六自由度机器人自动上下料及打磨关键技术研究

发布时间：2018-02-01 06:29

本文关键词： 铸造后处理工业机器人缸体打磨视觉定位力控制　出处：《江苏大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着时代的进步与科技的发展,传统制造业正面临着机遇和挑战,铸造后处理加工也同样面临着严峻的考验。其中打磨环节在铸造后处理中尤为重要,传统的打磨加工主要依靠人工完成,其效率低下、打磨质量参差不齐。本文根据当今制造业的实际需求,以发动机四缸体铸件为研究对象,结合机器视觉和力控制技术,利用机器人完成对缸体的自主识别、定位、抓取及打磨等一系列操作,有效提高了铸造后处理的工作效率、加工精度以及智能化水平。为了适应铸造后处理车间环境的复杂性,提出了基于小波模极大值的缸体孔圆心识别定位算法和视觉检测与力控制相结合的缸体打磨算法。并通过深入研究、仿真分析以及实验,验证了图像处理方法的可行性和准确性。首先,根据缸体的打磨工艺、技术指标及作业环境要求,拟定了机器人上下料和打磨系统方案,根据实际生产工况设计了缸体铸件后处理的总体布局,并研究了整个系统的结构层次,详细分析了机器人自动上下料和打磨的工作流程。其次,分析了图像阈值处理技术、小波模极大值边缘检测等算法,根据铸造后处理车间的复杂特性设计了缸体图像采集系统,并运用平面靶标的方法对相机进行标定;提出了基于小波模极大值的缸体孔圆心识别定位算法,并通过对缸体进行抓取实验,验证了此方法的准确性。最后,分析了力检测及采集系统,提出了视觉定位与力控制相结合的缸体打磨算法。并对缸体打磨分别进行了单因素实验及正交实验,通过实验分析获得了缸体打磨时各因素的最佳水平。
[Abstract]:With the development of science and technology, the traditional manufacturing industry is facing opportunities and challenges, casting postprocessing processing is also facing a severe test. The grinding link in the casting postprocessing is especially important in the traditional grinding processing mainly rely on manual completion of its low efficiency, uneven grinding quality. In this paper, according to the actual needs of today the manufacturing industry, with four engine cylinder casting as the research object, combining with machine vision and force control technology, using the robot to complete the self identification of the cylinder, positioning, scraping and grinding and a series of operations, effectively improve the casting postprocessing efficiency, machining precision and intelligent level. In order to adapt to the complexity of postprocessing casting workshop the proposed block based on wavelet modulus maxima of cylinder hole center identification positioning algorithm and visual detection and control of a combination of grinding force and algorithm. Through in-depth research, simulation analysis and experimental verification, the feasibility and accuracy of image processing methods. Firstly, according to the grinding cylinder, technical indexes and operating environment requirements, robot cutting and grinding system plan, according to the actual production condition. The overall layout of the block casting postprocessing, and studied the structure the level of the whole system, a detailed analysis of the robot automatic feeding and grinding work process. Secondly, the analysis of image thresholding technique, wavelet modulus maxima edge detection algorithm, according to the characteristics of complex casting workshop the postprocessing block image acquisition system design method was used to calibrate the camera target plane is proposed; the cylinder hole center identification algorithm based on wavelet modulus maxima, and by grasping experiments on the block, to verify the accuracy of this method. Finally, analysis The force detection and acquisition system is put forward. A cylinder burnishing algorithm combining visual localization and force control is proposed. Single factor experiments and orthogonal experiments are carried out for cylinder block grinding respectively. The best level of each factor is obtained through experimental analysis.

【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG246;TP242

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