发动机瓦盖上料机器人研究  

Study on feeding robot of engine tile

作　　者：高赢[1] 张莹[1] 闫璠 涂勇涛[1] 张东波[1] GAO Ying;ZHANG Ying;YAN Fan;TU Yongtao;ZHANG Dongbo(National Engineering Laboratory for Robot Visual Perception and Control Technology, College of Information Engineering,Xiangtan University, Xiangtan, Hunan 411105, China)

机构地区：[1]湘潭大学信息工程学院机器人视觉感知与控制技术国家工程实验室,湖南湘潭411105

出　　处：《计算机工程与应用》2016年第20期257-262,共6页Computer Engineering and Applications

基　　金：国家自然科学基金(No.61175075);湖南省教育厅重点项目(No.14A137)

摘　　要：为了提高装配质量,研究了一种基于机器视觉的发动机瓦盖上料机器人。通过分析系统的关键技术,设计了上料机器人的机械结构、电气结构、多点打光方式的图像采集系统。针对可能存在的单个工件摆放错误和整体倒置,提出了一种快速鲁棒的工件定位检测算法。测试结果表明机械和电气方案稳定可靠、图像识别算法精度高、整机性能满足客户要求。In order to achieve the automobile engine cover installed automatically, it develops a robot of engine cover tilematerial based on machine vision. Through the analysis of the key technologies of the system, it designs the robot’s mechanicalstructure and electric structure, multipoint lighting methods of image acquisition system. In view of the possible existenceof a single piece of errors and the overall upside down, this paper proposes a fast robust workpiece positioning detectionalgorithm. Test results show that the mechanical and electrical scheme is stable and reliable with high precision of imagerecognition algorithm and the machine performance to meet customer requirements.

关 键 词：上料机器人 发动机瓦盖 视觉定位 模板匹配 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]