手机中框类工件的五轴3D点胶机开发  

Development of 3D Five-Axis Dispenser for Mobile-Phone Frame Workpiece

作　　者：魏志丽 唐文艳[2] 米宏润 伍星 梅文宝 侯梦华 吕文阁[2] WEI Zhili;TANG Wenyan;MI Hongrun;WU Xing;MEI Wenbao;HOU Menghua;LV Wenge(School of Intelligent Manufacturing and Equipment,Shenzhen Institute of Information Technology,Shenzhen Guangdong 518172,China;School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China;Karon Precision Industry(Shenzhen)Co.,Ltd.,Shenzhen Guangdong 518112,China;Wuhan Zhumeng Technology Co.,Ltd.,Wuhan Hubei 422199,China)

机构地区：[1]深圳信息职业技术学院智能制造与装备学院,广东深圳518172 [2]广东工业大学机电工程学院,广东广州510006 [3]深圳科锐精密工业(深圳)有限公司,广东深圳518112 [4]武汉筑梦科技有限公司,湖北武汉422199

出　　处：《机床与液压》2025年第4期230-235,共6页Machine Tool & Hydraulics

基　　金：教育部产学合作协同育人项目(220600405274221)。

摘　　要：针对手机中框类工件的点胶需求及其板状结构特点,设计五轴3D点胶机。建立基于工业相机的3D视觉系统,采用视觉方法标定相机的旋转轴,利用L-M算法对旋转轴位姿解进行全局优化,矫正径向畸变;使用OpenMVS软件实现工件特征点提取与匹配、相机姿态定位、稀疏点云重建和稠密点云重建等功能,对点云数据进行滤波等预处理,将其投影到水平面并提取边缘轮廓,对边缘轮廓点集进行法线方向的偏移;获得水平面上2D点胶路径的投影,将这些投影点坐标映射回原始三维点云中,得到三维点胶路径上每个点的法向量,确定以(X,Y,Z,B,C)形式的五轴点胶路径。该系统能够精确控制点胶头与工件间距离,并根据当前点法向量调整点胶头方向。点胶机构喷射胶滴直径最小可达0.125 mm,完全满足对该类工件的点胶需求,已在现场应用。Five axis 3D dispensing machine was designed to meet the dispensing requirements and plate structure characteristics of frame type workpieces in mobile phones.3D vision system was established based on industrial cameras,the rotation axis of the camera was calibrated,and the rotation axis pose solution was globally optimized by using L-M algorithm in order to correct radial distortion.OpenMVS software was used to implement functions such as feature point extraction and matching,camera pose localization,sparse point cloud reconstruction,and dense point cloud reconstruction.The point cloud data was prepossessed by filtering and it was projected onto a horizontal plane to extract edge contours,and the edge contour point set in the normal direction was offset.The projection of the 2D dispensing path on the horizontal plane was obtained,and the coordinates of these projection points were mapped back to the original 3D point cloud to obtain the normal vector of each point on the 3D dispensing path and determine the five axis dispensing path in the form of(X,Y,Z,B,C).This system can accurately control the distance between the dispensing head and the workpiece,and adjust the direction of the dispensing head based on the current point normal vector.The minimum diameter of the adhesive droplets sprayed by the dispensing mechanism is 0.125 mm,which fully meets the dispensing requirements for this type of workpiece,and it has been applied in the field.

关 键 词：五轴3D点胶机 标定 径向畸变 点云 点胶路径 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] TN4[自动化与计算机技术—计算机科学与技术]