机器人装配视觉定位应用研究

Application research of vision-location in robotic assembly equipment

为解决机器人装配的自动定位问题,将视觉定位技术应用到直角坐标型机器人设计成手机镜头(由LENS、BARREL部件构成)机器人装配设备中,开展了机器人装配设备视觉定位设计分析,以获取镜头LENS、BARREL部件在各个位置下的图像,通过模板匹配方法确定了LENS、BARREL部件中心的坐标值,建立了LENS、BARREL部件之间装配位置关系,提出了基于视觉定位的手机镜头机器人装配方法。在LENS、BARREL部件之间位置的一致性上对视觉定位技术进行了评价,并进行了手机镜头同一对位置下的镜头装配试验。研究结果表明,视觉定位实验为进一步研制手机镜头机器人装配设备奠定了重要基础。

Aiming at the lack of auto-calculation of workpiece＇s positions in robotic assembling process,the mobile-phone lens（including LENS section and BARREL section）cartesian coordinates robotic assembly equipment based on vision-location was investigated.After the analysis of the workpiece＇s center coordinates with template matching,the assembly relationship between LENS and BARREL was established.A method was presented to acquire the image at every position,and the center coordinates of LENS and BARREL were calculated,the robot was driven to move to the right place with vision-location.The position and orientation continuity for robotic assembling were evaluated on the process of guiding robotic assembling,the assembling equipment＇s working at the same couple workpiece＇s positions were tested.The experimental results show that the analysis lays an important foundation for the further developing work of robotic assembly equipment.