Micro-motor Stator Assembly Technology Based On Stereo Vision

The stator component assembly of the micro-motor stator production line is a manual assembly method.There are problems: large amount of labor is required and labor cost is high,assembly efficiency is low and stator assembly quality is heavily dependent on the skill level of the workers,lacking uniform quality evaluation standards and the assembly process is complex and diverse.Workers have high technical requirements and workers need a lot of time to train.On the other hand,workers have long been in a noisy work environment and long-term work,which has a great impact on the health of workers.In view of the problems in the assembly of the above micro-motors,this paper takes the stator assembly process of micro-motors as the research object,and proposes the classification and positioning method of stator wire components for micro-motors based on stereo vision,and studies the stator assembly technology.Complete the work as follows:1.Through the analysis of the assembly requirements,assembly accuracy,assembly function and assembly line layout of the stator wire components,the hardware selection of the machine vision system is completed.2.For the problem that the stator wires of the micro-motor are randomly distributed in space,the shape of the wires is irregular and easy to deform,and the surface of the component and the stator enameled wire is easy to reflect,this paper proposes to image the stator and the assembly components with a blue laser 3D stereo camera.Coordinate and pixel physical precision and height information to obtain three-dimensional information of the wire.3.For the identification and positioning of the wire,the image is pre-processed,the multi-feature fusion and region segmentation methods are used to highlight the wire area.Finally,the classification and positioning are realized by identifying the physical geometric features of the wire.The experimental results show that the method has high recognition and positioning accuracy and can meet the design requirements of this paper.4.For the stator enameled wire,use the threshold segmentation and morphology method to extract the pixels in the area where the enameled wire is located,extract the geometric characteristics of the enameled wire region,fit the contour of the stator enameled wire region and obtain the minimum circumscribed rectangle,and calculate the center position of the rectangle to obtain the center position of the enameled wire region.5.A new algorithm for improving the error iterative four-point calibration is proposed.By analyzing the assembly process of the robot,the trajectory of the stator assembly manipulator is designed,the stator assembly model based on the state machine is established,and the assembly time optimization algorithm is proposed.In summary,the various algorithms proposed in this paper are tested.the experimental results of the proposed algorithms show that the proposed wire identification and classification algorithm,enameled wire positioning and recognition algorithm,and error iterative four-point calibration algorithm have high calculation accuracy,fast running time and positioning error.0.5mm,the stator assembly model and optimization algorithm are proposed,and the positioning algorithm meets the requirements of the stator assembly line.