Research On Polishing System Of Ship Small Parts Based On Machine Vision

As an indispensable part of the shipbuilding process,the intelligent transformation of ship small components has become the general trend.At present,China’s ship small components are still in the stage of manual grinding,with low production efficiency and poor working environment,which seriously affect the progress of shipbuilding.In view of the above problems,this paper studies and analyzes the status of machine vision and industrial robot processing at home and abroad,and designs a set of robot automatic production line scheme for ship small component grinding.Firstly,according to the current situation of ship small component production line layout,a set of robot grinding intelligent production line scheme is designed to complete the selection of production line hardware and software and communication connection.Among them,the ship small component grinding production line designed in this paper is mainly composed of vision system and grinding system;the vision system mainly completes the image processing of small components,and the grinding system mainly controls the robot for grinding.Then,based on vs(Visual Studio)and VM(vision Master)algorithm platform,the visual system is developed.The vision system has the functions of small component image acquisition,stitching and preprocessing,which can improve the accuracy of image matching and speed up the data transmission rate to a great extent.After completing the image matching,the matching data is formatted and transmitted to the polishing system in the form of string.Secondly,the kinematics model of the robot selected in this paper is established based on D-H method,and the robot toolbox in MATLAB software is used to simulate and verify the theoretical model and workspace of the robot.The results show that the ABB IRB4600 20 /2.5 robot selected in this paper meets the requirements of ship small component grinding.The joint space trajectory method and Cartesian space trajectory method are used to plan the grinding trajectory of the robot,and the teaching device is used to pre program the grinding trajectory of the workpiece.Finally,the Ethernet is used to connect the vision system and the polishing system,and the experimental platform of ship small component Polishing Based on visual recognition is built.The functions of the vision system,such as image acquisition,splicing,matching,are verified by experiments;the grinding production line simulation experiment is verified by using the software of RobotStudio,and the robot grinding trajectory experiment is verified by using the teaching device.Experiments show that the robot grinding production line designed in this paper is feasible for the grinding of small ship components.