基于机器视觉技术的蓄电池密封圈装配系统研究

发布时间：2018-04-28 11:55

本文选题：机器视觉 + 蓄电池密封圈　；参考：《杭州电子科技大学》2017年硕士论文

【摘要】：密封圈作为蓄电池与外界的隔离单元,用于防止蓄电池漏液、避免危险发生,因此其装配工艺尤为重要。目前许多中小型蓄电池生产企业仍停留在人工作业阶段,生产效率低下、失误率高、劳动强度大。随着“工业4.0”、“中国制造2025”的提出,蓄电池企业希望通过引进工业机器人以提高产能与效率。但是这些工业机器人大多采用预先示教方式来控制机器人完成既定指令动作,很大程度上限制了机器人的灵活性。针对这一问题,结合蓄电池生产过程中的密封圈装配工序,本文设计了基于机器视觉技术的蓄电池密封圈装配系统。本文首先针对蓄电池生产线密封圈装配的实际生产场景,设计并搭建了一套密封圈自动装配的硬件平台,主要包括光源、工业相机、镜头、核心处理器、工业机器人及其末端执行器的设计与选型。其次对密封圈装配的视觉定位技术进行了重点研究,包括视觉系统的标定及密封圈、密封口的识别与定位;对于视觉系统的标定,先通过张正友标定法获取相机的内、外参数,然后进行机器人手眼标定,从而建立起任意物点从图像空间到机器人空间的坐标映射关系;在此基础上,对于密封圈正反面识别,利用正反面密封圈对光的反射差异,提出了基于Hough圆检测的识别与定位算法;对于蓄电池盖板上的密封口,提出基于轮廓提取和圆拟合的识别算法,并结合视觉反馈和机器人运动控制完成目标密封口的动态坐标跟踪。接着进行系统通信协议设置和系统软件实现,在VS2012环境下结合OpenCV设计了视觉引导单元软件,完成对抓取算法、放置算法和追踪算法的具体实现;同时利用PAC编程语言设计了机器人控制单元软件。最后对研发的蓄电池密封圈自动装配装置进行了反复调试和实际测试,最终测试结果表明,本课题提出的基于机器视觉技术的蓄电池密封圈装配系统一次性装配成功率达94%以上,引入补装机制后,装配的总成功率达98%以上。一块蓄电池盖板的6只密封圈整体完成装配的平均耗时为11.62s,基本满足当前蓄电池生产流水线的工作节奏要求。
[Abstract]:As the isolation unit of battery and the outside world, the sealing ring is used to prevent battery leakage and avoid dangerous occurrence, so its assembly process is particularly important. At present, many small and medium battery production enterprises still stay in the stage of manual operation, the production efficiency is low, the error rate is high, and the labor intensity is large. With the introduction of "Industrial 4.0" and "made in China 2025", battery enterprises hope to improve production capacity and efficiency by importing industrial robots. However, most of these industrial robots use pre-teaching method to control the robot to complete the given instruction, which limits the flexibility of the robot to a great extent. Aiming at this problem, combined with the assembly procedure of the sealing ring in the production of battery, this paper designs the assembly system of the sealing ring of the battery based on the machine vision technology. Aiming at the actual production scene of sealing ring assembly in battery production line, this paper designs and builds a hardware platform for automatic assembly of sealing ring, which mainly includes light source, industrial camera, lens, core processor, etc. Design and selection of Industrial Robot and its end Actuator. Secondly, the visual positioning technology of sealing ring assembly is mainly studied, including the calibration of visual system, the identification and location of sealing ring, and the calibration of visual system, the inner and outer parameters of the camera are obtained by the calibration method of Zhang Zhengyou first. Then the robot hand-eye calibration is carried out to establish the coordinate mapping relationship between any object points from image space to robot space, and on this basis, for the recognition of the positive and negative sides of the sealing ring, the difference of reflection of light between the positive and the reverse sealing rings is used. The recognition and location algorithm based on Hough circle detection is proposed, and the recognition algorithm based on contour extraction and circle fitting is proposed for the sealing port on the battery cover plate. Combined with visual feedback and robot motion control, the dynamic coordinate tracking of the target seal is completed. Then the system communication protocol setting and system software implementation are carried out, and the visual guidance unit software is designed under the VS2012 environment combined with OpenCV to complete the implementation of grab algorithm, placement algorithm and tracking algorithm. At the same time, the robot control unit software is designed by using PAC programming language. Finally, the research and development of the battery sealing ring automatic assembly device has been repeated debugging and practical testing, the final test results show that, The successful rate of assembly of battery sealing ring assembly system based on machine vision technology is more than 94%, and the total success rate of assembly is over 98% after the introduction of supplementary assembly mechanism. The average time to complete the assembly of the six sealing rings of a battery cover plate is 11.62 s, which basically meets the requirements of the working rhythm of the current battery production line.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41;TM912

【参考文献】