Key Technology Research Of Parallel Pick-and-place Robot For Magnetizing And Packaging Special-shaped Nd-Fe-B

NdFeB,one of the third generation of permanent magnetic material,is widely used in electronic information,machinery,medicine,defense technology since its invention in the 1980 s.In recent years,with the development of wind power generation,new energy vehicles and other energy-saving industry,the demand of NdFeB rises year by year.The NdFeB products is charactered with the feature of different shapes,which makes it almost impossible to realize the automation of magnetizing and packaging during its production.With the rising cost of manpower,the automation of magnetizing and packaging during the productive of special-shaped NdFeB products will become an inevitable trend.Considering the above reasons,this paper trys to design a 4-DOF parallel pick-place robot for sorting during magnetizing and packaging.The main research aspects include the design of mechanical structure,the kinematics analysis,the error analysis and the trajectory planning of the parallel robot;The development of a visual system to identify the special-shaped NdFeB;The strategy for picking the special-shaped NdFeB.The main research contents are as follows:1.Based on the working condition of special-shaped NdFeB magnetizing and packaging,this paper designs an overall scheme of the mechanical system and designs the structure of the parallel robot.On the basis of the mechanical rhythm analysis,a control system consist of IPC,PMAC,Image acquisition card and CCD is build.2.According to the actual demond for picking and placing,the forward and inverse modules of position is established,the analytical solutions are given,and the robot workplace is calculate and drawn by MATLAB.Above all,the paper will discuss the position error of the moving platform of the parallel robot.3.This paper presents a method for identify special-shaped NdFeB based on connected component,and this method is fulfilled by using the OPENCV visual library.4.On condition that the velocity,the acceleration is continuous and the jump is bounded,firstly,this paper puts forward a new way to plan the horizontal and vertical time-displacement curve at the same time,and make sure the final synthetic trajectory curve meet the magnetizing and packaging requirements;Then the method is realized on PMAC using PVT mode.5.After studying the implementation principles of the process scheduling model,this paper proposes a new strategy based on producer-consumer model,to assure the robot picking the right object at any time.This perfect strategy can solve the problem of robot control logic caused by the inconsistency of the machine vision and robot picking range,and at the same time,improve the efficiency of sorting.