摘要
设计了一种收藏币拍照机器人,将现代机械设计和运动控制器巧妙地结合在一起;采用模块化思想,对收藏币拍照机器人进行整体结构设计,并构建了“PC+机器视觉+嵌入式控制器”的机器人控制系统。开发了基于ARM的嵌入式控制器,实现了多轴电动机运动控制、气动控制、多传感器信号采集及CAN总线通信等。设计了控制系统上、下位机应用软件,将该系统应用于收藏币拍照机器人全自动工艺流程中,实验结果表明:收藏币拍照机器人系统运行稳定、图像采集清晰高效、操作简单,满足市面上大批量收藏币图像采集的使用需求。
This paper designs a collection coin camera robot by combining modern mechanical design and motion controller skillfully.Modularization idea is used to design the overall structure of the collectible coin photographing robot,and the robot control system of"PC+industrial camera+embedded controller"is constructed.An ARM-based embedded controller is developed to realize multi-axis motor motion control,pneumatic control,multi-sensor signal acquisition,CAN bus communication,etc.The upper and lower computer application software of the control system is designed and applied in the automatic process flow of the collectible coin photographing robot.The experimental results show that the collectible coin camera robot system runs stably,the image collection is clear and efficient,and the operation is simple,which meets the needs of large-scale collection of coin image collection on the market.
作者
付荣豆
毛潭
侯静娴
FU Rongdou;MAO Tan;HOU Jingxian(School of Mechanical and Material Engineering,North China University of Technology,Beijing 100144,China)
出处
《机械工程师》
2021年第10期35-37,40,共4页
Mechanical Engineer
基金
山东省科技厅重点研发计划项目(2019GGX105007)。
