机器视觉在柔性制造生产线分拣机械手中的应用研究  

Application of machine vision in the sorting machine of flexible manufacturing line

作　　者：解明利[1] 胡占齐[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《制造技术与机床》2018年第3期103-107,113,共6页Manufacturing Technology & Machine Tool

基　　金：河北省科技计划项目(15211823);河北省自然科学基金青年科学基金(E2016203355);河北省高等学校科学技术研究项目(QN20131080)

摘　　要：为了解决柔性制造生产线机械手的智能化分拣问题,以并联机械手、工业相机和BS-8ML01型柔性生产线为基础,设计了一个基于机器视觉的分拣系统。该系统工业相机直接集成于机械手的定平台,以实现对传送带送来的工件进行图像采集及软件图像预处理。研究中对传统的Hough算法进行了改进,采用基于有序Hough变换的算法进行工件边缘的提取和定位,并以此对机械手的运动轨迹进行规划,采用Matlab对机械手的末端动平台进行动力学分析。最后样机实验表明,该基于机器视觉的分拣机械手算法稳定可靠,可广泛应用于一般小尺寸工件的分拣工作,提高了柔性制造生产线的自动化、智能化水平。In order to solve the intelligent sorting problem of flexible manufacturing line＇ s manipulator, a sorting machine system based on the machine vision is designed on the basis of parallel manipulator, industrial camera and BS-SML01 flexible production line. In this system, the industrial camera is integrated directly in the fixed platform of the manipulator so as to proceed image acquisition for the workpiece sent by the conveyor belt, after the pre-image preprocessing through the software, an algorithm based on the ordered Hough transform is used to extract and locate part edges, and then the trajectory of manipulator is planned, meanwhile, the kinematics analysis of the fixed platform of manipulator is simulated by Matlab, the final prototype experiment shows that the algorithm of sorting manipulator based on machine vision is stable and reliable, which can be widely used in general sorting of small size parts and improve the automatic and intelligent level of the flexible manufacturing line.

关 键 词：柔性制造生产线 分拣 机械手 机器视觉 

分 类 号：TH165[机械工程—机械制造及自动化]