System for inserting pins into an article
A system places a pin into at least one hole on an article. The system generally includes a moveable base on which the article is located, a press head for holding and inserting the pin into the hole, a first vision system to capture a first image of a designated hole on the article, and a second vision system to capture second and third images of the held pin relative to the press head respectively from two vantage points. A computing unit is configured to assign a relative coordinate consisting of a X-value and a Y-value being correspondingly indicative to an actual location of the hole, compute relative deviations presented between the held pin and the designated hole, and move the base to adjust the article in a manner correcting or compensating for the computed deviation prior to inserting the held pin into the hole.
1. A system for placement of a pin, which comprises a pin head and a pin body, into at least one hole fabricated on an article, the system comprising:
a moveable base on which the article having a surface carrying the at least one hole is located;
a press head for holding the pin and inserting the held pin into the at least one hole on the article;
a first vision system installed to capture a first image illustrating planar arrangement of a designated hole on the article;
a second vision system installed with an optical assembly to capture a second image and a third image capable of illustrating a center axis of the held pin in relation to a center axis of the press head respectively from two vantage points which are substantially perpendicular to one another at a vertical plane;
a computing unit being configured to
assign a relative coordinate consisting of a X-value and a Y-value being correspondingly indicative to an actual location of the at least one hole at a X-axis and a Y-axis on the surface,
compute relative deviations presented between the held pin and the designated hole at the X-axis and the Y-axis, the relative deviation at the X-axis being computed by way of calculating an offset of the at least one hole and an offset of the pin at the X-axis, the relative deviation at the Y-axis being computed by way of calculating an offset of the at least one hole and an offset of the pin at the Y-axis, and
move the base to adjust the article in a manner correcting or compensating the computed deviation prior to inserting the held pin into the at least one hole.
2. The system of claim 1 , wherein the offset of the at least one hole at the X-axis is calculated by determining a number of pixels in the first image spacing between a center of the at least one hole and a center of the first image along the X-axis and each pixel in the first image corresponds to a predetermined unit of length.
3. The system of claim 1 , wherein the offset of the at least one hole at the Y-axis is calculated by determining a number of pixels in the first image spacing between a center of the at least one hole and a center of the first image along the Y-axis and each pixel in the first image corresponds to a known unit of length.
4. The system of claim 1 , wherein the offset of the pin at the X-axis is calculated by determining a distance spacing between a lengthwise center of the pin held by the press head and a center line predetermined in relation to the press head in the second image.
5. The system of claim 4 , wherein the distance is determined by identifying a number of pixels spacing between a centerline of the pin body held by the press head and a center line predetermined in relation to the press head.
6. The system of claim 1 , wherein the offset of the pin at the Y-axis is calculated by determining a distance spacing between a lengthwise center of the pin held by the press head and a center line predetermined in relation to the press head in the third image.
7. The system of claim 6 , wherein the distance is determined by identifying a number of pixels spacing between a centerline of the pin body held by the press head and a center line predetermined in relation to the press head.
8. The system of claim 1 , further comprising a display providing a user interface for configuring the system.
9. The system of claim 1 , further comprising a feeding module capable of delivering a pin of a predetermined orientation to be picked up by the press head.
10. The system of claim 1 , wherein the images captured are free from being superimposed one and other.
11. The system of claim 1 , further comprising an optical sensor for measuring a relative distance of one or more planar points on the surface of the article away from the optical sensor,
wherein the computing unit is configured to derive a relative height of the pin head of an inserted discrete pin in relation to an adjacent surface of the article through the optical sensor.
12. The system of claim 11 , wherein the computing unit is further configured to determine a distance of a center of the pin head of the discrete pin, sample N number of planar areas from the surface adjacent to the pin head, sample P number of planar points within and around a center of each sampled planar area, measure a distance of each sample planar point, determine a distance of each sampled planar area by averaging the measured distances of the sampled planar points within the planar area, average the determined distances of the sampled planar areas, and derive the relative height of the pin head by computing a distance difference of the averaged distance of the sampled planar areas and the distance of the center of the pin head.
13. The system of claim 12 , wherein the P and/or N is an integer not less than 2.