Design Of Auxiliary Loading And Unloading System For Vertical Aluminium Profile Coating Line And Research On Key Technologies

Vertical coating line has an advantage of high productivity when compared with horizontal coating line,so that large aluminum profile manufacturers almost have adopted vertical coating line.It is necessary to transport,turn,drill,hook and unhook aluminum profiles manually when loading and unloading process,although the coating and drying process of vertical coating line has been automatized.This production method not only requires a lot of manpower,but also has great labor intensity.With increment of labor cost,there is an urgent need for an automation solution that enables effectively to reduce manpower expense.This research project comes from the practical need of some large aluminum profile manufacturer.It has been designed an auxiliary loading and unloading system for vertical aluminium profile coating line by analyzing the current manual work procedure and technical requirement of the manufacturer.The general scheme of this system is divided into the mechanical structure design and the system control part.The mechanical structure design mainly includes functional executive modules,including bidirectional fork,obstruct mechanism and other equipment of automatic transport module,and Cartesian robot and vision system of transport robot module,and automatic fixture and rapid drilling module of aluminium profile drilling,and unhooking equipment which completed by analyzing the moving trail of aluminium profiles unhooking.The control system mainly includes the design of control scheme which takes IPC and PMAC as the controller,including the design of pneumatic control system and hardware connection scheme,and the selection of control elements,and the estimate of takt time,and the program of controlling software.This paper is also research on the application of vision-guided robotics,including vision-guided algorithm and its preparation work which calibrates the vision system.In the vision system calibration,the distortion correction of image is completed by the calibration experiment,and a 2D hand-eye calibration is presented by researching on traditional hand-eye calibration.In the vision-guided algorithm,a pose extraction algorithm for target image is presented,and a method is presented also which translates the pose of target image into robots instruction.The pose extraction algorithm is different from traditional template matching algorithm,the target image is selected by feature and the accuracy of the algorithm is ensured by using hausdorff distance to measure similarity between the target and the template.The feasibility of the proposed algorithm and method is verified by experiment finally.This auxiliary system can reduce the staff number of coating line from more than 7 to less than 2,and has a high application value,not only improves the degree of enterprise automation,but also cuts the marginal producing cost of coating products by cutting labor cost.