基于工业机器人的视觉分拣曲轴系统开发应用  

Development and Application of Visual Sorting Crankshaft System Based on Industrial Robot

作　　者：梁锦麟 陈映璇 LIANG Jin-lin;CHEN Ying-xuan(Shanghai-Fanuc Robotics Co.,Ltd.,Guangzhou 510080,China;Guangdong Machinery Research Institute,Guangzhou 510635,China)

机构地区：[1]上海发那科机器人有限公司,广东广州510080 [2]广东省机械研究所,广东广州510635

出　　处：《机电工程技术》2019年第6期182-183,265,共3页Mechanical & Electrical Engineering Technology

摘　　要：针对发动机缸体曲轴装配长期依赖于工人手工分拣的问题,研发了一款基于三维视觉传感器配合机械手自动识别曲轴相位并分拣的自动化系统,该系统由相位旋转台、工业机器人、上下料传送带、操作台等共同构成。并基于总线组态软件技术实现人机交互,实现曲轴视觉识别并分拣系统的智能化控制。该控制系统可以实时监控现场参数,显示当前曲轴的相位和识别分数,使操作、维护更加方便。实验结果显示:单工件抓取与装配节拍为85s,与手工方式需150s比较,效率提高约76%。完全实现无人化自动生产,节省大量人力成本。In view of the long-term dependence on manual sorting of engine block crankshaft assembly,an automatic crankshaft phase identification and sorting system based on three-dimensional vision sensor and manipulator was developed.The system consists of phase rotary table,industrial robot,feeding and unloading conveyor belt and operating table.Based on bus configuration software technology,human-computer interaction and intelligent control of crankshaft visual recognition and sorting system are realized.The control system can monitor the field parameters in real time,display the current crankshaft phase and recognition score,and make the operation and maintenance more convenient.The experimental results show that the grabbing and assembling rhythm of a single workpiece is 85s,and the efficiency is improved about 76%compared with 150 seconds of manual method.Fully realize the automated production of unmanned,save a lot of manpower costs.

关 键 词：工业机器人 三维视觉系统 曲轴分拣 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]