机器人视觉伺服控制柔性上料工作站设计  

Design of Flexible Feeding Workstation by Robot Visual Servo Control

作　　者：宋科 王媛 SONG Ke;WANG Yuan(School of Electronic Engineering,Xi′an Aeronautical Institute,Xi′an 710077,China)

机构地区：[1]西安航空学院电子工程学院,西安710077

出　　处：《西安航空学院学报》2022年第5期73-78,共6页Journal of Xi’an Aeronautical Institute

摘　　要：为了降低某大型通讯企业中射频模块(RRU)包装工作站用工数量,提高生产效率,根据通讯射频模块自动化包装生产工艺要求,开发视觉定位系统、上料控制硬件系统、上料控制软件及图像处理程序,设计一套工业机器人自动化上料柔性工作站。该工作站采用六垂直关节重载机器人,机器人未端选用电动柔性夹具,配合输送线、物料转运车进行工作。运行结果表明,上料机器人工作站实现了多种规格产品的自动上料,视觉定位精度小于0.5 mm,上料节拍大于18件每分钟,工作站运行稳定、可靠,达到了设计要求。研究成果为提高上料作业工序效率提供一定方法。In order to reduce the labor number of radio remote unit(RRU) packaging workstation and improve production in a large communication enterprise, visual positioning system, feeding control hardware system, feeding control software and image processing program are developed according to the requirements of automatic packaging production technology of communication radio frequency module, and a set of automatic feeding flexible workstation of industrial robot is designed. A six vertical joint heavy-duty robot with a customized electric flexible fixture on the robot end works with the conveyor line and material transfer vehicle. The operation results show that the feeding robot workstation realizes the automatic feeding of products of various specifications, the visual positioning accuracy is less than 0.5 mm, and the feeding rhythm is more than 18 pieces per minute, which proves that the workstation runs stably and reliably, and it can meet the design requirements. The research results provide some methods for improving the efficiency of feeding operation.

关 键 词：工业机器人 视觉伺服控制 柔性上料 包装工作站 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置] TP311.52[自动化与计算机技术—控制科学与工程]