视觉检测用X-Y直角坐标机器人设计
摘要
随着社会越来越进步,工厂的设备也越来越现代化,流水线上经常会出现需要机械自动检测的场合,则就非常需要配合视觉系统的机器人来实现这项工作。特别是在检测电路板是否缺失时,视觉检测X-Y 直角坐标机器人就非常必要的了。
本次设计主要包括两个重要的部分。一是对X-Y小型直角坐标机器人机械结构的设计,具体包括伺服电机,滚珠丝杠和导轨的选择,实现了X-Y直角坐标机器人的直线控制和操作过程；第二部分是控制电路的设计；第三部分是对图像采集系统的设计,具体包括CCD摄像机和图像采集软件的设计,以与图像处理的方法和程序设计。其中检测是一种以MATLAB为主要工具的电路板元器件装配缺失的检测,可以根据CCD摄像机采集到的数字图像,然后经过 MATLAB 进行数字图像分析,从而实现对电路板的检测。从而为电路板元件是否缺失的自动检测提供了一种快速精确的方法。
视觉检测X-Y直角坐标机器人能够根据其检测结果快速地显示图象,输出数据,发布指令,执行机
构可以配合其完成位置调整,好坏筛选,数据统计等自动化流程。与人工视觉相比较,机器视觉的最大优点是精确,快速,可靠,以与信息数字化程度很高。模块化设计的目的
关键词视觉检测；直接坐标机器人；MATLAB；伺服电机
Visual Inspection Using X-Y Cartesian Coordinate Robot
Abstract
With the process of the society, modern factorymachinery also more and more modernized. There is often a occasion that needs the machinery automatic detection in the assembly line. Machine vision isto make the machine was part of eye and brain function, the geometry can bemeasured automatically, the printing quality of the appearance of defects andproduct identification, such as the quality of the work of identification. Machinevision systems are generally used in fully automated, reliable and efficient massproduction of non-contact detection in the process of identification. monvision systems typically include: light source, lens, CCD camera, frame grabbers,image processing software, monitors, mun
ication / input and output units,such as. Linear motion modules from the multi-axis motion system called theCartesian coordinate robots, various sports-axis Cartesian coordinate systemusually corresponds to the X axis, Y axis. Cartesian coordinate robotmainly by a number of linear motion units, drive motor, control system and theend of the position operator. As a result of the munity on the visualdetection and rectangular coordinates the increasing demand for robots, it isnecessary to the design of visual inspection with X-Y Cartesian coordinate robot.
The design includes three important parts. First, the small rectangularcoordinates of the robot mechanical structure design, including servo motor, ballscrew and guide the choice of the realization of the X-Y rectangular coordinatesof the straight-line robot control and operation; second part is the control circuitdesign;third part of the imageacquisition system design, including CCD cameras and image acquisitionsoftware design, and image processing methods and procedures of design.Detection of which is a MATLAB as the main tool for TFT-LCD screen displaydefect inspection, CCD cameras can be collected in accordance with the digitalimage, and then through MATLAB for Circuit wafer primary devic
e assembly flaw. For Circuit wafer primary device assembly flaw of the automatic detection of defects provides a method of quickly andaccurately.
Visual inspection with X-Y Cartesian coordinate robot in accordance withits test results can be quickly displayed images, output data, issued an order, theexecuting agency can adjust the pletion of its location, quality of screeningdata and other automated processes. pared with the artificial vision,machine vision is the greatest advantage of accurate, fast, reliable, and highdegree of digital information.
Keywords: Visual Inspection; Cartesian coordinates robot; MATLAB; Servomotor