An XY-axis linear module assembly included angle calibration device and calibration method

Abstract

The present invention relates to a calibration device and a calibration method for the assembly angle of an XY-axis linear module. It includes a computer, an X-axis linear module, a Y-axis linear module, a stage, a light source assembly, an image acquisition module, and a calibration board; the image acquisition module is used to be electrically connected to the image acquisition module, the stage is used to place the calibration board, and the X-axis linear module and the Y-axis linear module are both arranged on the stage; it further includes a bracket, and the light source assembly and the image acquisition module are located above the stage and are both installed on the bracket. By adopting the calibration device and the calibration method of the present invention, the problems of time-consuming, laborious, large labor intensity and low efficiency in the prior art during manual detection are avoided, meeting the requirements of high efficiency and high quality in the production line.

Description

Technical Field

[0001] The present invention relates to the technical field of calibration of the assembly angle of an XY-axis linear module, and particularly to a calibration device and a calibration method for the assembly angle of an XY-axis linear module. Background Art

[0002] Before the XY-axis linear module is used, it is necessary to calibrate and detect the assembly angle of the XY-axis. At present, the main calibration and detection method is manual detection. This detection method has high requirements for assembly technicians, and is time-consuming and laborious, with a large labor intensity and low efficiency. In addition, many small defects are not easily found during manual detection, which cannot meet the requirements of high efficiency and high quality of the production line. Summary of the Invention

[0003] The purpose of the present invention is to provide a calibration device for the assembly angle of an XY-axis linear module, which is used to solve the technical problems of low calibration efficiency and inability to guarantee detection quality when manually detecting the assembly angle in the prior art. The present invention also provides a calibration method using the above calibration device.

[0004] In order to achieve the above purpose, the present invention provides a calibration device for the assembly angle of an XY-axis linear module, adopting the following technical solutions:

[0005] A calibration device for the assembly angle of an XY-axis linear module includes a computer, an X-axis linear module, a Y-axis linear module, a carrier table, a light source assembly, an image acquisition module, and a calibration plate; the image acquisition module is used to be electrically connected with the image acquisition module, the carrier table is used to place the calibration plate, and the X-axis linear module and the Y-axis linear module are both arranged on the carrier table; it further includes a bracket, and the light source assembly and the image acquisition module are located above the carrier table and are both installed on the bracket.

[0006] Further, it further includes a Z-axis linear module.

[0007] Further, the light source assembly includes a spherical integral light source and a backlight source.

[0008] Further, both the X-axis linear module and the Y-axis linear module are ball screw drive modules.

[0009] Further, the calibration plate is provided with calibration points.

[0010] Further, the calibration plate is provided with one calibration point, and the calibration point is located at the center of the calibration plate.

[0011] The present invention also provides a calibration method using the above calibration device for the assembly angle of an XY-axis linear module, adopting the following technical solutions:

[0012] A calibration method for an above-mentioned calibration device for the assembly angle of an XY-axis linear module comprises the following steps:

[0013] S1: Place the calibration plate on the stage and align the center of the calibration plate with the center of the image acquisition module;

[0014] S2: Move the manipulator to a position directly opposite the center of the calibration plate;

[0015] S3: Move the manipulator along the X-axis by a distance M through the X-axis linear module, calibrate a set number of first marking points from the distance M, and then return to the center position of the calibration plate; move the manipulator along the Y-axis by a distance N through the Y-axis linear module, calibrate a set number of second marking points from the distance N, and then return to the center position of the calibration plate;

[0016] S4: Perform least squares fitting on each first marking point and obtain a straight line X1; perform least squares fitting on each second marking point and obtain a straight line Y1;

[0017] S5: Compare the straight line X1 with the original coordinate axis X to obtain the included angle α between the straight line X1 and the original coordinate axis X; compare the straight line Y1 with the original coordinate axis Y to obtain the included angle β between the straight line Y1 and the original coordinate axis Y.

[0018] Further, each first marking point is selected at equal intervals along the X-axis direction, and each second marking point is selected at equal intervals along the Y-axis direction.

[0019] Further, both the distance M and the distance N are 100, and there are 10 first marking points and 10 second marking points.

[0020] Further, in step S4, it also includes determining the center positions of the marking points through binary Blob analysis.

[0021] Compared with the prior art, the beneficial effects of an XY-axis linear module assembly angle calibration device and a calibration method in an embodiment of the present invention are as follows: By adopting the calibration device and calibration method of the present invention, semi-automatic detection of the XY-axis linear module is realized, avoiding the problems of time-consuming, laborious, large labor intensity and low efficiency in the prior art through manual detection, and avoiding the individual differences of different operators. The detection process is also relatively comprehensive, avoiding the situation that smaller defects are not easily found manually, meeting the requirements of high efficiency and high quality in the production line. Description of the Drawings

[0022] Figure 1 is the overall structural schematic diagram of the XY-axis linear module assembly angle calibration device in an embodiment of the present invention;

[0023] Figure 2It is a top view schematic diagram of the calibration device for the assembly angle of the XY-axis linear module according to an embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of the calibration method according to an embodiment of the present invention.

[0025] In the figure, 1 - computer, 2 - X-axis linear module, 3 - Z-axis linear module, 4 - light source assembly, 5 - optical lens, 6 - industrial camera, 7 - bracket, 8 - Y-axis linear module, 9 - calibration plate, 10 - first marking point, 11 - second marking point. Specific embodiments

[0026] The following will further describe in detail the specific embodiments of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0027] As Figure 1 and Figure 2 shown, a calibration device for the assembly angle of the XY-axis linear module according to a preferred embodiment of the present invention. The calibration device for the assembly angle of the XY-axis linear module includes a computer 1, an X-axis linear module 2, a Y-axis linear module 8, a stage, a light source assembly 4, an image acquisition module, and a calibration plate 9; the image acquisition module is used to be electrically connected to the image acquisition module, the stage is used to place the calibration plate 9, and the X-axis linear module 2 and the Y-axis linear module 8 are both arranged on the stage; a bracket 7 is further included, and the light source assembly 4 and the image acquisition module are located above the stage and are both installed on the bracket 7.

[0028] Specifically, in this embodiment, the stage is a flat plate, on which an X-axis linear module 2, a Y-axis linear module 8, and a Z-axis linear module 3 are arranged. A manipulator is arranged on the Z-axis linear module 3. The spatial three-dimensional orientation of the manipulator can be adjusted through the X-axis linear module 2, the Y-axis linear module 8, and the Z-axis linear module 3. In this embodiment, the X-axis linear module 2, the Y-axis linear module 8, and the Z-axis linear module 3 are all screw drive modules. The screw drive module includes a drive motor, a screw, and a nut threadedly assembled with the screw. The drive motor can drive the screw to rotate, and the rotating screw will drive the nut to move along the screw, so as to realize the adjustment of the corresponding three-dimensional orientation position. In order to ensure the stability of the movement in the Y-axis direction, two parallel Y-axis linear modules 8 are arranged in this embodiment. Specifically, as Figure 2 shown, the screws of the two Y-axis linear modules 8 can be driven by a toothed belt or a toothed chain, so as to ensure the synchronous rotation of the screws of the two Y-axis linear modules 8. In other embodiments, only one Y-axis linear module 8 can also be arranged, and a guide rail mechanism can be arranged in parallel beside the Y-axis linear module 8, and the stability of the movement direction in the Y-axis is improved through the guiding and limiting function of the guide rail mechanism.

[0029] In this embodiment, the bracket 7 is L-shaped and is arranged beside the stage. The light source assembly 4 and the image acquisition module are both mounted on the bracket 7. In this embodiment, the light source assembly 4 and the image acquisition module are located directly above the stage. In this embodiment, the light source assembly 4 includes a spherical integral light source and a backlight source, and the image acquisition module includes an industrial camera 6 and an optical lens 5. In this embodiment, the spherical integral light source is similar to a conical cover, and the conical cover has the functions of concentrating light and reflecting light. The light generated by the backlight source can cover the spherical integral light source and then be reflected by the spherical integral light source to the direction of the stage. In this embodiment, the industrial camera 6 is electrically connected to the computer 1.

[0030] In this embodiment, the calibration plate 9 is a high-precision calibration plate, and calibration points are arranged on the calibration plate 9. In this embodiment, only one calibration point is arranged on the calibration plate 9, and this calibration point is located at the center position of the calibration plate 9.

[0031] A calibration method for applying the calibration device of the above-mentioned XY-axis linear module assembly angle in a preferred embodiment of the present invention includes the following steps:

[0032] S1: Place the calibration plate 9 on the stage and align the center of the calibration plate 9 with the center of the image acquisition module;

[0033] Specifically, in this step, first place the calibration plate 9 flat on the stage, and then align the center of the calibration plate 9 with the center of the image acquisition module. In this embodiment, the image acquisition module is the industrial camera 6, and a calibration point is arranged at the center of the calibration plate 9. When placing, align the center of the calibration plate 9 with the industrial camera 6. Since the use of the calibration plate 9 is a prior art, the specific use method of the calibration plate 9 will not be described in detail in this embodiment.

[0034] S2: Move the manipulator to a position directly opposite the center position of the calibration plate 9;

[0035] Specifically, in this step, adjust the X-axis linear module 2 and the Y-axis linear module to align the manipulator with the center position of the calibration plate 9. Since the calibration detection is performed on the X-axis linear module 2 and the Y-axis linear module 8 in the embodiment, in this embodiment, adjust the X-axis linear module 2 and the Y-axis linear module 8 to directly above the calibration point on the calibration plate 9. When adjusting, the Z-axis linear module 3 does not need to be adjusted.

[0036] S3: Move the manipulator along the X-axis direction by a distance M through the X-axis linear module 2, and calibrate a set number of first marking points 10 from the distance M, and then return to the center position of the calibration plate 9; move the manipulator along the Y-axis direction by a distance N through the Y-axis linear module 8, and calibrate a set number of second marking points 11 from the distance N, and then return to the center position of the calibration plate 9;

[0037] Specifically, in this step, the manipulator is moved along the X-axis by a distance M by manually adjusting the X-axis linear module 2. In this embodiment, the distance M is 100 mm. Then, the computer 1 calibrates a set number of first marking points 10 within the distance M. In this embodiment, there are 10 first marking points 10, and the 10 first marking points 10 are equally spaced along the X-axis. After all the first marking points 10 are marked, manually adjust the X-axis linear module 2 to move the manipulator back to the initial position. Similarly, then move the manipulator along the Y-axis by a distance N by manually adjusting the Y-axis linear module 8. In this embodiment, the distance N is 100 mm. Then, the computer 1 calibrates a set number of second marking points 11 within the distance N. In this embodiment, there are 10 second marking points 11, and the 10 second marking points 11 are equally spaced along the Y-axis. After all the second marking points 11 are marked, manually adjust the Y-axis linear module 8 to move the manipulator back to the initial position.

[0038] S4: Perform least squares fitting on each of the first marking points 10 to obtain a straight line X1; perform least squares fitting on each of the second marking points 11 to obtain a straight line Y1.

[0039] Specifically, since each of the first marking points 10 and each of the second marking points 11 in step S3 have a certain diameter, in order to improve the fitting accuracy, in this step, it is necessary to first determine the center positions of each marking point (each of the first marking points 10 and each of the second marking points 11) by means of binary Blob analysis. After the center positions of each marking point are determined, perform least squares fitting on each of the first marking points 10 to obtain a straight line X1, and perform the same least squares fitting on each of the second marking points 11 to obtain a straight line Y1. Since binary Blob analysis and least squares fitting in this step are both prior arts, they will not be elaborated in this embodiment.

[0040] S5: Compare the straight line X1 with the original coordinate axis X to obtain the included angle α between the straight line X1 and the original coordinate axis X; compare the straight line Y1 with the original coordinate axis Y to obtain the included angle β between the straight line Y1 and the original coordinate axis Y.

[0041] Specifically, as Figure 3 shown, in this step, the obtained straight line X1 is compared with the original coordinate axis X to obtain the included angle α; the obtained straight line Y1 is compared with the original coordinate axis Y to obtain the included angle β. Whether the assembly of the XY-axis linear module is within a reasonable range can be judged by the magnitudes of the included angles α and β.

[0042] In summary, the embodiments of the present invention provide a calibration device and a calibration method. By using the calibration device and calibration method of the present invention, semi-automatic detection of the XY-axis linear module is realized, avoiding the problems of time-consuming, laborious, high labor intensity and low efficiency in the prior art when detecting manually, and avoiding the individual differences of different operators. The detection process is also relatively comprehensive, avoiding the situation that small differences are not easily detected manually, meeting the requirements of high efficiency and high quality of the production line.

[0043] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A calibration method for calibrating a calibration device for the assembly angle of an XY-axis linear module, characterized in that, The calibration device for the assembly angle of the XY-axis linear module includes a computer, an X-axis linear module, a Y-axis linear module, a stage, a light source assembly, an image acquisition module, and a calibration plate; the image acquisition module is used to be electrically connected to the image acquisition module, the stage is used to place the calibration plate, and the X-axis linear module and the Y-axis linear module are both arranged on the stage; it also includes a bracket, and the light source assembly and the image acquisition module are located above the stage and are both installed on the bracket; Both the X-axis linear module and the Y-axis linear module are screw-driven modules. There are two Y-axis linear modules, and the two Y-axis linear modules are arranged in parallel. The screws of the two Y-axis linear modules are driven by a toothed belt or a toothed chain, so as to ensure the synchronous rotation of the screws of the two Y-axis linear modules; The calibration method includes the following steps: S1: Place the calibration plate on the stage and align the center of the calibration plate with the center of the image acquisition module; S2: Move the manipulator to a position directly opposite the center of the calibration plate; S3: Move the manipulator along the X-axis direction by a distance M through the X-axis linear module, and calibrate a set number of first marking points from the distance M, and then return to the center position of the calibration plate; move the manipulator along the Y-axis direction by a distance N through the Y-axis linear module, and calibrate a set number of second marking points from the distance N, and then return to the center position of the calibration plate; S4: Perform least squares fitting on each first marking point to obtain a straight line X1; perform least squares fitting on each second marking point to obtain a straight line Y1; S5: Compare the straight line X1 with the original coordinate axis X to obtain the angle α between the straight line X1 and the original coordinate axis X; compare the straight line Y1 with the original coordinate axis Y to obtain the angle β between the straight line Y1 and the original coordinate axis Y.

2. The calibration method according to claim 1, wherein: Each first marking point is selected at equal intervals along the X-axis direction, and each second marking point is selected at equal intervals along the Y-axis direction.

3. The calibration method according to claim 2, characterized in that: Both the distance M and the distance N are 100, and there are 10 first marking points and 10 second marking points.

4. The calibration method according to claim 1, characterized in that: In step S4, it also includes determining the center position of each marking point through binary Blob analysis.

5. The calibration method according to claim 1, characterized in that The calibration device for the assembly angle of the XY-axis linear module also includes a Z-axis linear module.

6. The calibration method according to claim 1, characterized in that: The light source assembly includes a spherical integral light source and a backlight source.

7. The calibration method according to claim 1, characterized in that: The calibration plate is provided with calibration points.

8. The calibration method according to claim 7, wherein: There is one calibration point on the calibration plate, and the calibration point is located at the center of the calibration plate.

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