Industrial Robot Tracking Gluing System Based On 3D Machine Vision

In order to improve the backward development of China's shoe industry,poor production environment and other problems,Raise production level of the shoe industry,accelerate the intelligent upgrading of the industry.This paper designs a set of automatic gluing system for industrial robots based on 3D machine vision guidance for shoemaking gluing process.The system includes a gluing motion system composed of a six-axis industrial robot,a robot motion controller and a gluing actuator;3D vision system composed of industrial control computer,servo conveyor belt and laser wire structured light 3D sensor;The motion control program of gluing robot based on Qt C++ graphic application development framework is developed,which is mainly used in the intelligent gluing operation of shoemaking industry.The main contents of this paper include:(1)Robot Gluing Motion System:For the experimental platform of tracking gluing operation,a motion control system of SixAxis Gluing Robot including hardware and software was designed and built.The D-H parameter method is used to model the kinematics of the Six-Axis Gluing Robot,and the kinematics of the robot is discussed in detail.Finally,based on MATLAB Robotics Toolbox,the kinematics solution of Gluing Robot is simulated and verified.(2)Laser Line-Structured Light 3D-Vision System:This paper summarizes the characteristics and application of 3D Machine Vision Technology,introduces the measurement principle of 3D vision system based on Laser Linear Structured Light,designs and builds the scanning test platform of 3D vision system,and carries out the scanning test.(3)Parameter Calibration Of The Gluing System:For 3D Visual Gluing System of internal and external parameters calibration principle is introduced and analyzed.The calibration program of Gluing System based on Halcon Visual Library was written and the calibration experiment was carried out.Finally,a series of calibration results are obtained,such as the internal parameter value of camera,the external parameter value of laser and the hand-eye relation matrix of the robot,so as to prepare for accurate 3D measurement of 3D vision system.(4)Tracking Gluing Experiment And Analysis:This paper presents a specific method of robot tracking gluing,including the method of identifying and planning the gluing trajectory,the method of adjusting the robot's posture in motion interpolation,and the method of tracking and calibration of robot conveyor.The tracking and gluing experiment platform was designed and built.Finally,the trajectory planning simulation and gluing experiment of the robot based on MATLAB were carried out to verify the theoretical research work of the paper,and the experimental results were analyzed and summarized.