并联机器人智能分拣系统设计
|
摘要
针对并联机器人在实际生产过程中对复杂工件的智能分拣问题,对并联机器人的配置、速度、加速度以及传送带的速度等方面进行了研究。对在分拣过程中影响并联机器人分拣成功率的因素进行了归纳,提出了一种基于视觉技术的并联机器人智能分拣系统,利用工业相机对传送带上移动的复杂工件进行捕获,利用图像处理技术获得工件的形状、位置等信息,并将所获得的工件信息传递给控制器,由控制器控制并联机器人对传送带上的工件进行抓取,通过实验获得了测试数据。研究结果表明:影响分拣成功率因素的优先级中,加速度对系统分拣的成功率影响较大,其次是机器人的速度,最后是传送带的速度。
Aiming at the problem of intelligent sorting of complex workpieces in practical production of parallel robots,the configuration,speed and acceleration of parallel robots and speed of conveyor belts was studied. The factors that influence the success rate of the sorting process were summarized. An intelligent sorting system for parallel robots based on vision technology was proposed. The industrial camera was used to capture the image of complex workpiece that moving on the conveyor belt,then the shape and the position of the workpiece was acquired by the image processing technology,and the obtained information of workpiece was passed to the controller. The parallel robots were controlled by the controller to take the workpiece from the conveyor belt and get multiple testing data. The results show that among the priorities affecting the success rate of sorting,the acceleration has a greater impact on the success rate of system sorting,followed by the speed of the robot,and finally the speed of the conveyor belt.
Aiming at the problem of intelligent sorting of complex workpieces in practical production of parallel robots,the configuration,speed and acceleration of parallel robots and speed of conveyor belts was studied. The factors that influence the success rate of the sorting process were summarized. An intelligent sorting system for parallel robots based on vision technology was proposed. The industrial camera was used to capture the image of complex workpiece that moving on the conveyor belt,then the shape and the position of the workpiece was acquired by the image processing technology,and the obtained information of workpiece was passed to the controller. The parallel robots were controlled by the controller to take the workpiece from the conveyor belt and get multiple testing data. The results show that among the priorities affecting the success rate of sorting,the acceleration has a greater impact on the success rate of system sorting,followed by the speed of the robot,and finally the speed of the conveyor belt.
引文
[1]晏祖根,李明,徐克非,等.高速机器人分拣系统机器视觉技术的研究[J].包装与食品机械,2014,32(1):28-31.
[2]刘耕.工业机器人发展史[N].东莞日报,2015(B07).
[3]任志刚.工业机器人的发展现状及发展趋势[J].装备制造技术,2015(3):166-168.
[4] MERLET J P. Parallel robots(solid mechanics and its applications)[M]. New York:Springer-Verlag Inc,2006.
[5]陈学生,陈在礼,孔民秀.并联机器人研究的进展与现状[J].机器人,2002,24(5):464-470.
[6]艾青林,祖顺江,胥芳.并联机构运动学与奇异性研究进展[J].浙江大学学报:工学版,2012,46(8):1345-1359.
[7] CLAVEL R. Device for displacing and positioning an element in Space[P]. EP:EP0250470,1991.
[8] BOURI M,CLAVEL R. The linear delta:developments and applications[C]. ISR 2010(41st International Symposium on Robotics)and ROBOJIK 2010(16th German Conference on Robotics),Munich:IEEE,2010.
[9] MERLET J P. Jacobian,manipulability,condition number and accuracy of parallel robots[J]. Journal of Mechanical Design,2006,128(128):199-206.
[10] HERVE J Y,SHARMA R,CUCKA P. Toward robust vision-based control:hand/eye coordination without calibration[C]. IEEE International Symposium on Intelligent Control,New York:IEEE,1991.
[11]康晓娟. Delta并联机器人的发展及其在食品工业上的应用[J].食品与机械,2014,30(5):167-172.
[12]杨斌久,蔡光起,罗继曼,等.少自由度并联机器人的研究现状[J].机床与液压,2006(5):202-205.
[13]冯李航,张为公,龚宗洋,等. Delta系列并联机器人研究进展与现状[J].机器人,2014,36(3):375-384.
[14]徐超. Delta并联机器人的优化设计与运动/视觉控制技术研究[D].武汉:华中科技大学机械工程学院,2015.
[15]孙志伟,单东日.一种Delta机器人定位技术[J].机电工程技术,2018,47(2):4-6.
[16]柳建飞,张伟中.新型二自由度移动并联机构设计[J].轻工机械,2017,35(2):63-65.
[17]沈亮,刘刚,叶柳华.液压动力平板本自动驾驶系统的研究[J].液压气动与密封,2017(10):70-72.
[18]刘新乐,李红果,周益林.基于现场总线技术机器人码垛控制系统设计[J].包装与食品机械,2017(3):37-40.
[19]蒋书贤.基于机器视觉的工业机器人分拣系统研究[D].成都:西南交通大学电气工程学院,2015.
[2]刘耕.工业机器人发展史[N].东莞日报,2015(B07).
[3]任志刚.工业机器人的发展现状及发展趋势[J].装备制造技术,2015(3):166-168.
[4] MERLET J P. Parallel robots(solid mechanics and its applications)[M]. New York:Springer-Verlag Inc,2006.
[5]陈学生,陈在礼,孔民秀.并联机器人研究的进展与现状[J].机器人,2002,24(5):464-470.
[6]艾青林,祖顺江,胥芳.并联机构运动学与奇异性研究进展[J].浙江大学学报:工学版,2012,46(8):1345-1359.
[7] CLAVEL R. Device for displacing and positioning an element in Space[P]. EP:EP0250470,1991.
[8] BOURI M,CLAVEL R. The linear delta:developments and applications[C]. ISR 2010(41st International Symposium on Robotics)and ROBOJIK 2010(16th German Conference on Robotics),Munich:IEEE,2010.
[9] MERLET J P. Jacobian,manipulability,condition number and accuracy of parallel robots[J]. Journal of Mechanical Design,2006,128(128):199-206.
[10] HERVE J Y,SHARMA R,CUCKA P. Toward robust vision-based control:hand/eye coordination without calibration[C]. IEEE International Symposium on Intelligent Control,New York:IEEE,1991.
[11]康晓娟. Delta并联机器人的发展及其在食品工业上的应用[J].食品与机械,2014,30(5):167-172.
[12]杨斌久,蔡光起,罗继曼,等.少自由度并联机器人的研究现状[J].机床与液压,2006(5):202-205.
[13]冯李航,张为公,龚宗洋,等. Delta系列并联机器人研究进展与现状[J].机器人,2014,36(3):375-384.
[14]徐超. Delta并联机器人的优化设计与运动/视觉控制技术研究[D].武汉:华中科技大学机械工程学院,2015.
[15]孙志伟,单东日.一种Delta机器人定位技术[J].机电工程技术,2018,47(2):4-6.
[16]柳建飞,张伟中.新型二自由度移动并联机构设计[J].轻工机械,2017,35(2):63-65.
[17]沈亮,刘刚,叶柳华.液压动力平板本自动驾驶系统的研究[J].液压气动与密封,2017(10):70-72.
[18]刘新乐,李红果,周益林.基于现场总线技术机器人码垛控制系统设计[J].包装与食品机械,2017(3):37-40.
[19]蒋书贤.基于机器视觉的工业机器人分拣系统研究[D].成都:西南交通大学电气工程学院,2015.