机器人智能分拣系统
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摘要
过去,物品的分装、分拣需要工人靠人眼识别分装,读出地址,然后再分配到各个滑道,一旦出错,就会面临用户退换货和投诉的双重压力[1]。现在机器人负责把输送托盘流水线系统里的物品输送到视觉检测系统工位中,再经视觉定位系统识别,由工业机器人将放在托盘中的物品,通过真空吸盘吸放到预先规定的物品盒中。视觉系统对托盘内的货物进行视觉识别,并把识别的位置,形状等特征数据给到中央控制器和分拣机器人,由机器人根据目标存放位置执行相应的动作。
Industrial robots are mainly responsible for conveying the tray to the visual inspection station,and then to the grabbing station by visual positioning recognition. The objects placed in the tray are sucked into the pre-defined object box by the robot through the vacuum sucker. When the object arrives at the visual system recognition station on the assembly line,the PLC will give a signal to the visual system,trigger the visual system to recognize the object in the tray. The PLC reads the data identified by the visual system through communication,and then converts and saves it. After the industrial robot receives the sorting control instruction,it parses the control instruction content and executes the instruction action by executing the function instruction. After the action execution,it feeds back a binary data signal to the sorting automation control system PLC. After receiving the feedback signal,the automation sorting system PLC continues to send it to the industrial robot control system. Send the next control instruction,if the feedback signal is not received,then the PLC will be in a waiting state until the waiting time reaches our pre-set alarm time threshold to carry out fault alarm. The visual system recognizes the goods in the pallet visually,and gives the position and shape data to the central controller and the sorting robot. The robot performs the corresponding actions according to the location of the target.
Industrial robots are mainly responsible for conveying the tray to the visual inspection station,and then to the grabbing station by visual positioning recognition. The objects placed in the tray are sucked into the pre-defined object box by the robot through the vacuum sucker. When the object arrives at the visual system recognition station on the assembly line,the PLC will give a signal to the visual system,trigger the visual system to recognize the object in the tray. The PLC reads the data identified by the visual system through communication,and then converts and saves it. After the industrial robot receives the sorting control instruction,it parses the control instruction content and executes the instruction action by executing the function instruction. After the action execution,it feeds back a binary data signal to the sorting automation control system PLC. After receiving the feedback signal,the automation sorting system PLC continues to send it to the industrial robot control system. Send the next control instruction,if the feedback signal is not received,then the PLC will be in a waiting state until the waiting time reaches our pre-set alarm time threshold to carry out fault alarm. The visual system recognizes the goods in the pallet visually,and gives the position and shape data to the central controller and the sorting robot. The robot performs the corresponding actions according to the location of the target.
引文
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[2]萧蕴诗,吴继伟,许维胜.现场控制系统的研究应用现状与发展方向[J].微型电脑应用,2001,17(11):5-7.
[3]王喜成,张振华,刘贤锋,等.公钥密码快速算法与实现技术[M].成都:电子科技大学出版社,2006.
[4] BERGE Jonas.过程控制现场总线[M].北京:清华大学出版社,2003.
[5]李广弟等. PLC基础[M].北京:北京航空航天大学出版社,2001.
[6]佟为明,林景波,李辉.基于Device Net现场总线的汽总装生产线控制系统[J].总线技术,2004,(2):54.
[7]林景波. FA系统产品综合样本[Z].中国:欧姆龙(中国)有限公司,2006.