An adaptive assembly process method for an antenna thin-wall part

Abstract

The application discloses an antenna thin-wall part adaptive assembly process method, comprising the following steps: obtaining a product positioning detection position; obtaining an assembly device positioning detection position; adjusting a suction nozzle spacing; obtaining a suction position; sucking the assembly device; judging whether a new suction nozzle is replaced, if yes, obtaining a new bottom camera vision detection position, if not, the bottom camera performs vision detection on the sucked assembly device, and the positioning relationship between the product and the assembly device is corrected; performing vision detection on the product to obtain an assembly position; the suction mechanism moves to the assembly position, and the assembly device is assembled into the product; judging whether the assembly process pressure value exceeds a preset value, if yes, adaptive adjustment of the assembly process is performed, if the adaptive adjustment is unsuccessful, the suction mechanism moves to a material throwing area to throw the material; the application has the advantages that product deformation and damage caused by excessive assembly pressure are avoided, and assembly stability and assembly precision are improved.

Description

Technical Field

[0001] This invention relates to the field of high-precision automated assembly, and more specifically to an adaptive assembly process method for thin-walled antenna components. Background Technology

[0002] During the assembly of thin-walled antenna components, the component needs to be precisely embedded into the groove of the product. For high-precision automated assembly, Chinese Patent Publication No. CN114141392A proposes a three-cone structure laser fusion ignition target, assembly device, and assembly method. A vacuum adsorption device is used to assemble the cones into the mounting holes, and an alignment device is used to adjust and align the coaxiality of multiple cones, improving the assembly accuracy and efficiency of the laser fusion ignition target. Chinese Patent Publication No. CN118801190A proposes a vision-guided arrayed vertical blind-mating connector assembly system and method. An industrial camera is used to photograph and identify the socket hole positions, guiding the insertion module to complete the individual connector insertion, and a vision algorithm is used for insertion quality inspection. However, existing component assembly processes or methods have several problems: (1) The conventional assembly process only judges whether the assembly is completed by whether the end effector moves a preset distance. It lacks real-time monitoring of assembly pressure. Excessive assembly pressure will cause certain damage to the product. (2) Conventional adsorption mechanisms are prone to causing parts to tilt or shift during the adsorption process, which may lead to the risk that each contact position does not enter the assembly position synchronously, affecting the stability of the assembly process. (3) The adsorption is unstable during the conventional assembly process, resulting in unreliable positioning. After adsorbing the assembly parts, they are directly moved to the preset assembly position, which cannot ensure accurate alignment of the product groove and affects the assembly accuracy. Summary of the Invention

[0003] The technical problem to be solved by this invention is that the existing component assembly process lacks real-time monitoring of assembly pressure, which causes certain damage to the product and results in insufficient assembly stability and accuracy.

[0004] This invention solves the above-mentioned technical problems through the following technical means: an adaptive assembly process method for thin-walled antenna components, comprising: S1. The product is transported to the working position and positioned. S2. Obtain the product positioning and detection location; S3. Obtain the positioning and detection positions of the assembled components; S4. Adjust the nozzle spacing according to the assembly component spacing and assembly task; S5. The top camera moves to the assembly component positioning and detection position, performs visual inspection of the assembly component, and obtains the adsorption position; S6. The adsorption mechanism moves to the adsorption position to adsorb the assembled device. During the adsorption process, negative pressure detection is performed to ensure that the adsorption state is normal. Determine whether a new suction nozzle has been replaced. If yes, proceed to S8; otherwise, proceed to S7. S7. The bottom camera performs visual inspection on the assembled parts after adsorption, and corrects the positioning relationship between the product and the assembled parts. S8. Obtain the new bottom camera visual detection position; S9. The top camera moves to the product positioning and detection position to perform visual inspection of the product and obtain the assembly position; S10: The adsorption mechanism moves to the assembly position and loads the assembly components into the product; it is determined whether the pressure value during the assembly process exceeds the preset value. If yes, proceed to S11; if no, it is determined whether the assembly of all assembly positions has been completed. If yes, the assembly is completed and the product is sent out; if no, return to S5. S11. Perform adaptive adjustment of the assembly process and determine whether the adaptive adjustment is successful. If the adaptive adjustment is successful, determine whether the assembly of all assembly positions is completed. If yes, the assembly is completed and the product is sent out. If no, return to S5. If the adaptive adjustment is unsuccessful, the adsorption mechanism moves to the throwing area to throw the material, and then returns to execute S6.

[0005] The invention monitors whether the pressure value during assembly exceeds a preset value. If so, the assembly process is adaptively adjusted; if the adaptive adjustment fails, a material ejection operation is performed to avoid product deformation and damage due to excessive assembly pressure. A top camera identifies the position of the product and assembly components, while a bottom front camera corrects the orientation and positional relationship between the assembly components and the product after adsorption. Through precise positioning by the vision system, assembly process parameters are adjusted and recorded, effectively improving assembly accuracy and stability, while also facilitating the traceability of assembly information.

[0006] Further, S2 includes: The host computer system of the operating equipment identifies two points of interest on the product and drives the top camera on the adsorption system to move so that the center of the top camera is aligned with the points of interest on the product. The two points of interest on the product are recorded as the actual positioning reference points of the product. The CAD drawings of the product are imported into the host computer system. Through the correspondence between the positioning reference points on the product drawings and the actual positioning reference points of the product, the preset installation position of the product is mapped from the coordinate system of the drawings to the base coordinate system of the equipment as the product positioning detection position.

[0007] Further, S3 includes: The host computer system of the operating equipment identifies two points of interest on the feeding tray and 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 points of interest are located on the feeding tray. The two points of interest on the feeding tray are recorded as the actual positioning reference points of the feeding tray. The CAD drawing of the feeding tray is imported into the host computer system. By using the correspondence between the positioning reference points on the feeding tray drawing and the actual positioning reference points on the feeding tray, the preset feeding position of the assembly parts on the feeding tray is mapped from the drawing coordinate system to the equipment base coordinate system, which serves as the positioning and detection position of the assembly parts.

[0008] Further, S5 includes: The drive adsorption system moves to the feeding area, aligning the center of the top camera with the preset detection position of the assembly part mapped from the CAD drawing. The top camera performs positioning detection on the assembly part, and the host computer system 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 on the assembly part. Then, based on the hand-eye relationship between the top camera and the adsorption system, 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. The positional deviation is compensated for in the adsorption process to obtain the adsorption position.

[0009] Further, S7 includes: The adsorption mechanism includes a left suction nozzle and a right suction nozzle. The adsorption system is driven to move to the visual inspection area, aligning the center of the bottom camera with the preset visual inspection center of the left suction nozzle. The bottom camera performs positioning detection on the assembled component on the adsorbed left suction nozzle. The host computer detects the point of interest on the assembled component on the left suction nozzle. In the pixel coordinate system, the pixel position and direction vector of the center point of the assembled component on the left suction nozzle are calculated using the pixel position of the point of interest. Based on the hand-eye relationship between the bottom camera and the adsorption system, the assembly direction deviation and assembly position deviation between the assembled component on the left suction nozzle and the product in the device base coordinate system caused by the adsorption process are calculated. The left suction nozzle is then driven to rotate, adjusting the orientation of the assembled component on the left suction nozzle to correct the assembly direction deviation. The assembly position deviation is compensated for during the assembly process, and the assembly position deviation is corrected. This process is repeated for the right suction nozzle to correct the assembly direction deviation and assembly position deviation between the assembled component on the right suction nozzle and the product.

[0010] Furthermore, S7 also includes: 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:

[0011] In the formula , This refers to the deviation in the assembly position of the assembled components and the product in the equipment base coordinate system caused during the adsorption process. This is the hand-eye relationship matrix between the bottom camera and the adsorption system.

[0012] Furthermore, after a new nozzle is installed, the drive adsorption system moves to the visual inspection area, so that the center of the bottom camera is aligned with the previously preset visual inspection center of the left nozzle. The bottom camera detects the positional deviation between the center of the newly installed left nozzle and the previously preset visual inspection center of the left nozzle, corrects the positional deviation caused during the installation process, and obtains a new visual inspection center for the left nozzle. For the right nozzle, this process is repeated to obtain a new visual inspection center for the right nozzle.

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

[0014] Furthermore, S9 also includes: The points of interest for the product's groove are the centers of the two central threaded blind holes. In the pixel coordinate system, the edges of the bosses of the two central threaded blind holes are obtained using the Sobel edge detection operator. The initial data for measuring the circles is obtained by subtracting a certain value from the center and radius of the inscribed circle of the boss edge. The pixel coordinates of the centers of the two threaded blind holes are then measured using calipers. , , and The center of the line is the pixel coordinate of the actual center point of the assembly position. The positional deviation is Center of the camera's crosshairs The deviation between them, the positional deviation is as follows:

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

[0016] In the formula The assembly position is the result of position deviation compensation during the adsorption process of the assembly components and position deviation compensation for the product positioning. The assembly positions are preset based on CAD drawings.

[0017] Furthermore, S11 includes: When the assembly task involves assembling one component each with the left and right suction nozzles, the assembly is complete when the preset assembly stroke is reached. If the pressure value during assembly exceeds the preset value, the adsorption system stops the current assembly process, repeats steps S7 and S9, re-identifies the adsorption position of the component and the product assembly position, and performs assembly again. When the assembly task involves assembling one component simultaneously with both the left and right suction nozzles, the two nozzles are adjusted during the assembly process to meet the requirements. In the formula This represents the pressure value of the left suction nozzle during assembly. This refers to the pressure value of the right suction nozzle during assembly. To allow for a certain degree of lateral pressure deviation, the assembly of the component is completed when the preset assembly stroke is reached. If the pressure value during the assembly process exceeds the preset value, then... In the formula This indicates a logical OR operation. The adsorption system stops the current assembly process, repeats S7 and S9, re-identifies the adsorption position of the assembly device and the product assembly position, and performs assembly again.

[0018] The advantages of this invention are: (1) Whether the pressure value during the assembly process of this invention exceeds the preset value. If so, the assembly process will be adaptively adjusted. If the adaptive adjustment fails, a material throwing operation will be performed to avoid product deformation and damage due to excessive assembly pressure. The top camera is used to identify the position of the product and the assembly components, and the bottom positive camera is used to correct the orientation and positional relationship between the assembly components and the product after adsorption. Through the precise positioning of the vision system, the assembly process parameters are adjusted and recorded, which effectively improves the accuracy and stability of the assembly and facilitates the traceability of assembly information.

[0019] (2) The present invention is equipped with a customized suction nozzle. The suction nozzle is customized according to the shape of the assembly device to ensure the flatness during the adsorption process, ensure that the assembly device is installed in the groove at the same time, avoid tilting or offset, and eliminate the hidden danger of different contact positions not being in place at the same time during the assembly process. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the equipment structure in an adaptive assembly process method for thin-walled antenna components disclosed in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the equipment in an adaptive assembly process method for thin-walled antenna components disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the adsorption system structure in an adaptive assembly process for thin-walled antenna components disclosed in an embodiment of the present invention; Figure 4 This is a flowchart of an adaptive assembly process method for thin-walled antenna components disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of coordinate affine transformation in an adaptive assembly process method for thin-walled antenna components disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of the assembly device positioning process in an adaptive assembly process method for thin-walled antenna components disclosed in an embodiment of the present invention; Figure 7 This is a schematic diagram of the process for correcting the orientation and positional relationship between the assembly components and the product in an adaptive assembly process method for thin-walled antenna components disclosed in an embodiment of the present invention. Figure 8 This is a schematic diagram of the product positioning process in an adaptive assembly process for thin-walled antenna components disclosed in an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figure 1 As shown, this embodiment provides an adaptive assembly process method for thin-walled antenna components, applied to an adaptive assembly equipment for thin-walled antenna components. This equipment includes a host computer system 1, a touch screen system 2, an XYZ three-axis gantry system 3, an adsorption system 4, a vision positioning system 5, a material feeding and throwing system 6, and a conveying and positioning system 7. The host computer system 1 is communicatively connected to the touch screen system 2, the XYZ three-axis gantry system 3, the adsorption system 4, the vision positioning system 5, the material feeding and throwing system 6, and the conveying and positioning system 7.

[0023] like Figure 1 As shown, the host computer system 1 enables corresponding control outputs to the device, and the touch screen system 2 enables a simple human-computer interaction interface display.

[0024] like Figure 2 As shown, the XYZ three-axis gantry system 3 enables the adsorption system 4 to move precisely in the feeding area, throwing area, visual inspection area, and assembly area.

[0025] like Figure 3 As shown, the adsorption system 4 includes left and right suction nozzles 41, a nozzle spacing adjustment system 42, and a left and right suction nozzle shaft lifting and rotation system 43. The left and right suction nozzles 41 are customized according to the shape of the assembled components and have internal buffer devices connected to a vacuum generator to achieve adsorption of the assembled components. The nozzle spacing adjustment system 42 adjusts the spacing between the left and right suction nozzles to meet the assembly requirements of different types of assembled components. The nozzle shaft lifting and rotation system 43 enables individual lifting and rotation of the nozzles to adjust the position of the assembled components. Both the nozzle spacing adjustment system 42 and the left and right suction nozzle shaft lifting and rotation system 43 are existing technologies; for example, a variable-spacing multi-nozzle suction head disclosed in Chinese Patent Publication No. CN111071790A can be used to achieve nozzle spacing adjustment. The left and right suction nozzle shaft lifting and rotation system is a mature technology used in SMT placement machines, controlling lifting via a stepper motor and belt drive, and controlling rotation via a hollow shaft stepper motor.

[0026] like 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 acquires images of the product and assembly components at a predetermined assembly position, and uses a visual detection algorithm to achieve precise positioning of the assembly position. The adsorption system 4 adsorbs the assembly components and moves above the bottom camera 51, acquiring images of the adsorbed assembly components to correct the positioning relationship between the assembly components and the product.

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

[0028] like Figure 2 As shown, the conveying and positioning system 7 includes a conveyor line system 71 and a positioning fixture system 72. The conveyor line system 71 realizes automatic product conveying. The positioning fixture system 72 uses cylinder lifting to achieve fixture positioning, and the fixture clamps and positions the product.

[0029] like Figure 4 As shown, the adaptive assembly method for thin-walled antenna components is performed according to the following steps: S1: The product is placed in the conveying and positioning system 7, conveyed to the working position, and positioned; S2: The host computer system 1 identifies the two most suitable points of interest on the product, drives the top camera 52 on the adsorption system 4 to move to the appropriate position, aligning the center of the top camera 52 with the product's points of interest, and records the two points of interest as the product's actual positioning reference points. The host computer system 1 imports the product's CAD drawing, and through the correspondence between the product drawing's positioning reference points and the actual positioning reference points, maps the product's preset installation position from the drawing coordinate system to the equipment's base coordinate system, providing a preset detection position for subsequent precise product positioning. The specific process is as follows: like Figure 5 As shown, the left side is a product drawing, and the right side is an image of the actual product. The two points of interest on the product are the top left corners of the product outline. and the bottom right corner This serves as the actual positioning reference point for the product, specifically the upper left corner of the product's outline in the drawing. and the bottom right corner This serves as a reference point for locating product drawings. , and , The mapping relationship between them 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 using this formula.

[0031] Using affine transformation matrix Obtain the preset installation position in the drawing. Coordinates in the device base coordinate system The transformation relationship is as follows:

[0032] Z-axis coordinate This was obtained through teaching the host computer system 1 of the operating equipment. This will serve as the visual inspection location for the installation position, which is also the product positioning inspection location.

[0033] S3: The host computer system 1 of the operating equipment identifies the two most suitable points of interest on the feeding tray 61, 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 points of interest on the feeding tray, records the two points of interest as the actual positioning reference points of the feeding tray, imports the CAD drawing of the feeding tray into the host computer system, and maps the preset feeding position of the assembly parts on the feeding tray from the drawing coordinate system to the equipment base coordinate system through the correspondence between the positioning reference points of the feeding tray drawing and the actual positioning reference points of the feeding tray, so as to provide preset detection positions for the subsequent precise positioning of the assembly parts; The two points of interest on the feed tray 61 are the upper left corners of the feed tray 61 outline. and the bottom right corner This is the actual positioning reference point for the feeding tray, located at the upper left corner of the outline of the feeding tray 61 in the drawing. and the bottom right corner The reference point for locating the material feeding tray is shown in the drawing. , and , The mapping relationship between them is as follows:

[0034] In the formula The affine transformation matrix from the feed tray drawing coordinate system to the equipment base coordinate system can be calculated and solved using this formula.

[0035] Using affine transformation matrix Obtain the preset installation position in the drawing. Coordinates in the device base coordinate system The transformation relationship is as follows:

[0036] Z-axis coordinate 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 Z-axis height is obtained through teaching the device to the host computer system 1. That is, through manual teaching, the host computer system is manually operated to move the device's end to a suitable adsorption position, and the Z-axis coordinate at this point is recorded in the system as the Z-axis height of the adsorption position. In practical applications, the Z-axis height can also be directly given based on pre-measured results.

[0039] S6: The nozzle shaft lifting and rotating system 43 drives the left and right nozzles 41 to descend to the compensated adsorption position. The left and right nozzles 41 adsorb the assembly components. The buffer device inside the left and right nozzles 41 can effectively relieve pressure during the adsorption and placement process to prevent damage to the components. The negative pressure detection of the left and right nozzles 41 is carried out throughout the adsorption process. If the detection is abnormal, the adsorption will be restarted to ensure that the left and right nozzles 41 successfully adsorb the assembly components and prevent adsorption failure, midway falling and other situations from affecting the assembly.

[0040] S7: The drive adsorption system 4 moves to the visual inspection area, aligning the center of the bottom camera 51 with the preset visual inspection center of the left suction nozzle 411. This visual inspection center is obtained through teaching the device to the host computer system 1, i.e., through manual teaching. The host computer system is manually operated to move the device's end to the appropriate detection position of the bottom camera 51, and this position is recorded in the system. During subsequent device operation, when the bottom camera inspection step is reached, the device will automatically move its end to this position for positioning detection; this is a pre-defined position. In practical applications, the visual inspection center can be pre-defined. The bottom camera 51 performs positioning detection on the assembled component on the left suction nozzle 411, which is being adsorbed. The host computer system 1 detects the points of interest on the assembled component on the left suction nozzle 411. In the pixel coordinate system, the pixel position and direction vector of the center point of the assembled component on the left suction nozzle 411 are calculated using the pixel position of the points of interest. Based on 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 component on the left suction nozzle 411 relative to the product in the equipment base coordinate system caused by the adsorption process are calculated. The left suction nozzle 411 is rotated by the left suction nozzle shaft rotation and lifting system 43 to adjust the orientation of the assembled component on the left suction nozzle 411, correcting the assembly direction deviation and the assembly position deviation. The assembly position deviation is compensated and corrected during the assembly process. This process is repeated for the right suction nozzle 412 to correct the assembly direction deviation and assembly position deviation of the assembled component on the right suction nozzle 412 relative to the product. The specific process is as follows: like Figure 7 As shown, label 103 represents the first rectangular edge, label 104 the second rectangular edge, label 105 the mask area, and label 106 the directional deviation. The point of interest for assembling the device is the midpoint of the first rectangular edge and the midpoint of the second rectangular edge (from...). Figure 7As can be seen, after removing the two protrusions and four rounded corners that need to be masked, the outer contour of the assembled component is a rectangle. The edges of the first and second rectangles are the long and short sides of this rectangular contour. In the pixel coordinate system, the minimum bounding rectangle of the assembled component is obtained through Blob analysis. Using the parameters of this 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 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 rectangle's edge are accurately measured using a caliper measuring tool. 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:

[0041] In the formula , This refers to the deviation in the assembly position of the assembled components and the product in the equipment base coordinate system caused during the adsorption process. The hand-eye relationship matrix between the bottom camera 51 and the adsorption system 4 is used to transform the pixel coordinate difference into the actual difference in the device base coordinate system.

[0042] S8: Since the suction nozzle 41 is a consumable and needs to be replaced regularly, after a new suction nozzle is installed, the drive adsorption system 4 is moved to the visual inspection area so that the center of the bottom camera 51 is aligned with the previously preset visual inspection center of the left suction nozzle 411. The bottom camera 51 detects the positional deviation between the center of the newly installed left suction nozzle 411 and the previously preset visual inspection center of the left suction nozzle 411, and corrects the positional deviation that occurred during the installation process. That is, the center of the newly installed left suction nozzle 411 is adjusted to the position of the previously preset visual inspection center of the left suction nozzle 411, and a new visual inspection center of the left suction nozzle 411 is obtained. For the right suction nozzle 412, this process is repeated to obtain a new visual inspection center of the right suction nozzle 412, ensuring the accuracy of visual positioning detection.

[0043] S9: The drive adsorption system 4 moves to the assembly area, aligning the center of the top camera 52 with the preset detection position of the product obtained from the CAD drawing, i.e., the product positioning detection position. The top camera 52 performs positioning detection on the product, and the host computer system 1 detects the points of interest on the product. In the pixel coordinate system, the pixel position of the actual center point of the assembly position 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 product and the preset detection position of the product in the equipment base coordinate system is calculated, and the positional deviation is compensated for in the assembly process. The specific process is as follows: like Figure 8 As shown, label 107 represents a boss, label 108 represents the inscribed circle of the boss, label 109 represents a threaded blind hole, and label 110 represents a groove. The point of interest for the groove is the center of the two central threaded blind holes. In the pixel coordinate system, the edges of the two central bosses are obtained using the Sobel edge detection operator. The initial data for measuring the circle using calipers is obtained by subtracting a certain value from the center and radius of the inscribed circle of the boss edge. The pixel coordinates of the center of the threaded blind hole are then accurately measured using calipers. , , and The center of the line is the pixel coordinate of the actual center point of the assembly position. The positional deviation is Center of the camera's crosshairs The deviation between them, the positional deviation is as follows:

[0044] In the formula , This refers to the positional deviation between the actual center point of the product assembly location and the preset value in the equipment's base coordinate system.

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

[0046] In the formula The assembly position is the result of position deviation compensation during the adsorption process of the assembly components and position deviation compensation for the product positioning. The assembly positions are preset according to the CAD drawings. This was obtained through instruction from the host computer system 1 of the operating equipment.

[0047] S10: The left suction nozzle 411 moves to the compensated assembly position and is driven by the left suction nozzle shaft lifting and rotating system 43 to descend to the assembly position, embedding the assembly device into the groove of the product. This process is repeated for the right suction nozzle 412.

[0048] S11: Pressure sensors are axially arranged on the left and right suction nozzles 41. The assembly control method includes both force control and stroke control. When the assembly task is to assemble one assembly component on each of the left and right suction nozzles 41, the assembly is completed when the preset assembly stroke is reached. If the pressure value during the assembly process exceeds the preset value, that is:

[0049] In the formula This refers to the pressure value of the suction nozzle used in the current assembly process. This is the preset pressure threshold for the assembly process.

[0050] The adsorption system 4 stops the current assembly process to avoid product deformation and damage, and performs an adaptive adjustment process, repeating S7 and S9 to re-identify the adsorption position of the assembly device and the product assembly position, and then performs assembly again. When the assembly task is for the left and right suction nozzles 41 to assemble one assembly device simultaneously, the assembly pressure of the left and right suction nozzles 41 is maintained throughout the assembly process by adjusting the individual lifting and lowering of the axes of the left and right suction nozzles 411, satisfying the following formula:

[0051] In the formula This refers to the pressure value of the left suction nozzle 411 during assembly. This refers to the pressure value of the right suction nozzle 412 during assembly. Allowable left and right pressure deviation.

[0052] When the preset assembly stroke is reached, the assembly of the components is complete. If the pressure value during the assembly process exceeds the preset value, that is:

[0053] In the formula This indicates a logical OR.

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

[0055] S12: In the adaptively adjusted assembly process, if the pressure value of the assembly process exceeds the preset value, the adsorption system 4 stops the assembly process to avoid product deformation and damage. The adsorption system 4 is driven to move above the throwing box 62 to throw the material, and the assembly position is recorded in the host computer system 1 for subsequent manual processing. S13: Repeat S5-S7, S9-S12. After all assembly work of the components is completed at all assembly positions of the product, the conveyor line 71 sends the product out, and the adaptive assembly of the antenna thin-walled components is completed.

[0056] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 invention.

Claims

1. An adaptive assembly process for thin-walled antenna components, characterized in that, include: S1. The product is transported to the working position and positioned. S2. Obtain the product positioning and detection location; S3. Obtain the positioning and detection positions of the assembled components; S4. Adjust the nozzle spacing according to the assembly component spacing and assembly task; S5. The top camera moves to the assembly component positioning and detection position, performs visual inspection of the assembly component, and obtains the adsorption position; S6. The adsorption mechanism moves to the adsorption position to adsorb the assembled device. During the adsorption process, negative pressure detection is performed to ensure that the adsorption state is normal. Determine whether a new suction nozzle has been replaced. If yes, proceed to S8; otherwise, proceed to S7. S7. The bottom camera performs visual inspection on the assembled components after adsorption, and corrects the positioning relationship between the product and the assembled components; S7 includes: The adsorption mechanism includes a left suction nozzle and a right suction nozzle. The adsorption system is driven to move to the visual inspection area, so that the center of the bottom camera is aligned with the preset visual inspection center of the left suction nozzle. The bottom camera performs positioning detection on the assembled parts on the adsorbed left suction nozzle. The host computer system detects the points of interest on the assembled parts on the left suction nozzle. In the pixel coordinate system, the pixel position and direction vector of the center point of the assembled parts on the left suction nozzle are calculated using the pixel position of the points of interest. Based on the hand-eye relationship between the bottom camera and the adsorption system, the assembly direction deviation and assembly position deviation of the assembled parts on the left suction nozzle and the product in the device base coordinate system caused by the adsorption process are calculated. The left suction nozzle is driven to rotate to adjust the direction of the assembled parts on the left suction nozzle and correct the assembly direction deviation. The assembly position deviation is compensated to the assembly process and corrected. For the right suction nozzle, this process is repeated to correct the assembly direction deviation and assembly position deviation of the assembled parts on the right suction nozzle and the product. S8. Obtain the new bottom camera visual detection position; S9. The top camera moves to the product positioning and detection position to perform visual inspection of the product and obtain the assembly position; S10: The adsorption mechanism moves to the assembly position and loads the assembly components into the product; it is determined whether the pressure value during the assembly process exceeds the preset value. If yes, proceed to S11; if no, it is determined whether the assembly of all assembly positions has been completed. If yes, the assembly is completed and the product is sent out; if no, return to S5. S11. Perform adaptive adjustment of the assembly process, and determine whether the adaptive adjustment is successful. If the adaptive adjustment is successful, determine whether the assembly of all assembly positions is completed. If yes, the assembly is completed and the product is sent out. If no, return to S5. If the adaptive adjustment is unsuccessful, the adsorption mechanism moves to the material throwing area to throw the material, and then returns to execute S6. S11 includes: When the assembly task involves assembling one component each with the left and right suction nozzles, the assembly is complete when the preset assembly stroke is reached. If the pressure value during assembly exceeds the preset value, the adsorption system stops the current assembly process, repeats steps S7 and S9, re-identifies the adsorption position of the component and the product assembly position, and performs assembly again. When the assembly task involves assembling one component simultaneously with both the left and right suction nozzles, the two nozzles are adjusted during the assembly process to meet the requirements. In the formula This represents the pressure value of the left suction nozzle during assembly. This refers to the pressure value of the right suction nozzle during assembly. To allow for a certain degree of lateral pressure deviation, the assembly of the component is completed when the preset assembly stroke is reached. If the pressure value during the assembly process exceeds the preset value, then... In the formula This indicates a logical OR operation. The adsorption system stops the current assembly process, repeats S7 and S9, re-identifies the adsorption position of the assembly device and the product assembly position, and performs assembly again.

2. The adaptive assembly process method for thin-walled antenna components according to claim 1, characterized in that, S2 includes: The host computer system of the operating equipment identifies two points of interest on the product and drives the top camera on the adsorption system to move so that the center of the top camera is aligned with the points of interest on the product. The two points of interest on the product are recorded as the actual positioning reference points of the product. The CAD drawings of the product are imported into the host computer system. Through the correspondence between the positioning reference points on the product drawings and the actual positioning reference points of the product, the preset installation position of the product is mapped from the coordinate system of the drawings to the base coordinate system of the equipment as the product positioning detection position.

3. The adaptive assembly process method for thin-walled antenna components according to claim 1, characterized in that, S3 includes: The host computer system of the operating equipment identifies two points of interest on the feeding tray and 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 points of interest are located on the feeding tray. The two points of interest on the feeding tray are recorded as the actual positioning reference points of the feeding tray. The CAD drawing of the feeding tray is imported into the host computer system. By using the correspondence between the positioning reference points on the feeding tray drawing and the actual positioning reference points on the feeding tray, the preset feeding position of the assembly parts on the feeding tray is mapped from the drawing coordinate system to the equipment base coordinate system, which serves as the positioning and detection position of the assembly parts.

4. The adaptive assembly process method for thin-walled antenna components according to claim 1, characterized in that, S5 includes: The drive adsorption system moves to the feeding area, aligning the center of the top camera with the preset detection position of the assembly part mapped from the CAD drawing. The top camera performs positioning detection on the assembly part, and the host computer system 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 on the assembly part. Then, based on the hand-eye relationship between the top camera and the adsorption system, 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. The positional deviation is compensated for in the adsorption process to obtain the adsorption position.

5. The adaptive assembly process method for thin-walled antenna components according to claim 1, characterized in that, The S7 also includes: 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 , This refers to the deviation in the assembly position of the assembled components and the product in the equipment's base coordinate system caused during the adsorption process. This is the hand-eye relationship matrix between the bottom camera and the adsorption system.

6. The adaptive assembly process method for thin-walled antenna components according to claim 1, characterized in that, After a new nozzle is installed, the drive adsorption system moves to the visual inspection area, aligning the center of the bottom camera with the previously preset visual inspection center of the left nozzle. The bottom camera detects the positional deviation between the center of the newly installed left nozzle and the previously preset visual inspection center of the left nozzle, corrects the positional deviation that occurred during the installation process, and obtains a new visual inspection center for the left nozzle. For the right nozzle, this process is repeated to obtain a new visual inspection center for the right nozzle.

7. The adaptive assembly process method for thin-walled antenna components according to claim 5, characterized in that, S9 includes: The adsorption system is moved to the assembly area, so that the center of the top camera is aligned with the product positioning and detection position obtained by mapping from the CAD drawing. The top camera performs positioning and detection on the product, and the host computer system detects the points of interest on the product. In the pixel coordinate system, the pixel position of the actual center point of the assembly position is calculated using the pixel position of the points of interest. Then, based on the hand-eye relationship between the top camera and the adsorption system, the positional deviation between the actual center point of the product and the preset detection position of the product in the equipment base coordinate system is calculated. The positional deviation is compensated for in the assembly process to obtain the assembly position.

8. The adaptive assembly process method for thin-walled antenna components according to claim 7, characterized in that, S9 further includes: The points of interest for the product's groove are the centers of the two central threaded blind holes. In the pixel coordinate system, the edges of the bosses of the two central threaded blind holes are obtained using the Sobel edge detection operator. The initial data for measuring the circles is obtained by subtracting a certain value from the center and radius of the inscribed circle of the boss edge. The pixel coordinates of the centers of the two threaded blind holes are then measured using calipers. , , and The center of the line is the pixel coordinate of the actual center point of the assembly position. The positional deviation is Center of the camera's crosshairs The deviation between them, the positional deviation is as follows: In the formula , This represents the positional deviation between the actual center point of the product assembly location and the preset value in the equipment's base coordinate system. The hand-eye relationship matrix between the top camera and the adsorption system; Assembly position deviation compensation is as follows: In the formula The assembly position is the result of position deviation compensation during the adsorption process of the assembly components and position deviation compensation for the product positioning. The assembly positions are preset based on CAD drawings.

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