IC693MDL632
大致的实现过程如下:
1.在视觉示教阶段:
●示教一个表示车身空间位置的用户坐标系(UserFrame)
●示教车身底部3个工艺孔的几何特征
●对上述3个工艺孔进行拍照,计算并保存车身在用户坐标系中的位置,作为基准位置(认为偏差为零)
●在基准位置时完成机器人涂胶工艺轨迹程序的编写
2.在实际生产过程中:
●车身进入涂胶工位并停止后,iRVision视觉系统对车底的3个工艺孔进行拍照,并计算车身在用户坐标系中的实际位置
●计算车身位置的偏差值=实际位置–基准位置
●在涂胶的过程中,机器人根据偏差值对涂胶工艺轨迹程序进行补偿
通常*时间为2sec,*精度可达&plu*n;1mm。
实际应用
在实际应用中,一般还需要考虑以下因素:
●生产的车型可能有多种,每一种车型的底部工艺孔分布位置不同,因此一般安装4-6台相机,根据车型信息自动选取其中3台相机进行拍照。
●为每一台相机配备一套安装支架,相机的安装角度和高度可调节。
●为每一台相机配备一套LED光源,当拍照时进行补光。色从光来,光照因素对拍照结果有重要影响。
●由于涂胶工位的工作环境一般存在胶的雾化及飞溅污染,因此相机将被安装在一个保护盒内,并且配备镜头防护盖板,由PLC和气缸控制开/合。
●视觉系统是否需要具备降级模式(DegradeMode)功能,万一视觉系统发生故障,可自动切换到备用系统完成对车身的*,生产不会中断。
IC693MDL632
IC693MDL632
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