The Research Of Stamping Automation Technology Based On Machine Vision

In the machinery manufacturing industry,stamping equipment is generally considered poor equipment,the lack of attention to the automation and intelligent application in the stamping production line,which leads to China's stamping industry overall technical development level is low,and seriously affects the production efficiency;and the enterprise production environment of stamping manufacturing is generally relatively bad,the safety accident rate is high,the problem of labor loss is serious.To solve these problems,in this paper,the machine vision location technology and the robot technology are deeply studied,and apply these techniques to the positioning of the target in the stamping production line,at the same time,the trajectory of the robot is planned,optimizing the linkage strategy of robot and press,so make the stamping production line become more automatic..The main research work of this paper is as follows:(1)In depth study of the technology of machine vision applied to target workpiece positioning: Machine vision positioning system is set up in this paper,combining with the Vision Assistant NI software,firstly,the calibration of the internal and external parameters of the industrial camera is finished,and the pixel coordinates of the image point of the workpiece into the physical coordinate values;Secondly,through the Assistant Vision software,image processing is carried out on the collected workpiece images,and the image centroid coordinates of the workpiece are extracted;based on the shape characteristics of the workpiece,workpiece attitude determination algorithm is proposed based on rectangular inscribed circle.(2)In depth study of the linkage strategy of the robot and the press.The linkage strategy is proposed based on the equipartition time-to match the action of robot,it can solve the problem of interferences in the process of robot to load-unload workpiece and press working,optimize the work rhythm of overall movement,improve production efficiency.(3)In depth study of the trajectory planning techniques during industrial robot loading and unloading work: Under the joint coordinate system,using three order polynomial interpolation method for trajectory planning of the robot,combining the robot teaching programming and robot programming to generate the robot motion path;in order to obtain the optimal path of the robot,the motion control of the robot is completed by the combination of point position control and continuous trajectory control.(4)Robot grasping experiment of target workpiece is carried out: Test platform is set up,the linkage optimization strategy of the robot and the press is used,and the work flow of grasping experiment is set up,the optimal trajectory of the robot is selected,and then controlling the robot to grasp the target.Through the workpiece is placed in different locations to verify the stability and repeatability of the robot system.