Design And Research Of Battery Labeling Control System Based On Visual Guidance

There is a growing demand for electronic products such as mobile phones,bluetooth headsets,electronic watches and tablets,which all need lithium batteries for power supply.Currently,some battery manufacturers still use manual or semi-automatic labeling machines to label lithium batteries,which is not only inefficient but also inaccurate.For small button type lithium battery,the traditional labeling machine cannot meet the functional requirements of labeling accuracy,labeling efficiency,labeling qualification rate and automatic elimination of unqualified products.This paper designs and studies the battery labeling control system.Based on the introduction of the technological process and the structure layout of the battery labeling system,the task requirements and material characteristics of the battery labeling system are analyzed,and the scheme of the battery labeling control system is proposed.In order to meet the task requirements of labeling efficiency,two symmetrical labeling manipulators with multi-nozzle groups were used to coordinate the labeling.Due to label and the battery itself characteristics is not convenient to use,accurate positioning device of mechanical vision guidance system is used to collect target label and the image information of the battery,through the image processing technology to identify the target label and battery,get the target label and battery in the center position of the robot coordinate system and the Angle of information,and through the way of error compensation to reduce manipulator repeat positioning error,the influence of the hand-eye camera calibration and image processing errors,thus ensuring labeling accuracy.The hardware selection of visual guidance system was completed,and a visual guidance system structure combining eye-in-hand and eye-to-hand was built.Aiming at the problems of tedious operation and low calibration efficiency of the traditional Hand Eye calibration method,the nine-point calibration method was adopted to calibrate the Hand Eye of the eye-in-hand moving camera and the eye-to-hand fixed camera.The image processing software of visual guidance system based on cognex VisionPro was used to realize image processing.In view of the traditional manual teaching tools reference point to establish the coordinate system is timeconsuming and precision affected by the subjective questions,adopted a based on Eye-to-Hand under a fixed camera to locate the labeling suction nozzle and the geometric function is used to calculate suction nozzle center relative to the robot Hand screw center offset method,automatic labeling of suction nozzle tool coordinate system is established.Aiming at the problem of error in taking the label from the labeled nozzle caused by various errors,a dynamic tool coordinate system was established for the label on the feed suction nozzle by using a fixed camera under eye-to-hand,so as to correct the error of taking the label.In view of the differences in the Angle of each tag of the material platform and the battery in the vehicle,the method of establishing the associated Angle between the template tag and the template battery is used to ensure the precision requirements of the labeling Angle.The calculation of dynamic point position and dynamic punctuation position was completed.In order to solve the problem of not correctly identifying positioning labels or batteries due to material defects or abnormal visual software,the method of establishing a correct photo reference position is used to judge whether the pixel coordinates obtained from the visual guidance system are reliable.The design of communication mode of control system is completed.The safety mechanism of the doublelabeled manipulator was established to avoid the collision of the two manipulators in the process of operation.The control program flow of manipulator taking label,labeling and blanking sorting was designed.The quality inspection of the labeled battery is realized by using the visual inspection system of the labeled battery.The design of automatic error correction compensation system is completed.Finally,the performance test of the labeling system is carried out,and the labeling qualification rate and labeling efficiency meet the design requirements.