• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (4): 193-198.doi: 10.3901/JME.2015.04.193

• 交叉前沿 • 上一篇    下一篇

平板类微小零件装配控制策略与软件架构研究

郝永平1, 2 王永杰1 董福禄1 路 超1   

  1. 1. 沈阳理工大学装备工程学院 沈阳 110159
    2. 沈阳理工大学辽宁省先进制造与装备重点实验室 沈阳 110159
  • 出版日期:2015-02-20 发布日期:2015-02-20
  • 基金资助:
    国家高技术研究发展计划(863计划,2009AA04Z167) 资助项目

Study of Control Strategy and Software Architecture Based on Flat Type Small Parts Assembly

HAO Yongping1, 2 WANG Yongjie1 DONG Fulu1 LU Chao1   

  1. 1. Equipment Engineering Department, Shenyang Ligong University, Shenyang 110159
    2. Key Laboratory of Advanced Manufacture and Equipment of Liaoning Province, Shenyang Ligong University, Shenyang 110159
  • Online:2015-02-20 Published:2015-02-20

摘要: 针对不同尺寸的平板类微小零件装配问题,将视觉技术引入到微装配作业中,对微装配控制策略和软件架构进行分析研究。根据微小零件结构特点、尺寸与装配精度要求,提出“Look and move +Visual servo”相结合的微装配控制模式,采用由界面层、数据层和逻辑层组成的分层软件架构,建立基于视觉的真空吸附式微装配系统平台。围绕集成化、可复用性要求,进行软件框架类继承关系的分析,采用基于动态链接库和VC++的MFC应用程序框架编程方法,集成Halcon视觉算法库,应用数据驱动模式,最终实现微装配控制软件设计。基于控制方法对由5个不同平板类微小零件组成的微组件采用三种不同装配方式,分别进行8组装配试验,并对其关键精度指标进行测量与分析,其测量结果表明,三种装配方式中姿态调整自动装配方式装配效果最佳,微组件的同轴度和平行度误差基本满足装配精度要求,微装配的适用性有明显改善。此控制方法可以有效的用于其他微装配系统,且具有良好的鲁棒性、可复用性和人机交互性。

关键词: 机器视觉, 人机交互, 软件架构, 微机电系统

Abstract: For different sizes of flat type small parts assembly problems, the assembly control strategy and software architecture are analyzed and machine vision is introduced into the micro-assembly work. Proposeing “Look and move + Visual servo” micro-assembly control mode, adopted by the interfacial layer, data layer and logic layer composed of layered software architecture, we designed a vision-based vacuum adsorption micro-assembly platform, and it can achieve different sizes of small parts precision assembly. The real-time of software and framework class inheritance, using object-oriented applications programming methods and integrate Halcon vision algorithm library is analyzed, eventually the process control system design is completed. By five flat type small parts consisting of micro components, a series of eight assembly experiment and precision measurements of its key indicators are conducted, It is shown that:The error of micro component concentricity and parallelism basically meet the accuracy requirements of assembly. The proposed control method can effectively for other micro-assembly system, and has a good real-time performance, reusability and human-computer interaction.

Key words: human-computer interaction, machine vision, micro-electronic mechanical system(MEMS), software architecture

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