Development And Performance Analysis Of Automatic Loading And Unloading System For Large-scale Thin-walled Parts Based On Visual Recognition

Automatic pasting and loading and unloading device for large thin-walled parts based on visual recognition system With the progress of the times and the development of society and the progress of lightweighting and green industry,many large thin-walled parts need to be pasted with reinforcing stickers to meet the requirements due to the strength problem after lightweighting.Therefore,a set of A complete automatic sticking and loading and unloading device for large thin-walled parts replaces most of the current manual operation modes to achieve overall automation and intelligence,increase efficiency and reduce potential safety hazards.This paper studies and designs a set of automatic sticking and loading and unloading devices for large thin-walled parts based on visual recognition,which provides new ideas and methods for the sticking and loading and unloading systems of large thinwalled parts.This paper investigates the processing environment of different large-scale thinwalled parts and the selection of reinforcement stickers,and based on this,the automatic sticking and loading and unloading devices of large-scale thin-walled parts are studied.The overall structure scheme of the system is designed;the visual recognition system is designed and optimized,and the camera is calibrated;the dynamics analysis and route planning of the manipulator system are carried out;finally,the overall control logic and control process are carried out.Design and optimization realize the automation and intelligence of the entire system.The main contents of this paper are as follows:（1）The research background and significance of automatic pasting and loading and unloading systems for large thin-walled parts are expounded,and the development status and future trends of automatic pasting and loading and unloading devices at home and abroad are analyzed.（2）Design the overall scheme of the vision system,select a visual recognition system suitable for different working environments and calibrate the system,and build a set of visual recognition systems suitable for different large thin-walled parts and different working environments.system.（3）The kinematics analysis and route planning of the manipulator are carried out.（4）Design and modify the structural scheme of the entire system,design and plan the overall control logic and control process,and build a set of automatic largescale thin-walled parts with good applicability,high accuracy and stability.Paste and loading and unloading device.（5）Test and modify the entire system.The test results show that the recognition success rate of the entire robot vision system is 98.46%,the grasping success rate of the entire large thin-walled parts is 96.8%,and the automatic pasting of epoxy resin reinforced stickers is successful.The rate reached 97.3%.The automatic pasting and loading and unloading system of large thin-walled parts based on visual recognition researched and designed in this paper satisfies the rigid indicators in most of the current needs.The research results of the paper have laid a foundation for the automatic pasting and loading and unloading systems of large thin-walled parts in the future,and provided a reference for future research designers.