基于机器视觉和Codesys的多轴柔性平台技术

Multi-axis Flexible Platform Technology Based on Machine Vision and Codesys

目前常规的多轴平台功能单一,不具备图像检测能力,扩展性较差,无法满足目前小批量多种类的定制化生产需求,为此开发一种基于机器视觉与Codesys的多轴柔性平台。平台为模块化设计,集成螺丝锁附、点涂胶、移栽、耐久性测试等工艺,可根据不同应用场景灵活选用。以AM400为主控制器,对EtherCAT总线伺服进行高精度多轴联动控制,Codesys可采用G代码实现圆弧插补、螺旋插补及电子凸轮等多轴联动。平台搭载机器视觉,用于实时监测和识别工件的位置、形态、大小等信息。智能电批实现拧紧力矩值的高速实时检测和高精度控制。上位机采用C#语言开发,视觉拍照结果实时显示,能够对平台进行手/自动控制,可视化集中监控等。支持各种通信协议,快速构建柔性生产网络,通过物联网把数据上传至云平台。实践结果表明,螺丝锁付机械手精度为0.063 mm,上料模块精度为0.03 mm,节拍达到2.5 s,均高于产品生产需求。该柔性平台示教简单、性能稳定,自动化和智能化程度较高,可通过快速更换智能元器件,满足一机多用的柔性化生产需求。

At present,the conventional multi-axis platform lacks multiple functions,does not have image detection capabilities,and has poor scalability,which cannot meet the current customized production needs of small batches and various categories,therefore,a multi-axis flexible platform based on machine vision and Codesys is developed.The platform is modular design,integrating screw locking,spot dispensing glue,transplanting,durability testing and other processes,which can be flexibly selected according to different application scenarios.With AM400 from Inovance as the main controller,high-precision multi-axis linkage control is carried out for EtherCAT bus servo.,and Codesys can use Gcode to realize multi-axis linkage such as circular arc interpolation,spiral interpolation and electronic cam.The platform is equipped with machine vision to monitor and identify the position,shape,size and other information of the workpiece in real time.Intelligent electric screwdriver realizes high-speed real-time detection and high-precision control of tightening torque value.The host computer adopts C#program,visual photo results are displayed in real time,and the platform can be controlled by hand/automatically,and visual centralized monitoring can be carried out.The platform supports various communication protocols,can quickly build a flexible production network,and upload data to the cloud platform through the Internet of Things.Practical results show that the accuracy of the screw locking manipulator is 0.063 mm,the accuracy of the feeding module is 0.03 mm,and the cycle time reaches 2.5 s,which are higher than the production requirements.The flexible platform has simple teaching,stable performance,high degree of automation and intelligence,and can meet the flexible production needs of one machine with multiple usages by quickly replacing intelligent components.