CN107344171A - A kind of low-voltage air switch the System of Sorting Components and method based on Robot Visual Servoing - Google Patents

A kind of low-voltage air switch the System of Sorting Components and method based on Robot Visual Servoing Download PDF

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Publication number
CN107344171A
CN107344171A CN201710605308.2A CN201710605308A CN107344171A CN 107344171 A CN107344171 A CN 107344171A CN 201710605308 A CN201710605308 A CN 201710605308A CN 107344171 A CN107344171 A CN 107344171A
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China
Prior art keywords
robot
pallet
camera
workpiece
air switch
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Pending
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CN201710605308.2A
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Chinese (zh)
Inventor
张立彬
胥芳
鲍官军
陈教料
谭大鹏
沈遥
苏雄伟
乔建森
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Priority to CN201710605308.2A priority Critical patent/CN107344171A/en
Publication of CN107344171A publication Critical patent/CN107344171A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/06—Linear sorting machines in which articles are removed from a stream at selected points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

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Abstract

A kind of low-voltage air switch the System of Sorting Components based on Robot Visual Servoing, including parallel robot, IMAQ and image processing module, communication network module and positioning clamp module, the motion end of the parallel robot is located at the top of conveyer belt sortation process, described image gathers includes light source, camera lens, camera and the graphics processing unit for determining the real time position of workpiece on part pallet according to shooting image with image processing module, and the visual range of the camera covers the conveyer belt sortation process；The positioning clamp module is included to detect whether part pallet reaches the photoelectric sensor of sortation process and part pallet to be positioned to the fixing device of sortation process.And provide a kind of low-voltage air switch part method for sorting based on Robot Visual Servoing.The present invention improves operating accuracy and with higher intelligent, solve the problems, such as it is above-mentioned brought using traditional teaching method, improve production efficiency and product quality.

Description

A kind of low-voltage air switch the System of Sorting Components based on Robot Visual Servoing and Method
Technical field
The present invention relates to low-voltage air switch to assemble field, especially a kind of low-voltage air switch the System of Sorting Components and side Method.
Background technology
In automatic assembly line production, various production works are generally completed by robot, position is put due to workpiece Putting disunity has arbitrariness, if only being sorted with traditional robot teaching mode to workpiece, workpiece actually puts position Certain gap can be equipped with ideal bit by putting, and this can produce error to follow-up assembling work, result even in workpiece and be destroyed, shadow Ring the efficiency and quality of whole piece production line balance.
The content of the invention
In order to overcome the positioning precision of existing low-voltage air switch assembly method is relatively low, intelligent poor, production efficiency compared with Deficiency low, product quality is relatively low, the present invention provide a kind of low-voltage air switch part sorting based on Robot Visual Servoing System and method, any undefined position of workpiece is gathered in real time by machine vision, intelligent control machine people completes Task, improve operating accuracy and with higher intelligent, solve the problems, such as it is above-mentioned brought using traditional teaching method, carry High production efficiency and product quality.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of low-voltage air switch the System of Sorting Components based on Robot Visual Servoing, including parallel robot, image Collection and image processing module, communication network module and positioning clamp module, the motion end of the parallel robot is positioned at transmission Top with sortation process, described image collection include light source, camera lens, camera and for according to shooting with image processing module Image determines the graphics processing unit of the real time position of workpiece on part pallet, and the visual range of the camera covers the transmission Band sortation process；It is described positioning clamp module include to detect part pallet whether reach sortation process photoelectric sensor and Part pallet to be positioned to the fixing device of sortation process.
Further, described parallel robot includes parallel robot body part and end effector of robot part institute It is vacuum generator to state parallel robot end executable portion, and by Visual servoing control, the parallel robot can be drawn Any specified location being placed on air switch part to the pallet on pallet.
Further, described camera is smart camera, has the ability from main process task image；Described camera and light source It is fixed on robot overhead support, and face sortation process.
The fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control part support Station where disk, Pneumatic tailstock are used for positioning of the pallet in station, ensure that pallet is fixed on the specified location of sortation process On.
The photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet reaches sortation process work When making position, photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control Pneumatic tailstock cylinder and stretched Go out.
A kind of low-voltage air switch part method for sorting based on Robot Visual Servoing, the method for sorting include following Step：
Part pallet is put conveyer belt and moved therewith by step 1., and the pneumatic baffle of stretching state, light are in until encountering Electric transducer collects workpiece arriving signal, and PLC, which sends signal to solenoid directional control valve, stretches out Pneumatic tailstock, and part pallet is consolidated It is fixed；
For step 2. after step 1 end, robot control cabinet, which sends character string instruction, makes image capture module work；Image Acquisition module uses smart camera and annular LED light source, and light source provides good photoenvironment, and camera shooting station obtains now The realtime graphic of workpiece is the physical location for determining workpiece on part pallet；
For step 3. after realtime graphic is obtained, smart camera has the algorithm of processing image using its own, and image is entered Row processing, detailed process are：The pixel value of the image of acquisition is converted into robot coordinate value, and passes through the seat with target location Scale value compares, and obtains position deviation；
Step 4. robot control cabinet is according to obtained location of workpiece deviation, and according to the off-line programing journey finished in advance Sequence, it is adjusted by revision program, and then to end effector, until position deviation is zero, i.e., workpiece reaches target location, Complete workpiece sorting.
Further, the motion control of the parallel robot is combined using off-line programing control with machine vision SERVO CONTROL Method, autonomous control is carried out to robot and end effector.
Beneficial effects of the present invention are mainly manifested in：Any undefined position of workpiece is carried out by machine vision real-time Collection, intelligent control machine people complete task, improve operating accuracy and with higher intelligent, solve above-mentioned using passing The problem of system teaching method is brought, improves production efficiency and product quality.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention, and 1 is part pallet, and 2 be conveyer belt, and 3 be Pneumatic tailstock (sc Standard Gases Cylinder), 4 be pneumatic baffle (twin shaft cylinder), and 5 be vision system, and 6 be parallel robot, and 7 be photoelectric sensor.
Fig. 2 is the top view of the present invention.
Fig. 3 is the structural representation of vision system, and 21 be guide rail, and 22 be camera support, and 23 be smart camera, and 24 be ring Shape LED light source, 25 be light source bracket.
Fig. 4 is the top view of part pallet, wherein, 11 be part arc-chute, and 12 be arc-chute locating slot, and 13 be terminals Son, 14 be binding post locating slot, and 15 be pallet positioning hole, and 16 be static sets of contacts sheet metal, and 17 be static sets of contacts positioning Groove, 18 be low-voltage air switch bottom, and 19 be low-voltage air switch top cover.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
1~Fig. 4 of reference picture, a kind of low-voltage air switch the System of Sorting Components based on Robot Visual Servoing, including simultaneously Join robot, IMAQ and image processing module, communication network module and positioning clamp module, the parallel robot moves Make the top that end is located at conveyer belt sortation process, described image collection and image processing module include light source, camera lens, camera and For determining the graphics processing unit of the real time position of workpiece on part pallet, the visual range of the camera according to shooting image Cover the conveyer belt sortation process；The positioning clamp module is included to detect whether part pallet reaches sortation process Photoelectric sensor and part pallet to be positioned to the fixing device of sortation process.
Further, described parallel robot includes parallel robot body part and end effector of robot part institute It is vacuum generator to state parallel robot end executable portion, and by Visual servoing control, the parallel robot can be drawn Any specified location being placed on air switch part to the pallet on pallet.
Further, described camera is smart camera, has the ability from main process task image；Described camera and light source It is fixed on robot overhead support, and face sortation process.
The fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control part support Station where disk, Pneumatic tailstock are used for positioning of the pallet in station, ensure that pallet is fixed on the specified location of sortation process On.
The photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet reaches sortation process work When making position, photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control Pneumatic tailstock cylinder and stretched Go out.
The method that the motion control of the parallel robot is combined using off-line programing control with machine vision SERVO CONTROL, Autonomous control, a kind of low-voltage air switch part sorting based on Robot Visual Servoing are carried out to robot and end effector Method, the method for sorting comprise the following steps：
Part pallet is put conveyer belt and moved therewith by step 1., and the pneumatic baffle that stretching state is in until encountering is (double Axle cylinder), photoelectric sensor collects workpiece arriving signal, and PLC, which sends signal to solenoid directional control valve, makes Pneumatic tailstock (sc standards Cylinder) stretch out, part pallet is fixed.
For step 2. after step 1 end, robot control cabinet, which sends character string instruction, makes image capture module work.Image Acquisition module uses smart camera and annular LED light source, and light source provides good photoenvironment, and camera shooting station obtains now The realtime graphic of workpiece is the physical location for determining workpiece on part pallet.
For step 3. after realtime graphic is obtained, smart camera has the algorithm of processing image using its own, and image is entered Row processing, detailed process are：The pixel value of the image of acquisition is converted into robot coordinate value, and by (low with target location Press air switch part fixing groove) coordinate value compare, obtain position deviation.
Step 4. robot control cabinet is according to obtained location of workpiece deviation, and according to the off-line programing journey finished in advance Sequence, it is adjusted by revision program, and then to end effector, until position deviation is zero, i.e., workpiece reaches target location, Complete workpiece sorting.
Described parallel robot includes parallel robot body part and end effector of robot part；Described figure As collection and image processing module include light source, camera lens, camera.Described camera is smart camera, is had from main process task image Ability；Described camera and light source is fixed on robot overhead support, and face sortation process.Described positioning clamp module Including conveyer belt, piston type cylinder, twin shaft cylinder, photoelectric sensor.The motion control of robot using off-line programing control with The method that machine vision SERVO CONTROL combines, autonomous control is carried out to robot and end effector.
Before sorting process starts, low-voltage air switch top cover and low-voltage air switch bottom are positioned on Fig. 3 first Specified location, and part arc-chute, static sets of contacts sheet metal and binding post are arbitrarily positioned on part pallet, part support Disk is positioned over transmission rim end.Part pallet reaches the position of parallel robot 6 in Fig. 1, i.e., is touched into sortation process, part pallet Stopped into Fig. 1 after the pneumatic baffle 4 in stretching state, photoelectric sensor collects workpiece arriving signal, and PLC sends letter Number stretch out to magnetic valve Shi Tu1Zhong two teams Pneumatic tailstock 3, part pallet fixing hole 15 completes the fixation of workpiece through in Fig. 4. After the completion of fixed work, robot control cabinet, which sends character string instruction, makes image capture module work.Image capture module uses The camera and light source of vision system 5 in Fig. 1, the photoenvironment of annular LED light source 24 in figure 3 of smart camera 23 in Fig. 3 Lower shooting station obtains part position realtime graphic now.After realtime graphic is obtained, smart camera has using its own Handle the algorithm of image, image handled, the pixel value of the image of acquisition is converted into robot coordinate value, and by with The coordinate value of target location compares, and obtains position deviation.Robot control cabinet is according to obtained location of workpiece deviation, and according to thing The off-line programing program first finished, is adjusted by revision program, and then to end effector, until position deviation is zero, Arc-chute in Fig. 4 11 is positioned in Fig. 4 in arc-chute locating slot 12；Fig. 4 middle connecting terminals 13 are positioned over wiring in Fig. 4 In terminal position groove 14；Static sets of contacts sheet metal 16 is positioned in Fig. 4 in static sets of contacts sheet metal locating slot 17 in Fig. 4. All part sortings finish, and PLC, which sends order to magnetic valve, makes pneumatic baffle retract, and Pneumatic tailstock is retracted, and workpiece is with conveyer belt Go to next station.

Claims (7)

  1. A kind of 1. low-voltage air switch the System of Sorting Components based on Robot Visual Servoing, it is characterised in that：The sorting system System includes parallel robot, IMAQ and image processing module, communication network module and positioning clamp module, the parallel machine The motion end of device people is located at the top of conveyer belt sortation process, described image collection and image processing module include light source, camera lens, Camera and the graphics processing unit for determining the real time position of workpiece on part pallet according to shooting image, the camera Visual range covers the conveyer belt sortation process；Whether the positioning clamp module includes reaching point to detect part pallet Pick the photoelectric sensor of station and part pallet to be positioned to the fixing device of sortation process.
  2. 2. the low-voltage air switch the System of Sorting Components based on Robot Visual Servoing, its feature exist as claimed in claim 1 In：Described parallel robot includes parallel robot described in parallel robot body part and end effector of robot part End executable portion is vacuum generator, and by Visual servoing control, the parallel robot, which can be drawn, is arbitrarily placed in support The specified location on air switch part to pallet on disk.
  3. 3. the low-voltage air switch the System of Sorting Components based on Robot Visual Servoing as claimed in claim 1 or 2, its feature It is：Described camera is smart camera, has the ability from main process task image；Described camera and light source is fixed on robot Overhead support, and face sortation process.
  4. 4. the low-voltage air switch the System of Sorting Components based on Robot Visual Servoing as claimed in claim 1 or 2, its feature It is：The fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control part pallet The station at place, Pneumatic tailstock are used for positioning of the pallet in station, ensure that pallet is fixed in the specified location of sortation process.
  5. 5. the low-voltage air switch the System of Sorting Components based on Robot Visual Servoing as claimed in claim 1 or 2, its feature It is：The photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet reaches sortation process work During position, photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control Pneumatic tailstock cylinder and stretched out.
  6. What 6. a kind of low-voltage air switch the System of Sorting Components based on Robot Visual Servoing as claimed in claim 1 was realized Method for sorting, it is characterised in that：The method for sorting comprises the following steps：
    Part pallet is put conveyer belt and moved therewith by step 1., and the pneumatic baffle of stretching state, photoelectric transfer are in until encountering Sensor collects workpiece arriving signal, and PLC, which sends signal to solenoid directional control valve, stretches out Pneumatic tailstock, and part pallet is fixed；
    For step 2. after step 1 end, robot control cabinet, which sends character string instruction, makes image capture module work；IMAQ Module uses smart camera and annular LED light source, and light source provides good photoenvironment, and camera shooting station obtains now part The realtime graphic of workpiece is the physical location for determining workpiece on pallet；
    Step 3. is after realtime graphic is obtained, and smart camera has the algorithm of processing image using its own, at image Reason, detailed process are：The pixel value of the image of acquisition is converted into robot coordinate value, and passes through the coordinate value with target location Compare, obtain position deviation；
    Step 4. robot control cabinet leads to according to obtained location of workpiece deviation, and according to the off-line programing program finished in advance Revision program is crossed, and then end effector is adjusted, until position deviation is zero, i.e., workpiece reaches target location, completes Workpiece sorts.
  7. 7. method for sorting as claimed in claim 5, it is characterised in that：The motion control of the parallel robot is compiled using offline The method that process control is combined with machine vision SERVO CONTROL, autonomous control is carried out to robot and end effector.
CN201710605308.2A 2017-07-24 2017-07-24 A kind of low-voltage air switch the System of Sorting Components and method based on Robot Visual Servoing Pending CN107344171A (en)

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
CN109127464A (en) * 2018-09-21 2019-01-04 河源职业技术学院 A kind of vision detects sorting equipment and its control method automatically
CN109225950A (en) * 2018-09-02 2019-01-18 南京吉目希自动化科技有限公司 A kind of intelligent robot sorting work station
CN111377213A (en) * 2020-03-20 2020-07-07 上海电子信息职业技术学院 Robot dynamic sorting device and method
CN114405865A (en) * 2022-01-20 2022-04-29 湖南视比特机器人有限公司 Vision-guided steel plate sorting method, vision-guided steel plate sorting device and system
CN117680375A (en) * 2024-02-01 2024-03-12 佛山市铧祥网络科技有限公司 Intelligent storage sorting equipment and sorting method

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CN109225950A (en) * 2018-09-02 2019-01-18 南京吉目希自动化科技有限公司 A kind of intelligent robot sorting work station
CN109225950B (en) * 2018-09-02 2024-05-03 南京吉目希自动化科技有限公司 Intelligent robot letter sorting workstation
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CN114405865A (en) * 2022-01-20 2022-04-29 湖南视比特机器人有限公司 Vision-guided steel plate sorting method, vision-guided steel plate sorting device and system
CN114405865B (en) * 2022-01-20 2024-01-30 湖南视比特机器人有限公司 Visual guide steel plate sorting method, visual guide steel plate sorting device and system
CN117680375A (en) * 2024-02-01 2024-03-12 佛山市铧祥网络科技有限公司 Intelligent storage sorting equipment and sorting method
CN117680375B (en) * 2024-02-01 2024-04-02 佛山市铧祥网络科技有限公司 Intelligent storage sorting equipment and sorting method

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