發(fā)布時(shí)間：2019-01-06 13:17

【摘要】：隨著社會(huì)的發(fā)展與進(jìn)步,電子產(chǎn)品在日常生活中扮演著越來(lái)越重要的角色,而插件機(jī)是電子產(chǎn)品生產(chǎn)線上不可或缺的設(shè)備。插件機(jī)以自動(dòng)插件代替?zhèn)鹘y(tǒng)的手工插件,大大提高了插件的效率,并且減小了因人工失誤造成的損失。所以,無(wú)論在國(guó)內(nèi)還是國(guó)外,插件機(jī)都有著很好的發(fā)展前景。本文對(duì)基于機(jī)器視覺(jué)的插件機(jī)的主要部分做了結(jié)構(gòu)設(shè)計(jì)與分析,完成了運(yùn)動(dòng)控制系統(tǒng)的設(shè)計(jì)和圖像采集與識(shí)別的設(shè)計(jì),并通過(guò)實(shí)際驗(yàn)證,滿足插件要求。針對(duì)實(shí)際插件要求,設(shè)計(jì)插件機(jī)的運(yùn)動(dòng)控制系統(tǒng),確定機(jī)器的主要結(jié)構(gòu)和技術(shù)指標(biāo)。在了解插件機(jī)的工作原理和工作流程的基礎(chǔ)上,確定機(jī)器上各軸要實(shí)現(xiàn)的功能,然后其做力學(xué)分析,由分析的結(jié)果選取合適型號(hào)的電機(jī)和驅(qū)動(dòng)器,設(shè)計(jì)外圍電路圖。完成運(yùn)動(dòng)控制系統(tǒng)設(shè)計(jì)后,開(kāi)展對(duì)圖像采集系統(tǒng)的設(shè)計(jì)。圖像采集模塊是整個(gè)機(jī)器的核心,文中對(duì)該部分提出了兩種結(jié)構(gòu)設(shè)計(jì)方案,分別為基于移動(dòng)相機(jī)的圖像采集系統(tǒng)和基于固定相機(jī)的圖像采集系統(tǒng),并針對(duì)這兩種結(jié)構(gòu)設(shè)計(jì)了標(biāo)定方法。機(jī)器的標(biāo)定是連接機(jī)器和相機(jī)的橋梁,標(biāo)定的方法與精度直接決定了機(jī)器的精度。文中分別介紹了基于固定相機(jī)和移動(dòng)相機(jī)標(biāo)定方法,并通過(guò)多組插件實(shí)驗(yàn)驗(yàn)證該方法的可行性。圖像采集模塊確定后就可以采集圖片并進(jìn)行處理,圖像處理過(guò)程中用到的算法,分為元器件識(shí)別和Mark點(diǎn)識(shí)別。其中元器件識(shí)別算法包括引腳識(shí)別和輪廓識(shí)別;Mark點(diǎn)識(shí)別首先通過(guò)Blob分析,再用最小二乘法做圓擬合。除此之外,本文還提出一種基于灰度值兩次線性變換的圖像增強(qiáng)算法,能夠較好地達(dá)到預(yù)處理效果。在完成以上工作后,可以對(duì)樣機(jī)進(jìn)行調(diào)試和性能測(cè)試,包括圖像處理精度實(shí)驗(yàn)、機(jī)械精度測(cè)試實(shí)驗(yàn)、插件速度測(cè)試實(shí)驗(yàn)等。實(shí)驗(yàn)結(jié)果表明該機(jī)器能夠滿足設(shè)計(jì)需求。
[Abstract]:With the development and progress of society, electronic products play a more and more important role in daily life, and plug-in machine is an indispensable equipment in the production line of electronic products. The plug-in machine replaces the traditional manual plug-in with the automatic plug-in, which greatly improves the efficiency of the plug-in and reduces the loss caused by human error. Therefore, both at home and abroad, plug-in machines have a very good development prospects. In this paper, the main parts of the plug-in machine based on machine vision are designed and analyzed, and the design of motion control system and image acquisition and recognition are completed. The motion control system of the plug-in machine is designed according to the requirements of the actual plug-in, and the main structure and technical specifications of the machine are determined. On the basis of understanding the working principle and working flow of the plug-in machine, the functions to be realized on each axis of the machine are determined, and then the mechanical analysis is done. According to the results of the analysis, the appropriate type of motor and driver are selected, and the peripheral circuit diagram is designed. After the motion control system is designed, the image acquisition system is designed. The image acquisition module is the core of the whole machine. In this paper, two kinds of structure design schemes are put forward, which are the image acquisition system based on the mobile camera and the image acquisition system based on the fixed camera. The calibration method is designed for these two structures. The calibration of machine is a bridge between machine and camera. The method and precision of calibration directly determine the accuracy of machine. The calibration methods based on fixed camera and mobile camera are introduced, and the feasibility of the method is verified by multiple plug-in experiments. The image acquisition module can collect images and process them. The algorithms used in image processing are divided into component recognition and Mark point recognition. The recognition algorithm of components includes pin recognition and contour recognition. Mark point recognition is firstly analyzed by Blob and then circle fitting is done by least square method. In addition, this paper proposes an image enhancement algorithm based on gray value quadratic linear transformation, which can achieve better preprocessing effect. After the above work, the prototype can be debugged and tested, including image processing precision experiment, mechanical precision test experiment, plug-in speed test experiment and so on. The experimental results show that the machine can meet the design requirements.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41

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