Research On Image-based And Data-driven Intelligent Equipment For Connector Production

With the rapid development of society and the improvement of intelligent manufacturing technology,the demand for intelligent products is very urgent.Visual robots was used to realize the automatic detection,sorting,and grasping of work pieces in industrial production.In the actual production,the production of connectors were manufactured by using traditional manual equipment.On image-based and data-driven intelligent equipment for connector production was research and to improve production efficiency for the production equipment of connectors.Firstly,the design of the connector production intelligent equipment is studied and designed according to the parameters characteristics of the connector.The design of the gripping manipulator,the tightening device,the cartesian robot and the servo system were selected,respectively.The static finite element analysis of the vital structure for the tightening device is carried out by using NX Nastran software.And it is concluded that the designed tightening device meets the current practical application requirements.Secondly,the eye-in-hand visual servo mode is adopted to achieve the guidance of the robot by the visual system according to the production characteristics of the connector,.The hardware selection of the vision system is completed,and calibration of internal and external parameters for the camera is completed.The positions of the manipulator and the camera are calibrated,and the position deviation between the camera and the manipulator is determined.The sample image is acquired,and the image processing is analyzed by using morphology.The height and diameter characteristics of the sample is obtained,and the model of the connector is determined.The controller is switched according to the rules of the expert system.Then,the HSV color space is used according to the color characteristics of the tray and the connector.The global threshold and the morphological processing method are used to complete the rough positioning of the connector.The order in which the connector are picked according to the grab rules is determined.The effect of commonly used edge extraction algorithms are analyzed,and Canny edge detection algorithm is selected to obtain pixel edges.Then the subpixel edge extraction algorithm of quadratic interpolation is adopted to further obtain the target sub-pixel edge,and a filtering rule using the diameter of the fitted circle is proposed for the extracted sub-pixel edges.The desired sub-pixel edges are fitted,and the accurate positions of the connector are obtained.The gripping positions are obtained according to the placement characteristics of the connector.After that,the coordinate transformation is used to convert the 2D data coordinates of the image into the 3D coordinates of the cartesian robot in conjunction with the absolute coordinates according to the position information of obtained connector,connector gripping control flow,and the switching control rules.The grasping positions and processing positions of the connector are obtained,and the grasping and fixing processing of the connector is realized by the intelligent equipment.The three-axis point-to-point S-shaped curve motion path of the cartesian robot is planned,and the smooth movement of cartesian robot is achieved.Finally,the connector production smart device experiment platform is built.The host computer operation interface is designed,and the controller PLC control program is completed,and the communication between the host computer and the smart device is realized.Based on the designed connector intelligent equipment experiment platform,the comprehensive experimental is carried out.