Research And Application On Camshaft Cover Robot Autonomous Assembly Technology Based On Visual Inspection Guidance

The continuous advancement and innovation of robot intelligent technology have gradually replaced human beings from a heavy and dangerous environment,which has brought about earth-shaking changes to the development of the manufacturing industry and the entire society.In recent years,researchers have rationally combined robots and visual recognition technologies and applied them in innovative applications,enabling them to complete many difficult tasks that humans cannot complete.While liberating humans’ heavy labor and reducing safety issues,they Labor efficiency and product quality have been greatly improved.The overall degree of automation in a company’s machining workshop is very high,but there are still individual processes that remain at the manual and semi-automatic level,besides the labor intensity of the employees is also very high.In order to effectively improve this production situation,this thesis took the process of manually installing the cylinder head camshaft cap bolts and manually dragging the tightening machine to tighten as a breakthrough point,and transformed it into a fully automatic station,thereby achieved the purpose of reducing labor intensity and improving production efficiency.There are dowel pins under the cam bearing cover(fit accuracy of 0.02 mm)and an irregular shape.Due to the error in the position of the casting blank bolt hole during machining,the error in the position of the casting blank bolt hole during machining,the error in the robot grasping position for the blank casting surface,and the long-term wear of the industrial robot clamping tooling caused by the error.The accumulation of errors in the above three makes it impossible to accurately position and install on the cylinder head after each grip.This thesis took industrial robots and machine vision as the core,and conducts in-depth research on machine vision,so that the robot could smoothly grasp the camshaft cover.At the same time,through the analysis of the characteristics of the linear servo motor drag system,the principle explanation and composition and positioning force analysis of permanent magnet synchronous AC linear motor,the automatic feeding device of the tile cover,the automatic feeding device of the bolts required for the assembly of the tile cover,and the automatic tightening machine redesigning and applying the Atlas double tightening shaft,it was determined that the parameters of the traction system of the tightening machine can fully meet the needs of independent assembly.Through the independent editing of the communication framework,the overall coordination of robots,visual guidance,linear motors and intelligent slaves of the tightening machine were realized,and the consistency and matching of the logic control of the equipment and the functions of the OEM(Original Equipment Manufacturer)machine tool were achieved,and the equipment and the machine tool were finally perfectly integrated.