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Device and method for identifying, positioning and grabbing easily-deformed wire

A technology of identification, positioning and easy deformation, which is applied in the field of automation and can solve the problem of insufficient grasping accuracy

Active Publication Date: 2020-10-30
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a device and method for identifying, locating and grabbing easily deformable wires in order to overcome the technical defect that the grabbing accuracy of the automatic assembly technology on the current micro-special motor production line is not high enough

Method used

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  • Device and method for identifying, positioning and grabbing easily-deformed wire
  • Device and method for identifying, positioning and grabbing easily-deformed wire
  • Device and method for identifying, positioning and grabbing easily-deformed wire

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0082] like figure 1 As shown in the figure, a device for identifying, locating and grabbing deformable wires includes an industrial computer data processing module 1, a stator and a deformable wire element transmission system 2, a communication module 3, an image acquisition and processing system 4, and a robot for real-time tying with assembly system 5; where,

[0083] The data processing module 1 of the industrial computer is used to process data;

[0084] The stator and easily deformable wire element conveying system 2 is used for conveying the stator and easily deformable wire element;

[0085] The communication module 3 is used for communication transmission;

[0086] The image acquisition and processing system 4 includes:

[0087] An image acquisition module 41, configured to acquire a three-dimensional image;

[0088] A light source module 42, configured to provide a light source to assist the image acquisition module 41 to acquire images;

[0089] The industrial ...

Embodiment 2

[0110] like figure 2 As shown, a method for identifying, locating, and grasping deformable wires is implemented based on the device for identifying, locating, and grasping deformable wires, including the following steps:

[0111] S1: Collect a 3D image and preprocess the point cloud of the 3D image to obtain a depth image;

[0112] S2: Perform threshold processing on the fixed height in the depth image to obtain the wire positioning area of ​​the fixture fixing groove;

[0113] S3: Using the height information to extract the outline of the easily deformable wire and obtain its height, and obtain the area of ​​the easily deformable wire to be grasped;

[0114] S4: Select the grasping point according to the obtained easily deformable wire area and obtain the pose of the grasping point;

[0115] S5: Send the pose of the grasping point to the robot, and the robot performs identification and positioning and grasps according to the identification and positioning results.

[0116...

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Abstract

The invention provides a device for identifying, positioning and grabbing an easily-deformed wire. The device comprises an industrial personal computer data processing module, a stator and easily-deformed wire element conveying system, a communication module, an image acquisition and processing system and a robot real-time tying belt assembly system; and the invention further provides a method foridentifying, positioning and grabbing the easily-deformed wire, and the method is realized based on the device for identifying, positioning and grabbing the easily-deformed wire. The invention provides the device and method for identifying, positioning and grabbing the easily-deformed wire, the easily-deformed wire conveyed on the conveying system is identified and positioned in real time througha three-dimensional vision technology, a robot grabs the easily-deformed wire to a specified assembly position according to an identification and positioning result to be tied and assembled with a stator, the grabbing accuracy is improved, and the problem that in the current micro and special motor assembling process, the assembling efficiency and the assembling quality of wires prone to deformation are not high enough is solved.

Description

technical field [0001] The present invention relates to the technical field of automation, and more specifically, to a device and method for identifying, locating and grabbing deformable wires. Background technique [0002] With the rapid development of our country's economy, the use of micro and special motors in small electrical appliances is becoming more and more extensive, and the demand for micro and special motor products is increasing day by day. However, in the existing micro-motor production line, the easily deformable wires and stator coils are still assembled manually during the production process of the micro-motor, which seriously restricts the output of the product, and the quality of the product is also heavily dependent on the skilled workers. degree. [0003] At present, most of the automatic assembly of my country's micro-special motor production lines is independently developed by enterprises, and the degree of automatic assembly and theoretical technolo...

Claims

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Application Information

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IPC IPC(8): B23P19/00B25J9/16B25J19/06
CPCB23P19/00B25J9/1607B25J9/1687B25J9/1697B25J19/061
Inventor 莫天伦许亮李子耀陈金明
Owner GUANGDONG UNIV OF TECH
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