【摘要】 薄片类零件的自动对准装配是航空精密器件自动装配中的一类常见问题,为了实现其自动精密装配,研制了基于机器视觉的自动装配系统以实现薄片组件与基座外顶圆的同轴装配。首先标定了相机像素以提高计算精度;接着标定了系统中的视觉测量模块与装配作业模块中的导轨夹角,提出一种补偿算法降低偏差;为了解决视觉检测精度与视场不足的矛盾,对超视场图像进行拼接实现关键特征尺寸测量,拼接时亦引入导轨夹角及补偿算法进行校准;最后设计了硬质吸附头以减小释放时由于粘连产生的随机误差。试验结果表明:薄片组件的装配同轴度从292.4μm降低到了19.6μm。更多还原

【Abstract】 Automatic alignment and assembly of slice components is widely used in precision fabrication of aviation components. In order to meet the requirements of positioning accuracy, an automatic assembly system based on machine vision is developed to realize the coaxial assembly between the slice component and the base. Firstly, the camera’s pixel is calibrated to improve the accuracy of machine vision calculation; then the angler error of the linear guidance in the visual measurement module and assembly operation module is measured, the compensation algorithm is established to eliminate the influence of the angler error; The images of the slice component and the top circular on base are larger than the camera’s field of view, thus the images should be mosaic before getting the key characteristic. The angler error also should be incorporated in the mosaic. Finally, aiming at the random error caused by adhesion when the sheet assembly is released, a rigid adsorption head is designed to reduce the error. With the above error compensation methods, the assembly coaxiality of the slice component is reduced from 292.4μm to 19.6μm.更多还原