基于工业机器人的铁氧体湿压磁材表面缺陷检测

Surface Defect Detection Method for Wet-pressed Ferrite Magnets Based on an Industrial Robot

为了保证永磁铁氧体湿压磁材的质量与一致性,提出一种基于工业机器人的永磁铁氧体湿压磁材表面缺陷检测系统及检测方法。首先,设计了检测系统的虚拟样机,阐述了系统的工作原理。进而,分析了系统中SCARA机器人的正向运动学、反向运动学及轨迹规划算法,展示了铁氧体磁材的被检测过程。然后,给出了铁氧体磁材表面缺陷检测方法,包括自适应直方图均衡化、Kirsch边缘提取和缺陷域特征处理。最后,通过仿真算例和检测试验验证了本文所设计检测设备的合理性及表面缺陷检测方法的可行性。

In order to ensure the quality and consistency of the permanent wet-pressed ferrite magnets,the surface should be in-spected before leaving the factory.This paper proposes a system and method for detecting surface defects of permanent wet-pressed ferrite magnets based on industrial robots.First,a virtual prototype of the detection system is designed,and the working principle of the system is explained.Furthermore,the forward kinematics,inverse kinematics,and trajectory planning algorithms of the SCARA robot in the system are analyzed,and the detection process of ferrite magnetic materials is demonstrated.Then,a method for detecting surface defects of ferrite magnetic materials is presented,including adaptive histogram equalization,Kirsch edge extraction and defect domain feature processing.Finally,simulation cases and experiments verify the rationality of the inspection equipment designed in this paper and the feasibility of the surface defect inspection method.