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Journal of Sensors
Volume 2017 (2017), Article ID 4207432, 12 pages
Research Article

An Automatic Assembling System for Sealing Rings Based on Machine Vision

Department of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China

Correspondence should be addressed to Yuxiang Yang

Received 16 January 2017; Accepted 30 April 2017; Published 24 May 2017

Academic Editor: Gaetano Sequenzia

Copyright © 2017 Mingyu Gao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In order to grab and place the sealing rings of battery lid quickly and accurately, an automatic assembling system for sealing rings based on machine vision is developed in this paper. The whole system is composed of the light sources, cameras, industrial control units, and a 4-degree-of-freedom industrial robot. Specifically, the sealing rings are recognized and located automatically with the machine vision module. Then industrial robot is controlled for grabbing the sealing rings dynamically under the joint work of multiple control units and visual feedback. Furthermore, the coordinates of the fast-moving battery lid are tracked by the machine vision module. Finally the sealing rings are placed on the sealing ports of battery lid accurately and automatically. Experimental results demonstrate that the proposed system can grab the sealing rings and place them on the sealing port of the fast-moving battery lid successfully. More importantly, the proposed system can improve the efficiency of the battery production line obviously.