摘要
以ABB机器人为研究对象,结合双目相机、快换夹具、计算机控制系统等硬件构建智能搬运系统。设计机器人智能搬运的Rapid程序,控制机械臂运动及夹具动作。建立机器人系统与上位机之间的控制网络,实现上位机与Rapid程序数据和机器视觉数据的通信,完成两者交互及对机器人智能搬运的控制。经试验验证,该系统在远程操作下能快速完成机器人的数据通信与控制运行,机器人可适应工件位置和数量,并进行自动搬运,对异常工况也可自动做出反应。
Taking ABB robot as the research object, the intelligent handhng system was constructeu by combining the hardware including binocular camera, quick change fixture and computer control system. Rapid program for robot intelligent transportation was designed to control mechanical arm movement and jig movement. Control network between the robot system and the host computer was established to realize the communication between the host computer and the Rapid program data ＆ machine vision data, achieve the interaction between them and control the robot for intelligent transportation. With experimental verification, the system can quickly complete the data communication for the robot and control the operation under the remote operation, The robot can be adapted to the position and number of the work-pieces for automatic transportation, and can react automatically to abnormal conditions.
出处
《机械制造》
2017年第2期28-31,42,共5页
Machinery
关键词
机器人
搬运
设计
Robot Handling Design
