Research On The Key Technology Of Automatic Loading And Unloading And Grinding Of 6-DOF Robot

With the progress of the times and the development of science and technology,the traditional manufacturing industry is facing opportunities and challenges and the post treatment of casting is also facing a severe test.Grinding is particularly important in the post-casting treatment.However,the traditional grinding workpiece is usually operated manually leading to poor quality and low efficiency.According to the actual demands of today’s manufacturing industry,an engine block casting is selected as the research object.A series of operations,such as automatic identification,locating,grasping and grinding of the block,are accomplished by using robot based on the combination of force control and visual location technology,which effectively improves the efficiency and accuracy as well as intelligent level in the postcasting processing.In order to adapt to the complexity of environment in the postcasting workshop,an image recognition and location algorithm which based on modulus maxima of wavelet transform and a visual inspection and force control grinding algorithm applied to engine block are proposed.Through extensive simulation analysis and experimental test,the feasibility and accuracy of the image processing method are verified.At first,depending on the grinding process,technical index and operation environment of the engine block,the loading/unloading and grinding scheme of the robot is proposed.According to the actual situation,the overall layout of the engine block’s cast post-processing is designed and the structural level of the whole system is studied.In addition,the automatic loading/unloading and grinding workflow of the robot is analyzed.Besides,the image threshold processing and wavelet modulus maximum edge detection algorithms are studied.According to the complicated environment of the postcasting workshop,the engine block image acquisition system is designed and the camera is calibrated by the plane target method.The method of identifying and locating the center of the hole of the engine block which based on modulus maxima of wavelet transform is proposed,and the accuracy of the method is verified by grasping experiments.Finally,the force detection and acquisition system is analyzed,and the force control grinding and visual inspection algorithm applied to engine block is proposed.Through the single factor experiment and orthogonal experiment of engine block grinding,the optimum level of each factor is obtained.