基于机器视觉的机器人自动导线焊接

Robots Automatic Wire Welding based on Machine Vision

传统的电连接器焊接普遍采用手工作业方式,长时间的焊接会对操作人员造成一定程度的疲劳及损伤,因此,使用工业机器人完成电连接器和多芯导线的自动化焊接是一个重要的研究方向。通过研究电连接器与多芯导线的焊接工艺流程,提出了基于六轴协作机器人和七轴焊锡机器人完成焊接系统方法,重点论述了焊接系统、执行系统、视觉系统、协作焊接等系统的设计要点。通过在协作机器人末端加装视觉系统及智能夹手,引导机器人进行导线的抓取工作。通过拍照电连接器完成特征提取与匹配,驱动智能夹手将导线移至正确引脚位,由焊接机器人进行导线焊接作业,从而实现视觉引导下的自动化焊接,为基于视觉的机器人自动焊接技术提供了技术研究方向和方法支持。

Traditional welding of the electrical connector generally adapted manual operation,and long-term welding would cause a certain degree of fatigue and damage to operators.Therefore,it was an important research direction to use industrial robots to complete the automatic welding of the electrical connector and multi-conductor.By studying the welding process of the electrical connector and multi-conductor,it was put forward that the welding system method of six-axis cooperative robot and seven-axis soldering robot.Focused on the design points of welding system,execution system,vision system,cooperative welding system and so on,by installing a vision system and an intelligent gripper at the end of the cooperative robot,the robot was guided to grasp the wire.Feature extraction and matching were completed through photographing the electric connector,and the intelligent griper was driven to move the wire to the correct pin position.The welding robot conducted wire welding,so as to realize the automatic welding under the visual guidance.It provided the technical research direction and method support for the robot automatic welding technology based on vision.