Research And Design Of Automatic Tinning System For Electrical Connectors Based On Binocular Vision

There is a tinning process before the welding process of various types of electrical connectors,and the completion of the tinning process also determines the success or failure of the subsequent process.Therefore,the tinning process of electrical connectors occupies is a very important position in the relevant industrial production.At present,tin lining process consumes a lot of man hours because of repeated and tedious steps,and its manual operation is easy to cause scald accidents,and the product consistency is poor.Therefore,this paper puts forward the idea of using binocular camera to guide six axis industrial robot to conduct efficient and accurate tinning operation on the welding cup of electrical connector.In terms of composition selection,by comprehensively analyzing the national military standards and the actual operation process on site,the technical points of tin coating process concerned by this system are extracted,the main structure of binocular vision system with six axis robot is established,and the 6-megapixel camera and aubo-i10 robot are selected as the hardware basis.The classical structure and core algorithm of binocular vision system are explained in detail,and the formula of transformation from two-dimensional coordinates of image to three-dimensional coordinates of world coordinate system is deduced in detail.For dealing with camera distortion,camera calibration methods are demonstrated scientifically and carefully,and the camera calibration is realized.Aiming at the accurate positioning of the welding cup of electrical connector,a method combining SURF(Speed Up Robust Features)algorithm and Hough circle transform algorithm is proposed to match the features.In terms of algorithm,the mathematical logic of stereo correction and stereo matching algorithm is elaborated,and the parallax map with good effect is obtained by combining the related algorithms.The kinematics of aubo-i10 robot is analyzed in detail by using D-H(Denavit-Hart enberg)theory,and the D-H parameter table of aubo-i10 robot motion is obtained.Sever al methods of trajectory planning are analyzed,and the fifth order S-curve trajectory pl anning method is finally determined.