Robot Automatic Loading And Unloading System Based On Machine Vision

As a key industry in the manufacturing,automobile manufacturing represents the basic manufacturing capabilities of a country.As the labor cost are getting higher and higher,it has been a trend to using industrial robots to replace manual labor for CNC machines or machining centers.However,the flexibility of traditional industrial robotic systems is quite low.Confront the challenge of intelligent manufacturing,the key to automated production has been to improve the flexibility of automatic systems.In this paper,the design of flexible automation system is studied for the processing of automobile air-conditioner flange parts.Machine vision technology is introduced to positioning scattered parts of the incoming material of an automated production system,then industrial robot can picking those parts by location.First of all,the project of robot automatic loading and unloading system is introduced,and suitable overall scheme and robot selection and installation are verified.On the basis of the overall plan,the design of the automatic feeding body was carried out,which included the analysis of the design requirements and the detailed design of the core body as well as the installation design of the machine vision components.The design process of robot front-end clamp is expounded,optimization has been done for the most suitable design.It provides the hardware foundation for building a complete machine vision based automatic loading and unloading system.Then,the method of camera calibration is introduced,and the robot hand calibration is carried out on the basis of camera calibration.The calibration of the precise positioning position and rotation center of the robot tool coordinate are completed.With prerequisite calibrations,using contour matching principle to process the images,completing the coordinate transformation for the robot,which provide a theoretical basis for automatic loading and unloading.Finally,it introduces the control flow of programmable controller,the auxiliary control by the robot,the main work flow of IPC software,and the design of alarm flow.On the basis of the control system,the total system was tested in various aspects of accuracy and stability as well as the standardization of the products.Through the test results it can be concluded that the robot machine loading and unloading system based on the machine vision can be a perfect machine feeder,achieve all design requirements.