电梯导轨装配视觉识别与定位系统设计

Design of Visual Identification and Positioning System for the Elevator Guide Rail Assembly

为了实现电梯导轨装配过程中拉铆动作的自动化,将智能视觉识别与定位系统引入电梯导轨装配自动线设备中。电梯导轨与连接板自动装配拉铆动作实现的关键在于两者孔位的对中动作。尤其在工况不佳的场合下,需对相机采集到的图像进行预处理与相机标定,实时获取导轨与连接板孔的坐标数据,并反馈给定位系统,调整定位误差,顺利完成拉铆动作。现场调试表明,所设计的与自动拉铆机械装置相配的视觉识别与定位系统,能较为准确地识别零件特征并进行识别与定位,满足电梯导轨装配工业应用要求。

In order to realize the automation of riveting action in the elevator rail assembling process,the intelligent visual identification and positioning system is introduced into the automatic assembling line of the elevator rail.The key to the realization of the automatically assembling and riveting action of the elevator guide rail and the connecting plate lies in the middle action of the two hole positions.It is necessary to pre-process and calibrate the images collected by the camera,especially in poor working conditions,obtain the coordinate data of the guide rail and the connecting plate hole on spot,and feedback to the positioning system,adjust the positioning tolerance,and successfully complete the riveting action.This paper designs a set of visual identification and positioning system compatible with the automatic riveting mechanical device.After field debugging,it is shown that the visual identification and positioning system can accurately identify the characteristics of parts and do identifying and positioning,and meet the requirements of industrial application in elevator guide assembling.