摘要
为了解决表针生产过程中的自动码垛问题,设计了基于机器视觉的表针自动码垛系统。在表针自动码垛系统中,通过安装在平面关节型机器人上的工业相机,对送料转盘进行图像采集。结合几何轮廓定位和斑点分析等图像处理技术,对图像特征进行提取,获取送料转盘上随机分布的表针位置信息与正反面信息。借助优化后的表针吸嘴和手眼标定技术,通过平面关节型机器人以一定间隔交替分拣正面表针和反面表针。正面表针由平面关节型机器人直接码垛,反面表针经过180°旋转机构翻转后再进行码垛,从而实现表针的全自动码垛。通过试验确认,基于机器视觉的表针自动码垛系统可以满足多种不同规格表针的码垛要求,定位精度、效率与稳定性高,误差小。
In order to solve the problem of automatic palletizing in the production process of the instrumentation hands,an automatic palletizing system for instrumentation hands based on machine vision was designed.In the automatic palletizing system for instrumentation hands,image capture is performed on the feeding turntable through an industrial camera mounted on a selective compliance assembly robot arm.Combining image processing techniques such as geometric contour positioning and spot analysis,the image features are extracted,and the position information and front and back information of the hands randomly distributed on the feeding turntable are obtained.With the optimized hand suction nozzle and hand eye calibration technology,the front and back hands are alternately sorted at regular intervals by the selective compliance assembly robot arm.The front hands are directly palletized by the selective compliance assembly robot arm,and the back hands are turned over after being rotated by the 180°rotating mechanism,thereby realizing full automatic palletizing of the instrumentation hands.Through experiments,it can be confirmed that the automatic palletizing system based on machine vision can meet the palletizing requirements of many different instrumentation hands,with high positioning accuracy,high efficiency and stability,and less error.
出处
《机械制造》
2020年第1期17-22,25,共7页
Machinery
关键词
机器视觉
表针
码垛
设计
Machine Vision
Instrumentation Hands
Palletize
Design
