Design And Research Of Robot Workstation Based On Six Functions Such As Visual Sorting

Manual sorting is used as a product sorting method on a traditional production line,with high error rate and low efficiency.The industrial robot is applied to the production to reduce the cost and improve the yield.However,on the one hand,there are many workstations with a single function for industrial robots,but not many workstations with multifunctional integration.On the other hand,a series of motion and position points of industrial robots need to be set precisely.Even if industrial robots are used in production lines,they can only perform point-to-point actions.Besides,the work piece is sorted according to a single type,and the production rhythm is fixed.The industrial robot provided with a vision system can overcome the above defects.Based on the above two aspects,the paper used the robot integrated workstation system as the background studies the application of visual sorting technology in industrial robot and develops successfully a set of industrial robot multifunctional workstation system with visual sort as the main function.The author mainly completed the following research work:According to the application requirements,this paper puts forward the technical realization scheme of robot workstation,which mainly includes the selection of sorting scheme and robot scheme.This paper completes the structure design of variable machine structure,rack structure,palletizing platform structure,conveyor belt structure,table structure,industrial robot module and so on,completes the whole layout of each function module and realizes the modeling of workstation virtual prototype.The method of image pre-processing is discussed and its effect is tested with NI Labview Vision to deal with the influence of noise and interference on image quality in the process of image acquisition.The BP neural network classifier is used to classify and detect the work pieces.According to the DH parameter method,the kinematics equation of the robot is established and the forward and inverse solutions are discussed.Camera internal calibration and external calibration is carried out,and through hand-eye coordination to achieve automatic robot capture.The workstation simulation system is established,the dynamic Smart module is set up,the loading and unloading paths of the robot are planned,the off-line programming of the industrial robot is completed,the collision simulation of the program trajectory is detected,and the communication between the robot and the programmable logic controller is realized.This paper studies the control of PLC,constructs the control hardware platform based on PLC,designs the software,program and many kinds of human machine interface.The hardware platform of the workstation was built,and the previous contents were verified on the platform to verify the effectiveness of the visual inspection and calibration effects,and the rationality of the functions of the robot was tested.The development of the system uses the laboratory platform to simulate the actual industrial production line.The experimental results show that the designed visual sorting system is stable and reliable,and the various functions of the workstation are realized effectively.It can be transplanted to the industrial production line and has a strong practical value,which provides technical support and development ideas for the practical application of industrial robots in the manufacturing industry of our country.It is of great theoretical significance and practical value to promote the popularization of intelligent manufacturing and industrial automation in production.