Research On Automatic Riveting Control Of Mine Car Carriage Based On Machine Vision

Harvester is an important equipment in the process of coal mining,and undertakes the important task of underground transportation.At present,the riveting process of the frame is mainly realized by manual work,with high labor intensity and low production efficiency.Automatic riveting technology can improve the efficiency of mining car riveting,reduce labor cost and improve the quality of riveting.This topic for the frame production process,the use of machine vision technology and intelligent robot technology,automatic riveting control.The main research contents of this paper are:(1)Use machine vision and robot technology to improve the riveting process in the production process of mining car compartment,and change the traditional and backward manual riveting to automatic riveting.(2)According to the characteristics of the rivet hole of the mine car frame and the actual needs of the site,select the hardware equipment of the automatic riveting system,determine the position of each equipment in the riveting station,design the control system of the positioner,and control the change of the position of the frame.(3)The control mode of riveting robot is studied,and the function of placing rivets is realized by using PC SDK host computer and combining with the detection results of vision system.Using the teaching device,the trajectory planning of the robot’s rivet clamping and heating function is realized.(4)Deep learning model YOLOv5 is used to identify the characteristic information of riveting holes and realize automatic identification and positioning of riveting holes.Combined with the circular fitting technique of least square method,the riveting hole can be precisely positioned.(5)The results of target detection and positioning are used as the final motion reference point of the robot after coordinate transformation to achieve automatic riveting.Machine vision technology has been widely used in manufacturing,agriculture,service and other industries.Introducing machine vision technology and intelligent manufacturing technology into mining car manufacturing industry will improve the production efficiency and product quality of mining car and improve the production environment of mining car manufacturing workshop.