结合Dalsa工业相机和ABB工业机器人的码垛系统
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摘要
实现了一种结合Dalsa工业相机和ABB工业机器人的码垛系统。首先利用Dalsa视觉系统软件检测到工件的中心点坐标和偏转的角度,然后利用Dalsa视觉软件提供的脚本语言编程通过TCP/IP协议发送给系统总控软件(C#语言开发),总控软件收到结果后将其处理为ABB工业机器人方便处理的格式并通过TCP/IP协议发送给工业机器人,最后由ABB工业机器人实施抓取、码垛动作。系统对任意摆放位置和任意摆放角度的工件都能成功码垛,拓展了工业机器人实训平台的教学项目。
A palletizing system that combines Dalsa industrial cameras with ABB industrial robots is realized. Firstly, the center point coordinates and deflection angle of the workpiece are detected by Dalsa vision system software, and then sent to master control software(C# language development) of the system by TCP/IP protocol using the script language provided by Dalsa vision software. After receiving the result, the master control software processes it into a convenient format for ABB industrial robots and sends it to the industrial robot via TCP/IP protocol. Finally, ABB industrial robots implement the crawling and palletizing operations. The system can successfully palletize workpiece of any position and any angle, and expand the teaching project of the industrial robot training platform.
A palletizing system that combines Dalsa industrial cameras with ABB industrial robots is realized. Firstly, the center point coordinates and deflection angle of the workpiece are detected by Dalsa vision system software, and then sent to master control software(C# language development) of the system by TCP/IP protocol using the script language provided by Dalsa vision software. After receiving the result, the master control software processes it into a convenient format for ABB industrial robots and sends it to the industrial robot via TCP/IP protocol. Finally, ABB industrial robots implement the crawling and palletizing operations. The system can successfully palletize workpiece of any position and any angle, and expand the teaching project of the industrial robot training platform.
引文
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[4]刘振宇,李中生,张涛,等.基于机器视觉的码垛机器人系统研究[J].组合机床与自动化加工技术,2014(4):9-14,18.
[5]程启良.智能码垛装车工业机器人控制系统的研究与应用[D].山东建筑大学,2017.
[6]胡敏.视觉系统在异型烟码垛机器人系统中的应用研究[D].重庆大学,2017.
[7]许校军.浅谈ABB工业机器人视觉通讯程序编制[J].科技文档,2018(27):218
[2]曹成涛,许伦辉,赵雪,等.四轴工业机器人运动控制与视觉码垛[J].机械设计与制造,2016,(11):158-161.
[3]郭海冰,霍华,封文江.机器视觉算法在码垛机器人中的应用[J].沈阳师范大学学报(自然科学版),2011,29(2):221-225.
[4]刘振宇,李中生,张涛,等.基于机器视觉的码垛机器人系统研究[J].组合机床与自动化加工技术,2014(4):9-14,18.
[5]程启良.智能码垛装车工业机器人控制系统的研究与应用[D].山东建筑大学,2017.
[6]胡敏.视觉系统在异型烟码垛机器人系统中的应用研究[D].重庆大学,2017.
[7]许校军.浅谈ABB工业机器人视觉通讯程序编制[J].科技文档,2018(27):218