The Design And Realization Of Strater Driver’s Automatic Assembly Based On Visual Detection

Starter driver is one of the most important part of the motor starter. The start wheel and spring’ assembly is the key process of starter driver’s assembly. Now, it is usually assembled manually and the efficiency is very low and the qualified rate is unacceptable. This production method is not appropriate for the environment of 21centry’s modernization. As a combination of various course, industry robot is able to do some jobs which need high accuracy and repetition. This paper reforms the assembly line of starter driver with the help of the industry robot technology based on the vision technology. It is completed that the designation of the starter driver assembler and the development of the detection and tracking algorithm. At last, the assembly line’s controlling software is developed. The main achievement of the paper is as followed.(1) The general framework of the starter driver assembly line’s designation is completed. After setting up a model of the starter drive’s assembly and analysis of the assembly error, the radial and circumferential error tolerance is acquired. The designation of the assembler’s mechanical structure, the detection and tracking module and the motion control part are accomplished.(2) According to the characteristics of the starter driver proposed visual detection and Tracking algorithm are targeted. At first calibrating the camera use the calibration algorithm of Zhang camera which is chosen as the appropriate. And according to the characteristics of industry robots gripping, we use the three-point method to calibrating the conveyor belt..Using the Hough algorithm to detect the position of the star wheel after the image pre-processing. The coordinate extraction of the tooth top pixel of the star wheel is completed according to the contour feature of the medial profile of the star wheel. Then the circumferential angle of the star wheel is obtained.The tracking model of the star wheel’s motion on the conveyor belt is established based on the calibration algorithm of camera and conveyor belt.(3) The PC control software of the starter driver assembly line is developed with good human-computer interaction. The software is developed by C# computer language on the Microsoft Visual Studio 10 platform. So people can control the assembly system just on the computer much easier. The software implement the detection and tracking of star wheel by the Open CV vision library. Moreover, the tracking sequence of camera is designed to solve the repeat positioning of the star wheel and the strategy the industry robot catching is researched.