基于3D视觉的辊道输送线驱动盘装配系统设计  

Design of roller conveyor drive disk assembly system based on 3D vision

作　　者：吴俊 袁海兵[1] 夏檑 WU Jun;YUAN Haibing;XIA Lei(School of Mechanical Engineering,Hubei University of Automotive Technology,Shiyan 442002,CHN)

机构地区：[1]湖北汽车工业学院机械工程学院,湖北十堰442002

出　　处：《制造技术与机床》2022年第8期63-68,90,共7页Manufacturing Technology & Machine Tool

基　　金：教育部产学合作协同育人顶目(201902016046,201902118034);十堰市科学技术研究指导项目(16Y97)。

摘　　要：针对辊道线驱动盘装配过程中,人工装配劳动强度大、工作效率低的问题,设计了一套基于3D视觉与机器人相结合的自动装配系统。通过Pro S Enhanced工业相机对驱动盘进行图像采集,获取驱动盘叠放状态下的3D点云图像,通过点云滤波、点云聚类分割和点云匹配的方法对点云图像进行预处理,获取驱动盘的位置和姿态,配合KUKA工业机器人完成对驱动盘的抓取与装配,实验表明,该系统定位误差小于0.5 mm,装配节拍12 s,与传统人工装配相比,装配节拍提高了50%,生产现场运行稳定可靠,满足企业生产需求。Aiming at the problem of high labor intensity and low work efficiency of manual assembly in the assembly process of roller line drive disc,an automatic assembly system based on 3D vision and robot is designed.The 3D point cloud image of the driver disk is obtained by Pro S Enhanced industrial camera,and the point cloud image is preprocessed by point cloud filtering,point cloud clustering segmentation and point cloud matching.The position and attitude of the drive disk are obtained with KUKA industrial robot.The experimental results show that the positioning error of the system is less than 0.5 mm and the assembly time is 12 s.Compared with the traditional manual assembly,the assembly beat is increased by 50%,and the production site runs stably and reliably to meet the production needs of enterprises.

关 键 词：3D视觉 驱动盘 图像处理 工业机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]