| The vibration-damping rubber parts are molded products.In the molding process,due to the mold process requirements,flashing is inevitable,and the rubber parts need to be cut off before the assembly.At present,the enterprise mainly uses manual cutting flash,which is not only inefficient,but also labors.With high strength,combined with the actual needs of the enterprise,the rubber piece flashing cutting program was established,and the robot was taken as the core,and the automatic cutting system for the flash edge processing through visual inspection and positioning was established.Special fixtures and tools have been designed.The main research contents are as follows:(1)Automatic removal of vibration-reducing rubber parts.A set of industrial robots is used as the center to obtain the position information of the parts through visual inspection,and then the robot is controlled to perform the workpiece grabbing and automatic flash removal system.(2)Designed the design of special tools and fixtures.A set of fixtures and forming tools for the flashing of the vibration-reducing rubber parts are designed.The fixture adopts an electromagnetic chuck at the end of the electric spindle to complete the automatic clamping of the parts.The workpiece is rotated by the electric spindle at the end of the robot,and is gradually approached.The tool completes the processing of the rubber flash.(3)The kinematics model of the robot was established and the trajectory planning was carried out.The kinematics equation of the robot is pushed,the positive and inverse solutions of the kinematics of the robot are obtained,and the camera and the robotic hand-eye system are calibrated,and the motion trajectory is planned in the Cartesian space.(4)Developed a software system for automatic processing of rubber parts flashing based on VC++ 6.0 and MOTOCOM 32 function library,which realized automatic positioning of rubber parts,automatic processing of grabbing and flashing,and improved production efficiency. |
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