Research On Machine Vision Recognition Positioning And Polishing System Of Workpiece

With the strategy of "made in China 2025" put forward and implemented in China,intelligent manufacturing has become the focus of national attention and has been rapidly developed.Research and analysis of the current situation of industrial production and processing and machine vision and industrial robot machining operation system both at home and abroad,in order to realize the intelligent production and processing of batch workpiece,this paper chooses the typical complex workpiece in industrial as the research object,designed a set of can be realized in the processing production workpiece identification,localization,scraping and grinding work of robot intelligence processing system,and completes the workpiece machine vision recognition positioning system and the analysis of robot polishing system.First of all,according to the requirements of the processing work,the workstations of the workpiece processing system are designed and established.Among them,the visual recognition and positioning system mainly completes the software development and design of the recognition and positioning module,and the polishing system mainly completes the establishment of the polishing workstation and the planning of the robot's polishing path.Then the acquisition and preprocessing of the target image of the workpiece are completed in the research of the machine vision recognition and positioning system,the graying and image enhancement of the target image are achieved,and the spatial filtering of the image is realized by selecting the anisotropic diffusion filtering algorithm and its parameters.The Blob recognition algorithm based on image segmentation and morphological processing is compared with the recognition algorithm based on template matching.After that,kinematics modeling and analysis were completed in the robot polishing system research.According to the geometric model and parameters of the actual ABB polishing robot,the linkage coordinate system model based on d-h method was established,and the positive and inverse kinematics solutions of the robot were obtained.On the basis ofkinematics analysis,the trajectory planning of end-effector in joint space coordinate system and cartesian space coordinate system is studied.Finally,the construction of the overall experimental platform of the workpiece identification,positioning and polishing workstation is completed.The visual identification and positioning system completes the software development and design of the identification and positioning system module according to the selected identification and positioning algorithm and parameters.The robot polishing system completes the workpiece polishing task and polishing experiment analysis according to the planned path.