基于视觉的机器人抓取系统设计

Design of robot grasping system based on vision

为提高流水线工件装配的自动化水平及柔性,设计了基于视觉的机器人抓取系统。在流水线工位上方安装机器视觉系统,采集工件图像,通过编制的图像处理程序,完成工件类型识别和定位,引导机器人手臂抓取物料并摆放至物料区,最后完成工件装配。系统实际运行中能够对流水线上任意摆放位置的不同工件进行抓取,同时精确完成不同工件的装配任务。结果表明,机器人抓取系统具有高抗干扰能力和较强的柔性,能够提升生产线的工作效率。

In order to improve the automation level and flexibility of workpiece assembly,a robot grasping system based on vision is designed.The machine vision system is installed above the assembly line station to collect the workpiece image,complete the workpiece type identification and positioning by compiling the image processing program,guide the robot arm to grasp the material and place it in the material area,and finally complete the workpiece assembly.In the actual operation,the system can grasp different workpieces placed at any position on the assembly line,and accurately complete the assembly tasks of different workpieces at the same time.The practice shows that the system has high anti-interference ability and strong flexibility,and can improve the work efficiency of the production line.