微小型零件自动装配的软件设计与实现

Automatic Assembly of Microminiature Parts Software Design and Implementation

针对微小型零件的装配问题,搭建了四轴微装配系统,利用VC++平台开发了微小型零件自动装配软件,实现了可视化人机交互式装配.微装配系统软件设计模式采用分层架构的思想,通过分析类和对象的关系,采用创建类的方式封装了微装配软件系统架构的主要模块.软件模块包括运动控制、气动控制、图像采集与处理、模板数据管理、示教再现以及相机标定.采用面向对象的方式实现了各个模块间的数据交换,创建了机器视觉与示教再现相结合的自动装配控制模式.装配测试表明:该系统运行平稳,装配过程中无需人工干预,可以很好地实现不同尺寸微小型零件的自动装配;软件具有很好的重复性、人机交互性和稳定性.

To solve the assembly problem of the microminiature parts, the micro-assembly system with four axes has been set up and man-machine interactive assembly directed by vision has been realized based on automatic assembly software developed by VC＋＋ platform. Software style of the micro-assembly system was designed by adopting the idea of layer architecture. By analyzing the relationship between classes and objects, main core modules that software structure of the micro-assembly system depends on was integrated by the way of creating classes. Software system is consisted of six modules, including motion control, pneumatic control, image gathering and processing, template data management, teaching-playing, and camera calibration. Meanwhile, data exchange of the each module could be easily realized by adopting the object-oriented method. Depending on the combination of machine vision and teaching-playing, automatic assembly mode has been created. Assembly experiments show that the system can run smoothly and assembly process runs very well without human intervention. Automatic assembly of microminiature parts with different dimensions has been realized and the software can keep a good state of reusability, man-machine interactive and robustness.