Study Of The Automatic Loading And Unloading Manipulator System Based On Visual Location

Manufacturing Automation is one of the goals of manufacturing in the long-termdevelopment.With the automatics the labor intensity could be reduced greatly, thequality of products could be improved obviously, and the enterprise’s competitivepower could be enhanced distinctly. So the enterprise could be adapted to the marketmore better.In order to improve the machining efficiency and product quality in further, theCNC machine tools, robots and the corresponding end of the actuator and visualsensors are combined and distributed reasonably to form the CNC machine tools-robot processing system based on visual location in this paper. And some of the keytechnologies of the system are studied in detail.The main works of the dissertation contains:(1)The selection and layout of automatic loading and unloading system. In thispart the selection and layout of the transmission equipment, manipulator, CNCmachine tools, materials and the visual system have been studied, the relatedequipment for industrial processing was chosen, while the special end-actuators havebeen analyzed and selected.(2)Image acquisition and processing. Including: image digitization; imageenhancement and recovery; image binary and the image center point calibration;analysis methods of image analysis, target localization of processed image, need touse CCD camera, matched lenses and image acquisition card, the image data wereprocessed. While using Matlab image processing software to obtain the image pixelcoordinates of the workpiece, the workpiece to provide a basis to determine thespecific spatial location, this paper focuses on to get the specific location of theworkpiece center.(3)To establish the corresponding coordinate for the various parts of the System.Using the D-H coordinate to establish the manipulator coordinate system of the link,then set up the kinematic model of the manipulator, make kinematic analysis for the loading and unloading process, and analysis the kinematics forward and inverseproblems.(4)The simulation of CNC machine tools-Loading and Unloading Manipulatorprocessing system. The modeling and simulation results with solidworks, adamssoftware verify the design result, theories and methods proposed directly, and providethe basis for design-improving late, theory-correcting and method-improving. Thesimulation of the Loading and Unloading Manipulator processing system can detectdesign weaknesses effectively before the manufactured prototype. And that couldavoid unnecessary losses, save much money for the enterprise.