CN-117324216-B - Automatic quantitative gluing and plugging system based on 3D vision

CN117324216BCN 117324216 BCN117324216 BCN 117324216BCN-117324216-B

Abstract

The invention discloses an automatic quantitative gluing plugging system based on 3D vision, which comprises an industrial personal computer, a movable platform, a mechanical arm, a 3D camera, a plug bin assembly and a tail end device, wherein the 3D camera and the tail end device are arranged at the tail end of the mechanical arm, the tail end device comprises a pneumatic clamping jaw assembly, a gluing assembly and a glue scraping plate, during gluing, the industrial personal computer controls the mechanical arm to drive the 3D camera to move to the position right above a hole to be glued to obtain data to be glued Kong Dianyun, point cloud processing is conducted to obtain the circle center coordinates, the radius and the depth of the hole to be glued, the industrial personal computer calculates the gluing amount according to the circle center radius, the depth and the gluing thickness, the plug bin assembly ejects a plug matched with the circle center radius, after the pneumatic clamping jaw is controlled by the industrial personal computer to remove the ejected plug, the gluing assembly is controlled to move to the circle center coordinates to glue the glue according to the calculated gluing amount, and the industrial personal computer controls the pneumatic clamping jaw to place the picked plug into the hole after gluing.

Inventors

WANG ZIYU
ZHEN HONGWEI
CAI HU
YAO PENGYU
WANG LIANG
LU YANGYANG
LIU LIANXI
ZHANG DANDAN
MA YUNJIE

Assignees

北京星航机电装备有限公司

Dates

Publication Date: 20260508
Application Date: 20231008

Claims (8)

1. Automatic ration rubber coating shutoff system based on 3D vision, characterized by, include: the system comprises an industrial personal computer, a movable platform, a mechanical arm, a 3D camera, a plug bin assembly and a tail end device; The mechanical arm is arranged on the movable platform, and a 3D camera and a terminal device are arranged at the tail end of the mechanical arm; the industrial personal computer is arranged in the movable platform; The tail end device comprises a pneumatic clamping jaw assembly, a gluing assembly and a glue scraping plate; a plug stock bin assembly is also arranged above the movable platform; when the gluing is performed, the industrial personal computer controls the mechanical arm to drive the 3D camera to move to the position right above the hole to be glued to obtain data of Kong Dianyun to be glued, processes the data of Kong Dianyun to be glued to obtain the circle center coordinates, the radius and the depth of the round hole to be glued, and calculates the gluing amount according to the radius of the round hole, the depth of the round hole and the gluing thickness; the industrial personal computer calculates the glue coating amount according to the radius of the round hole, the depth of the round hole and the glue coating thickness in the following mode: the formula of the glue coating quantity f is as follows: s is the volume of the residual glue at the bottom of the plug after uniform glue coating, and s is equal to the volume V of the diversion trenches around the plug: , Wherein t is the glue coating thickness of the side wall of the hole, R is the radius of the semi-cylinder of the diversion trench, h is the hole depth, R is the radius of the round hole, m is the number of diversion trenches on each plug, and m is less than or equal to 4; When the radius R of the round hole is less than or equal to 10 mm, the cylindrical plug with m semi-cylindrical grooves on the side surface is placed into the hole through the pneumatic clamping jaw after the glue is coated on the side surface and the bottom of the hole; And after the pneumatic clamping jaw is controlled by the industrial personal computer to remove the ejected plugs, the gluing assembly is controlled to move to the position of the circle center coordinates to glue according to the gluing amount, the pneumatic clamping jaw is controlled by the industrial personal computer to place the removed plugs into the holes after gluing, and finally, the glue scraping plate is controlled to scrape the excessive glue overflowing from the surfaces of the holes.
2. The 3D vision-based automatic quantitative glue-spreading and plugging system according to claim 1, wherein the industrial personal computer processes the glue to be spread Kong Dianyun to obtain the center coordinates, radius and depth of the round hole to be glue spread, and the system comprises: preprocessing the to-be-glued Kong Dianyun; extracting the depth information of the round hole based on the three-dimensional point cloud at the bottom of the round hole in the preprocessed point cloud; Sequentially performing closed operation, bilateral filtering and circular hole edge contour extraction on the pretreated cloud to be glued Kong Dian; and carrying out round hole fitting by using a round hole fitting algorithm according to the extracted round hole contour edge, and outputting the circle center coordinates and the radius of the fitting circle.
3. The 3D vision-based automatic quantitative glue plugging system according to claim 2, wherein the extracting the depth information of the round hole based on the three-dimensional point cloud at the bottom of the round hole in the preprocessed point cloud comprises: extracting three-dimensional point cloud at the bottom of the round hole under a camera coordinate system, converting the extracted three-dimensional point cloud coordinates at the bottom of the round hole into a mechanical arm coordinate system, and calculating an average value of the three-dimensional point cloud depth values at the bottom of the round hole as the actual depth of the round hole.
4. The 3D vision-based automatic quantitative glue plugging system of claim 2, wherein the extracting the round hole edge profile comprises: and calculating image gradients on the circular hole image subjected to image closing operation and bilateral filtering to identify the approximate outline edge of the hole, and then setting a high hysteresis threshold and a low hysteresis threshold through Qstu method to reject the pseudo edge so as to extract the actual edge outline of the hole image.
5. The 3D vision-based automatic quantitative glue coating and plugging system according to claim 1, further comprising a force control, wherein the force control is arranged at the tail end of the mechanical arm, the tail end device further comprises a hollow support, a pneumatic sliding table and a glue scraping plate are respectively arranged on the left side and the right side of the support, a glue coating assembly is arranged in the middle of the support, a pneumatic clamping jaw assembly is arranged on the pneumatic sliding table, and the hollow support is fixed on the force control.
6. The 3D vision-based automatic quantitative glue coating and plugging system according to claim 5, wherein the glue coating component comprises a glue coating barrel and a glue spraying head, the automatic quantitative glue coating and plugging system further comprises a pneumatic component, the pneumatic component is connected with the glue coating component, and the industrial personal computer controls the glue coating component to automatically coat glue by controlling the pneumatic component.
7. The 3D vision-based automatic quantitative gluing plugging system is characterized in that the pneumatic clamping jaw assembly comprises a sealing shell and clamping jaws, wherein the upper end of the sealing shell is connected with an air pump in the pneumatic assembly, the lower end of the sealing shell is connected with the clamping jaws, a sensor and a driving circuit board are arranged in the shell and used for receiving control instructions of an industrial personal computer to control the opening and closing states of the clamping jaws, and the pneumatic clamping jaw assembly extends out of or retracts from a pneumatic sliding table under the control of the air pump.
8. The 3D vision-based automatic quantitative gluing plugging system according to claim 1, wherein the industrial personal computer is further used for planning a mechanical arm movement path, and the movement path sequentially comprises a resetting point, a safety point and a photographing point; the resetting point is used for adjusting the initial position and the gesture of the mechanical arm after reaching a new station to be glued; the safety point is a path information which is manually taught by the industrial personal computer and used for controlling the mechanical arm to reproduce a collision-free path, the industrial personal computer controls the gesture of a 3D camera at the tail end of the mechanical arm to perform coarse positioning through a hole position number input by the upper computer after the photographing point is reached, acquires an image of a round hole to be glued, adjusts the 3D camera to perform fine positioning according to a normal vector at the center point of a plane where the round hole to be glued is positioned in the image, and acquires the image of the round hole to be glued again after the fine positioning.

Description

Automatic quantitative gluing and plugging system based on 3D vision Technical Field The invention relates to the technical field of automatic gluing, in particular to an automatic quantitative gluing plugging system based on 3D vision. Background The surface of the aircraft is greatly heated in the flight process of the aircraft, and the aircraft is protected by adopting a thermal protection material, so that the temperature of the machine body structure is maintained within a permissible range. The system adopting the thermal protection material needs screw fixation, a cylindrical hole is reserved after screw fixation, a plug is needed to seal the hole for preventing the screw from falling off, the current glue sealing operation generally adopts a manual mode, the manual glue sealing mode has high requirements on the proficiency of operators, the standardization and standardization of the operation are difficult to realize, and the sealing quality and the production capacity of products are limited to be further improved. The prior art also comprises a plurality of automatic gluing modes, mainly comprises two modes of manual teaching gluing of a robot and visual guiding of the robot. The manual teaching multilevel gluing track is fixed, and if the product is changed, the manual teaching of the gluing track is needed again. The vision guiding robot gluing can be conducted according to real-time image information, manual participation is not needed, time and labor are saved, but the focus of the vision guiding robot gluing is that a vision system can accurately identify a product to be glued. In addition, in the existing automatic gluing, related researches on gluing round holes in products are not more, particularly, the problem of automatic gluing and plugging of irregularly-shaped round holes with uneven distribution is solved, and the researches on calculating the gluing quantity of the irregularly-shaped round holes are rare. Disclosure of Invention In view of the above analysis, the embodiment of the invention aims to provide an automatic quantitative gluing and plugging system based on 3D vision, which is used for solving the problem of automatic gluing of irregularly-shaped round holes with uneven distribution in a large batch. The embodiment of the invention provides an automatic quantitative gluing and plugging system based on 3D vision, which comprises the following steps: the system comprises an industrial personal computer, a movable platform, a mechanical arm, a 3D camera, a plug bin assembly and a tail end device; The mechanical arm is arranged on the movable platform, and a 3D camera and a terminal device are arranged at the tail end of the mechanical arm; the industrial personal computer is arranged in the movable platform; The tail end device comprises a pneumatic clamping jaw assembly, a gluing assembly and a glue scraping plate; a plug stock bin assembly is also arranged above the movable platform; when the gluing is performed, the industrial personal computer controls the mechanical arm to drive the 3D camera to move to the position right above the hole to be glued to obtain data of Kong Dianyun to be glued, processes the data of Kong Dianyun to be glued to obtain the circle center coordinates, the radius and the depth of the round hole to be glued, and calculates the gluing amount according to the radius of the round hole, the depth of the round hole and the gluing thickness; And after the pneumatic clamping jaw is controlled by the industrial personal computer to remove the ejected plugs, the gluing assembly is controlled to move to the position of the circle center coordinates to glue according to the gluing amount, the pneumatic clamping jaw is controlled by the industrial personal computer to place the removed plugs into the holes after gluing, and finally, the glue scraping plate is controlled to scrape the excessive glue overflowing from the surfaces of the holes. Further, the industrial personal computer calculates the glue coating amount according to the radius of the round hole, the depth of the round hole and the glue coating thickness in the following mode: the formula of the glue coating quantity f is as follows: s is the volume of the residual glue at the bottom of the plug after uniform glue coating, and s is equal to the volume V of the diversion trenches around the plug: Wherein t is the glue coating thickness of the side wall of the hole, R is the radius of the semi-cylinder of the diversion trench, h is the hole depth, R is the radius of the round hole, m is the number of diversion trenches on each plug, and m is less than or equal to 4. Furthermore, when the radius R of the round hole is more than 10 mm, the side surface and the bottom of the hole are coated with glue, then a cylindrical plug with m semi-cylindrical grooves on the side surface is placed into the hole through the pneumatic clamping jaw, and when the radius R of the round hole is less than or equal to