw holes of the products;
the first camera is arranged above the workbench and is used for shooting images of the product;
positioning the positions of the screw holes in the image by taking a positioning template as a reference to obtain first positioning data of the screw holes, wherein the positioning template is a partial image of the same plane as the screw holes to be locked in the image;
The second camera and the ranging sensor are arranged on a mechanical arm, the mechanical arm is used for driving the second camera and the ranging sensor to move, the second camera is used for identifying a positioning screw hole, a calibration surface is a product placement surface on the workbench, and the ranging sensor is used for measuring the height from the screw hole identification surface to the calibration surface; during the movement process of the mechanical arm, each screw hole is identified and positioned one by one through a second camera, so that the mechanical arm is controlled to accurately move to the position above the screw hole, and then the height of an identification surface of the screw hole is detected through the ranging sensor;
Correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface;
The locking electric batch, the second camera and the ranging sensor are arranged on the mechanical arm, and the mechanical arm drives the locking electric batch, the second camera and the ranging sensor to synchronously move;
the corrected first positioning data are X1 and Y1;
，/>；
Wherein X2 and Y2 are the first positioning data before correction, h0 is a distance from the first camera to the calibration surface, h2 is a distance from the first camera to the screw hole identification surface, h2=h0-h 3, and h3 is a distance from the screw hole identification surface to the calibration surface.
2. The screw locking machine of claim 1, wherein the first camera is located directly above the table, and wherein the first camera has a height that is greater than a height of the second camera.
3. The screw locking machine according to claim 1, wherein the robot arm includes a plurality of movable joints and a driving motor, two adjacent movable joints are hinged to each other, the driving motor is used for driving an included angle between two adjacent movable joints, and the second camera and the distance measuring sensor are disposed at the tail end of the robot arm.
4. The screw positioning method is characterized by comprising the following steps:
acquiring an image of a product to be screwed by a first camera;
selecting a partial image, which is in the same plane with the screw hole to be locked, in the image as a positioning template, and positioning the position of the screw hole in the image according to the positioning template so as to obtain a first positioning data of the screw hole;
The calibration surface is a product placement surface on the workbench, the screw hole is positioned through a second camera, the height from the screw hole identification surface to the calibration surface is measured through a ranging sensor, wherein the second camera and the ranging sensor are arranged on a mechanical arm, and the mechanical arm drives the mechanical arm to synchronously move; during the movement process of the mechanical arm, each screw hole is identified and positioned one by one through a second camera, so that the mechanical arm is controlled to accurately move to the position above the screw hole, and then the height of an identification surface of the screw hole is detected through the ranging sensor;
Correcting the first positioning data of the screw hole according to the height from the screw hole identification surface to the calibration surface; the corrected first positioning data are X1 and Y1;
，/>；
Wherein X2 and Y2 are the first positioning data before correction, h0 is a distance from the first camera to the calibration surface, h2 is a distance from the first camera to the screw hole identification surface, h2=h0-h 3, and h3 is a distance from the screw hole identification surface to the calibration surface.
5. The screw positioning method according to claim 4, further comprising, after the step of correcting the first positioning data of the screw hole according to the distance from the positioning template to the locking surface of the screw hole, the step of:
And controlling the mechanical arm to drive the second camera to move to the position of the screw hole according to the corrected first positioning data, acquiring an image of the screw hole through the second camera, and verifying the corrected first positioning data according to the image of the screw hole.
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| CN202011387257.9A CN114571199B (en) | 2020-12-01 | 2020-12-01 | Screw locking machine and screw positioning method |
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