Research On The System Of Gelatinizing Veneer Handling Robot Based On Machine Vision

In recent years,with the rapid development of science and technology,production processes will become more and more detailed in industry.Products become more and more complex,and quality inspection requirements become more and more strict.The manual production method has been unable to meet the efficiency requirements of production,and the wage level of labor is continuously increasing.In order to further reduce production costs and improve production efficiency,automated production lines have been widely used in modern industrial production.In the modern society,with the increase of plywood application scenarios,the demand is also increasing.It is difficult to meet the current production requirements in terms of accuracy and efficiency with the traditional manual method of forming the blanks in the production process.In order to adapt to the development trend of the market,it is very important to develop automated group blank equipmentThe purpose of this study is to develop and design the automatic blank assembly system on the production line of Laminated-Veneer Lumber(LVL)in plywood.According to the characteristics of rapid and accurate paving in the blank assembly stage,a device capable of automatically forming blanks for glued veneers is proposed.Robot technology,machine vision technology and swirling suction cup technology are applied in this field.Robotic technology and swirling suction cup technology are used to ensure efficient and smooth single-board handling.Machine vision technology is used to obtain image information of veneers and the surrounding environment to identify veneer positions.The position of the single board is identified and the angle and deviation of the single board are calculated by the computer,and the decision is made to guide the robot to complete the precise positioning of the single board.The main research contents include:(1)LVL in the production process of the group blank stage paving process is studied,The working characteristics and functional requirements of automatic grouping equipment are analyzed,and on the basis of this,the overall scheme of the system is designed.The scheme includes the determination of the robot's mechanical structure and drive mode,as well as the single-plate holding device,the analysis of the working tasks of the machine vision system and the control system,and the determination of function.(2)With the coating of plywood monoplate as the research object,the working principle and single board form of the swing-flow suction disk adsorption sheet are analyzed.The FLUENT software is used to simulate the suction cups.The effects of different bottom areas and non-conductive columns in the inner cavity are explored on the stability of the adsorption process.The better suction cup structure is derived.The suction cup air intakes in different directions are designed to offset the effects of the instability of the adsorption of a single suction cup.Suction cups are properly arranged to form end pickers.(3)QT platform and OpenCV vision library are used to develop vision software in windows systems.In addition to the main functions of designing machine vision,the extraction of edges is disturbed by the application of plywood slabs with adhesive layers,live knots,dead knots,and cracks.Contour detection,minimum positive rectangle surrounding,etc.are proposed to fill the internal defects of a single board.The method of combining the RANSAC algorithm with the least square method is proposed to filter out the edge defect interference of the single board,and the edge line of the single board can be extracted precisely.Finally,according to the single-plate correction process,the process of correcting algorithm is designed.(4)According to the requirements of the control system,the servo system with Omron PLC as the controller and the upper machine RS232 serial custom communication is introduced.In the control system,the suction plate lift anti-drop control and release plate highly adaptive and correcting precision adaptive functions are designed to make the device more intelligent and safe.