Abstract
Aiming at the problems of low manual assembly process efficiency and low yield of micro-miniature parts. A vision system based on ORB feature matching for fast coaxial alignment of micro-miniature parts automated assembly is proposed. The coaxial alignment module is the main hardware, the assembly part and the base part can be imaged in the industrial camera; the ORB features are extracted from the known part template image and the part image obtained by the vision imaging system, and the RANSAC algorithm is adopted to match the ORB features of the template image and the actual part image, the pose of parts is calculated by feature matching results. At the same time, the image coordinate system and the motion axis coordinate system are calibrated, and the motion control system is driven by the transformation matrix of the two coordinate systems to complete the assembly between the assembly part and the base part. The assembly experiment shows the system can complete the automated assembly of micro-miniature parts.
Highlights
In the automated assembly system of micro-miniature parts, the position and attitude deviation measurement of the parts is the key technology of automated assembly
The matching method based on ORB features has a slightly lower accuracy than SIFT, the time is greatly shortened compared with SIFT, SURF, etc. [6], so it is the best choice for an automated assembly system that requires efficiency
The visual imaging system is mainly based on the coaxial alignment module, which is responsible for image acquisition, and the part pose adjustment mechanism is responsible for adjusting the pose deviation of the parts to be assembled and the base part to complete the assembly
Summary
In the automated assembly system of micro-miniature parts, the position and attitude deviation measurement of the parts is the key technology of automated assembly. Through the machine vision technology, the posture deviation between the assembly parts of the micro-miniature parts and the base parts can be obtained and fed back to the control system to complete the assembly action. A vision system based on ORB feature matching for fast coaxial alignment of microminiature parts automated assembly is proposed. The vision system for assembly of micro-miniature parts mainly includes two aspects: the vision imaging system and the part pose adjustment mechanism, as shown in Fig.. The visual imaging system is mainly based on the coaxial alignment module, which is responsible for image acquisition, and the part pose adjustment mechanism is responsible for adjusting the pose deviation of the parts to be assembled and the base part to complete the assembly. A 45° semi transparent and semi reflective film is placed in the prism, and the camera is placed on the side of the prism to collect the image of the two parts; the part image is collected by controlling the light source, and the position and pose deviation of the two parts are calculated, adjust the deviation of the part pose adjustment mechanism, and complete the assembly process[7]
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