工业机器人系统自动完成胀孔方法

Automatic expanding hole method of industrial robot system

胀孔是通过挤压使内孔材料发生塑性变形,从而使孔尺寸保持较稳定的状态。采用开源DXFLib库来解析DXF文件中圆孔中心坐标,应用OPENCV库和CVUI库在系统主控软件上绘制和管理待胀孔的圆。工业机器人根据主控软件解析出的圆中心,依次把CCD传感器移动到铸件圆孔中心的正上方,再根据图像识别的圆孔中心像素坐标和机器人手眼标定关系,引导机器人本体上的胀孔器精确地移动到待胀孔的中心。即该系统自动地完成大型铸件上圆孔的胀孔工作。

Expanding hole leads to plastic deformation of inner hole material by extrusion,keeping the hole size stable.This paper uses the open source library DXFLib to analyze the center coordinates of circles in DXF files,as well as using OpenCV library and CVUI library to draw and manage the hole circles to be expanded in main control software of the system.According to the circle centers analyzed by the main control software,industrial robot moves its CCD sensor above the hole center of the castings in a proper order,then guides the robot expanding tool to move accurately to hole centers,,on the basis of the center pixel coordinates of the circular holes recognized through images and the robot hand eye calibration.That is to say,the system can automatically expand round holes in large castings.