A scara robot assembly method using digital image processing technology
A digital image and assembly method technology, which is applied in image data processing, image enhancement, image analysis, etc., can solve problems such as limiting the flexibility and work efficiency of industrial robots, task failure, and robots cannot adapt in time, so as to improve adaptability, Effects of improving efficiency and improving production efficiency
Active Publication Date: 2020-08-11
SHAANXI UNIV OF SCI & TECH
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[0003] Machine vision is an important research field of industrial robots. At present, most industrial robots on the production line control the robot to perform predetermined command actions through pre-teaching or offline programming. Once the working environment or target objects change, the robot cannot adapt to these changes in time. changes, resulting in task failure, and this way of working limits the flexibility and work efficiency of industrial robots to a large extent
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[0025] The present invention is described in detail below in conjunction with accompanying drawing.
[0026] Such as figure 1 Shown: a kind of SCARA robot assembly method utilizing digital image processing technology, comprises the following steps:
[0027] Step1. Install the industrial camera, install the camera directly above the working area of the robot, and adjust the focal length of the camera so that the entire working area is within the field of view of the camera;
[0028] Using the Korean IMI tech Amazon2 series industrial camera, in the case of including the camera class library, read the data of the camera by instantiating the camera handle class, and use the OneFrameGrab function to obtain a frame of image data of the camera and save the data, and then use the Halcon The reading function read_image is used to read the saved data and get an image, thus realizing the function of online reading the camera with Halcon;
[0029] Step 2. Camera calibration mainly u...
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A SCARA robot assembly method using digital image processing technology. First, install an industrial camera to collect images of the working area in real time, and then design a digital image processing algorithm, including camera calibration and workpiece identification and positioning. Secondly, Realize the control of the SCARA robot. The SCARA robot and the host computer are connected through Ethernet. The host computer can send the coordinates and attitude of the workpiece to the robot, and then complete the design of the robot’s pick-and-place program. Finally, use the MFC development of Visual Studio to realize the host computer. The design of the machine can monitor the working area, communicate with the robot in real time and display the operating status of the entire system. The invention has the characteristics of improving the adaptability of the robot to the environment and production efficiency.
Description
technical field [0001] The invention relates to the technical field of robot somatosensory programming methods, in particular to a SCARA robot assembly method utilizing digital image processing technology. Background technique [0002] Industrial robots are highly integrated products of mechatronics. As one of the ten key development areas of "Made in China 2025", they are an important symbol of the level of industrial automation and Industry 4.0. Industrial robots have the advantages of high repeatability, good reliability, and strong applicability. They are widely used in industries such as automobiles, machinery, electronics, and logistics. They have been proven to be the most efficient production tools at present, and their demand continues to rise. Since the early 1960s, industrial robots have experienced three stages of development. The first generation is a teaching and reproduction industrial robot, which can only memorize the trajectory, sequence, requirements, etc...
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IPC IPC(8): B25J9/16G06T7/00G06T7/73G06T7/80G06K9/00
CPCG06T7/001G06T7/73G06T7/80B25J9/1669B25J9/1697G05B2219/40002G05B2219/40005G06T2207/10004G06T2207/20104G06T2207/30108G06V20/10
Inventor党宏社候金良强华白文静付晶
OwnerSHAANXI UNIV OF SCI & TECH