| The continuous development of robot technology, which used in the actual production more and more commonly, robot has been largely used in assembly operations in domestic and foreign enterprises. With the development of the automobile industry, the using of the oil coolers are more and more large. At present, the field of the cooler production in domestic and foreign, has already stopped with the state of manual assembly by works basically, this mode of production not only consume a large amount of human, financial, but also inefficient, and the quality of the assembly are not guaranteed. This subject is based on the applications of the technology in the automatic assembly industry, design out a population system which can implement to assemble automatically, to resolve the assembling of oil cooler fall behind.Firstly, analyzed the features of the shape and structural of the six-component, put forward two sets of automatic assembly population projects, One is two degrees of freedom manipulator chip program automatically group, which is design a two degrees of freedom manipulator, as a control system with PLC, to crawl and placed the parts automatically. The other is the use of Motoman Robot, assembling the oil coolers automatically. In order to ensure the quality of film group, detect the process of automatically assembling, Shoot the image of the process of the assembling of oil cooler by CCD camera, compared to the standard image, and decided whether the automatically assembling process is right or not? And decide the next action.According to the program of automatically group of the two degrees of freedom manipulator, design the mechanism part, which mainly includes the design of the manipulator and the feeding equipment. The two degrees of freedom manipulator include rotating bodies, movement bodies, vacuum clamping equipment, and connector, the rotating bodies and movement bodies derived by the stepping motor. The vacuum clamping equipment includes vacuum sucker, abnormity vacuum sucker and vacuum claw. Designed the feeding equipment which required the next parts can rotate to the right position after the last one successfully assembled in order to improve the degree of the automation assembling.According to the program of automatically group of the two degrees of freedom manipulator, design the hardware and software of the control system. Selected the FX1N-40MR-001PLC of Mitsubishi, and distributed its I/O points, and wrote the control program of movement of the machine.The hardware of the image detection system included CCD camera and image acquisition card etc. Shoot the photo of the assembling process, after wave filtering and edge drawing, choosing appropriate arithmetic of image detection by the feature of the parts. Detect the bottom shell with straight line slope arithmetic; detect the washer, bottom melt piece with the Least-squares elliptical arithmetic, and Heat dissipation fin, top melt piece, top cover with Image area arithmetic.Vacuum clamping equipment experiment. The main goal is to verify the experimental of drive the vacuum sucker, abnormity vacuum sucker and vacuum claw to assembly automatically by micro vacuum pump, and detection system verification. In order to achieve the goal of these experiments, complete the assembly action by Motoman robot, write the detection program at VC++ 6.0 environment. The results show that the three vacuum clamping equipment can crawl and place parts successfully and the detection system also run successfully. |
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