摘要
现有生产线工业机器人抓取点固定,工件只能以固定的姿态提前摆放在固定的位置,这种装配模式很难满足复杂的工业生产要求且效率低下。设计了基于视觉引导的机器人装配系统改进原有系统。设计了机器视觉系统,实现了工件的快速识别、定位以及姿态确定功能;设计了抓放系统,实现了工件的精确抓取和安装功能;采用Visual Studio的MFC开发,实现图像处理算法,并利用Socket通信将坐标和姿态数据发送给机器人。通过实验验证本系统具有良好的稳定性和快速性,可以满足生产的要求,大幅提高生产效率。
Grasping points for industrial robot of the existing production lines are fixed and the artifacts only can be placed with a fixed posture and in a fixed position. The complex industrial production requirements are hard to be satisfied with this assembly model and it is inefficient. The SCARA automatic assembly system based on vision guided is designed to improve the original sys- tem. The machine vision system is designed to realize the function of rapid identification, location and attitude determination of the artifacts. The assembly system is designed to achieve the function of precision grasping and placement of the artifacts. The image processing algorithm is actualized by the MFC program of Visual Studio and the coordinate and attitude data are sent to SCARA. The good stability and rapidity of this system are proved by the experiment results. The production requirements can be satisfied and the productivity is improved significantly by this system.
出处
《电子技术应用》
北大核心
2017年第5期21-24,共4页
Application of Electronic Technique
基金
陕西省社会发展科技攻关项目(2015SF275)
