Research On The Automatic Recognition System Of Casting Cleaning Manipulator Pinch

Casting cleaning is an important working procedure of the Casting production.The casting cleaning was usually performed by manual operation, this make the casting cleaning have the disadvantages of large noise, dust, high labor intensity, so in the "robot +" era, realization of the "robot + casting" is imperative. At present,achieve the automation of casting transport from the shakeout to clean line still has a lot of space, small castings are transported by hands, while workers use mechanical hands to transport large castings. So the casting transport from casting cleaning line to the other cleaning line is one of the key links to realize unmanned casting workshop. Nowadays, the automation of the manipulator is a very mature technology,but in the translocation process still require the person's participation, the key problem is casting clamping position cannot be automatically distinguished by manipulator. Therefore, Here is more practical significance and application value to develop automatic recognition system, which not only can have fast and accurate identification of casting, but also can delivery of castings to clean up the position.This paper analysis the machine vision technology applied to the automatic identification system and the development of it. This paper is based on the image processing technology. The automatic recognition system consists of two parts: the hardware system and the software system. The hardware system mainly includes camera, image acquisition card, computer and motion control card. Camera and image acquisition card is used mainly to complete the image acquisition and conversion from analog image signal to digital image. The main task of computer is to run the video acquisition and processing software which is programmed by Deiphi language. The motion control card mainly controls the manipulator motion.The software mainly includes casting image preprocessing program and extract of casting pinch program. The function of image preprocessing procedures compared with gray image, image enhancement, image smoothing etc. Casting pinch extractionprocedure can realize extraction the edge of the preprocessed image and the casting of pinch point.At the last, paper introduces the development idea of control software and the working process of each control of automatic recognition system.The use of modular programming method result in good readability and modifiability of the code.