本文選題：機(jī)器視覺 + 蓄電池密封圈　； 參考：《杭州電子科技大學(xué)》2017年碩士論文

【摘要】：密封圈作為蓄電池與外界的隔離單元,用于防止蓄電池漏液、避免危險發(fā)生,因此其裝配工藝尤為重要。目前許多中小型蓄電池生產(chǎn)企業(yè)仍停留在人工作業(yè)階段,生產(chǎn)效率低下、失誤率高、勞動強(qiáng)度大。隨著“工業(yè)4.0”、“中國制造2025”的提出,蓄電池企業(yè)希望通過引進(jìn)工業(yè)機(jī)器人以提高產(chǎn)能與效率。但是這些工業(yè)機(jī)器人大多采用預(yù)先示教方式來控制機(jī)器人完成既定指令動作,很大程度上限制了機(jī)器人的靈活性。針對這一問題,結(jié)合蓄電池生產(chǎn)過程中的密封圈裝配工序,本文設(shè)計(jì)了基于機(jī)器視覺技術(shù)的蓄電池密封圈裝配系統(tǒng)。本文首先針對蓄電池生產(chǎn)線密封圈裝配的實(shí)際生產(chǎn)場景,設(shè)計(jì)并搭建了一套密封圈自動裝配的硬件平臺,主要包括光源、工業(yè)相機(jī)、鏡頭、核心處理器、工業(yè)機(jī)器人及其末端執(zhí)行器的設(shè)計(jì)與選型。其次對密封圈裝配的視覺定位技術(shù)進(jìn)行了重點(diǎn)研究,包括視覺系統(tǒng)的標(biāo)定及密封圈、密封口的識別與定位;對于視覺系統(tǒng)的標(biāo)定,先通過張正友標(biāo)定法獲取相機(jī)的內(nèi)、外參數(shù),然后進(jìn)行機(jī)器人手眼標(biāo)定,從而建立起任意物點(diǎn)從圖像空間到機(jī)器人空間的坐標(biāo)映射關(guān)系;在此基礎(chǔ)上,對于密封圈正反面識別,利用正反面密封圈對光的反射差異,提出了基于Hough圓檢測的識別與定位算法;對于蓄電池蓋板上的密封口,提出基于輪廓提取和圓擬合的識別算法,并結(jié)合視覺反饋和機(jī)器人運(yùn)動控制完成目標(biāo)密封口的動態(tài)坐標(biāo)跟蹤。接著進(jìn)行系統(tǒng)通信協(xié)議設(shè)置和系統(tǒng)軟件實(shí)現(xiàn),在VS2012環(huán)境下結(jié)合OpenCV設(shè)計(jì)了視覺引導(dǎo)單元軟件,完成對抓取算法、放置算法和追蹤算法的具體實(shí)現(xiàn);同時利用PAC編程語言設(shè)計(jì)了機(jī)器人控制單元軟件。最后對研發(fā)的蓄電池密封圈自動裝配裝置進(jìn)行了反復(fù)調(diào)試和實(shí)際測試,最終測試結(jié)果表明,本課題提出的基于機(jī)器視覺技術(shù)的蓄電池密封圈裝配系統(tǒng)一次性裝配成功率達(dá)94%以上,引入補(bǔ)裝機(jī)制后,裝配的總成功率達(dá)98%以上。一塊蓄電池蓋板的6只密封圈整體完成裝配的平均耗時為11.62s,基本滿足當(dāng)前蓄電池生產(chǎn)流水線的工作節(jié)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.
【學(xué)位授予單位】：杭州電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41;TM912

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