并联机器人视觉引导定位工件研究  

Research on Visual Guidance of Parallel Robot to Position Workpiece

作　　者：张薇薇[1] 李明园 ZHANG Weiwei;LI Mingyuan(School of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China)

机构地区：[1]河海大学机电工程学院,江苏常州213022

出　　处：《机械工程师》2024年第6期27-30,共4页Mechanical Engineer

基　　金：国家自然科学基金“海工易损金属表面MMNC织构纳米镀层微结构调控及耐蚀耐磨一体化机制”(51679076)。

摘　　要：针对工业机器人对流水线上的工件进行分类识别抓取的问题,将单目视觉技术引入到工业机器人智能抓取系统设计中。通过Halcon软件完成了视觉算法的编写,从而对工件的正面、反面、堆叠状态进行识别和定位。利用QT软件完成了上位机的编写,通过Modbus和TCP/IP协议实现与机器人的通信。试验得到的定位误差为0.88 mm,能够较好地完成抓取工作。Aiming at the problem of industrial robots to classify,recognize and grasp the workpieces on the assembly line,this paper introduces monocular vision technology into the design of intelligent grasping system for industrial robots.The program of vision algorithm is completed using Halcon software,so as to recognize and locate the front,back and stacking state of workpieces.The host computer is programmed by QT software,and the communication with the robot is realized by Modbus and TCP/IP protocol.The positioning error is 0.88 mm,which can complete the grasping work well.

关 键 词：视觉引导 HALCON 定位 抓取 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]