基于视觉纠偏算法的阻镀漆喷涂机器人研制  

Development of anti-plating paint spraying robot based on visual correction algorithm

作　　者：王新雨 赵连玉[1,2] 邢攸为 任广新 尹永强 王成林 WANG Xinyu;ZHAO Lianyu;XING Youwei;REN Guangxin;YIN Yongqiang;WANG Chenglin(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China;Ocean Origin Engineering Co.,Ltd.,Tianjin 300461,China)

机构地区：[1]天津理工大学,天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]海洋石油工程股份有限公司,天津300461

出　　处：《天津理工大学学报》2023年第4期26-31,共6页Journal of Tianjin University of Technology

基　　金：天津市重点研发计划(20YFCGX00550);天津市新一代人工智能重大项目(7020300201)。

摘　　要：为提高涂绘生产线效率、解决人工成本问题,研制了阻镀智能漆喷涂生产线。在六轴工业机器人上引入机器视觉系统,虽能完成复杂工件涂绘,但涂绘不准确,因此,提出位置纠偏算法。采用工业相机对电镀件进行拍照,注册识别其特征信息,记录其位置坐标。对其他电镀件分别拍照并处理其图像,与第1个图像中的点位进行对比,计算出其偏差值来进行纠偏。经试验验证,涂绘效果满足生产作业要求。In order to improve the efficiency of the painting operation production line and solve the problem of labor costs,an anti-plating intelligent paint spraying production line is developed,and a machine vision system is introduced into the six-axes industrial robot.Although it can complete the painting of complex workpieces,the painting is not accurate,so a position correction algorithm is proposed.The electroplating parts are taken photographs by using an industrial camera,the characteristic information is recognized and the position coordinates are recorded.Then the images of other electroplating parts are photographed and processed respectively.By compared with points in the first image,the deviation values are calculated to correct the deviation.The experiments show that the painting effect satisfies the production operation.

关 键 词：六轴工业机器人 机器视觉 位置纠偏 生产线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]