双目结构光视觉引导的螺栓自动装配系统设计

To solve the problems of rapid acquisition of parts positions in automatic bolt assembly process and accurate positioning in complex scenes such as weak texture and reflection, an automatic bolt assembly system was developed based on the binocular structured light vision principle. The 3D information of the workpiece scene was obtained by binocular structured light vision system, which involved the grating fringe pattern acquisition, binocular calibration, multi-frequency heterodyne method to solve the absolute phase, phase correction, polar line correction and stereo matching. The reconstructed point cloud data was segmented by European clustering, and the 3D point cloud clustering of single bolt was obtained. Then, the pose transformation matrix from template point cloud to target point cloud was estimated by ICP algorithm, and the pose of the connecting bolt in space was identified. Finally, the end of the manipulator was automatically assembled and tightened. The experimental results showed that the whole assembly process could be completed automatically, and the assembly time of a single bolt was about 10 s. The average axle hole alignment error of the system test was less than 1. 20 mm, and the standard deviation of the error was less than 0. 11 mm.