机器视觉与工业机器人相结合的自动上料系统

Automatic feeding system based on machine vision and industrial robot

随着工业机器人和机器视觉技术的发展和应用,将二者相结合,研发出适合锻造工况的由机器视觉引导的机器人自动上料系统。该系统由工业机器人、电磁铁机构、视觉相机、控制系统和照明系统5部分组成,经过工况设定、拍照、数据处理、定位等流程,最终引导机器人从料箱自动抓取冷态的棒料,并搬运至锻造线加热单元。详细地说明了如何处理由于光线影响造成的拍照识别问题、机器人与视觉系统坐标系的标定与转换、视觉处理流程、夹持系统定位与容错处理、空抓问题的分析处理等。本系统在半年的应用过程中,经过不断地调整优化,取料成功率大于99%,应用结果证明了该系统具有可靠的稳定性和安全性。

With the development and application of industrial robot and machine vision technologies,the robot automatic feeding system guided by machine vision suitable for forging conditions was developed by combining the two technologies,which was composed of industrial robot,electromagnet mechanism,visual camera,control system and lighting system.Through the processes of working condition setting,photographing,data processing and positioning,the robot automatically grabbed the cold-state bar from material box and transported it to the heating unit of forging line.Then,how to deal with the problem of photo identification caused by the influence of light,the calibration and conversion of coordinate system for robot and vision system,the visual processing process,the positioning and fault tolerance processing of clamping system,and the analysis and processing of empty grip problem,etc.were described in detail.Furthermore,the system continuously adjusted and optimized during the half-year application process,and the success rate of reclaiming was more than 99%.The application results show that the system has reliable stability and safety.