摘要
针对制造业中多类型、多工位、无规则、有残次工件人工分拣出错率高与装配效率低下的问题,设计一个融合视觉和以太网技术的工业机器人分拣装配控制系统。应用工业以太网构建一个包含视觉、PLC、HMI和工业机器人的硬件系统;提出结合图像匹配、圆孔识别算法的工件检测与识别方法;基于坐标偏移的方法设计了一个PLC控制工业机器人的优化算法;并对工业机器人进行示教与编程,实现工件正确分拣与高效装配。测试证明:该系统工件识别正确率达100%,工业机器人的示教位置大大减少,工业机器人的控制程序明显简化,工件分拣正确率与装配效率显著提高。
Aiming at the problems of high error rate and low efficiency in manual sorting and assembling of multi-type,multi-sta⁃tion,irregular and defective work-pieces in manufacturing industry,a new industrial robot control system based on industrial vision and Ethernet was designed.A hardware system including vision,PLC,HMI and industrial robot was constructed by using the industrial Eth⁃ernet.A new method of work-piece detection and recognition based on image matching and circular hole recognition was proposed.Then,a new optimization method was integrated into the system in which PLC was applied to control the industrial robot by the coordinate offset.Finally,the industrial robot was taught and programmed to realize the correct sorting and intelligent assembly.The experimental results show that the recognition rate of the system is 100%,the teaching position of the industrial robot is greatly reduced,the industrial robot program is obviously simplified,and the efficiency of work-pieces sorting and assembly is significantly improved.
作者
苏建
李在娟
SU Jian;LI Zaijuan(College of Mechanical and Electrical Engineering,Suzhou Vocational University,Suzhou Jiangsu 215104,China)
出处
《机床与液压》
北大核心
2021年第24期119-123,共5页
Machine Tool & Hydraulics
基金
江苏高校自然科学基金(19KJD470005)
苏州市重点产业技术项目(SYG201939)。
关键词
工业机器人
工业视觉
工业以太网
分拣与装配
Industrial robot
Industrial vision
Industrial Ethernet
Sorting and assembling
