锻压技术

止血钳裙边冲裁的视觉定位机器人上料方法及其装置的研制

英文标题：Feeding method of visual positioning robot for hemostatic forceps skirt edge trimming and development of its device

作者：李蕾1 2 杨振宇1 李玉胜1 3 刘发英4

单位：1.山东理工大学机械工程学院山东淄博 255000 2.滨州市技师学院机械工程系山东滨州 256600 3.山东工智科技有限公司山东淄博 255000 4.山东理工大学电气与电子工程学院山东淄博 255000

关键词：止血钳裙边冲裁图像处理视觉定位机器人上料

分类号：TP249

出版年,卷(期):页码：2025,50(5):211-218

摘要：

针对止血钳裙边冲裁工作效率低、劳动强度大、危险系数高等问题，提出了一种基于视觉定位的止血钳裙边冲裁机器人上料方法。搭建了机器视觉试验台，通过纠偏基准图像逆向采集策略完成图像采集，对图像进行预处理并运用亚像素方法提高边缘精度；通过模板匹配的方法获取止血钳抓取件位与基准位的位置偏差，并进行位置纠偏,最后由机器人将止血钳送至冲床凹模完成上料。试验结果表明，机器人自动上料的定位成功率可达96%以上，可满足止血钳裙边冲裁机器人自动上料的需求，平均日冲压量可达15000件，显著提高了冲压效率。研究内容可为冲床自动上料提供技术支持。

For the problems of low feeding efficiency, high labor intensity and high risk coefficient in the hemostatic forceps skirt edge trimming, a robot feeding method of hemostatic forceps skirt edge trimming based on visual positioning was proposed. The machine vision test platform was built, and the image acquisition was completed by the reverse acquisition strategy of correction reference image, then the image was preprocessed, whose edge accuracy was improved by the sub-pixel method. The position deviation between gripping position of hemostatic forceps and reference position was obtained by the template matching method, and the position deviation was corrected. Finally, the robot sent the hemostatic forceps to the die to complete the feeding. The experimental results show that the positioning success rate of the robot automatic feeding can reach more than 96%, which can meet the demand of the robot automatic feeding of hemostatic forceps skirt edge trimming. The average daily stamping capacity can reach 15000 pieces, and the stamping efficiency can be significantly improved. Thus, the research content can provide technical support for the automatic feeding of punch press.

基金项目：

山东省科技型中小企业创新能力提升工程项目(2023TSGC0981)

作者简介：李蕾（1991-），男，硕士研究生，E-mail：boxinglilei@163.com；通信作者：杨振宇（1973-），男，工学博士，副教授，E-mail：05338@163.com

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