Design Of RV Reducer Mobile Assembly Robot System

With the development of technology and the acceleration of automation,the application scenarios of industrial robots are more diverse,not only the more complicated working environment,but also the more difficult task.Therefore,industrial robots need higher flexibility,better environmental adaptability,and more accurate recognition and positioning accuracy,which the traditional assembly systems are unable to possess.Many countries are actively researching advanced robots to adapt to the growing new demands.Mobile assembly robot with vision system has become an important research direction because of its excellent performance.With the aim of the assembling the supporting plate and the pin wheel housing of RV reducer,the mobile assembly robot system has been designed.Based on the detailed analysis of the assembly task and environment,the scheme of automated guided vehicle(AGV)combined mechanical manipulator is adopted.When the AGV and the mechanical manipulator been selected,the gripper mounted on the mechanical manipulator been designed,the mechanical system accomplishing mobile assembling task has been constructed.With the industrial computer as the upper computer and the sensors such as the sonar,laser radar and camera on the mechanical manipulator,a multi-level management measurement and control system is constructed with the underlying controller,which includes the AGV control system and the mechanical manipulator control system.With visual studio as the development software,a measurement and control system with three layers of software architecture and a socket-based communication system are designed.The measurement and control system can operate stably and reliably under the actual working environment.Based on the image recognition algorithm being provided by HALCON software,technique of 3D object recognition is used to construct the recognition and positioning system of the reducer components,concluding the camera principle model,the hand-eye calibration model basing on the eye-in-hand system.The components can be recognized and positioned with high precision and speed by the 3D recognition and positioning algorithm with adaptive threshold.The mobile assembly robot system completing by the above design ideas uses the AGV-rough-position and the mechanical-manipulator twice-position control strategy to insure the robot control and positioning accuracy and reduce the running time.After the camera model,hand-eye model and components recognition being established,the assembly task of the supporting plate and the pin wheel housing has been completed to verify the effectiveness of the designed system and the recognition algorithm.