摘要
以石油套管接箍车丝机视觉机器人上下料系统为研究对象,利用UG和RobotStudio软件建立了接箍车丝机视觉机器人自动上下料系统仿真模型。利用Halcon图像处理软件对抓取工件进行中心定位,并开发了人机交互界面。设计了机器人专用上下料夹具,创建系统Smart动态组件,添加了I/O信号实现设备通讯。编写机器人离线仿真程序,完成机器人柔性上下料系统仿真和优化。仿真结果表明,设计的仿真系统实现了机器人视觉精准抓取工件柔性上下料功能。
Taking the visual robot loading and unloading system of the oil casing threading machine as the research object,the simulation model for the automatic loading and unloading system of the threading machine robot is established with UG and Robot Studio software.The Halcon image processing software is used to center the grasping workpiece,and developed the corresponding human-computer interaction interface.The robot's special loading and unloading fixture was designed,the system Smart dynamic components was created,and I/O signals to realize equipment communication was added.According to the actual production line unloading operation mode,the robot offline simulation program is written to complete the simulation and optimization of the robot flexible loading and unloading system.The simulation results show that the designed simulation system realizes the robot vision to accurately grasp the flexible loading and unloading of the workpiece.
作者
周豪
李兴成
刘凯磊
荀康迪
梁栋
ZHOU Hao;LI Xingcheng;LIU Kailei;XUN Kangdi;LIANG Dong(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213000,Jiangsu,China)
出处
《机械科学与技术》
CSCD
北大核心
2021年第11期1675-1680,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金青年基金项目(51805228)
江苏省高校自然科学基金面上项目(18KJB460010)。
关键词
机器人
上下料系统
图像处理
robot
loading and unloading
image processing
