Simulation Design of Loading and Unloading System of Visual Robot of Threading Machine
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摘要: 以石油套管接箍车丝机视觉机器人上下料系统为研究对象，利用UG和RobotStudio软件建立了接箍车丝机视觉机器人自动上下料系统仿真模型。利用Halcon图像处理软件对抓取工件进行中心定位，并开发了人机交互界面。设计了机器人专用上下料夹具，创建系统Smart动态组件，添加了I/O信号实现设备通讯。编写机器人离线仿真程序，完成机器人柔性上下料系统仿真和优化。仿真结果表明，设计的仿真系统实现了机器人视觉精准抓取工件柔性上下料功能。Abstract: Taking the visual robot loading and unloading system of the oil casing threading machine as the research object, the simulation model for the automatic loading and unloading system of the threading machine robot is established with UG and Robot Studio software. The Halcon image processing software is used to center the grasping workpiece, and developed the corresponding human-computer interaction interface. The robot's special loading and unloading fixture was designed, the system Smart dynamic components was created, and I/O signals to realize equipment communication was added. According to the actual production line unloading operation mode, the robot offline simulation program is written to complete the simulation and optimization of the robot flexible loading and unloading system. The simulation results show that the designed simulation system realizes the robot vision to accurately grasp the flexible loading and unloading of the workpiece.
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Key words:
- robot /
- loading and unloading /
- image processing
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表 1 机器人上下料系统运行模式
序号 工序 内容 1 系统准备 待加工件到位，系统启动 2 视觉处理 相机拍照；图像处理 3 1号机器人上料 抓取工件放置在上料输送链输送位 4 上料输送链上料 工件上料输送，到位触发上料到位光电传感器 5 数控车丝机作业 数控车丝机开门 6 2号机器人上料 抓取工件并装到数控车丝机上 7 数控车丝机作业 数控车丝机关门并加工，加工完成后开门 8 2号机器人下料及上料 取出已加工件并安装待加工件，再将已加工件放置到下料输送链下料点 9 下料输送链下料 工件下料输送，到位触发下料到位光电传感器 10 1号机器人下料 暂停上料作业，抓取已加工件码放在成品托盘上 11 作业循环 系统循环作业至无待加工件 
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表 2 机器人上下料系统部分I/O信号
信号 信号说明 类型 di_dw11 上料输送到位信号 输入 di_dw12 下料输送到位信号 输入 do_shijue0 视觉信号 输出 do_1jiaju0 1号夹具启停信号 输出 do_1zhuaqu00 1号夹具抓取信号 输出 do_qucheng00 上料输送启停信号 输出 do_2jiaju00 2号夹具夹头1启停信号 输出 do_2jiaju01 2号夹具夹头2启停信号 输出 do_2zhuaqu0 2号夹具夹头1抓取信号 输出 do_2zhuaqu1 2号夹具夹头2抓取信号 输出 do_huicheng00 下料输送启停信号 输出 do_mech0 车丝机启停信号 输出
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