基于视觉定位的PCB数控钻床上下料机械手研究
发布时间：2019-06-07 14:47
【摘要】：随着电子产业的蓬勃发展,PCB板(printed circuit board)作为电子产品的基础元件,它在电子产品中的地位越来越重要。PCB六轴数控钻床是用来加工PCB板的专业机床,其性能直接关系到PCB板的加工质量。目前,在PCB的加工中大多数企业还在使用人力进行PCB上下料,导致企业生产效率较低,人工成本较高。为了改善这一状况,进一步提高机械加工效率、降低加工成本。论文针对一种基于视觉定位的PCB数控钻床上下料机械手进行了研究,通过将数控钻床、上下料机械手以及视觉处理等设备进行组合,组成以上下料机械手为核心的自动上下料系统,并对其关键部分:机械手本体结构和视觉定位技术这两方面进行了研究。论文主要从以下几个方面展开研究:对上下料系统的组成进行了分析。通过分析工件结构和所需测量的工件位姿数据,确定了Eye-to-Hand式手眼关系的单目视觉系统作为视觉模块的方案。分析了上下料系统布局,确定了上下料流程。根据上下料系统的布局形式以及上下料过程中机械手所需要完成的动作,通过分析对比确定了机械手的负载能力、自由度、结构类型、关节运动副的布局方式、驱动方式和机械手运动参数这几个重要指标。并通过D-H方法建立机械手D-H坐标系,建立了机械手运动学模型,求解出了机械手的位姿变换矩阵。对上下料机械手视觉定位的一些相关技术进行了研究。首先,研究了图像处理基本流程。接着,对相机标定原理进行研究并运用halcon软件对摄像机进行标定,矫正了镜头的畸变。最后,分析了工件图像的处理流程,并运用halcon软件编写了工件位姿检测的算法。根据机械手设计指标对机械手各个关节的驱动电机以及传动部件进行设计计算。同时,运用SolidWorks软件对机械手腰部、大臂部分、小臂部分以及末端执行器的结构进行设计,并建立了机械手本体模型。在建立了机械手模型之后,将其进行了简化,并运用ADAMS对机械手进行运动仿真。将机械手手抓轨迹数据与机械手手抓位姿矩阵的解进行对比,验证了机械手运动轨迹的正确性;根据机械手手抓速度以及加速度曲线,分析了机械手手抓吸附的稳定性;通过提取各个关节的运动图像以及力或力矩变化曲线,得到了各个关节力或扭矩数据,并对各关节电机的选型进行了分析验证。论文对机械手本体结构进行了设计,分析了视觉系统方案,编写了工件位姿检测算法,并通过对机械手的仿真分析和对工件位姿检测算法的测试,验证了机械手和位姿检测算法的可行性。论文研究成果对实际生产和进一步的理论研究都有一定的理论指导意义。
[Abstract]:With the rapid development of electronic industry, PCB board (printed circuit board), as the basic component of electronic products, plays a more and more important role in electronic products. PCB six-axis NC drilling machine is a professional machine tool used to process PCB board. Its performance is directly related to the processing quality of PCB board. At present, most enterprises are still using manpower to carry out PCB loading and unloading in the processing of PCB, which leads to low production efficiency and high labor cost. In order to improve this situation, further improve machining efficiency and reduce processing costs. In this paper, a kind of PCB NC drilling machine upper and lower manipulator based on visual positioning is studied, and the NC drilling machine, loading and unloading manipulator and visual processing equipment are combined. The automatic loading and unloading system with the above cutting manipulator as the core is composed, and its key parts, the manipulator body structure and the visual positioning technology, are studied. This paper mainly studies from the following aspects: the composition of the loading and unloading system is analyzed. By analyzing the workpiece structure and the measured workpiece pose data, the monocular vision system of Eye-to-Hand hand-eye relationship is determined as the vision module. The layout of the loading and unloading system is analyzed, and the charging and unloading flow is determined. According to the layout form of the loading and unloading system and the actions that the manipulator needs to complete in the process of loading and unloading, the load capacity, degree of freedom, structural type and the layout mode of the joint motion pair of the manipulator are determined by analysis and comparison. The driving mode and the motion parameters of the manipulator are these important indexes. The D 鈮，
本文编号：2494877
[Abstract]:With the rapid development of electronic industry, PCB board (printed circuit board), as the basic component of electronic products, plays a more and more important role in electronic products. PCB six-axis NC drilling machine is a professional machine tool used to process PCB board. Its performance is directly related to the processing quality of PCB board. At present, most enterprises are still using manpower to carry out PCB loading and unloading in the processing of PCB, which leads to low production efficiency and high labor cost. In order to improve this situation, further improve machining efficiency and reduce processing costs. In this paper, a kind of PCB NC drilling machine upper and lower manipulator based on visual positioning is studied, and the NC drilling machine, loading and unloading manipulator and visual processing equipment are combined. The automatic loading and unloading system with the above cutting manipulator as the core is composed, and its key parts, the manipulator body structure and the visual positioning technology, are studied. This paper mainly studies from the following aspects: the composition of the loading and unloading system is analyzed. By analyzing the workpiece structure and the measured workpiece pose data, the monocular vision system of Eye-to-Hand hand-eye relationship is determined as the vision module. The layout of the loading and unloading system is analyzed, and the charging and unloading flow is determined. According to the layout form of the loading and unloading system and the actions that the manipulator needs to complete in the process of loading and unloading, the load capacity, degree of freedom, structural type and the layout mode of the joint motion pair of the manipulator are determined by analysis and comparison. The driving mode and the motion parameters of the manipulator are these important indexes. The D 鈮，
本文编号：2494877
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