Research And Application Of Industrial Robot Based On Multi-sensor Technology

With the advent of the industry 4.0 era,intelligent manufacturing has become the main development model of industrial production,and “machine substitution” has also become a major development trend of industrial manufacturing.More and more non-standard automation equipment products have emerged.The combination of sensor technology and robotic systems has greatly increased the degree of flexibility in industrial production.This paper uses "visual"-machine vision technology and "smell" RFID radio frequency technology as the main sensor technology,designed and completed a set of positioning point welding and real-time input into the inbound and outbound information of the car tail pipe robot system.Modern industrial robots have evolved into a fusion of multiple technologies.It includes machine vision technology,communication technology,and industrial sensor technology.Among them,machine vision technology,which is the main core part,includes cameras and optical systems,light source technology and lighting systems,and image acquisition and acquisition systems.Industrial automation technology mainly includes control strategy selection,application of modern programmable logic controllers,selection and application of industrial sensors,configuration of analog modules and communication with other systems.Multi-door technology is integrated into industrial robots that can be applied to practical engineering.The industrial robot system of this paper is mainly divided into four parts,the vision system,the robot system,the radio frequency system and the total control system.Based on the research background of visual and welding industrial robots,this paper designs a complete robotic system for welding by visual positioning,aiming at the practical problem that the welding point of the tail pipe of the car has slight deviation in the space coordinates.Traditional robot teaching or offline programming can not complete the accurate welding of the workpiece due to the deviation of the original part processing.Therefore,the ABB IRB120 industrial robot is the main body of the visual robot,and the OTC robot is the main body of the welding robot.Through visual technology,RFID reading and writing technology,visual positioning welding of automobile tail pipe parts,reading and writing of inbound and outbound information.Firstly,the automobile parts to be welded on the tooling table are positioned.After the positioning is completed,the coordinates of the space to bewelded are sent to the OTC robot through the industrial computer,and the welding robot works.After the welding is completed,the information on the tail pipe parts will be processed,and the RFID tags,readers and application systems on the parts will be passed.The reading and rewriting of the inbound and outbound information of the tail pipe product is realized.The whole industrial robot system uses Schneider 218 PLC as the total control device,supplemented by industrial sensors such as optical fiber,temperature and limit to complete the logic control of workpiece placement,cylinder action,robot action and fault alarm.The main difficulties in this paper are the machine vision part,the light source and lighting system,the selection and design of the image acquisition card,the calibration of the round hole of the tail tube of the automobile,the processing of the image and the conversion of the coordinate position.The appropriate hardware selection is made for the light source,the light sensor,and the image acquisition card,and the image processing software selects HALCON.The algorithm of visual program is an important part of image processing,mainly for the C language with strong pertinence and C++ as the basic language.Image processing related operators are existing operators already included in the HALCON library.The optical camera captures the acquired image first,that is,the center hole of the part is welded.The main image is binarized,noise-suppressed and smoothed,and then the appropriate edge extraction operator is selected to extract the edge of the hole.Finally,the center of the hole to be welded is found by edge fitting.The total control system of this paper is based on Schneider 218 PLC,and the upper computer adopts RS-485 communication,and the Earth net field bus communication is used between the robot system and the robot system.The programming software selects SOmachine4.3 to program the logic control sequence of the entire system and the alarm device.The programming language is the software ST structured class C language.