Automatic assembling system for voice diaphragm and globe roof

Abstract

Automatic assembling system for a voice diaphragm and a globe roof comprises a three-axis motion system, the globe roof is grabbed by a vacuum cup on a mechanical arm, the system moves to a voice diaphragm photographing position, and a voice diaphragm image is obtained; the position angle parameter of the voice diaphragm is calculated; then the system moves the globe roof photographing position, aglobe roof image is obtained, and the position angle parameter of the globe roof is calculated; the position angle parameters of the voice diaphragm and the globe roof are judged; if the position angle parameters of the voice diaphragm and the globe roof are not equal, the globe roof is rotated, the globe roof image is acquired again, the position angle parameter of the globe roof is calculated,and whether the angle parameters are equal or not is judged again; if yes, the relative positions of the globe roof and the voice diaphragm are calculated; and an assembly procedure is executed, and finally the system moves to a safe position. According to the automatic assembling system, a voice diaphragm-globe roof rectangular frame is matched based on image processing of a bilateral telecentriclens, errors of the system are overcome, the image processing capacity of a camera is improved, the requirement of the system for the mechanical equipment precision can be greatly reduced, the assembly precision of the system is greatly improved to about 0.03 mm, and therefore the assembly precision requirement of the system is achieved.

Description

Technical field [0001] The invention relates to the field of visual inspection, in particular to a system for automatically assembling a sound film and a dome using a double-sided telecentric lens. Background technique [0002] Nowadays, the application of electronic products is more and more extensive, especially the accessories of electronic products such as sound film, dome, etc. Due to the fine accessories, manual assembly is required. However, manual assembly is not only labor-intensive and inefficient, but also during the assembly process. Mistakes often occur and the product yield is very low. [0003] Relying on visual positioning to assemble fine parts, using perfect system error calibration to improve the image acquisition performance of the camera, and can greatly reduce the system's requirements for the accuracy of mechanical equipment, thereby improving the assembly accuracy of the system. [0004] The imaging model of the camera uses mathematical formulas to describe t...

AI Technical Summary

Problems solved by technology

When using ordinary lenses for visual recognition, there will be the following problems: 1. Because the measured objects are not on the same measurement plane, the magnification is different

2. Large lens distortion

4. The resolution of the lens is not high

5. Due to the geometric characteristics of the visual light source, the uncertainty of the edge position of the image is caused

but t p and t c It is a parameter that can only be obtained by ordinary lenses. If other lenses are used, the lens t cannot be determined p and t c , resulting in the impossibility of camera calibration

Moreover, at present, many calibrations for vision and machines consider the conversion of two-dimensional coordinate systems, ignoring many installation errors, resulting in low calibration accuracy.

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