摘要
基于Profinet现场总线通讯的柔性智能化弹药装配系统,采用可编程逻辑控制器(PLC),辅以远程I/O从站实现与两台装配现场的机器人控制器实时通讯,并与视觉相机进行UDP通讯,利用视觉引导定位补偿装配过程中存在的误差,实时调整装配机器人的姿态,实现装配过程的柔性化、智能化。介绍装配系统的组成和装配工艺,重点研究视觉补偿的原理及其算法的设计,通过实验验证视觉补偿能够很好地消除装配过程中存在的误差,满足弹药装配的高精度、高可靠性。
This paper introduces the composition and assembly craft of the assembly system generally and focuses on the principle of visual compensation and the design of its algorithm.Through the experimental verification,visual compensation algorithm can eliminate the errors in the assembly process in order to meet the high accuracy and reliability of ammunition assembly.
出处
《工业控制计算机》
2018年第5期102-104,107,共4页
Industrial Control Computer
关键词
PLC
机器人
视觉
现场通讯
高精度
PLC
robot
visual
fieldbus communication
high accuracy
