| 摘要: |
| 为了解决传统机器人自动制孔系统在自动化生产线中适应性的问题，实现制孔对象在机器人自动制孔工位快速自动流转的同时保证制孔精度，提出了一种基于双目视觉定位的机器人自动制孔方法。该套系统以现场总线的方式将机器人本体、制孔末端执行器、自动物流车、双目视觉测量系统及其他附属设备集成在一起，实现对加工件的自动制孔。介绍了其中的末端执行器设计、双目视觉测量系统、机器人离线编程和系统集成控制。试验表明，该套系统末端定位精度±0.3mm，制孔垂直精度±0.5°，孔径精度H8。 |
| 关键词: 机器人制孔 末端执行器 离线编程 双目视觉 集成控制 |
| 基金项目: |
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| Research on Robot Automatic Drilling System Based on Binocular Vision Positioning |
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Zhu Qiancheng1, Sai Yin2, Xiong Zhenqi1, Han Weiqun1, Lv Yunqi1
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1. Beijing Hangxing Machinery Manufacturing Co., Ltd.;2. Second Military Representative Office of Air Force Equipment Department in Beijing
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| Abstract: |
| To deal with the adaptability optimization of the automatic robotic drilling system in the automatic production line and realize the automatic circulation while guaranteeing the position accuracy of holes, an approach based on binocular vision positioning to an automatic robot drilling system is presented. The proposed system integrates industrial robots, end effector, automatic guided vehicle, binocular vision measuring system and other ancillary equipment in the form of fieldbus to realize automatic drilling. The design of end effector, binocular vision measurement system, robot off-line programming and system integration control are introduced in detail. Tests have shown that the positioning accuracy of this system is ±0.3mm, the vertical precision of the system is ±0.5°, and the aperture accuracy is H8. |
| Key words: robot drilling end effector off-line programming binocular vision integration control |
