Transactions of Materials and Heat Treatment

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

Authors： Li Lei1 2 Yang Zhenyu1 Li Yusheng1 3 Liu Faying4

Unit： 1. School of Mechanical Engineering Shandong University of Technology Zibo 255000 China 2. Department of Mechanical Engineering Binzhou Technician College Binzhou 256600 China 3. Shandong Industrial-intelligent Science & Technology Co. Ltd. Zibo 255000 China 4. School of Electrical and Electronic Engineering Shandong University of Technology Zibo 255000 China

KeyWords： hemostatic forceps skirt edge trimming image processing visual positioning robot feeding

ClassificationCode：TP249

year,vol(issue):pagenumber：2025,50(5):211-218

Abstract：

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.

Funds：

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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