Study And Development Of Microscopic Visual Servo System Of Automatic Arc-welding Robot For Wire-drawing Bushing

Now, the heat-deformation of plate, which occurs in tip-welding process of glass-fibre Platinum Wire-drawing Drain Bushing (PWDB), inevitably leads to the"drifting"of tip-position, and further leads to a problem that the robot can not track the welding path correctly. To solve this problem, a Microscopic Visual Servo positioning scheme of tip-center is proposed, including the hardware implementation of the Microscopic Machine Vision System and corresponding positioning algorithm of tip-centre, and thus the dynaminc positioning of tip-centre in the process of tip-welding of PWDB is reached so that the tip-welding robot of PWDB can self-adapt to the heat deformation of the plat and realize the track of welding path precisely and dynamically.In this paper, the every parts of the Microscopic Machine Vision System's hardware is firstly choosed based on the result, which is from the analysis of the object's character, including light source, microscopic lens, CCD camera. Visual C++ is used to be the developed-platform of this system's software.Then, the median filter and the peak-valley method are separately used on image denoising and image binary valuing after made a research for the principle about image denoising, binary valuing and edge detection. The performance between classical edge algorithm and Canny algorithm is compared, and the Canny algorithm is used in the paper last. Meanwhile the sub-pixel edge detection is studied in the paper.Two methods for inspecting the circle are given on the basis of study of object in the paper. One method is used to detect circle by Hough transform method, another, which is named pixel-scanning algorithm, is used to detect circle by an algorithm that is developed by ourself. After having analyzed this two methods, we choose the second one for the algorihm, in this paper.The development of servo system is introduced, and the procedure for handling this servo system is given. Finally, we verify the system has a perfection result after make some test for this system.