基于机器视觉的卫星天线模块自动精密装配技术  

Automatic&Precision Assembly Technology of Satellite Antenna Module Based on Machine Vision

作　　者：闫俊杰 王红伟 于功敬[1] 张忠海[1] YAN Jun-jie;WANG Hong-wei;YU Gong-jing;ZHANG Zhong-hai(Beijing Aerospace Measurement&Control Technology Co.,Ltd.,Beijing 100041,China)

机构地区：[1]北京航天测控技术有限公司,北京100041

出　　处：《测控技术》2022年第5期23-32,共10页Measurement & Control Technology

基　　金：“十三五”装备预研项目(41403050204)资助课题。

摘　　要：针对卫星天线模块自动化精密装配需求,介绍一种基于机器视觉的机器人自动精密装配方法。通过6自由度工业机器人和相机建立Eye-in-Hand和Eye-to-Hand混合的自动装配系统,对系统进行手眼标定,从而确定相机、机器人、工具之间的相互位置关系,通过图像处理获取装配位置像素坐标,并通过坐标变换将像素坐标点转换为机器人基坐标点,控制机器人完成天线模块自动装配。装配时通过Eye-to-Hand和Eye-in-Hand系统分别直接定位天线模块上连接器公头和母头位置,消除连接器安装位置误差和模块外壳加工尺寸误差对定位精度的影响,该系统通过一次标定即可实现机器人末端工具在距目标物体垂直距离相同情况下X/Y任意位置的定位功能。实验结果证明该方法准确可行,所设系统满足50μm装配公差天线模块的自动精密装配要求。In order to meet the requirements for automatic precision assembly of satellite antenna modules, a robot automatic precision assembly method based on machine vision is introduced.A hybrid automatic assembly system of Eye-in-Hand and Eye-to-Hand is established by using 6-DOF industrial robots and industrial cameras.The mutual position of camera, robot and tool is determined by hand-eye calibration.The pixel coordinates of the assembly position are obtained through image processing, and the pixel coordinate point is converted into the robot base coordinate point to complete the automatic assembly of the antenna module.During assembly, Eye-to-Hand and Eye-in-Hand systems are used to directly locate the positions of male and female connector heads on the antenna module to eliminate the influence of connector installation position errors and module shell machining size errors on the positioning accuracy.The system can realize the positioning function of the robot end tool at any X/Y position with the same vertical distance from the target object through one calibration.The experimental results show that the method is accurate and feasible, and the system meets the requirements of automatic precision assembly of antenna module with 50 μm assembly tolerance.

关 键 词：机器视觉 目标定位 手眼标定 卫星天线装配 机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]