Research On The Upper And Lower Manipulator Of PCB NC Drilling Machine Based On Visual Positioning

With the rapid development of electronic industry,PCB(printed circuit board),as the basic component of electronic products,plays an increasingly important role in electronic products.PCB six axis NC drilling machine is used to process the PCB board of professional machine tools,its performance is directly related to the quality of the PCB board.At present,the majority of enterprises in the processing of PCB are still using human resources for PCB,which leads to low production efficiency and high labor costs.In order to improve this situation,to further improve the machining efficiency,reduce processing costs.According to a PCB CNC drilling machine vision positioning on the manipulator is studied based on the CNC drilling machine,manipulator and visual processing equipment combination,automatic feeding manipulator under the above composition as the core of the stock system,and its key part: manipulator structure and the visual positioning technology study the two aspects.This paper mainly studies the following aspects:The composition of the feeding system is analyzed.Based on the analysis of the structure of workpiece and the position and orientation of the workpiece to be measured,a monocular vision system based on the Eye-to-Hand hand eye relation is defined as the visual module.The layout of the upper and lower feeding system is analyzed,and the blanking process is determined.According to the layout of the loading system and the loading and unloading process manipulator is needed to complete the action,manipulator's load capacity,degree of freedom,structure type,joint movement layout,deputy driving mode and manipulator motion parameters of the several important indexes were determined by comparative analysis.The D-H coordinate system of the manipulator is established by the D-H method,and the kinematics model of the manipulator is established.This paper studies the related technologies of the visual positioning of the manipulator.Firstly,the basic process of image processing is studied.Then,the principle of camera calibration is studied and the camera is calibrated by using Halcon software.Finally,the processing flow of the workpiece image is analyzed,and the algorithm of workpiece position and orientation detection is written by Halcon software.This paper studies the related technologies of the visual positioning of the manipulator.First of all,the paper analyzes the structure of workpiece and the position and attitude data of the workpiece to be measured,and then determines the scheme of Eye-to-Hand hand eye relation as the visual module.Then,the principle of camera calibration is studied and the camera is calibrated by using Halcon software.Finally,the processing flow of the workpiece image is analyzed,and the algorithm of workpiece position and orientation detection is written by Halcon software.According to the design index of the manipulator,the design and calculation of the drivemotor and the transmission part of each joint of the manipulator are carried out.At the same time,SolidWorks software is used to design the structure of the waist,the big arm,the small arm and the end effector of the manipulator.After the manipulator model is established,it is simplified,and the manipulator is simulated by ADAMS.The manipulator hand grasping manipulator trajectory data and compare solutions of pose matrix,verify the correctness of the manipulator trajectory;according to manipulator hand speed and acceleration curve,the stability of manipulator grasping adsorption analysis;through the extraction of image and the movement of each joint force or torque curve.The joint force or torque data,and selection of each joint motor is analyzed.Paper is the design of body structure of the manipulator,analysis of the visual system,compile the pose detection algorithm,and through the Manipulator Simulation Analysis and detection algorithm of workpiece position test,verified the feasibility of detection algorithm and the pose of the manipulator.The research results of this paper have some theoretical significance to the actual production and further theoretical research.