Research On The Key Technology Of Screw Locking SCARA Robot Based On Machine Vision

As the most important link in industrial production,it is necessary to improve the quality and efficiency of screw locking.At this stage,the commonly used automatic screw locking equipment can not complete the screw hole position correction resulting in greater position deviation,the lack of screw locking path optimization leads to low working efficiency,and the teaching of the workpiece with a large number of thread holes is too cumbersome.And the repeated positioning accuracy of fixture is too high.In order to solve the problems of automatic screw locking equipment,a SCARA robot based on machine vision is designed in this paper.The main work of this paper is as follows:This paper analyzes the screw locking process,finds out its technical difficulties,summarizes the corresponding technical requirements,and puts forward a suitable design scheme according to the practical technical difficulties.Based on SOLIDWORKS software,the mechanical parts of screw locking SCARA robot,external frame and robot end actuator are designed.Based on MATALAB software,the kinematics analysis of screw locking SCARA robot is carried out,and the forward and inverse solutions are calculated.The workspace of the robot is obtained to verify the feasibility of the design.Based on the drive control technology,the robot control system and electrical system are designed.The robot control system is optimized based on the driving control software DRAS,and the related parameters such as speed,acceleration and torque are monitored.The optimal parameters are debugged and the robot interface is designed based on DOP interface.Based on NI Vision,the related design of machine vision system is carried out.A simple calibration method suitable for screw locking robot is adopted,and the coordinate system of robot and vision system are transformed and calculated.At the same time,the problems that may appear in the process of screw locking are analyzed,the screw hole positioning deviation is corrected based on the correction algorithm,and the screw locking path is optimized based on the improved genetic algorithm,and the visual system interface is designed.Finally,through the theoretical data analysis of the actual screw locking experiment,verify the screw locking results.