Method and apparatus for assembling metal parts for optical communication devices

Abstract

The application discloses a metal piece assembling method and device for an optical communication device, relates to the field of optical communication device assembling, and comprises the following steps: performing coarse assembling fitting on a metal structural piece and an optical element, and outputting a first assembling displacement track; after a metal structural piece is clamped by an assembling mechanical arm, the metal structural piece is displaced to a second position by using the first assembling displacement track; the assembling state of the optical element is analyzed at the second position, joint error correction of the assembling mechanical arm is performed according to the analysis result; after the joint error correction of the assembling mechanical arm, alignment coordinate collection is performed on the optical element and the metal structural piece, fine assembling fitting is performed according to the collection result, and a second assembling displacement track is output; and the metal structural piece is displaced and assembled to the optical element by using the second assembling displacement track. The technical problem of low assembling precision of the existing metal piece assembling for the optical communication device is solved, and the technical effect of improving the assembling precision is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of optical communication device assembly, in particular to a metal piece assembly method and device for optical communication devices. BACKGROUND

[0002] In the field of manufacturing optical communication devices, high-precision assembly of metal pieces and optical elements is crucial to ensure device performance and directly affects the signal transmission quality and stability of optical communication. Currently, to solve the problem of assembling metal pieces and optical elements, a method of assembling mechanical arm based on a preset displacement trajectory is mainly used, that is, the metal structure and the optical element are preliminarily fitted and assembled, and then the metal structure is moved to a specified position and assembled with the optical element by the mechanical arm according to the preset trajectory. The current method has joint errors of the assembly mechanical arm itself, and does not fully consider the influence of the errors on the assembly precision during the assembly process, resulting in deviation of the actual assembly position of the metal structure and the optical element, which is difficult to meet the requirements of high-precision assembly, and makes the performance of the assembled optical communication device unstable and the pass rate low.

[0003] In the related art at present, the metal piece assembly for optical communication devices has the technical problem of low assembly precision. SUMMARY

[0004] The present application provides a metal piece assembly method and device for optical communication devices, which preliminarily fits and assembles the metal structure and the optical element, outputs a first assembly displacement trajectory, displaces the metal structure to a second position by the assembly mechanical arm according to the trajectory, then analyzes the assembly state of the optical element at the second position and corrects the joint error of the mechanical arm, collects the alignment coordinates for fine fitting and assembly, outputs a second assembly displacement trajectory, and finally displaces and assembles the metal structure to the optical element according to the second assembly displacement trajectory. The technical problem of low assembly precision of the existing metal piece assembly for optical communication devices is solved, and the technical effect of improving the assembly precision is achieved.

[0005] The present application provides a metal piece assembly method for optical communication devices, which includes: preliminarily fitting and assembling a metal structure and an optical element, outputting a first assembly displacement trajectory, wherein the metal structure is at a first position; after the assembly mechanical arm clamps the metal structure, displacing the metal structure to a second position by the first assembly displacement trajectory; analyzing the assembly state of the optical element at the second position, and correcting the joint error of the assembly mechanical arm according to the analysis result; after correcting the joint error of the assembly mechanical arm, collecting the alignment coordinates of the optical element and the metal structure, and fine fitting and assembling according to the collection result, outputting a second assembly displacement trajectory; and displacing and assembling the metal structure to the optical element by the second assembly displacement trajectory.

[0006] In a possible implementation, the metal structural part and the optical element are roughly assembled and fitted, a first assembly displacement trajectory is output, and the following processing is performed: initial coordinate acquisition of the metal structural part at the first position, and analysis and output of a metal part center coordinate; alignment fitting analysis according to a base on which the optical element is located, and output of an element center coordinate; path fitting according to the metal part center coordinate and the element center coordinate, and output of the first assembly displacement trajectory.

[0007] In a possible implementation, the initial coordinate acquisition of the metal structural part at the first position, and the analysis and output of the metal part center coordinate, are performed, and the following processing is performed: point cloud scanning of the metal structural part at the first position, to obtain structural part point cloud data; three-dimensional centroid coordinates are calculated by a weighted centroid method based on the structural part point cloud data; and the three-dimensional centroid coordinates are taken as the metal part center coordinate.

[0008] In a possible implementation, the alignment fitting analysis according to a base on which the optical element is located, and the output of an element center coordinate, are performed, and the following processing is performed: an interactive acquisition of a pre-alignment distance and an assembly direction constraint; base plane coordinates are extracted according to the base on which the optical element is located; the base plane coordinates and the pre-alignment distance are spatially fused according to the assembly direction constraint, to output the element center coordinate, wherein the element center coordinate is taken as the second position.

[0009] In a possible implementation, the assembly state analysis of the optical element at the second position, and the joint error correction of the assembly robot arm according to an analysis result, are performed, and the following processing is performed: metal part assembly features are matched in a network according to a device ID of the optical element and a structural part ID of the metal structural part, wherein the metal part assembly features include device assembly features and structural part assembly features; M first assembly points are positioned on the optical element according to the device assembly features; M second assembly points are positioned on the metal structural part according to the structural part assembly features; a feature matching algorithm is used to analyze the M first assembly points and the M second assembly points, to output a horizontal offset and a rotation angle deviation, with the M first assembly points as a reference; and joint error correction of the assembly robot arm is performed according to the horizontal offset and the rotation angle deviation.

[0010] In a possible implementation, the joint error correction of the assembly robot arm according to the horizontal offset and the rotation angle deviation is performed, and the following processing is performed: the horizontal offset and the rotation angle deviation are converted into an end pose error; the end pose error is mapped to a joint space through a Jacobian matrix of the assembly robot arm, to calculate and output a joint angle compensation amount; and the joint error correction of the assembly robot arm is performed by using the joint angle compensation amount.

[0011] In a possible implementation, alignment coordinate collection is performed on the optical element and the metal structural part, fine assembly fitting is performed according to the collection result, a second assembly displacement trajectory is output, and the following processing is performed: M third assembly points are positioned on the metal structural part according to the assembly features of the structural part; assembly trajectory fitting is performed according to the M third assembly points and the M first assembly points, and M initial assembly displacement trajectories are output; a fitting tolerance is interactively obtained, and the M initial assembly displacement trajectories are fused according to the fitting tolerance, and the second assembly displacement trajectory is output.

[0012] The application also provides a metal part assembly device for an optical communication device, which comprises: a coarse assembly fitting module, configured to perform coarse assembly fitting on a metal structural part and an optical element, and output a first assembly displacement trajectory, wherein the metal structural part is in a first position; a first assembly mechanical arm displacement module, configured to displace the metal structural part to a second position by using the first assembly displacement trajectory after the assembly mechanical arm clamps the metal structural part; a joint error correction module, configured to perform assembly state analysis on the optical element at the second position, and perform joint error correction of the assembly mechanical arm according to the analysis result; a fine assembly fitting module, configured to perform alignment coordinate collection on the optical element and the metal structural part after the joint error correction of the assembly mechanical arm, and perform fine assembly fitting according to the collection result, and output a second assembly displacement trajectory; and a second assembly mechanical arm displacement module, configured to displace and assemble the metal structural part to the optical element by using the second assembly displacement trajectory.

[0013] The metal part assembly method and device for an optical communication device provided in the application first perform coarse assembly fitting on a metal structural part and an optical element, and output a first assembly displacement trajectory, wherein the metal structural part is in a first position, then displace the metal structural part to a second position by using the first assembly displacement trajectory after the assembly mechanical arm clamps the metal structural part, then perform assembly state analysis on the optical element at the second position, and perform joint error correction of the assembly mechanical arm according to the analysis result, then perform alignment coordinate collection on the optical element and the metal structural part after the joint error correction of the assembly mechanical arm, and perform fine assembly fitting according to the collection result, and output a second assembly displacement trajectory, and finally displace and assemble the metal structural part to the optical element by using the second assembly displacement trajectory. The technical effect of improving assembly precision is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments of the present application will be briefly introduced below, and the flowcharts are used to illustrate the operations performed by the device according to the embodiments of the present application. It should be understood that the foregoing or the following operations are not necessarily performed in sequence. On the contrary, various steps can be processed in reverse order or simultaneously according to needs. Meanwhile, other operations can be added to these processes, or one or more steps of operations can be removed from these processes.

[0015] Figure 1 The flowchart of the metal piece assembly method for an optical communication device provided by the embodiments of the present application.

[0016] Figure 2 The structural schematic diagram of the metal piece assembly device for an optical communication device provided by the embodiments of the present application.

[0017] Legend: coarse assembly fitting module 10, first assembly robot displacement module 20, joint error correction module 30, fine assembly fitting module 40, second assembly robot displacement module 50. DETAILED DESCRIPTION

[0018] The foregoing description is only a summary of the technical solutions of the present application, in order to more clearly understand the technical means of the present application, the content of the specification can be implemented, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described.

[0019] In order to make the purposes, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings, and the described embodiments should not be regarded as limiting the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0020] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" can be the same or different subsets of all possible embodiments and can be combined with each other without conflict. The terms "first" and "second" are used merely to distinguish similar objects and do not represent a specific ordering of objects. The terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules not explicitly listed or inherent to these processes, methods, products, or apparatuses. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only.

[0021] This application provides a method for assembling metal parts for optical communication devices, such as... Figure 1 As shown, the method includes:

[0022] Step S100: Perform rough assembly fitting on the metal structural component and optical element, and output the first assembly displacement trajectory, wherein the metal structural component is in the first position.

[0023] Specifically, an industrial camera or laser scanner is used to initially locate the metal structural components and optical elements. Image processing algorithms (such as edge detection and feature matching) are then used to obtain their relative positional information. Based on the initial positional information obtained by the vision system, a coarse assembly displacement trajectory of the metal structural component from a first position to a second position is calculated. This trajectory serves as a preliminary path for rapidly moving the metal structural component towards its target position. The displacement trajectory data is then input into the control system of the assembly robot arm, which executes the coarse assembly actions according to the instructions.

[0024] For example, a high-resolution industrial camera is used to photograph metal structural components and optical elements, and image processing software is used to identify their contours and key feature points. Assume the initial position coordinates of the metal structural component are (X1, Y1, Z1), and the target position coordinates of the optical element are (X2, Y2, Z2). A linear interpolation algorithm is used to calculate the straight-line path from (X1, Y1, Z1) to (X2, Y2, Z2), which serves as the first assembly displacement trajectory. After receiving the displacement trajectory data, the robotic arm's control system drives the motor to move the robotic arm along the planned path, moving the metal structural component from the first position to the second position.

[0025] In one possible implementation, the metal structural part and the optical element are roughly assembled and fitted, and a first assembly displacement trajectory is output, and step S100 further includes step S110 of collecting initial coordinates of the metal structural part at the first position and analyzing and outputting a metal part center coordinate. Specifically, when the metal structural part is at the first position, a high-precision industrial camera or a laser scanner is used to take a photo or scan the metal structural part. The image of the metal structural part is analyzed by using image processing software (such as edge detection, contour extraction, feature point recognition, and the like), and the geometric center coordinate of the metal structural part is extracted. The metal part center coordinate (Xm, Ym, Zm) analyzed and obtained is output to a control unit of an assembly system.

[0026] For example, a high-resolution industrial camera is used to take a photo of the metal structural part. Assuming that the shape of the metal structural part is a rectangle, four corner point coordinates (X1a, Y1a), (X1b, Y1b), (X1c, Y1c), and (X1d, Y1d) are extracted by using an edge detection algorithm. The geometric center coordinate (Xm, Ym) of the rectangle is calculated according to the following formula:

[0027] Step S120, according to the base where the optical element is located, an alignment fitting analysis is performed, and an element center coordinate is output. Specifically, the base where the optical element is located is positioned, and a high-precision sensor (such as a laser displacement sensor) is used to measure the geometric features of the base. By analyzing the geometric features of the base and the design parameters of the optical element, the center coordinate (Xe, Ye, Ze) of the optical element is calculated. The calculated element center coordinate is output to the control unit of the assembly system.

[0028] For example, a laser displacement sensor is used to measure the surface profile of the optical element base, and the center position coordinate (Xb, Yb, Zb) of the base is obtained. Assuming that the relative position of the element center to the base center in the design parameters of the optical element is (ΔX, ΔY, ΔZ), the center coordinate of the optical element is Xe=Xb+ΔX, Ye=Yb+ΔY, and Ze=Zb+ΔZ.

[0029] Step S130, according to the metal part center coordinate and the element center coordinate, a path fitting is performed, and the first assembly displacement trajectory is output. Specifically, according to the metal part center coordinate (Xm, Ym, Zm) and the element center coordinate (Xe, Ye, Ze), a linear interpolation algorithm is used to calculate the displacement trajectory of the metal structural part from the first position to the second position. The planned displacement trajectory data is output to the control system of the assembly robot.

[0030] In a possible implementation, the initial coordinate of the metal structure is collected at the first position, and the output metal center coordinate is analyzed, step S110 further includes step S111, the point cloud scanning of the metal structure is performed at the first position to obtain the structure point cloud data. Specifically, when the metal structure is in the first position, the point cloud scanning of the metal structure is performed by using a three-dimensional laser scanner or a structured light scanner. The scanning device obtains a large amount of point cloud data of the surface of the metal structure by emitting laser or structured light and receiving reflected signals, and the data includes three-dimensional coordinates of each point.

[0031] For example, a high-precision three-dimensional laser scanner is used, and the scanning accuracy can reach 0.01 mm. The scanner performs 360° scanning around the metal structure to obtain the point cloud data of the surface of the metal structure. It is assumed that the surface of the metal structure is scanned into 1 million points, and the coordinates of each point are recorded to form a large point cloud data set.

[0032] Step S112, based on the structure point cloud data, the three-dimensional center of mass coordinates are calculated by using the weighted center of mass method. Specifically, the collected point cloud data is imported into professional point cloud processing software (such as CloudCompare, MeshLab, etc.). The three-dimensional center of mass coordinates of the metal structure are calculated by using the weighted center of mass method. The weighted center of mass method considers the quality (or density) of each point to calculate the center of mass coordinates. It is assumed that the quality of each point is the same, which is simplified as an arithmetic mean. The coordinate calculation formula is: Wherein, n is the total number of points in the point cloud data, X i , Y i , and Z i are the coordinates of the i-th point.

[0033] Step S113, the three-dimensional center of mass coordinates are taken as the metal center coordinates. Specifically, the calculated three-dimensional center of mass coordinates are taken as the center coordinates of the metal structure, and the center of mass coordinate data is transmitted to the mechanical arm control system or other related devices through an industrial communication protocol (such as TCP / IP, Profibus, etc.).

[0034] In this implementation, the three-dimensional laser scanner or the structured light scanner can provide high-precision point cloud data to accurately reflect the shape and size of the metal structure. The center of mass coordinates are calculated by using the weighted center of mass method, which can more accurately determine the geometric center of the metal structure. Compared with the simple edge detection or contour extraction method, the center of mass coordinates can more accurately reflect the true center position of the structure, and the accuracy of the metal center coordinate calculation is improved.

[0035] In one possible implementation, the pre-alignment distance and the assembly direction constraint are obtained interactively based on the base on which the optical element is located, and the element center coordinates are output, and step S120 further includes step S121. Specifically, a high-precision vision system (industrial camera) or a laser calibration device is used to scan or take a photo of the base on which the optical element is located, and initial position and attitude information of the base is obtained. The coordinate information of the feature points or reference surface of the base is calculated by processing the vision or laser scanning data through a calibration algorithm, and these data are used as the basis for subsequent mechanical arm planning. According to the calibration result, the control system of the mechanical arm automatically calculates the pre-alignment distance and the assembly direction constraint. The pre-alignment distance refers to the initial positioning distance of the mechanical arm when approaching the target area, which is used for rapid approach to the target area; and the assembly direction constraint refers to the movement direction limitation of the mechanical arm when approaching the target. The calculated pre-alignment distance and assembly direction constraint are stored in the control system of the mechanical arm, and are used for subsequent assembly operations.

[0036] In step S122, the reference plane coordinates are extracted based on the base on which the optical element is located. Specifically, a high-precision three-dimensional sensor (such as a laser scanner or an industrial camera) is used to scan or take a photo of the base on which the optical element is located. The point cloud data or image of the surface of the base is analyzed by using a point cloud processing software or an image processing algorithm, and the reference plane coordinates of the base are extracted, which are output to the control unit of the assembly system.

[0037] In step S123, the element center coordinates are output by spatially fusing the reference plane coordinates and the pre-alignment distance based on the assembly direction constraint, wherein the element center coordinates are taken as the second position. Specifically, the reference plane coordinates are spatially fused with the pre-alignment distance based on the assembly direction constraint, and the center coordinates of the optical element are calculated. Specifically, the reference plane coordinates are spatially fused with the pre-alignment distance based on the assembly direction constraint, and the center coordinates of the optical element are calculated. The calculated element center coordinates (Xe, Ye, Ze) are output to the control unit of the assembly system, and the coordinates are taken as the second position.

[0038] In step S200, after the metal structural part is gripped by the assembly mechanical arm, the metal structural part is displaced to the second position by using the first assembly displacement trajectory.

[0039] Specifically, a special clamp is provided at the end of the assembly mechanical arm, which is used for accurately gripping the metal structural part. The design of the clamp takes into account the shape and size of the metal structural part, and ensures stable gripping. The mechanical arm drives the joint motors according to the first assembly displacement trajectory, and moves the metal structural part from the first position to the second position according to the planned path.

[0040] For example, a pneumatic clamp is used to achieve clamping and releasing of the metal structural part through the extension and retraction action of the air cylinder. Rubber pads are designed on the inside of the clamp to prevent damage to the surface of the metal structural part during clamping.

[0041] Step S300, the assembly state of the optical element is analyzed at the second position, and the joint error correction of the assembly robot is performed according to the analysis result.

[0042] Specifically, at the second position, the assembly state of the metal structural part and the optical element is detected using high-precision sensors (such as laser displacement sensors, six-axis force sensors), including position deviation, angle deviation, etc. According to the deviation data detected by the sensor, the error of the joint of the assembly robot is calculated, and the joint angle is corrected through the inverse kinematics algorithm.

[0043] For example, the actual distance between the metal structural part and the optical element is measured using a laser displacement sensor. Assuming that the detected distance is D1, and the theoretically designed distance is D0, the deviation is ΔD = D1 - D0. According to ΔD, the displacement amount that needs to be adjusted at the end of the robot is calculated, and then the angle that needs to be adjusted at each joint is calculated through the inverse kinematics algorithm. Finally, the corrected joint angle data is sent to the robot control system.

[0044] In one possible implementation, the assembly state of the optical element is analyzed at the second position, and the joint error correction of the assembly robot is performed according to the analysis result, step S300 further includes step S310, the metal part assembly features are matched according to the device ID of the optical element and the structural part ID of the metal structural part, wherein the metal part assembly features include device assembly features and structural part assembly features. Specifically, according to the device ID of the optical element and the structural part ID of the metal structural part, the corresponding assembly features are queried by connecting to a central database or a local database through a network. The device assembly features and the structural part assembly features are extracted from the database, which include the coordinates, shapes, sizes, etc. of the assembly points. The extracted assembly feature data is transmitted to the control unit of the assembly system through an industrial communication protocol (such as TCP / IP).

[0045] Step S320, M first assembly points on the optical element are positioned according to the device assembly features. Specifically, a high-precision vision sensor (such as an industrial camera) or a laser sensor is used to scan or take a photo of the optical element to obtain its point cloud data or image. Through image processing or point cloud processing algorithm, combined with the device assembly features, M first assembly points on the optical element are positioned. The coordinates of the positioned first assembly points are output to the control unit of the assembly system.

[0046] Step S330, positioning M second assembly points on the metal structural part according to the structural part assembly features. Specifically, a high-precision visual sensor or laser sensor is used to scan or take a photo of the metal structural part to obtain point cloud data or images of its surface. Through image processing or point cloud processing algorithms, combined with the structural part assembly features, M second assembly points on the metal structural part are located. The coordinates of the located second assembly points are output to the control unit of the assembly system.

[0047] Step S340, using the M first assembly points as a reference, analyzing the M first assembly points and M second assembly points using a feature matching algorithm to output a horizontal offset and a rotation angle deviation. Specifically, a feature matching algorithm (such as an ICP algorithm or a feature point-based matching algorithm) is used to analyze the coordinate relationship between the first assembly points and the second assembly points to calculate the horizontal offset and the rotation angle deviation. The Euclidean distance is used to calculate the distance between the centroids of the two assembly point sets to obtain the horizontal offset, and the least squares method is used to fit the rotation matrix of the two assembly point sets to calculate the rotation angle. The calculated horizontal offset and rotation angle deviation are output to the control unit of the assembly system.

[0048] Step S350, according to the horizontal offset and the rotation angle deviation, performing joint error correction of the assembly robot. Specifically, according to the horizontal offset and the rotation angle deviation, the angles that need to be adjusted for each joint of the robot are calculated through inverse kinematics algorithm. The calculated joint adjustment angles are sent to the control system of the robot to drive the robot to perform error correction. During the correction process, the correction effect is monitored in real time by a high-precision sensor to ensure the correction accuracy.

[0049] In one possible implementation, according to the horizontal offset and the rotation angle deviation, the joint error correction of the assembly robot is performed, and step S350 further includes step S351, converting the horizontal offset and the rotation angle deviation into end pose error. Specifically, according to the horizontal offset and the rotation angle deviation, the pose error of the end effector (the end of the robot) is calculated. The pose error includes position error and attitude error. The horizontal offset directly corresponds to the position error of the end effector, and the rotation angle deviation can represent the attitude error of the end effector through a rotation matrix or a quaternion. The calculated end pose error is stored in the control system of the robot.

[0050] Step S352, map the end pose error to the joint space through the Jacobian matrix of the assembly robot arm, and calculate the output joint angle compensation. Specifically, the Jacobian matrix of the assembly robot arm is obtained, which describes the relationship between the change of the end pose of the robot arm and the change of the joint angle. Through the pseudo-inverse of the Jacobian matrix, the end pose error is mapped to the joint space, and the joint angle compensation is calculated. The calculated joint angle compensation is output to the control system of the robot arm. For example, assuming that the robot arm has 6 joints, the Jacobian matrix is a 6x6 matrix, and the Jacobian matrix can be calculated by the dynamics model of the robot arm.

[0051] Step S353, adopt the joint angle compensation to correct the joint error of the assembly robot arm. Specifically, the calculated joint angle compensation is applied to the joint angle of the robot arm, and the robot arm is driven to correct the error. During the correction process, the correction effect is monitored in real time by high-precision sensors (such as laser displacement sensors or vision sensors) to ensure the correction accuracy. After the correction is completed, the end pose is detected again by the sensor to verify whether the correction reaches the expected accuracy.

[0052] Step S400, after correcting the joint error of the assembly robot arm, collect the alignment coordinates of the optical element and the metal structure, and perform fine assembly fitting according to the collection results, and output the second assembly displacement trajectory.

[0053] Specifically, high-precision alignment equipment (such as confocal microscope, interferometer) is used to collect the alignment coordinates of the optical element and the metal structure, and the relative position information of the two in micrometer level is obtained. According to the alignment coordinate data, the displacement trajectory of the metal structure is re-planned, and the second assembly displacement trajectory is generated, which is used to realize high-precision assembly.

[0054] For example, the alignment marks of the optical element and the metal structure are imaged using a confocal microscope, and the relative position coordinates of the two are accurately measured through image processing algorithms. According to the relative position coordinates, the displacement amount of the metal structure that needs to be fine-tuned is calculated, and the second assembly displacement trajectory is planned, which is a series of small displacement steps to ensure that the metal structure can accurately align with the optical element.

[0055] In a possible implementation, the optical element and the metal structure are subjected to alignment coordinate acquisition, and fine assembly fitting is performed according to the acquisition result, and a second assembly displacement trajectory is output, and step S400 further includes step S410 of positioning M third assembly points on the metal structure according to the structure assembly features. Specifically, a high-precision visual sensor (such as an industrial camera) or a laser sensor is used to scan or take a photo of the metal structure, and point cloud data or an image of the surface of the metal structure is acquired. Through image processing or point cloud processing algorithms, M third assembly points on the metal structure are positioned in combination with the structure assembly features, and coordinates of the positioned third assembly points are output to a control unit of an assembly system.

[0056] Step S420, assembly trajectory fitting is performed according to the M third assembly points and the M first assembly points, and M initial assembly displacement trajectories are output. Specifically, a trajectory fitting algorithm (such as polynomial fitting or spline curve fitting) is used to calculate an initial assembly displacement trajectory of each assembly point pair according to coordinates of the third assembly points and the first assembly points, and the M initial assembly displacement trajectories calculated are stored in the control unit of the assembly system.

[0057] Step S430, a cooperation tolerance is interactively obtained, and the M initial assembly displacement trajectories are fused according to the cooperation tolerance, and the second assembly displacement trajectory is output. Specifically, the cooperation tolerance is input through a man-machine interactive interface (such as a touch screen, an operation panel or a computer software interface). According to the input cooperation tolerance, the M initial assembly displacement trajectories are fused, and a fusion algorithm can adopt a weighted average method to fuse according to an accuracy weight of each trajectory, to generate a final second assembly displacement trajectory, and the fused second assembly displacement trajectory is output to the control unit of the assembly system.

[0058] Step S500, the second assembly displacement trajectory is used to displace the metal structure to the optical element.

[0059] Specifically, the mechanical arm accurately controls each joint motor according to the second assembly displacement trajectory, and moves the metal structure to a final assembly position. At the same time, position and force feedback in the assembly process are monitored in real time through a sensor, to ensure assembly accuracy. An optical detection device (such as a fiber spectrum analyzer) is used to detect performance of the assembled optical communication device, to verify whether the assembly is successful.

[0060] For example, the mechanical arm detects the contact force through the six-dimensional force sensor every time it moves a step when performing the second assembly displacement trajectory, ensuring that the contact force between the metal structural part and the optical element is within the design range. Assuming that the design contact force is F0, the real-time detected contact force is F1, if F1>F0, the mechanical arm automatically adjusts the displacement trajectory to reduce the contact force. The optical fiber spectrometer is used to detect the optical signal transmission efficiency of the assembled optical communication device, and if the detected transmission efficiency meets the design requirement (for example, >90%), it is determined that the assembly is successful.

[0061] The embodiment of the present application adopts the technical means of first fitting the rough assembly of the metal structural part and the optical element, outputting the first assembly displacement trajectory, then displacing the metal structural part to the second position by the assembly mechanical arm according to the trajectory, then analyzing the assembly state of the optical element at the second position and correcting the joint error of the mechanical arm, then collecting the alignment coordinates for fine assembly fitting, outputting the second assembly displacement trajectory, and finally displacing and assembling the metal structural part to the optical element according to the second assembly displacement trajectory, which solves the technical problem of low assembly precision of the existing metal part assembly for optical communication devices, and achieves the technical effect of improving the assembly precision.

[0062] In the foregoing, with reference to Figure 1 The metal part assembly method for optical communication devices according to the embodiment of the present application is described in detail. Next, the metal part assembly device for optical communication devices according to the embodiment of the present application will be described with reference to Figure 2 The metal part assembly device for optical communication devices according to the embodiment of the present application is described in detail. Next, the metal part assembly device for optical communication devices according to the embodiment of the present application will be described with reference to

[0063] The metal part assembly device for optical communication devices according to the embodiment of the present application is used to solve the technical problem of low assembly precision of the existing metal part assembly for optical communication devices, and achieves the technical effect of improving the assembly precision. The metal part assembly device for optical communication devices comprises a rough assembly fitting module 10, a first assembly mechanical arm displacement module 20, a joint error correction module 30, a fine assembly fitting module 40, and a second assembly mechanical arm displacement module 50.

[0064] The coarse assembly fitting module 10 is configured to perform coarse assembly fitting on the metal structure and the optical element, and output a first assembly displacement trajectory, wherein the metal structure is in a first position; the first assembly robot displacement module 20 is configured to displace the metal structure to a second position by using the first assembly displacement trajectory after the assembly robot clamps the metal structure; the joint error correction module 30 is configured to analyze the assembly state of the optical element in the second position, and correct the joint error of the assembly robot according to the analysis result; the fine assembly fitting module 40 is configured to collect alignment coordinates of the optical element and the metal structure after correcting the joint error of the assembly robot, and perform fine assembly fitting according to the collection result, and output a second assembly displacement trajectory; and the second assembly robot displacement module 50 is configured to displace and assemble the metal structure to the optical element by using the second assembly displacement trajectory.

[0065] Next, the specific configuration of the coarse assembly fitting module 10 will be described in detail. As described above, the coarse assembly fitting module 10 is configured to perform coarse assembly fitting on the metal structure and the optical element, and output a first assembly displacement trajectory. The coarse assembly fitting module 10 can further include: an initial coordinate collection unit configured to collect initial coordinates of the metal structure in the first position, and analyze and output metal center coordinates; an alignment fitting analysis unit configured to perform alignment fitting analysis according to the base on which the optical element is located, and output element center coordinates; and a path fitting unit configured to perform path fitting according to the metal center coordinates and the element center coordinates, and output the first assembly displacement trajectory.

[0066] In the initial coordinate collection unit, the initial coordinates of the metal structure are collected in the first position, and the metal center coordinates are analyzed and output. The initial coordinate collection unit can further include: a point cloud scanning subunit configured to perform point cloud scanning on the metal structure in the first position, and obtain structure point cloud data; and a three-dimensional centroid coordinate calculation subunit configured to calculate three-dimensional centroid coordinates based on the structure point cloud data by using a weighted centroid method, and take the three-dimensional centroid coordinates as the metal center coordinates.

[0067] In the alignment fitting analysis unit, the alignment fitting analysis is performed according to the base on which the optical element is located, and the element center coordinates are output. The alignment fitting analysis unit can further include: a pre-alignment distance and assembly direction constraint acquisition subunit configured to interactively acquire a pre-alignment distance and an assembly direction constraint; a reference plane coordinate extraction subunit configured to extract reference plane coordinates according to the base on which the optical element is located; and an element center coordinate output subunit configured to spatially fuse the reference plane coordinates and the pre-alignment distance according to the assembly direction constraint, and output the element center coordinates, wherein the element center coordinates are taken as the second position.

[0068] Below, the specific configuration of the joint error correction module 30 will be described in detail. As described above, the optical element is subjected to assembly state analysis in the second position, and the joint error correction of the assembly robot is performed according to the analysis result, the joint error correction module 30 can further comprise: a metal piece assembly feature matching unit for networking matching metal piece assembly features according to the device ID of the optical element and the structure ID of the metal structure, wherein the metal piece assembly features comprise device assembly features and structure assembly features; an assembly site positioning unit for positioning M first assembly sites on the optical element according to the device assembly features, and positioning M second assembly sites on the metal structure according to the structure assembly features; a feature matching unit for analyzing the M first assembly sites and the M second assembly sites by taking the M first assembly sites as a reference, and outputting a horizontal offset and a rotation angle deviation; a joint error correction unit for performing joint error correction of the assembly robot according to the horizontal offset and the rotation angle deviation.

[0069] Wherein, according to the horizontal offset and the rotation angle deviation, the joint error correction unit can further comprise: an end pose error acquisition subunit for converting the horizontal offset and the rotation angle deviation into an end pose error; a joint angle compensation amount calculation subunit for mapping the end pose error to a joint space by a Jacobian matrix of the assembly robot, and calculating and outputting a joint angle compensation amount; a joint error correction subunit for performing joint error correction of the assembly robot by using the joint angle compensation amount.

[0070] Below, the specific configuration of the fine assembly fitting module 40 will be described in detail. As described above, the alignment coordinates of the optical element and the metal structure are collected, and fine assembly fitting is performed according to the collection result to output a second assembly displacement trajectory, the fine assembly fitting module 40 can further comprise: a third assembly site positioning unit for positioning M third assembly sites on the metal structure according to the structure assembly features; an assembly trajectory fitting unit for fitting an assembly trajectory according to the M third assembly sites and the M first assembly sites, and outputting M initial assembly displacement trajectories; a second assembly displacement trajectory acquisition unit for interactively obtaining a fit tolerance, and fusing the M initial assembly displacement trajectories according to the fit tolerance to output the second assembly displacement trajectory.

[0071] The metal piece assembly device for optical communication devices provided by the embodiments of the present application can execute the metal piece assembly method for optical communication devices provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of executing the method.

[0072] Although the present application makes various references to certain modules in the apparatus according to the embodiments of the present application, however, any number of different modules can be used and run on the user terminal and / or server, the various units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific name of each functional unit is only for the convenience of mutual differentiation, and does not serve to limit the protection scope of the present application.

[0073] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. In some cases, the actions or steps described in the present application can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are possible or can be advantageous.

Claims

1. A method for assembling metal parts for optical communication devices, characterized in that, The method includes: A rough assembly fit is performed on the metal structural component and the optical element, and the first assembly displacement trajectory is output, wherein the metal structural component is in the first position; After the assembly robotic arm clamps the metal structural component, the first assembly displacement trajectory is used to move the metal structural component to the second position; The assembly status of the optical element is analyzed at the second position, and the joint error of the assembly robot arm is corrected based on the analysis results. After correcting the joint error of the assembly robot arm, the alignment coordinates of the optical element and the metal structure are collected, and fine assembly fitting is performed based on the collection results to output the second assembly displacement trajectory. The metal structural component is displaced and assembled onto the optical element using the second assembly displacement trajectory; A rough assembly fit is performed on the metal structural components and optical elements, and the first assembly displacement trajectory is output, including: Initial coordinates of the metal structural component are acquired at the first position, and the center coordinates of the metal component are analyzed and output. Based on the alignment and fit analysis of the base where the optical element is located, the center coordinates of the element are output. Based on the center coordinates of the metal part and the center coordinates of the component, a path fitting is performed to output the first assembly displacement trajectory; Initial coordinate acquisition is performed on the metal structural component at the first location, and the center coordinates of the metal component are analyzed and output, including: A point cloud scan is performed on the metal structural component at the first position to obtain the point cloud data of the structural component. Based on the point cloud data of the structural components, the three-dimensional centroid coordinates are calculated using the weighted centroid method. The three-dimensional centroid coordinates are used as the center coordinates of the metal part; Based on the alignment and fit analysis of the base where the optical element is located, the coordinates of the element's center are output, including: Interactively obtain pre-alignment distance and assembly direction constraints; Based on the base where the optical element is located, extract the coordinates of the reference plane; Based on the assembly direction constraint, the reference plane coordinates and pre-alignment distance are spatially fused to output the component center coordinates, wherein the component center coordinates are used as the second position; The assembly state of the optical element is analyzed at the second position, and the joint error of the assembly robot arm is corrected based on the analysis results, including: Based on the device ID of the optical element and the structural component ID of the metal structure, the metal component assembly features are matched online, wherein the metal component assembly features include device assembly features and structural component assembly features; Based on the device assembly characteristics, M first assembly points are positioned on the optical element; Based on the assembly characteristics of the structural component, M second assembly points are located on the metal structural component; Using the M first assembly points as a reference, a feature matching algorithm is used to analyze the M first assembly points and M second assembly points, and output the horizontal offset and rotation angle deviation. The joint error of the assembly robot arm is corrected based on the horizontal offset and rotation angle deviation.

2. The method for assembling metal parts for optical communication devices as described in claim 1, characterized in that, The method for correcting joint errors of the assembly robot arm based on the horizontal offset and rotation angle deviation includes: The horizontal offset and rotation angle deviation are converted into end-effector pose error; The Jacobian matrix of the assembly robot arm is used to map the end pose error to the joint space and calculate and output the joint angle compensation amount. The joint angle compensation amount is used to correct the joint error of the assembly robot arm.

3. The method for assembling metal parts for optical communication devices as described in claim 1, characterized in that, The method involves acquiring alignment coordinates of the optical element and the metal structural component, performing fine assembly fitting based on the acquisition results, and outputting a second assembly displacement trajectory. Based on the assembly characteristics of the structural component, M third assembly points are located on the metal structural component; Based on the M third assembly points and M first assembly points, the assembly trajectory is fitted, and M initial assembly displacement trajectories are output. The fit tolerance is obtained interactively, and the M initial assembly displacement trajectories are fused according to the fit tolerance to output the second assembly displacement trajectory.

4. A metal component assembly apparatus for optical communication devices, characterized in that, The apparatus is used to implement the metal component assembly method for optical communication devices according to any one of claims 1-3, the apparatus comprising: The coarse assembly fitting module is used to perform coarse assembly fitting on the metal structural parts and optical components, and output the first assembly displacement trajectory, wherein the metal structural parts are in the first position; The first assembly robotic arm displacement module is used to displace the metal structural component to a second position using the first assembly displacement trajectory after the assembly robotic arm clamps the metal structural component. The joint error correction module is used to perform assembly state analysis on the optical element at the second position and correct the joint error of the assembly robot arm based on the analysis results. The fine assembly fitting module is used to collect the alignment coordinates of the optical element and the metal structure after correcting the joint error of the assembly robot arm, and to perform fine assembly fitting based on the collection results, and output the second assembly displacement trajectory. The second assembly robotic arm displacement module is used to displace and assemble the metal structural component to the optical element using the second assembly displacement trajectory.

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