基于视觉的工业机器人下料与铣边操作  

Grasping and Milling Operation of Industrial Robot Based on Vision

作　　者：周志军 李鹏飞 蓝伟 ZHOU Zhi-jun;LI Peng-fei;LAN Wei(School of Aeronautics and Astronautics,Xiamen University,Xiamen 361102,China)

机构地区：[1]厦门大学航空航天学院,厦门361102

出　　处：《组合机床与自动化加工技术》2022年第4期184-188,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对传统工业冲压或注塑成型零件生产上的智能化水平低的问题,提出了一种基于视觉编程的工业机器人下料与铣边操作方法。通过视觉技术与工业机器人相结合,推导了一种工业机器人下料与铣边路径点计算公式,并设计了基于视觉的下料与铣边操作软件与硬件系统;该方法采用Eye-in-Hand手眼放置方式对工件进行定位抓取,采用Eye-to-Hand手眼放置方式提取工件边缘轮廓,通过路径点计算公式获得工业机器人下料与铣边轨迹点。经实验测试,工业机器人进行40次下料抓取的成功率为97.5%,满足一般抓取要求;铣边平均计算误差为0.14 mm,实际加工后的最大误差不超过0.48 mm,满足一般铣削要求。研究结果表明,运用视觉技术将下料与铣边操作有效结合有利于提升生产线智能化水平,具有实际应用价值。Aiming at the low level of intelligence in the production of traditional industrial stamping or injection molding parts, a visual programming-based industrial robot grasping and milling operation method is proposed.Through the combination of vision technology and industrial robots, an industrial The robot grasping and milling path point calculation formula, and the vision-based grasping and milling operation software and hardware system are designed.This method uses the Eye-in-Hand placement method to locate and grab the workpiece, uses the Eye-to-Hand placement method to extract the edge contour of the workpiece, and obtains the industrial robot grasping and milling trajectory points through the path point calculation formula.After experimental tests, the success rate of industrial robots for 40 times of grasping and grabbing is 97.5%,which meets the general grabbing requirements;the average calculation error of milling is 0.14 mm, and the maximum error after actual processing does not exceed 0.48 mm, which meets the general milling requirements.The research results show that the use of vision technology to effectively combine the grasping and milling operations is beneficial to the improvement of the intelligent level of the production line and has practical application value.

关 键 词：手眼标定 视觉定位 抓取 铣边 虚拟TCP 

分 类 号：TH161[机械工程—机械制造及自动化] TG54[金属学及工艺—金属切削加工及机床]