锻压技术

视觉控制在微型电机外壳冲压自动送料中的应用

英文标题：Application on visual control in automatic feeding of micromoto shell during stamping

作者：韩伟梁秋华段海峰陈宇姗

分类号：TG386

出版年,卷(期):页码：2020,45(11):162-167

摘要：

为了解决在电动汽车微型电机外壳产品自动化冲压生产过程中，当冲压电机外壳侧面存在缺口时，由于震动干扰，在机器人夹持冲压件进入下模圆柱衬芯，对容易出现中心位置偏差，导致产品报废，甚至损坏模具的问题，提出在机器人夹持器前端安装视觉定位装置，并研究视觉相机标定和坐标偏移补偿控制方法。利用FANUC机器人具有的视觉检测偏移量和自动补偿调整用户坐标系的功能，编制拍照和送料动作控制程序。使得机器人能够快速、精确地调整好工件和下模圆柱衬芯中心，并将冲压件准确送入，实现冲压设备、机器人和视觉系统之间的协调工作。提高微型电机外壳冲压件在冲压过程中转送的准确度和安全性，稳定冲压件产品质量，保证了电机外壳冲压自动送料生产线的高效运行。

In the automatic stamping production process of micromotor shell for electric vehicle, when the robot grasps the stamping part into the cylinder lining core of lower die and punches the side gap of micromotor shell, due to the vibration interference, it is easy to cause the center position deviation resulting in the scrapping of product and even damage to die. In order to solve the above problems，a vision positioning device was installed in the front of robot gripper, and the control methods of vision camera calibration and coordinate offset compensation were studied. Then, using the functions of visual inspection offset and automatic compensation and adjustment of user coordinate system for FANUC robot, the control programs of photographing and feeding action were programmed, so that the robot could quickly and accurately adjust the center of workpiece and cylinder lining core for lower die, accurately feed the stamping part and realize the coordination among stamping equipment, robot and vision system. Thus, the accuracy and safety of transferring the stamping part for micromotor shell in the stamping process were improved, the product quality was stabilized, and the efficient operation of automatic feeding production line for motor shell stamping was ensured.

基金项目：

2019年广东省普通高校特色创新类项目(2019 KTSCX231)；2018年广东省普通高校青年创新人才类项目（2018 KQNCX371)

韩伟(1963-)，男，学士，高级实验师 E-mail：1786891960@qq.com；通讯作者：梁秋华（1983-），男，学士，实验师 E-mail：liangqh@gcu.edu.cn

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