| Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program.The paper sums up the research and development situation of the robot in recent years,and puts forward a new deburring robot system on hole outside a screen pipe. The robot can work within 114mm -190mm. It also analyses and designs mechanical structure transfer system driving system control system in detail. The machine vision and digital image processing technology are applied in the automated deburring system, thus realizes automation and intellectualization of the system. It uses crawling and sectional construction form, which can enhances stability and operation flexibility of the system.The paper adapts the machine vision to carry on the survey to the hole position, and the author elaborates the computational method of the parameter calibration to the camera inside and outside in detail. According to the calibration ,it is possible to transform the coordinate under the camera coordinate system to the robot coordinate .So it can gain three-dimensional space coordinates of the spatial object and carry on the two-step guiding controlling to the robot.With the demand of AT89C52 single-chip computer, the PC computer which has a. tight structure and is easy to be extended is used as the principal computer cell and takes the function of system initialization, data operation and dispore, step motor drive and error diagnose and so on. and designs communication structure of serial ports for both PC and single-chip computer. At last, the research content and the achievement are sum up and the problems and shortages in main the content are also listed. The development and application of robot in the future is expected. |
