Research On Assembly Line Of Industrial Robot Based On Vision

With the disappearance of the demographic dividend and the development of science and technology and other factors,it is an inevitable trend to upgrade the traditional manufacturing industry to intelligent production lines.At present,the automatic assembly line of industrial robot can reduce Labor,improve labor efficiency and increase economic benefit because of the high precision and low efficiency and bad consistency in the assembly of reducer.The assembly line of industrial robots combines industrial robots with machine vision and automatic assembly equipment to accomplish the mass storage,transportation,Inspection and assembly of products,the invention provides a more efficient method for the production and manufacture of the reducer.The major research work is as follows:Firstly,the research status of industrial robot assembly line at home and abroad is analyzed,an assembly line of industrial robot is designed,which is composed of 6-axis Joint Industrial Robot Assembly unit,AGV vehicle,vision detection and recognition unit,palletizing machine and Warehouse Unit,and assembly line unit.The three-dimensional model of the production line is designed with Solidworks,and the space layout simulation and collision interference verification of the production line are carried out in Irobotsim.Secondly,the PLC control system of palletizing machine and solid warehouse is developed,and the storage strategy of determinant type is studied,which provides automatic material storage and supply for the unmanned assembly mode of reducer,and the automatic assembly line and Pallet Assembly line are developed Based on the template matching method,an intelligent visual inspection system for workpiece is developed,which realizes the parts transportation,quality inspection and automatic assembly Based on the above work,the assembly unit of the reducer is developed.Finally,the system coordination between the Master Control Plc and other units in the industrial robot assembly line is completed,the communication network is constructed by using MODBUS/TCP protocol,and the motion trajectory of the robot is optimized based on the improved 5th order s curve method,the assembly speed of the industrial robot is increased with the minimum impact force.After debugging,the whole assembly line is running well.The assembly experiment shows that the efficiency of the developed industrial robot assembly line is 3 times higher than that of the manual assembly line.After optimization,each run saves 5 seconds,it is of great significance to the improvement of the production process of the reducer.