摘要
在工业生产中机械手能在危险的工作环境中帮助人们解决到许多困难的问题,本文在现有机械人的基础上进行改进,通过端部电磁铁吸附衔接,实现多种手臂的灵活替换,通过爪部压力传感器和PLC控制电路识别抓取物体的硬度,选择合适的传动方式和驱动方式,搭建机器手的结构平台。针对传统机械手在智能化方面存在的不足,结合当前制造企业分拣需求,以并联DELTA机械手作为研究对象,提出一种基于视觉图像处理的机械手智能分拣系统。为实现该系统,首先对该系统的整体架构和硬件部分进行设计,将系统整体按照分拣的流程,分为视觉系统、传送带、控制系统和支撑系统部分。通过视觉系统对分拣物体图像的采集,并通过运动轨迹分析,进而完成对物体位置的判断,然后通过动态抓取算法对物体进行抓取,以完成对传送带中物体的抓取和释放操作。最后通过试验测试的方式,对上述系统进行验证,结果表明该系统具有较高的分拣效率。
In the industrial production,the robot can help people solve many difficult problems in the dangerous working environment. Based on the existing robot,this paper makes improvements,realizes the flexible replacement of various arms through the end electromagnet adsorption connection,recognizes the hardness of the grasping object through the claw pressure sensor and PLC control circuit,chooses the appropriate transmission mode and the driving mode,and builds the structure platform of the robot hand. In view of the shortcomings of traditional robot in intelligence,a robot intelligent sorting system based on visual image processing is proposed based on parallel DELTA robot.In order to realize the system,the whole structure and hardware part of the system are designed,and the whole system is divided into visual system,conveyor belt,control system and support system according to sorting process. Through the visual system to pick up the image of the object,and through the motion trajectory analysis,to complete the position of the object.
作者
蔡菲
郭倩
CAI Fei;GUO Qian(Xi＇an Aviation Vocational and Technical College,Xi＇an,710089;Xi＇an University of Engineering,Xi＇an,710049)
出处
《自动化与仪器仪表》
2018年第8期10-13,共4页
Automation & Instrumentation
关键词
视觉引导
DELTA机械手
高速分拣
执行机构
运动分析
visual guidance
DELTA manipulator
high-speed sorting
executive organization
motion analysis
