Based On Vision Guided Power Punching Robot Loading And Unloading Sustem

At present,in the powder metallurgy industry,the powder stamping is mostly used by traditional artificial methods.And the automation and intelligent application of equipment in the stamping production line is seriously inadequate.It makes the development level of the whole technology of the powder stamping industry stagnated,which seriously affects the production efficiency of the enterprises.In addition,the production environment of powder stamping workshop is bad.The safety risk coefficient is high,and the problem of labor drain is serious.In order to solve the above problems,a kind of powder stamping robot system is designed.The robot vision positioning technology,the robot servo control technology and the robot positioning and grasping are studied in the powder stamping production line.At the same time,the motion trajectory of the robot is planned.The linkage strategy of the robot and the press is optimized,so that the beat of the robot and the press is even more.The automation and intellectualization of the powder stamping production line is realized by adding the match.The main research work is under the support of the National Natural Science Foundation Project and the enterprise cooperation project.(1)According to the characteristics of powder stamping industry,the system of powder stamping robot is designed.The design principle of each module of the powder punching robot is analyzed.The mechanical components of the system are designed,including the conveying mode of the stamping parts,the terminal actuator of the robot,the automatic feeding mechanism on the material plate and the upper and lower feeding platform.The electrical control system of the upper and lower materials is designed.It includes robot control module,PLC module and visual control module.(2)The robot vision positioning system is studied.According to the principle of visual location,the image pixel coordinate system and the robot coordinate system are calibrated.The transformation of visual coordinates to the robot coordinates is successfully realized,and the workpiece center coordinates are extracted.The edge grabbing principle is used to identify the workpiece edge and obtain the information of the workpiece center position,thus providing reliable guarantee for the robot positioning and picking.(3)In the off-line programming simulation system,the six point method is used to calibrate the robot tool coordinate system.The three point method is used to calibrate the workpiece coordinate system.And the line interpolation and the arc interpolation path planning method are used to generate the moving track of the robot to carry the powder die casting process.The off-line programming technique and the teaching phase are used to regulate the locus of the robot.The robot motion is controlled accurately with point position control and continuous trajectory control technology.The best path planning route is obtained.The motion process simulation is carried out in the off-line programming system to verify the stability of the robot motion process.(4)This paper designs and installs the platform of the robot up and down feeding,draws up the work flow of the work piece and collects the image with the visual software.Besides,it carrys on the image processing,get the center coordinates of the workpiece and the information of the position of the robot to pick the position.Then,it realizes the coordinate transformation.Finally,the stability and repeatability of the powder punching robot's loading and unloading system is verified through the factory continuous job production experiment.