| With higher requirements of industrial automation, the traditional vibratory feeding system can't meet the industrial needs because of many shortcomings. So the conception of the decoupled vibratory feeder is proposed for solving this problem. As a new type of vibratory feeding system, the horizontal and vertical vibrations of the decoupled vibratory feeding system in the mechanical structure are decoupled and can be controlled separately, so it has high feeding efficiency and can be controlled flexibly. Based on previous study, the article takes a linear decoupled vibratory feeder existed in the laboratory as the experimental platform for further theoretical and experimental study, and explores the use of the technology of visual servo to realize the accurate control of the parts transmission speed of the decoupled vibratory feeding system. So this paper will focus on the following aspects:Firstly, the researches on modeling of mechanical structure in horizontal and vertical direction of the decoupled vibratory feeding system are done in the paper. Secondly, the kinematics of the decoupled vibratory feeding system are analyzed and the models of the parts transmission speed under different combinations of waveform such as sine wave, square wave and triangular wave are establish. Thirdly, the researches on solution of transcendental equation with the MATLAB function are used for simulation of the model of the parts transmission speed and studying the effect of different parameters and combinations of waveform on the parts transmission speed. Fourthly, the technologies of machine vision and smart camera are studied for accurate measurement of the parts transmission speed. Fifthly, the overall scheme and the design of hardware and software of visual servo control system of decoupled vibratory feeder are completed. Finally, the experiment platform of visual servo system of decoupled vibratory feeder is built to analyze the influence of different parameters and different combinations of waveform on parts transmission speed, the visual servo control technology is used to realize accurate control of the parts transmission speed of the decoupled vibratory feeding system.Through the above researches, the models of the parts transmission speed under different combinations of waveform are built in this paper. Through simulations and experiments, the best combinations of waveform are achieved. Accurate measurement of the parts transmission speed is realized by smart camera.The actual effect of visual servo system of decoupled vibratory feeder is verified in this paper finally. |
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