摘要
为克服汽车主胎无法实现机器人随动安装的难题,对汽车主胎安装工艺、3D补正技术和随动安装技术进行了研究。通过简化基于视觉的机器人随动安装模型,提出了跟随坐标变换算法,将定点拍摄的3D视觉补偿值变换为随动安装所需的3D补偿值,实现了基于3D视觉跟踪的汽车主胎随动安装,并在搭建的测试平台上进行了验证。在此基础上,分析了3D视觉在应用中的适应范围,为全新的汽车主胎安装拧紧系统开发和随动主胎安装提供了技术依据。
In order to overcome the problems in the 3 D visual-tracking automobilewheel assembly process,has the 3 D technology,the line-tracking technology and the wheel installing/tightening process studied.During the R&D process,a new algorithm is proposed for the coordinate transformationfrom the 3 D visual correcting date to the needed 3 D visual tracking compensation date on the tracking coordinate system based on the new developed 3 D visual tracking model of automobile wheel assembly line.On the basis,it’s the new algorithm and method applied in 3 D visual tracking assembly system of the automobile wheel and tested.The paper describe the new method,the testing results and the application suggestion.
出处
《机电一体化》
2021年第1期41-45,共5页
Mechatronics
关键词
随动安装
主胎
3D补正
坐标变换
line-tracking assembly
automobile wheel
3D vision correcting
coordinate transformation
作者简介
齐党进,1982年生,博士,研发工程师。主要从事汽车总装和新能源动力电池相关工艺开发和产线方案规划。
