Design And Implementation Of Bar Material Handling System Based On Machine Vision

At present,the use of manual labor to transport workpieces in industrial production has problems such as high labor costs,low production efficiency,and low automation.With the rapid development of machine vision technology and robotics technology,the use of visual robots instead of human to complete the handling of bar can accelerate the intelligent transformation of industrial production.In this paper,based on the bar handling of the rocker shaft forging production line of Sanhuan Automobile Steering Gear Co.,Ltd.this paper designs a bar handing system based on machine vision.The main contents of the robot bar handling system guided by the vision system designed in this paper are as follows:For the analysis of the overall handling system,a visual subsystem based on structured light,a motion control subsystem based on robots,and a human-computer interaction subsystem based on Qt are designed respectively.The structured light vision subsystem studies the camera calibration,and obtains the bar height and three-dimensional coordinate information through the processing and calculation of the bar image;The robot uses the D-H parameter method in the motion control subsystem to establish a mathematical model of the robot,solve the robot’s forward and inverse kinematics equations,and simulate the robot motion in Matlab;The Qt human-computer interaction subsystem is to send the three-dimensional coordinates of the bar to the robot through the interactive interface and complete the handling on the premise that the robot and the host computer establish communication.Finally,the experimental verification of the built visual handling system is to obtain the three-dimensional coordinates of the bar through the processing and calculation of the visual system.In the human-computer interaction interface developed by Qt,the three-dimensional coordinates of the bar are sent to the machine,use ROBOGUIDE to write robot motion programs and communication programs,and control the robot to complete the work of handling bars.