自动旋铆安装系统设计
|
摘要
车载CD机是现代汽车的一个重要设备。CD机内部的铆钉、铆柱和固定轴等零件是帮助实现CD机内部零部件运动的重要部分,具有零件数量多,品种复杂,安装精度要求高的特点。需要通过旋铆完成同壳体的装配过程,目前一般采用手工的装配方式。因工人易疲劳,生产效率低下,装配质量难以保证。鉴于此,本文提出自动旋铆组装的系统,以期能避免人工操作,实现自动化生产,具有实际应用价值。
本文设计了自动旋铆的工艺流程,完成相关硬件和控制软件的设计。主要完成工作如下：
(1)提出设计方案。设计机械手结构,用PRO/E建模,对运动参数、驱动与传动方式进行了讨论。并对现有的设备提出了改进意见。
(2)自动控制的实现。孔与轴之间的位置运动是由XY数控平台实现的。利用LabVIEW的NI-Motion模块实现按预定运动轨迹自动控制。
(3)基于机器视觉系统的定位。CD机壳的形状很规则,可看成一个整体,可忽略孔与孔之间的距离误差,但装夹误差不能忽略。为定位精准,需要对CD机壳的关键顶点进行位置检测,在此应用机器视觉技术。通过机器视觉系统的处理得到的是一个平移量和一个角度旋转量。将获得的结果转化为实际的量值补偿到电机控制过程当中,实现了自动定位控制过程。
CD player is an important device in every vehicle nowadays. The rivets and axes for fixing inside the Player are play an very important part in the perfonnance of the player. There are so many different parts in the body. The quantity is large and the installation precision is very high. Nowadays the operation of the rivet-placing is almost manual. Because of human fatigue, not only causes low efficiency, but also can't ensure the quality of installation. In order to avoid these disadvantages, we design an automatic rivet-placing system which will increase the efficiency and achieve automation in the placing operation. The system is really of high practical use.
The process of automatic riveting is introduced in this paper. Furthermore, hardware related and their control software is also completed. Main tasks finished are:
1. Introduce the program of automatic Rivet-placing system. The structure of manipulator is designed and showed as a model with PRO/E. Also, the motion parameters and way of drive and transmission of the manipulator is discussed. Additionally, this paper gives suggestion on the improvement of available devices in order to save cost.
2. The implement of automatic control. The movement of holes for rivets is realized by the movement of the XY numerical control platform. The Nl-Motion module embedded in LabVIEW is used to complete the automatic control along the scheduled track.
3. Positioning based on machine vision system. The shape of the CD body is regular enough to be treated as a whole. So the deviation of the distance of holes can be ignored, as the deviation brought by the process of clamping can not. In order to get higher positioning precision, technology of machine vision is raised to inspect the key point of the CD body. The result consists of the measurement of offset brought by move and revolution of the coordinate system. The whole automatic positioning control can be implemented while the compensation is taken into consideration in the process of control of motors as in real world.
本文设计了自动旋铆的工艺流程,完成相关硬件和控制软件的设计。主要完成工作如下：
(1)提出设计方案。设计机械手结构,用PRO/E建模,对运动参数、驱动与传动方式进行了讨论。并对现有的设备提出了改进意见。
(2)自动控制的实现。孔与轴之间的位置运动是由XY数控平台实现的。利用LabVIEW的NI-Motion模块实现按预定运动轨迹自动控制。
(3)基于机器视觉系统的定位。CD机壳的形状很规则,可看成一个整体,可忽略孔与孔之间的距离误差,但装夹误差不能忽略。为定位精准,需要对CD机壳的关键顶点进行位置检测,在此应用机器视觉技术。通过机器视觉系统的处理得到的是一个平移量和一个角度旋转量。将获得的结果转化为实际的量值补偿到电机控制过程当中,实现了自动定位控制过程。
CD player is an important device in every vehicle nowadays. The rivets and axes for fixing inside the Player are play an very important part in the perfonnance of the player. There are so many different parts in the body. The quantity is large and the installation precision is very high. Nowadays the operation of the rivet-placing is almost manual. Because of human fatigue, not only causes low efficiency, but also can't ensure the quality of installation. In order to avoid these disadvantages, we design an automatic rivet-placing system which will increase the efficiency and achieve automation in the placing operation. The system is really of high practical use.
The process of automatic riveting is introduced in this paper. Furthermore, hardware related and their control software is also completed. Main tasks finished are:
1. Introduce the program of automatic Rivet-placing system. The structure of manipulator is designed and showed as a model with PRO/E. Also, the motion parameters and way of drive and transmission of the manipulator is discussed. Additionally, this paper gives suggestion on the improvement of available devices in order to save cost.
2. The implement of automatic control. The movement of holes for rivets is realized by the movement of the XY numerical control platform. The Nl-Motion module embedded in LabVIEW is used to complete the automatic control along the scheduled track.
3. Positioning based on machine vision system. The shape of the CD body is regular enough to be treated as a whole. So the deviation of the distance of holes can be ignored, as the deviation brought by the process of clamping can not. In order to get higher positioning precision, technology of machine vision is raised to inspect the key point of the CD body. The result consists of the measurement of offset brought by move and revolution of the coordinate system. The whole automatic positioning control can be implemented while the compensation is taken into consideration in the process of control of motors as in real world.
引文
[1]刘德忠,费仁元,Stefan Hesse自动化装配[M].北京：机械工业出版社,2003.
[2]韩卫军,丁富强,赵锡芳.机器人装配系统产品装配质量影响因素研究[J].制造业自动化,2002,24(9)：14-18.
[3]彭商贤,郭冬,张平.柔性装配系统设计的研究[J].中国机械工程,1996,3(7)：37-40.
[4]程新宇.基于机器视觉的微小型零件精密装配研究[D].大连：大学理工大学,2008.
[5]魏维君,用于孔轴柔顺装配的自动精密装配系统[D].大连：大连理工大学.
[6]何健廉,陈加栋,马海波.柔性装配系统的设计与实现[M].北京：清华大学出版社,2000.
[7]张慧慧,袁水,王予谦等.全气动柔顺装配手的研制[J].液压与气动,2002,1：2-4.
[8]Milan Sonka, Vaclav Hlavac, Roger Boyly著,艾海舟,武勃等译.图像处理、分析与机器视觉[M].北京：人民邮电出版社,2003.
[9]章炜.机器视觉技术发展及其工业应用[J].红外,2005,27(2)：11—17.
[10]王力.基于机器视觉的贴片元件定位系统的研究与开发[D].苏州：苏州大学,2009.
[11]Liu J, Paulsen M R. Corn whiteness measurement and classification using machine vision[J].Trans ASAE,2000,43(3):757-763.
[12]Schmidberger, E.J.and Ahlers, R.J. Quality control with a robot-guided electro-optical sensor[J]. Ibid:27-36.
[13]Duan Feng, Wang Yaonan.A machine vision inspector for beer bottle[J].Applications of Artificial Intelligence,2007,32(1):1—9.
[14]Milan Sonka, Vaclav Hlavac. Image processing, Analysis and Machine Vision[M]. United States:Thomson Learning and PT Press,2002,1.
[15]曹亮,魏怡,姚思勤.机器视觉技术及其发展和应用[J].中国科技信息,2008,(11)：40-41.
[16]刘超.基于机器视觉的零件自动装配系统[D].大连：大连理工大学硕士论文,2009.
[17]王丽英.需求带来市场一机器视觉迎米发展的春天[J].今日电子,2008,(6)：67.
[18]PAPPAS I, CODOUREY A. Visual Control of a Microrobot Operating under a Microscopc[C]. IEEE International Conference on Intel 1 igent Robots and Systems, 1996:993-1000.
[19]GIOUROUDII, HOTZENDORFER H, KOSEL J, etal. Development of a micro-gripping system for handling of microcomponents[J]. Preci sion Engineering,2008, (32):148-152.
[20]YANG G, GAINES J A, NELSON B J. A supervisory wafer-level 3D Micro assembly system for hybrid MEMS fabrication[J]. Journal of Intelligent and Robotic System,2003,37(1):43-68.
[21]张建忠.孔-轴装配机器人视觉制导关键技术研究[D],南京：东南大学,2005.
[22]刘小凡.板材安装机器人操作机械手系统研究[J].天津：河北工业大学,2006.
[23]程志文等.全视觉贴片机的控制系统设计[J].计算机测量与控制,2005,13(7)：665—667.
[24]毛计庆等LabVIEW快速构建步进电机控制系统的利器[J].电机与控制应用,2009,36(1)：30-33.
[25]刘中合,王瑞雪,土锋德,马长青,刘贤喜等.数字图像处理技术现状与展望[J].计算机时代,2005,9：6-8.
[26]黄向修.基于机器视觉的并联焊头机构定位和运动精度的检测[D].广州：广东工业大学,2008.
[27]SONKA M, HLAVAC V, BOYLE R.图像处理、分析与机器视觉[M].北京：人民邮电出版社,2003,09.
[28]陈天华.数字图像处理[M].北京：清华人学出版社,2007.
[29]Rafael C.Gonzalez, RTichard E.Woods著,阮秋琦,阮宇智,等译.数字图像处理[M].北京：电子工业出版社,2008.
[30]贾云得.机器视觉[M].北京：科学出版社,2000.
[31]Englander. A Expanding machine vision gauging with subpixel techniques[J]. Machine Perception,1987, (6):9—18.
[32]IMAQ Vision Assistant Concepts Manual[M]. USA:National Instruments Corporation,2005:100-150.
[33]朱骏.移动机器人操作机械手设计与分析[D].南京：南京理工大学,2006.
[34]郭洪红.工业机器人技术.西安：西安电子科技大学出版社,2006.
[35]蔡自兴.机器人学基础.北京：机械工业出版社,2009年.
[36]贾春艳.贴片机研究与结构设计[J].哈尔滨：哈尔滨工程大学,2008.
[37]濮良贵.机械设计(第七版).北京：高等教育出版社,2005.
[38]孙桓.机械原理(第六版).北京：高等教育出版社,2004.
[39]http://www.ni.com/motion/.
[40]National Instruments Corporation. IMAQ Vision Concepts Manual[M]. USA: National Instruments Corporation,2005:10-160.
[41]王红茹.虚拟仪器未来市场趋势分析[J].商业研究,2004,11(295)：133一134.
[42]http://www.ni.com/labview/.
[43]IMAQ Vision Concepts Manual [M].USA:National Instruments Corporation,2005: 70-78.
[44]IMAQ Vision Concepts Manual[M]. Image Acquirement,2007:10—28.
[2]韩卫军,丁富强,赵锡芳.机器人装配系统产品装配质量影响因素研究[J].制造业自动化,2002,24(9)：14-18.
[3]彭商贤,郭冬,张平.柔性装配系统设计的研究[J].中国机械工程,1996,3(7)：37-40.
[4]程新宇.基于机器视觉的微小型零件精密装配研究[D].大连：大学理工大学,2008.
[5]魏维君,用于孔轴柔顺装配的自动精密装配系统[D].大连：大连理工大学.
[6]何健廉,陈加栋,马海波.柔性装配系统的设计与实现[M].北京：清华大学出版社,2000.
[7]张慧慧,袁水,王予谦等.全气动柔顺装配手的研制[J].液压与气动,2002,1：2-4.
[8]Milan Sonka, Vaclav Hlavac, Roger Boyly著,艾海舟,武勃等译.图像处理、分析与机器视觉[M].北京：人民邮电出版社,2003.
[9]章炜.机器视觉技术发展及其工业应用[J].红外,2005,27(2)：11—17.
[10]王力.基于机器视觉的贴片元件定位系统的研究与开发[D].苏州：苏州大学,2009.
[11]Liu J, Paulsen M R. Corn whiteness measurement and classification using machine vision[J].Trans ASAE,2000,43(3):757-763.
[12]Schmidberger, E.J.and Ahlers, R.J. Quality control with a robot-guided electro-optical sensor[J]. Ibid:27-36.
[13]Duan Feng, Wang Yaonan.A machine vision inspector for beer bottle[J].Applications of Artificial Intelligence,2007,32(1):1—9.
[14]Milan Sonka, Vaclav Hlavac. Image processing, Analysis and Machine Vision[M]. United States:Thomson Learning and PT Press,2002,1.
[15]曹亮,魏怡,姚思勤.机器视觉技术及其发展和应用[J].中国科技信息,2008,(11)：40-41.
[16]刘超.基于机器视觉的零件自动装配系统[D].大连：大连理工大学硕士论文,2009.
[17]王丽英.需求带来市场一机器视觉迎米发展的春天[J].今日电子,2008,(6)：67.
[18]PAPPAS I, CODOUREY A. Visual Control of a Microrobot Operating under a Microscopc[C]. IEEE International Conference on Intel 1 igent Robots and Systems, 1996:993-1000.
[19]GIOUROUDII, HOTZENDORFER H, KOSEL J, etal. Development of a micro-gripping system for handling of microcomponents[J]. Preci sion Engineering,2008, (32):148-152.
[20]YANG G, GAINES J A, NELSON B J. A supervisory wafer-level 3D Micro assembly system for hybrid MEMS fabrication[J]. Journal of Intelligent and Robotic System,2003,37(1):43-68.
[21]张建忠.孔-轴装配机器人视觉制导关键技术研究[D],南京：东南大学,2005.
[22]刘小凡.板材安装机器人操作机械手系统研究[J].天津：河北工业大学,2006.
[23]程志文等.全视觉贴片机的控制系统设计[J].计算机测量与控制,2005,13(7)：665—667.
[24]毛计庆等LabVIEW快速构建步进电机控制系统的利器[J].电机与控制应用,2009,36(1)：30-33.
[25]刘中合,王瑞雪,土锋德,马长青,刘贤喜等.数字图像处理技术现状与展望[J].计算机时代,2005,9：6-8.
[26]黄向修.基于机器视觉的并联焊头机构定位和运动精度的检测[D].广州：广东工业大学,2008.
[27]SONKA M, HLAVAC V, BOYLE R.图像处理、分析与机器视觉[M].北京：人民邮电出版社,2003,09.
[28]陈天华.数字图像处理[M].北京：清华人学出版社,2007.
[29]Rafael C.Gonzalez, RTichard E.Woods著,阮秋琦,阮宇智,等译.数字图像处理[M].北京：电子工业出版社,2008.
[30]贾云得.机器视觉[M].北京：科学出版社,2000.
[31]Englander. A Expanding machine vision gauging with subpixel techniques[J]. Machine Perception,1987, (6):9—18.
[32]IMAQ Vision Assistant Concepts Manual[M]. USA:National Instruments Corporation,2005:100-150.
[33]朱骏.移动机器人操作机械手设计与分析[D].南京：南京理工大学,2006.
[34]郭洪红.工业机器人技术.西安：西安电子科技大学出版社,2006.
[35]蔡自兴.机器人学基础.北京：机械工业出版社,2009年.
[36]贾春艳.贴片机研究与结构设计[J].哈尔滨：哈尔滨工程大学,2008.
[37]濮良贵.机械设计(第七版).北京：高等教育出版社,2005.
[38]孙桓.机械原理(第六版).北京：高等教育出版社,2004.
[39]http://www.ni.com/motion/.
[40]National Instruments Corporation. IMAQ Vision Concepts Manual[M]. USA: National Instruments Corporation,2005:10-160.
[41]王红茹.虚拟仪器未来市场趋势分析[J].商业研究,2004,11(295)：133一134.
[42]http://www.ni.com/labview/.
[43]IMAQ Vision Concepts Manual [M].USA:National Instruments Corporation,2005: 70-78.
[44]IMAQ Vision Concepts Manual[M]. Image Acquirement,2007:10—28.