【作者】 王栋；

【导师】 张雷； 孙文生；

【作者基本信息】 吉林大学 ， 机械工程（专业学位）， 2018， 硕士

【摘要】 进入21世纪以来,电子产业迅猛发展,然而电子产业的发展离不开自动插件机。自动插件机能提高插件效率,降低产品的不良率,减少因人为操作导致的插件不合格等问题,提升企业的竞争力。本文以机器视觉技术以及工业机器人为基础,旨在开发出一套能完成自动插件的机器人插件系统,解决常规插件机不能插入异形元器件以及机床式插件机存在的笨重、占用空间大等难题。本文主要研究内容包括:(1)完成插件机总体设计方案。完成插件系统三维模型设计以及系统工作流程规划,将插件系统细分为不同模块,完成插件机不同模块核心部件的选型以及模块搭建,同时解决模块间通讯问题。(2)完成机器人插件系统标定。机器人插件系统标定包括:机器人标定、摄像机标定、手眼标定。机器人标定和摄像机标定是手眼标定的基础,通过手眼标定解决了由图像坐标到机器人工具坐标之间转换。(3)完成了机器人自动插件控制系统开发。针对印刷电路板存在的位置偏移及选择问题,建立印刷电路板基准点图像处理算法以及印刷电路板工位坐标获取算法,使插件机自动获取工位点的精确坐标。完成插件机控制系统软件开发。(4)设计摄像机标定实验以及手眼系统标定实验,验证图像坐标到机器人基坐标转换误差。设计插件机插件精度实验,验证插件机能否精确插件。实验结果验证了插件机结构设计的合理性,获得的实验数据验证了插件机算法的准确性。更多还原

【Abstract】 Since twenty-first Century,the electronic industry has developed rapidly,and the electronic industry is rapidly developing.However,the development of the electronic industry cannot be separated from the automatic plug-in machine.The automatic plugin function can improve the efficiency of the plug-in,improve the defective rate of products,reduce the problems of unqualified plug-ins caused by human operation,and improve the competitiveness of enterprises.This article is based on machine vision technology and industrial robots.Designed to develop a robot plug-in system that can complete the automatic plug-in.Solve the problem that the conventional plug-in machine cannot insert special-shaped components and the machine-type plug-in machine has heavy and space-consuming problems.The main research items are illustrated as following:Complete the overall design scheme of the plug-in machine.Complete the 3D model design and workflow planning of the plug-in system.Subdividing the plug-in system into different modules,.Complete the selection of the core components of different plug-in machines and the module construction.At the same time solve the problem of communication between modules.Completing the calibration of the robot plug-in system.The plug-in system calibration includes: industrial robot coordinate system calibration,camera calibration,and hand-eye system calibration.Calibration of the plug-in system solves the conversion problem between the image coordinate system and the robot base coordinate system.Complete the development of robot automatic plug-in control system.For the problem of positional offset and selection of printed circuit boards,an image processing algorithm for the printed circuit board reference point and an algorithm for obtaining the position of the printed circuit board position coordinate are established so that the plug-in machine can automatically obtain the precise coordinates of the work site.Complete plug-in control system software development.Design camera calibration experiments and hand-eye system calibration experiments were designed to verify the error of image coordinate conversion to robot base coordinates.Design plug-in machine plug-in precision experiments to verify whether the plug-in machine can accurately plug-in.The experimental results verify the rationality of the plug-in machine structure design,and the experimental data obtained verify the accuracy of the plug-in algorithm.更多还原