摘要
为实现遥控器按键装配生产线自动化,结合机器视觉技术与SCARA机器人的精确定位与控制,采用Roberts算子进行工件边缘提取,确定模板匹配方法。在得出图像坐标与机器人末端抓手坐标的转换函数关系后,计算模板位置与抓取位置之间的差值,在工件装配过程中进行差值补偿,实现自动装配。经测试,抓取和装配精度达到±0.1 mm,完全符合规定的装配速度和精度要求。系统实现了遥控器按键的智能装配,优化了现场工作流程,提高了工作效率。与其他自动化系统相比,该系统更具智能性和便捷性。系统的设计思路可用于各类自动装配,能够有效保证装配过程的安全性、可靠性及稳定性,是未来智能装配的发展趋势。
In order to realize the automation of remote control button assembly line,the technology of machine vision and the accurate positioning and control of SCARA robot are combined,workspace edge is extracted by Roberts operator,and the template matching method is determined;then the conversion function relations of image coordinates and robot end gripper coordinate conversion are obtained,and the difference value between the template position and the grab position is calculated,the compensation of difference is conducted in assembling process of workpiece to realize automatic assembly.From testing,the accuracy of grab and assembly reaches±0.1mm;the assembling speed and accuracy fully meet the requirements.The intelligent assembly of the key andbutton of remote control is realized,and the field work flow is optimized,the work efficiency is improved.Compared with other automatic systems,it is more intelligent and convenient.The design concept of this system can be applied to all kinds of automatic assembly,and it can guarantee the safety,reliability and stability of assembly process effectively.It is the development trend of intelligent assembly in the future.
作者
刘晓鹏
刘波
马自超
高琳
LIU Xiaopeng;LIU Bo;MA Zichao;GAO Lin(School of Mechanical and Power Engineering,North University of China,Taiyuan 030051,China;WILD SC(NINGBO) Intelligent Technology Co.,Ltd.,Ningbo 315000, China)
出处
《自动化仪表》
CAS
2017年第11期92-95,共4页
Process Automation Instrumentation
