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A device and method for identifying, positioning and grasping easily deformable wires

A technology of identification, positioning and easy deformation, which is applied in the field of automation, can solve the problem of insufficient grasping accuracy, achieve the effects of improving grasping accuracy, enhancing competitiveness, and reducing production costs

Active Publication Date: 2021-11-26
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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  • A device and method for identifying, positioning and grasping easily deformable wires
  • A device and method for identifying, positioning and grasping easily deformable wires
  • A device and method for identifying, positioning and grasping easily deformable wires

Examples

Experimental program
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Effect test

Embodiment 1

[0082] Such as 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 industri...

Embodiment 2

[0110] Such as 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.

[0...

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PUM

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Abstract

The invention provides a device for identifying, locating and grasping deformable wires, which includes an industrial computer data processing module, a stator and a deformable wire component transmission system, a communication module, an image acquisition and processing system, and a robot real-time binding tie assembly system; The present invention also provides a method for identifying, locating and grasping deformable wires, which is realized based on the above-mentioned device for identifying, locating and grasping deformable wires. The invention provides a device and method for identifying, locating and grabbing deformable wires. The deformable wires transmitted on the transmission system are identified and positioned in real time through three-dimensional vision technology, and the robot grabs the deformable wires according to the results of the identification and positioning. The lead wires are assembled with the stator at the designated assembly position, which improves the accuracy of grasping, and solves the problem of insufficient assembly efficiency and assembly quality of easily deformed wires in the current micro-motor assembly process.

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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Patent Type & Authority Patents(China)
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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