基于机器视觉的五轴坡口切割机器人控制系统设计  

Design of five axis groove cutting robot’s control system based on machine vision

作　　者：张雪健 毛业兵 杨芳 胡晓兵[1,2] Zhang Xuejian;Mao Yebing;Yang Fang;Hu Xiaobing(Sichuan University,Chengdu 610065,China;Industrial Technology Research Institute of Yibin Sichuan University,Yibin 644600,Sichuan,China;Sinohydro Jiajiang Hydraulic Machinery Company Limited,Leshan 614100,Sichuan,China)

机构地区：[1]四川大学,成都610065 [2]宜宾四川大学产业技术研究院,四川宜宾644600 [3]中国水电建设集团夹江水工机械有限公司,四川乐山614100

出　　处：《焊接》2021年第2期14-19,37,62,共8页Welding & Joining

基　　金：中国制造2025四川行动计划(2018ZZ011,2017ZZ018)。

摘　　要：基于机器视觉的五轴坡口切割机器人控制系统的设计,主要针对五轴坡口切割机器人的机械本体的控制方案的设计,以保证机器人在工作空间内可以完成从加工零件图像采集到加工轨迹生成再到完成坡口切割整个流程。整个控制系统上位机以MFC模块与OPENCV视觉库为基础,下位机以PLC控制单元作为核心。从图像采集与处理、通讯、轨迹计算与运动控制到PLC控制单元的设计与电路驱动元件的选取等方面,提出了具体的解决方案,并通过搭建实验平台,验证了试验设计的可行性。控制系统设计严谨,可实现要求的五轴坡口切割作业。The design of control system of the five axis groove cutting robot based on machine vision was mainly for the design of control scheme of the machine body of the five axis groove cutting robot.It was guaranteed that the robot could complete the whole process from the image acquisition of processing parts to the generation of machining path and to the completion of groove cutting in the working space.The upper computer of the whole control system was based on MFC module and OpenCV visual library,and the lower computer took PLC control unit as the core.The specific solutions were proposed from the aspects of image acquisition and processing,communication,trajectory calculation and motion control,design of PLC control unit and selection of circuit driving components.The feasibility of the experimental design was verified by building an experimental platform.The control system was strictly designed,which could realize the required five axis groove cutting operation。

关 键 词：控制系统 上位机设计 下位机设计 图像处理模块 

分 类 号：TG48[金属学及工艺—焊接]