Robot sewing system for three-dimensional composite material perform

Abstract

The invention relates to a 3D composite material prefabrication piece robot sewing system, which comprises a robot, a single-face sewing machine, a structured light vision sensor and an image processing unit; the single-face sewing machine is connected with a shell of the structure light vision sensor and fixed at the tail end of an arm of the robot; the structured light vision sensor comprises a laser and a CCD video camera which are respectively fixed inside an shell of the structured light vision sensor, the included angle of a light axis centerline of the CCD video camera and a laser structure light surface of the laser is 30 to 60 degrees, which is perpendicular with the work-piece surface of a sewing material; the image processing unit comprises an image acquisition card, a PC machine and an image processing program library, the image processing program library comprises a sewing material type identification module, an image pre-processing module, an image post-processing module and a control capacity output module; the CCD video camera is connected with the image acquisition card through an video data line, the image acquisition card is arranged inside a main board slot of the PC machine, the PC machine is connected with the robot through a serial port.

Description

technical field [0001] The invention relates to a manufacturing technology of a three-dimensional composite material prefabricated part, specifically a robot sewing system for a three-dimensional composite material prefabricated part. Background technique [0002] Composite materials have the characteristics of light weight, high strength, and ablation resistance. They have been widely used in cutting-edge fields such as aviation, aerospace, and military industry, and have been extended to automobiles, construction, energy, environmental protection, biomedical, and sports equipment. A field of research that is competing heavily for investment. But composite preforms are expensive to manufacture and inefficient to produce. Therefore, how to realize the automation and flexibility of prefabricated parts production, shorten the production cycle, and reduce production costs under the premise of ensuring the performance advantages of three-dimensional composite materials has beco...

AI Technical Summary

Problems solved by technology

[0009] Compared with the prior art, the suturing system of the present invention overcomes the disadvantages of poor flexibility, large errors, and difficult quality assurance of the existing teaching robot suture system, and adopts a composite material prefabricated image processing method different from the prior art. The main performance In: 1. Using structured light vision sensing technology, using laser as structured light, image feature point detection and feature parameter extraction are carried out for laser lines, not for the entire composite material suture image, with strong anti-stray light interference ability, waiting to be processed The characteristics of small amount of data and fast processing speed; 2. The image processing module adopts the technology of contrast enhancement, binarization, median filtering and expansion, corrosion and skeleton extraction, which effectively solves the uneven surface of textile composite materials , there are a lot of flower knots and burrs, the laser stripes are discontinuous, the thickness is different, and the image noise is too much; 3. The vertical coordinate comparison method is used to quickly detect the feature points, with high precision, fast speed, and good real-time performance

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