A machine vision based sealing rings automatic grabbing and putting system

摘要

In order to allow the robot to automatically grab the front sealing rings, in this paper, a recognition and grabbing system of sealing rings based on machine vision is presented. Machine vision technologies are first utilized to help locate the sealing rings and also determine their orientations, an industrial robot is then utilized to accomplish the grabbing of them. The whole system consists of a light source, a camera, an image processing machine and a 4-degrees of freedom industrial robot. Specifically, the system uses the method of the non calibration to accurately locate the positions of sealing rings. Then, sealing rings with a front view are automatically identified by the Hough transform algorithm. Finally, the industrial robot grabs the one of the sealing rings and put it at the proper position of a battery lid. Experimental results show that the system can recognize, grab and put the sealing rings successfully. The proposed system can improve the efficiency for the assembly line of the battery manufacturing and enhance the flexibility and adaptability of the robot.