Manipulator Vision Technology In The Harmonic Gear Assembly

At present,in the field of modern manufacturing,advanced technologies such as machine vision,robots,automatic production lines,and industrial Ethernet are used to represent the advanced level of automation.In recent years,computer image vision technology has been applied to many fields,providing new ideas for improving the intelligence of robots.Since joining the WTO,the application of Chinese manipulators in the manufacturing industry has developed rapidly,but in the global market economy,there are opportunities and challenges facing the international competition of robotic component manufacturers: on the one hand,there are some good development opportunities,Many robot manufacturers in the world buy parts from China;on the other hand,foreign companies have an absolute share in the robot field,which has caused some Chinese industries to face enormous challenges.The main manipulator applications in production are the robotic working unit and the robot working production line.Abroad,the main application mode of the robot has become a robotic automated production line.One of the core components of the robot includes a harmonic reducer,and the performance and stability of the starter will be directly affected by the manufacturing and assembly quality of the harmonic reducer.The assembly of the motor and the reducer is a key part of the robot joint assembly,but at present,there are still several problems in the actual production in China.First of all,in the market,the robot's motor and harmonic gear automatic assembly line has a low degree of automation,and the production line is difficult to adapt to the assembly of different specifications of the manipulator reducer.It is very flexible and requires custom manufacturing.Secondly,it is mainly manual to manually install the motor and harmonic gear on the joint base,and then install the flange,resulting in highrepetitive workload,low work efficiency,and easy to hurt the worker's fingers during assembly.To solve these problems,many harmonic gear manufacturers are trying to develop a device to replace manual assembly.Therefore,how to use modern automation equipment to realize the production and transformation of the manipulator reducer has become an urgent problem to be solved.The quality of the assembly of the reducer directly affects the performance of the reducer and indirectly affects the quality of the industrial robot.Domestic production still has the following problems.This paper studies the application of vision technology to industrial robot production lines,identifies the target object for the desired operation,and decides to guide the operator to complete the operation of grabbing and placing the target object.This not only improves the production efficiency of the production line,but also improves the adaptability of the robot to the environment and expands the application of the robot.A fundamental problem in robotic applications is the identification and accurate capture of specified objects from the production line.Based on computer vision technology,this paper studies the visual recognition of robots and proposes an industrial automation solution based on visual guidance.The purpose is to introduce new technologies of computer vision in the application of robots,thus improving the robots.Perception and smart water.In this paper,the application of robot in harmonic gear automation assembly is the research topic.The visual processing technology is applied to the robotic grab assembly line,and the following results have been achieved:(1)Research and analysis of the assembly process of harmonic gears,theoretically verified the possibility of using robots for improvement.An automatic assembly system for harmonic gears based on industrial robots was designed.(2)Analyze and study the image processing process of visual camera.This paper uses machine vision technology to obtain the target workpiece at any position.It can decide to guide the robot to grasp and place the workpiece,and solve the intelligent andflexible production level of the production line.High problem.Aiming at the problem of position detection of harmonic gears,an implementation scheme of visual inspection and tracking is proposed,and a series of functions such as harmonic gear component recognition,pose correction and grabbing are realized.(3)Analyzed the overall project of the intelligent production line.The industrial control equipment such as vision system,manipulator and PLC are completely connected through the industrial control network to form a complete control system.(4)Designed and developed the upper computer control software of the visual system and the interface of human-computer interaction software and robot control system.Research and development of the system's control software,the realization of the information exchange between the host computer,robot,controller,PLC and vision camera.Finally,based on the above research results,the experimental platform of the harmonic gear automation assembly system was built.The experiment verified the effectiveness of the vision-based robotic grab assembly.On the basis of the research results of the completed work and the research results of the theme,the ideas and methods of future research work are put forward.