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A Research On The Key Technologies Of Automatic Robot Plug-in Components

Posted on:2019-04-09Degree:MasterType:Thesis
Country:ChinaCandidate:D WangFull Text:PDF
GTID:2428330548956836Subject:Mechanical engineering
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Since twenty-first Century,the electronic industry has developed rapidly,and the electronic industry is rapidly developing.However,the development of the electronic industry cannot be separated from the automatic plug-in machine.The automatic plugin function can improve the efficiency of the plug-in,improve the defective rate of products,reduce the problems of unqualified plug-ins caused by human operation,and improve the competitiveness of enterprises.This article is based on machine vision technology and industrial robots.Designed to develop a robot plug-in system that can complete the automatic plug-in.Solve the problem that the conventional plug-in machine cannot insert special-shaped components and the machine-type plug-in machine has heavy and space-consuming problems.The main research items are illustrated as following:Complete the overall design scheme of the plug-in machine.Complete the 3D model design and workflow planning of the plug-in system.Subdividing the plug-in system into different modules,.Complete the selection of the core components of different plug-in machines and the module construction.At the same time solve the problem of communication between modules.Completing the calibration of the robot plug-in system.The plug-in system calibration includes: industrial robot coordinate system calibration,camera calibration,and hand-eye system calibration.Calibration of the plug-in system solves the conversion problem between the image coordinate system and the robot base coordinate system.Complete the development of robot automatic plug-in control system.For the problem of positional offset and selection of printed circuit boards,an image processing algorithm for the printed circuit board reference point and an algorithm for obtaining the position of the printed circuit board position coordinate are established so that the plug-in machine can automatically obtain the precise coordinates of the work site.Complete plug-in control system software development.Design camera calibration experiments and hand-eye system calibration experiments were designed to verify the error of image coordinate conversion to robot base coordinates.Design plug-in machine plug-in precision experiments to verify whether the plug-in machine can accurately plug-in.The experimental results verify the rationality of the plug-in machine structure design,and the experimental data obtained verify the accuracy of the plug-in algorithm.
Keywords/Search Tags:Plug-in machines, profiled components, machine vision, hand-eye calibration, Eye-in-hand, industrial robots
PDF Full Text Request
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