Research On Automatic Assembly System Of Plugged Parts Based On Machine Vision

The demand for wiring harness in the fields of automobiles,household appliances,communications,aerospace and other fields is increasing,but its low degree of production automation seriously restricts the development of the industry.The automatic assembly of harness terminals and sheaths is a key step in harness production automation,and it is also an important research direction to improve the automation degree of harness production.According to the assembly process of wire harness terminals and sheaths,combined with the actual application,the author studies an automatic assembly system of wire harness terminals and sheaths based on machine vision guidance.The system can not only realize the automatic assembly of wire harness terminals and sheaths,but also realize the self-test of assembly quality.ABAQUS is used to analyze the assembly process of harness terminal and sheath.It mainly analyzes the thrust required for the terminal to insert the sheath and the destructive force required for the terminal to pull out the sheath.Through analysis,the standard insertion force of the terminal insertion sheath is obtained,and the test force for detecting whether the assembly of the terminal and the sheath is qualified is obtained.The automatic assembly system of wire harness terminal and sheath is designed.Aiming at the small size of wire harness,a set of gripper suitable for wire harness grasping is designed by Solidworks,and the force sensor is embedded in the gripper to monitor the force when the gripper holds the wire harness terminal.For the visual system,by comparing different image filtering,image segmentation and edge detection algorithms,the applicability of different algorithms to terminals and sheaths is comprehensively evaluated.Finally,the appropriate filtering and segmentation algorithms are selected to complete the image preprocessing of the visual system.The Hough algorithm is used to realize the feature extraction of the terminal and the sheath,and the pixel feature coordinates are converted into world coordinates as the input parameters of the robot motion planning system.The robot is controlled to complete the automatic grabbing and assembly of the wiring harness terminal,and automatically detect whether the assembly is effective.Finally,the feasibility of the scheme is verified by building an experimental platform for automatic assembly of wiring harness terminals and sheaths.