Antenna thin-wall part self-adaptive assembly process method

Abstract

The invention discloses a self-adaptive assembly process method for antenna thin-wall parts. The method comprises the following steps: obtaining a product positioning detection position; obtaining a positioning detection position of the assembly device; adjusting the distance between the suction nozzles; obtaining an adsorption position; adsorbing and assembling the device; whether a new suction nozzle is replaced or not is judged, if yes, a new visual detection position of the bottom camera is obtained, and if not, the bottom camera conducts visual detection on the adsorbed assembly device, and the positioning relation between the product and the assembly device is corrected; performing visual inspection on the product to obtain an assembly position; the adsorption mechanism moves to the assembly position, and the assembly device is loaded into the product; whether the pressure value in the assembling process exceeds a preset value or not is judged, if yes, self-adaptive adjustment is conducted in the assembling process, and if self-adaptive adjustment is not successful, the adsorption mechanism moves to a material throwing area to throw materials; the method has the advantages that product deformation and damage caused by too large assembly pressure are avoided, and the assembly stability and the assembly precision are improved.

Description

TECHNICAL FIELD

[0001] The application relates to the field of high-precision automatic assembly, and in particular to an adaptive assembly process method for antenna thin-wall parts. BACKGROUND

[0002] In the assembly process of antenna thin-wall parts, the parts need to be accurately embedded into the grooves of the product. For high-precision automatic assembly process, Chinese Patent Publication No. CN114141392A proposes a three-cone structure laser fusion ignition target, an assembly device and an assembly method. The vacuum adsorption device is used to assemble the cone in the mounting hole, and the alignment device is used to adjust and align the coaxiality of the multiple cones, thereby improving the assembly precision and efficiency of the laser fusion ignition target. Chinese Patent Publication No. CN118801190A proposes a visual-guided array vertical blind-plug connector assembly system and method. An industrial camera is used to take pictures and identify the socket hole, guide the plug-in module to complete the plug-in of the connector, and call the visual algorithm for plug-in quality detection. However, the existing part assembly process or assembly method has the following problems: (1) In the conventional assembly process, whether the end effector moves to the preset value is used to determine whether the assembly is completed, and there is a lack of real-time monitoring of the assembly pressure. Excessive assembly pressure can cause damage to the product. (2) The conventional adsorption mechanism is prone to cause the parts to tilt or shift during the adsorption process, and there is a risk that the various contact positions are not synchronized into the assembly position, which affects the stability of the assembly process. (3) The conventional assembly process is not stable in adsorption, and the adsorbed assembly device is directly moved to the preset assembly position, which cannot ensure accurate alignment with the product groove, thereby affecting the assembly precision. SUMMARY

[0003] The technical problem to be solved by the application is that the existing part assembly process lacks real-time monitoring of the assembly pressure, which causes damage to the product, and the assembly stability and assembly precision are insufficient.

[0004] The application solves the above technical problems by the following technical means: an adaptive assembly process method for antenna thin-wall parts, comprising: S1, conveying the product to the working position and positioning the product; S2, obtaining the product positioning detection position; S3, obtaining the assembly device positioning detection position; S4, adjusting the nozzle spacing according to the assembly device spacing and the assembly task; S5, moving the top camera to the assembly device positioning detection position, performing visual detection on the assembly device, and obtaining the adsorption position; S6, the adsorption mechanism moves to the adsorption position, adsorbs the assembly device, and the adsorption process is detected to ensure that the adsorption state is normal; whether the new suction nozzle is replaced is judged, if yes, S8 is turned to, and if no, S7 is turned to; S7, the bottom camera performs visual detection on the assembly device after adsorption, and corrects the positioning relationship between the product and the assembly device; S8, a new bottom camera visual detection position is obtained; S9, the top camera moves to the product positioning detection position, performs visual detection on the product, and obtains the assembly position; S10, the adsorption mechanism moves to the assembly position, and the assembly device is loaded into the product; whether the assembly process pressure value exceeds the preset value is judged, if yes, S11 is entered, if no, whether the assembly of all assembly positions is completed is judged, if yes, the assembly is completed, and the product is sent out, if no, S5 is returned; S11, adaptive adjustment of the assembly process is performed, whether the adaptive adjustment is successful is judged, if the adaptive adjustment is successful, whether the assembly of all assembly positions is completed is judged, if yes, the assembly is completed, and the product is sent out, if no, S5 is returned; if the adaptive adjustment is unsuccessful, the adsorption mechanism moves to the material throwing area to throw the material, and then S6 is executed.

[0005] In the assembly process, whether the pressure value exceeds the preset value, if yes, the assembly process is adaptively adjusted, and the throwing operation is performed if the adaptive adjustment fails, so that the product deformation and damage caused by excessive assembly pressure are avoided. The top camera is used for identifying the positions of the product and the assembly device, the bottom camera is used for correcting the direction and position relationship between the assembly device after adsorption and the product, the assembly process parameters are adjusted and recorded through accurate positioning of the visual system, the assembly accuracy and stability are effectively improved, and the assembly information is convenient to trace.

[0006] Further, the S2 comprises: The host computer system of the operating device identifies two interest points on the product, drives the top camera on the adsorption system to move, so that the center of the top camera is aligned with the interest points of the product, records the two interest points of the product as actual positioning reference points of the product, imports the CAD drawing of the product into the host computer system, maps the preset installation position of the product from the drawing coordinate system to the equipment base coordinate system as the product positioning detection position through the corresponding relationship between the product drawing positioning reference points and the actual positioning reference points of the product.

[0007] Further, the S3 comprises: The host computer system of the operating device identifies two points of interest on the feeding tray, drives the top camera on the adsorption system to move so that the center of the top camera is aligned with the area where the two points of interest on the feeding tray are located, records the two points of interest on the feeding tray as actual positioning reference points of the feeding tray, imports the CAD drawing of the feeding tray into the host computer system, maps the preset feeding position of the assembled device on the feeding tray from the drawing coordinate system to the device base coordinate system as the positioning detection position of the assembled device through the correspondence between the positioning reference points on the drawing and the actual positioning reference points of the feeding tray.

[0008] Further, the S5 comprises: The adsorption system is driven to move to the feeding area so that the center of the top camera is aligned with the preset detection position of the assembled device mapped from the CAD drawing, the top camera performs positioning detection on the assembled device, the host computer system detects the point of interest on the assembled device, in the pixel coordinate system, the pixel position of the point of interest on the assembled device is used to calculate the actual center point pixel position of the assembled device, and then according to the hand-eye relationship between the top camera and the adsorption system, the position deviation between the actual center point of the assembled device in the device base coordinate system and the preset detection position of the assembled device is calculated, and the position deviation is compensated to the adsorption process to obtain the adsorption position.

[0009] Further, the S7 comprises: The adsorption mechanism comprises a left suction nozzle and a right suction nozzle, the adsorption system is driven to move to the visual detection area so that the center of the bottom camera is aligned with the visual detection center of the preset left suction nozzle, the bottom camera performs positioning detection on the assembled device on the adsorbed left suction nozzle, the host computer system detects the point of interest on the assembled device on the left suction nozzle, in the pixel coordinate system, the pixel position of the point of interest is used to calculate the center point pixel position and the direction vector of the assembled device on the left suction nozzle, according to the hand-eye relationship between the bottom camera and the adsorption system, the assembly direction deviation and the assembly position deviation of the assembled device on the left suction nozzle from the product in the adsorption process in the device base coordinate system are calculated, the left suction nozzle is driven to rotate, the direction of the assembled device on the left suction nozzle is adjusted, the assembly direction deviation is corrected, the assembly position deviation is compensated to the assembly process, the assembly position deviation is corrected, and for the right suction nozzle, the process is repeated to correct the assembly direction deviation and the assembly position deviation of the assembled device on the right suction nozzle from the product.

[0010] Still further, the S7 further comprises: The interest point of the assembled device is the midpoint of the first rectangular side line and the midpoint of the second rectangular side line of the rectangle surrounded by the assembled device. The minimum circumscribed rectangle of the assembled device is obtained through Blob analysis in the pixel coordinate system. The four circular corners and the upper and lower protrusions interfering with the measurement of the rectangle are masked using the parameters of the minimum circumscribed rectangle. The minimum circumscribed rectangle of the remaining area is obtained through Blob analysis, and the parameters of the rectangle are used as the initial data of the caliper measurement rectangle. The midpoint pixel coordinates of the first rectangular side line and the midpoint pixel coordinates of the second rectangular side line are measured through the caliper measurement tool and the second rectangular side line The intersection of the perpendicular line of the first rectangular side line passing through and the perpendicular line of the rectangular side line passing through is the actual center point pixel coordinates of the assembled device The position deviation is the deviation between the camera crossline center and the direction deviation is the angle between the perpendicular line of the first rectangular side line passing through and the horizontal line of the camera crossline The position deviation is as follows:

[0011] In the formula, , is the assembly position deviation of the assembled device and the product in the equipment base coordinate system caused by the adsorption process, is the hand-eye relationship matrix of the bottom camera and the adsorption system.

[0012] Further, after installing a new suction nozzle, the adsorption system is driven to move to the visual detection area, so that the center of the bottom camera is aligned with the last preset visual detection center of the left suction nozzle. The bottom camera detects the position deviation between the center of the newly installed left suction nozzle and the last preset visual detection center of the left suction nozzle, corrects the position deviation caused during the installation process, and obtains a new visual detection center of the left suction nozzle. For the right suction nozzle, repeat the process to obtain a new visual detection center of the right suction nozzle.

[0013] Further, the S9 comprises: The adsorption system is driven to move to the assembly area, so that the center of the top camera is aligned with the product positioning detection position obtained by mapping the CAD drawing. The top camera performs positioning detection on the product, and the host computer system detects the interest point on the product. In the pixel coordinate system, the actual center point pixel position of this assembly position is calculated using the pixel position of the interest point. Then, according to the hand-eye relationship between the top camera and the adsorption system, the position deviation between the actual center point of the product in the equipment base coordinate system and the preset detection position of the product is calculated. The position deviation is compensated to the assembly process to obtain the assembly position.

[0014] Further, the S9 further comprises: The interest point of the product groove is the center of the two threaded blind holes, in the pixel coordinate system, the edge of the boss of the two threaded blind holes is obtained by a Sobel edge detection operator, the center and the radius of the incircle of the boss edge are reduced by a certain value to obtain the initial data of the caliper measurement circle, the pixel coordinates of the centers of the two threaded blind holes are measured by the caliper measurement tool , , and The center of the connecting line is the actual center point pixel coordinate of the assembly position , the position deviation is from the center of the camera cross line , and the position deviation is as follows:

[0015] In the formula, , is the position deviation of the actual center point of the product assembly position from the preset value in the device base coordinate system; The assembly position deviation compensation is as follows:

[0016] In the formula, is the assembly position after the position deviation compensation of the assembly device adsorption process and the position deviation compensation of the product positioning position, is the assembly position preset by the CAD drawing.

[0017] Further, the S11 comprises: When the assembly task is to assemble one assembly device for each of the left suction nozzle and the right suction nozzle, the assembly device is assembled when the preset assembly stroke is reached, and if the assembly process pressure value exceeds the preset value, the adsorption system stops the current assembly process, S7 and S9 are repeated, the assembly device adsorption position and the product assembly position are re-identified, and assembly is performed again; when the assembly task is to assemble one assembly device for the left suction nozzle and the right suction nozzle at the same time, the two suction nozzles are adjusted to satisfy In the formula, is the pressure value of the left suction nozzle in the assembly process, is the pressure value of the right suction nozzle in the assembly process, is the allowable left-right pressure deviation, when the preset assembly stroke is reached, the assembly device is assembled, and if the assembly process pressure value exceeds the preset value, i.e. In the formula, indicates logical or, the adsorption system stops the current assembly process, S7 and S9 are repeated, the assembly device adsorption position and the product assembly position are re-identified, and assembly is performed again.

[0018] The present application has the following advantages: (1) The present application assembly process pressure value whether exceeds the preset value, if yes, the assembly process self-adapting adjustment, self-adapting adjustment fails and executes throwing material operation, avoids the product deformation damage caused by excessive assembly pressure.

[0019] (2) The present application is equipped with custom suction nozzle, and the suction nozzle is customized according to the shape of the assembly device, ensures the flatness in the suction process, ensures that the assembly device is simultaneously loaded into the groove, avoids the inclination or offset condition, eliminates the hidden danger that various contact positions are not simultaneously loaded in the assembly process. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The device structure schematic view in the adaptive assembly process method for the antenna thin-wall part disclosed by the embodiment of the present application is shown in the figure. Figure 2 The device internal structure schematic view in the adaptive assembly process method for the antenna thin-wall part disclosed by the embodiment of the present application is shown in the figure. Figure 3 The adsorption system structure schematic view in the adaptive assembly process method for the antenna thin-wall part disclosed by the embodiment of the present application is shown in the figure. Figure 4 The flow chart of the adaptive assembly process method for the antenna thin-wall part disclosed by the embodiment of the present application is shown in the figure. Figure 5 The coordinate affine transformation schematic view in the adaptive assembly process method for the antenna thin-wall part disclosed by the embodiment of the present application is shown in the figure. Figure 6 The assembly device positioning process schematic view in the adaptive assembly process method for the antenna thin-wall part disclosed by the embodiment of the present application is shown in the figure. Figure 7 The assembly device and product direction and position relationship correction process schematic view in the adaptive assembly process method for the antenna thin-wall part disclosed by the embodiment of the present application is shown in the figure. Figure 8 The product positioning process schematic view in the adaptive assembly process method for the antenna thin-wall part disclosed by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0021] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0022] As shown in Figure 1 , the present embodiment provides an antenna thin-wall part adaptive assembly process method, which is applied to an antenna thin-wall part adaptive assembly device. The device comprises an upper computer system 1, a touch screen system 2, an XYZ three-axis gantry system 3, an adsorption system 4, a visual positioning system 5, a feeding and throwing system 6, and a conveying and positioning system 7. The upper computer system 1 is in communication connection with the touch screen system 2, the XYZ three-axis gantry system 3, the adsorption system 4, the visual positioning system 5, the feeding and throwing system 6, and the conveying and positioning system 7.

[0023] As shown in Figure 1 , the upper computer system 1 realizes corresponding control output of the device, and the touch screen system 2 realizes a simple man-machine interface display.

[0024] As shown in Figure 2 , the XYZ three-axis gantry system 3 realizes the precise movement of the adsorption system 4 in the feeding area, the throwing area, the visual detection area, and the assembly area.

[0025] As shown in Figure 3 , the adsorption system 4 comprises left and right suction nozzles 41, a suction nozzle spacing adjustment system 42, and a left and right suction nozzle shaft lifting and rotating system 43. The left and right suction nozzles 41 are customized according to the shape of the assembly device, are provided with a buffer device inside, are connected with a vacuum generator, and realize adsorption of the assembly device. The suction nozzle spacing adjustment system 42 realizes adjustment of the spacing of the left and right suction nozzles, and meets the assembly requirements of different types of assembly devices. The suction nozzle shaft lifting and rotating system 43 realizes independent lifting and rotating of the suction nozzles, and adjusts the pose of the assembly device. The suction nozzle spacing adjustment system 42 and the left and right suction nozzle shaft lifting and rotating system 43 are prior art, for example, a variable-spacing multi-suction nozzle head disclosed in Chinese Patent Publication No. CN111071790A can be used to realize adjustment of the spacing of the suction nozzles. The left and right suction nozzle shaft lifting and rotating system is a mature technology used in a placement head of an SMT placement machine, and lifting is controlled through a stepping motor and a belt drive, and rotating is controlled through a hollow shaft stepping motor.

[0026] As shown in Figure 2 , Figure 3As shown, the visual positioning system 5 includes a top camera 52 and a light source, and a bottom camera 51 and a light source. The top camera 52 collects images of the product and the assembly device at the predetermined position, and realizes accurate positioning of the assembly position through a visual detection algorithm. After the assembly device is adsorbed by the adsorption system 4, it is moved above the bottom camera 51, and the positioning relationship between the assembly device and the product is corrected by collecting the picture of the assembly device after being adsorbed.

[0027] As shown in the figure, Figure 2 The feeding and throwing system 6 includes a feeding tray 61 and a throwing box 62. The feeding tray 61 is used to place the assembly device, and the throwing box 62 is used to place the assembly device whose assembly pressure exceeds the preset value and fails in adaptive adjustment, thereby realizing feeding and throwing of the assembly device.

[0028] As shown in the figure, Figure 2 The conveying and positioning system 7 includes a conveying line system 71 and a positioning tool system 72. The conveying line system 71 realizes automatic conveying of the product. The positioning tool system 72 realizes positioning of the tool through cylinder lifting, and the tool realizes clamping and positioning of the product.

[0029] As shown in the figure, Figure 4 The adaptive assembly method of the antenna thin-wall part is carried out according to the following steps: S1: The product is placed on the conveying and positioning system 7, conveyed to the working position, and positioned; S2: The upper computer system 1 of the operating device identifies the two most suitable interest points on the product, drives the top camera 52 on the adsorption system 4 to move to the appropriate position, so that the center of the top camera 52 is aligned with the interest points of the product, records the two interest points as the actual positioning reference points of the product, imports the CAD drawing of the product into the upper computer system 1, and through the corresponding relationship between the product drawing positioning reference points and the actual positioning reference points, maps the preset installation position of the product from the drawing coordinate system to the equipment base coordinate system, thereby providing a preset detection position for subsequent accurate positioning of the product. The specific process is as follows: As shown in the figure, Figure 5 The left side is the product drawing, and the right side is the product image. The two interest points on the product are the upper left corner point and the lower right corner point of the product contour, which are the actual positioning reference points of the product. The upper left corner point and the lower right corner point of the product contour in the drawing are the product drawing positioning reference points. , The mapping relationship between , is as follows:

[0030] In the formula, The affine transformation matrix from the product drawing coordinate system to the equipment base coordinate system can be calculated and solved by the formula.

[0031] The affine transformation matrix is obtained, and the coordinates of the preset installation position in the drawing are The coordinates in the equipment base coordinate system are The transformation relationship is as follows:

[0032] The Z-axis coordinates of the product positioning detection position are The Z-axis coordinates of the product positioning detection position are obtained by teaching the equipment host computer system 1, The visual detection position, that is, the product positioning detection position, is obtained.

[0033] S3: The equipment host computer system 1 identifies the two most suitable interest points on the feeding tray 61, drives the top camera 52 on the suction system 4 to move to the appropriate position, so that the center of the top camera 52 is aligned with the interest points of the feeding tray, records the two interest points as the actual positioning reference points of the feeding tray, imports the CAD drawing of the feeding tray in the host computer system, and maps the preset feeding position of the assembled device on the feeding tray from the drawing coordinate system to the equipment base coordinate system through the corresponding relationship between the feeding tray drawing positioning reference points and the actual positioning reference points of the feeding tray, to provide a preset detection position for subsequent accurate positioning of the assembled device. The two interest points on the feeding tray 61 are the upper left corner point and the lower right corner point of the feeding tray 61 contour, which are the actual positioning reference points of the feeding tray, and the upper left corner point and the lower right corner point of the feeding tray 61 contour in the drawing are the feeding tray drawing positioning reference points. The mapping relationship between is as follows:

[0034] In the formula, is the affine transformation matrix from the feeding tray drawing coordinate system to the equipment base coordinate system, which can be calculated and solved by the formula.

[0035] The affine transformation matrix is obtained, and the coordinates of the preset installation position in the drawing are The coordinates in the equipment base coordinate system are The transformation relationship is as follows:

[0036] The Z-axis coordinates of the product positioning detection position are ​​This was obtained through teaching the host computer system 1 of the operating equipment. The visual inspection location for this material supply position is also the assembly component positioning and inspection location.

[0037] S4: Based on the spacing of the assembly components on the feeding tray 61 and the assembly task requirements, the spacing between the left and right suction nozzles 41 is adjusted by the suction nozzle spacing adjustment system 42. For smaller assembly components, the assembly task is set to assemble one assembly component on each of the left and right suction nozzles 41. The spacing adjustment allows the adsorption system 4 to adsorb two assembly components at the same position simultaneously. For larger assembly components, the assembly task is set to assemble one assembly component together on both the left and right suction nozzles 41. The spacing adjustment allows the left and right suction nozzles 41 to adsorb one assembly component together. In this embodiment, the assembly task is to assemble one assembly component on each of the left and right suction nozzles 41. S5: The adsorption system 4 is moved to the feeding area, so that the center of the top camera 52 is aligned with the preset detection position of the assembly part obtained by mapping from the CAD drawing. The top camera 52 performs positioning detection on the assembly part, and the host computer system 1 detects the points of interest on the assembly part. In the pixel coordinate system, the pixel position of the actual center point of the assembly part is calculated using the pixel position of the points of interest. Then, based on the hand-eye relationship between the top camera 52 and the adsorption system 4, the positional deviation between the actual center point of the assembly part and the preset detection position of the assembly part in the equipment base coordinate system is calculated, and the positional deviation is compensated for in the adsorption process. The specific process is as follows: like Figure 6 As shown, label 101 represents the camera crosshair, and label 102 represents the through-hole. The point of interest for the assembled component is the center of the two through-holes. In the pixel coordinate system, the center and radius of the two through-hole regions are obtained through blob analysis. These center and radius are used as the initial data for caliper measurement of the circles. The pixel coordinates of the through-hole centers are then accurately measured using calipers. , , and The center point of the connection is the pixel coordinate of the actual center point of the assembled component. The positional deviation is Center of the camera's crosshairs The deviation between them, the positional deviation compensation is as follows:

[0038] In the formula The coordinates of the actual center point of the assembled component in the equipment's base coordinate system represent the compensated adsorption position. The hand-eye relationship matrix between the top camera 52 and the adsorption system 4 is used to transform the pixel coordinate differences into actual differences in the device base coordinate system. The teaching is achieved by operating the host computer system 1. That is, by manually teaching, the host computer system is manually operated to move the end of the device to a suitable adsorption position, and the Z-axis coordinate at this time is recorded in the system as the Z-axis height of the adsorption position. In actual application, the Z-axis height can also be directly given according to the pre-measured results.

[0039] S6: The suction nozzle shaft lifting and rotating system 43 drives the left and right suction nozzles 41 to descend to the compensated adsorption position, and the left and right suction nozzles 41 adsorb the assembled device. The buffer device inside the left and right suction nozzles 41 can effectively alleviate the pressure during the suction and placement process, preventing damage to the device. Negative pressure detection of the left and right suction nozzles 41 is performed throughout the adsorption process. If an abnormality is detected, the adsorption process will be restarted to ensure successful adsorption of the left and right suction nozzles 41 to the assembled device, preventing the impact of adsorption failure, mid-fall, etc. on assembly.

[0040] S7: The adsorption system 4 is driven to move to the visual detection area, so that the center of the bottom camera 51 is aligned with the preset visual detection center of the left suction nozzle 411. The visual detection center is obtained by teaching the operation device host computer system 1. That is, by manually teaching, the host computer system is manually operated to move the end of the device to a suitable bottom camera 51 detection position, and this position is recorded in the system. In the subsequent device operation process, when the bottom camera detection step is executed, the device will automatically move the end to this position for positioning detection, which is a pre-defined position. In actual application, the visual detection center can be pre-defined. The bottom camera 51 performs positioning detection on the assembled device on the adsorbed left suction nozzle 411. The host computer system 1 detects the interest points on the assembled device on the left suction nozzle 411. In the pixel coordinate system, the pixel position of the interest points is used to calculate the center point pixel position and direction vector of the assembled device on the left suction nozzle 411. According to the hand-eye relationship between the bottom camera 51 and the adsorption system 4, the assembly direction deviation and assembly position deviation of the assembled device on the left suction nozzle 411 from the product in the adsorption process are calculated. The left suction nozzle shaft lifting and rotating system 43 drives the left suction nozzle 411 to rotate, adjusts the direction of the assembled device on the left suction nozzle 411, corrects the assembly direction deviation, and compensates the assembly position deviation to the assembly process. The correction of the assembly position deviation is repeated for the right suction nozzle 412 to correct the assembly direction deviation and assembly position deviation of the assembled device on the right suction nozzle 412 from the product; the specific process is as follows: As shown in Figure 7 The interest points of the assembled device are the midpoints of the first and second rectangular edges (from the Figure 7As can be seen, the outer contour of the assembly device is a rectangle after removing the two protrusions and four rounded corners that require masks, the first rectangular edge and the second rectangular edge are the long side and the short side of the rectangular contour), the minimum circumscribed rectangle of the assembly device is obtained by Blob analysis in the pixel coordinate system, the parameters of this rectangle are used to mask the four rounded corners and the upper and lower protrusions that interfere with the measurement of the rectangle, the minimum circumscribed rectangle of the remaining area is obtained by Blob analysis, and the parameters of this rectangle are used as the initial data of the caliper measurement rectangle. The midpoint pixel coordinates of the first rectangular edge and the midpoint pixel coordinates of the second rectangular edge are accurately measured by the caliper measurement tool and the second rectangular edge The intersection of the perpendicular to the first rectangular edge passing through and the perpendicular to the rectangular edge passing through is the actual center point pixel coordinates of the assembly device The position deviation is the deviation between and the center of the camera crosshair The direction deviation is the angle between the perpendicular to the first rectangular edge passing through and the horizontal line of the camera crosshair, and the position deviation is as follows:

[0041] In the formula, , is the assembly position deviation of the assembly device and the product in the device base coordinate system caused by the adsorption process, is the hand-eye relationship matrix of the bottom camera 51 and the adsorption system 4, which converts the pixel coordinate difference value into the actual difference value in the device base coordinate system.

[0042] S8: Since the suction nozzle 41 is a consumable, it needs to be replaced regularly. After installing a new suction nozzle, the adsorption system 4 is driven to move to the visual detection area, so that the center of the bottom camera 51 is aligned with the last preset visual detection center of the left suction nozzle 411. The bottom camera 51 detects the position deviation between the center of the newly installed left suction nozzle 411 and the last preset visual detection center of the left suction nozzle 411, and corrects the position deviation caused during installation, that is, adjusts the center of the newly installed left suction nozzle 411 to the position of the last preset visual detection center of the left suction nozzle 411, to obtain a new visual detection center of the left suction nozzle 411. For the right suction nozzle 412, repeat the process to obtain a new visual detection center of the right suction nozzle 412, to ensure the accuracy of visual positioning detection.

[0043] S9: drive the adsorption system 4 to move to the assembly area, so that the center of the top camera 52 is aligned with the preset detection position of the product obtained by mapping the CAD drawing, that is, the product positioning detection position, the top camera 52 performs positioning detection on the product, the host computer system 1 detects the interest point on the product, and the actual center point pixel position of the assembly position this time is calculated in the pixel coordinate system using the pixel position of the interest point. Then, according to the hand-eye relationship between the top camera 52 and the adsorption system 4, the position deviation of the actual center point of the product in the equipment base coordinate system from the preset detection position of the product is calculated, and the position deviation is compensated to the assembly process; the specific process is as follows: As shown in Figure 8 , the number 107 is a boss, the number 108 is an inscribed circle of the boss, the number 109 is a threaded blind hole, and the number 110 is a groove. The interest point of the product groove is the center of the two threaded blind holes. In the pixel coordinate system, the edges of the two bosses are obtained by the Sobel edge detection operator. The center and radius of the inscribed circle of the boss edge are reduced by a certain value as the initial data of the caliper measurement circle. The pixel coordinates of the center of the threaded blind hole are accurately measured by the caliper measurement tool , , and The center of the line connecting the two points is the actual center point pixel coordinate of the assembly position , and the position deviation is the deviation between and the center of the camera cross line , and the position deviation is as follows:

[0044] In the formula, , is the position deviation of the actual center point of the product assembly position in the equipment base coordinate system from the preset value.

[0045] The assembly position deviation compensation is as follows:

[0046] In the formula, is the assembly position after the position deviation compensation of the assembly device adsorption process and the position deviation compensation of the product positioning position, is the assembly position preset by the CAD drawing, which is obtained by teaching the host computer system 1 of the operating device.

[0047] S10: The left suction nozzle 411 moves above the compensated assembly position, and the left suction nozzle 411 is lowered to the assembly position by the left suction nozzle shaft lifting and rotating system 43 to embed the assembly device into the groove of the product. For the right suction nozzle 412, repeat the process.

[0048] S11: The pressure sensor is axially arranged on the left and right suction nozzles 41. The assembly control mode includes both force control and stroke control. When the assembly task is to assemble one assembly device with each of the left and right suction nozzles 41, the assembly device is assembled when the preset assembly stroke is reached. If the assembly process pressure value exceeds the preset value, that is,

[0049] In the formula, P is the pressure value of the suction nozzle used in the current assembly process, P is the preset assembly process pressure threshold value.

[0050] The adsorption system 4 stops the current assembly process to avoid product deformation and damage, and performs an adaptive adjustment process to repeat S7 and S9 to re-identify the assembly device adsorption position and product assembly position, and then perform assembly again. When the assembly task is to assemble one assembly device with each of the left and right suction nozzles 41, the assembly process is adjusted by adjusting the individual lifting of the shafts of the left and right suction nozzles 411, and the balance of the assembly pressure of the left and right suction nozzles 41 is maintained throughout the process to satisfy the following formula:

[0051] In the formula, P is the pressure value of the left suction nozzle 411 in the assembly process, P is the pressure value of the right suction nozzle 412 in the assembly process, P is the allowable left and right pressure deviation.

[0052] When the preset assembly stroke is reached, the assembly device is assembled. If the assembly process pressure value exceeds the preset value, that is,

[0053] In the formula, represents logical OR.

[0054] The adsorption system 4 stops the current assembly process to avoid product deformation and damage, and performs an adaptive adjustment process to repeat S7 and S9 to re-identify the assembly device adsorption position and product assembly position, and then perform assembly again.

[0055] S12: In the adaptive adjustment assembly process, if the assembly process pressure value exceeds the preset value, the adsorption system 4 stops the assembly process to avoid product deformation and damage, drives the adsorption system 4 to move above the material throwing box 62 to throw the material, and records the assembly position in the upper computer system 1 for subsequent manual processing. S13: Repeat S5-S7, S9-S12. After all assembly positions of the product are completed, the assembly device is assembled, and the conveying line 71 sends out the product. The adaptive assembly of the antenna thin-walled part is completed.

[0056] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalent features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An antenna thin-wall component adaptive assembly process method, characterized in that, Comprising: S1, product is transported to the working position and positioned; S2, obtain product positioning detection position; S3, obtain assembly device positioning detection position; S4, adjust the nozzle spacing according to the assembly device spacing and assembly task; S5, the top camera moves to the assembly device positioning detection position, and the assembly device is visually detected to obtain the suction position; S6, the suction mechanism moves to the suction position, and the assembly device is sucked. The negative pressure detection is performed during the suction process to ensure that the suction state is normal. It is judged whether the new nozzle is replaced. If yes, go to S8, if not, go to S7; S7, the bottom camera visually detects the sucked assembly device to correct the positioning relationship between the product and the assembly device; S8, obtain new bottom camera visual detection position; S9, the top camera moves to the product positioning detection position, and the product is visually detected to obtain the assembly position; S10, the suction mechanism moves to the assembly position to assemble the assembly device into the product. It is judged whether the assembly process pressure value exceeds the preset value. If yes, go to S11, if not, it is judged whether the assembly of all assembly positions is completed. If yes, the assembly is completed, and the product is sent out. If not, return to S5; S11, adaptive adjustment is performed during assembly process. It is judged whether the adaptive adjustment is successful. If the adaptive adjustment is successful, it is judged whether the assembly of all assembly positions is completed. If yes, the assembly is completed, and the product is sent out. If not, return to S5. If the adaptive adjustment is not successful, the suction mechanism moves to the material throwing area to throw the material, and then returns to execute S6.

2. The antenna thin-wall component adaptive assembly process method according to claim 1, wherein, The S2 comprises: The host computer system of the operating device identifies two interest points on the product, drives the top camera on the suction system to move so that the center of the top camera is aligned with the interest points of the product, records the two interest points of the product as the actual positioning reference points of the product, imports the CAD drawing of the product into the host computer system, maps the preset installation position of the product from the drawing coordinate system to the equipment base coordinate system as the product positioning detection position through the corresponding relationship between the product drawing positioning reference points and the actual positioning reference points of the product.

3. The process of claim 1, wherein the process further comprises: The S3 comprises: The host computer system of the operating device identifies two interest points on the feeding tray, drives the top camera on the suction system to move so that the center of the top camera is aligned with the area where the interest points of the feeding tray are located, records the two interest points on the feeding tray as the actual positioning reference points of the feeding tray, imports the CAD drawing of the feeding tray into the host computer system, maps the preset feeding position of the assembly device on the feeding tray from the drawing coordinate system to the equipment base coordinate system as the assembly device positioning detection position through the corresponding relationship between the feeding tray drawing positioning reference points and the actual positioning reference points of the feeding tray.

4. The process of claim 1, wherein, The S5 comprises: The driving adsorption system moves to the feeding area, so that the center of the top camera is aligned with the preset detection position of the assembled device mapped by the CAD drawing, the top camera detects the positioning of the assembled device, the host computer system detects the interest points on the assembled device, in the pixel coordinate system, the actual center point pixel position of the assembled device is calculated by using the pixel position of the interest points on the assembled device, and then according to the hand-eye relationship between the top camera and the adsorption system, the position deviation of the actual center point of the assembled device in the equipment base coordinate system and the preset detection position of the assembled device is calculated, and the position deviation is compensated to the adsorption process, so that the adsorption position is obtained.

5. The antenna thin-wall component adaptive assembly process method according to claim 1, characterized in that, The S7 comprises: The adsorption mechanism comprises a left suction nozzle and a right suction nozzle, the driving adsorption system moves to the visual detection area, so that the center of the bottom camera is aligned with the preset visual detection center of the left suction nozzle, the bottom camera detects the positioning of the assembled device on the adsorbed left suction nozzle, the host computer system detects the interest points on the assembled device on the left suction nozzle, in the pixel coordinate system, the center point pixel position and the direction vector of the assembled device on the left suction nozzle are calculated by using the pixel position of the interest points, according to the hand-eye relationship between the bottom camera and the adsorption system, the assembly direction deviation and the assembly position deviation of the assembled device on the left suction nozzle and the product in the adsorption process in the equipment base coordinate system are calculated, the left suction nozzle is driven to rotate, the direction of the assembled device on the left suction nozzle is adjusted, the assembly direction deviation is corrected, the assembly position deviation is compensated to the assembly process, the assembly position deviation is corrected, and for the right suction nozzle, the process is repeated to correct the assembly direction deviation and the assembly position deviation of the assembled device on the right suction nozzle and the product.

6. The process of claim 5, wherein the process further comprises: The S7 further comprises: The points of interest for the assembled components are the midpoints of the first and second rectangular edges of the rectangles formed by the components. In the pixel coordinate system, the minimum bounding rectangle of the assembled components is obtained through Blob analysis. Using the parameters of the minimum bounding rectangle, the four rounded corners and top and bottom protrusions that interfere with the measurement of the rectangle are masked. The minimum bounding rectangle of the remaining area is then obtained through Blob analysis. The parameters of this rectangle are used as the initial data for caliper measurement of the rectangle. The pixel coordinates of the midpoint of the first rectangular edge are then measured using calipers. Pixel coordinates of the midpoint of the second rectangle's edge ,Pass The perpendicular line to the first rectangle's side and passing through The intersection of the perpendicular lines of the rectangle's sides is the pixel coordinate of the actual center point of the assembled component. The positional deviation is Center of the camera's crosshairs The deviation between them, the directional deviation is excessive The angle between the perpendicular line to the first rectangle's edge and the horizontal line of the camera's crosshairs, with the positional deviation, is given by the following formula: In the formula , is the assembly position deviation of the assembly device and the product in the device coordinate system caused by the adsorption process, is the hand-eye relationship matrix of the bottom camera and the adsorption system.

7. The process of claim 5, wherein the process further comprises: When a new suction nozzle is installed, the driving adsorption system moves to the visual detection area, so that the center of the bottom camera is aligned with the last preset visual detection center of the left suction nozzle, the bottom camera detects the position deviation between the center of the newly installed left suction nozzle and the last preset visual detection center of the left suction nozzle, the position deviation generated in the installation process is corrected, the new visual detection center of the left suction nozzle is obtained, and for the right suction nozzle, the process is repeated to obtain the new visual detection center of the right suction nozzle.

8. The process of claim 6, wherein the process further comprises: The S9 comprises: The driving adsorption system moves to the assembly area, so that the center of the top camera is aligned with the product positioning detection position mapped by the CAD drawing, the top camera detects the positioning of the product, the host computer system detects the interest points on the product, in the pixel coordinate system, the actual center point pixel position of the assembly position is calculated by using the pixel position of the interest points, and then according to the hand-eye relationship between the top camera and the adsorption system, the position deviation of the actual center point of the product in the equipment base coordinate system and the preset detection position of the product is calculated, and the position deviation is compensated to the assembly process, so that the assembly position is obtained.

9. The process of claim 8, wherein the process further comprises, The S9 further comprises: The interest point of the product groove is the center of the circle of the two threaded blind holes, in the pixel coordinate system, the edge of the boss of the two threaded blind holes is obtained by the Sobel edge detection operator, the center of the incircle of the boss edge and the radius minus a certain value are taken as the initial data of the caliper measuring circle, the pixel coordinates of the centers of the two threaded blind holes are measured by the caliper measuring tool , , and The center of the connecting line is the actual center point pixel coordinate of the assembly position , the position deviation is The deviation between the cross line center of the camera and the center of the connecting line , the position deviation is as follows: In the formula , is the position deviation of the actual center point of the product assembly position in the device base coordinate system from the preset value; The assembly position deviation is compensated according to the following formula: In the formula is the assembly position after the assembly device adsorption process position deviation compensation and product positioning position deviation compensation, is the assembly position preset by the CAD drawing.

10. The process of claim 5, wherein the process further comprises: The S11 comprises: When the assembly task is to assemble one assembly part for each of the left and right suction nozzles, the assembly part is assembled when the preset assembly stroke is reached, and if the pressure value during the assembly process exceeds the preset value, the adsorption system stops the current assembly process, and S7 and S9 are repeated to re-identify the position of the assembly part in the adsorption and the position of the product for assembly, and the assembly is performed again. When the assembly task is to simultaneously assemble one assembly part for the left and right suction nozzles, the two suction nozzles are adjusted to satisfy , wherein is the pressure value of the left suction nozzle during the assembly process, is the pressure value of the right suction nozzle during the assembly process, is the allowable left-right pressure deviation, and the assembly part is assembled when the preset assembly stroke is reached, and if the pressure value during the assembly process exceeds the preset value, i.e. , wherein represents logical OR, the adsorption system stops the current assembly process, and S7 and S9 are repeated to re-identify the position of the assembly part in the adsorption and the position of the product for assembly, and the assembly is performed again.

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