【摘要】：隨著電子產(chǎn)業(yè)的蓬勃發(fā)展,PCB板(printed circuit board)作為電子產(chǎn)品的基礎(chǔ)元件,它在電子產(chǎn)品中的地位越來越重要。PCB六軸數(shù)控鉆床是用來加工PCB板的專業(yè)機(jī)床,其性能直接關(guān)系到PCB板的加工質(zhì)量。目前,在PCB的加工中大多數(shù)企業(yè)還在使用人力進(jìn)行PCB上下料,導(dǎo)致企業(yè)生產(chǎn)效率較低,人工成本較高。為了改善這一狀況,進(jìn)一步提高機(jī)械加工效率、降低加工成本。論文針對一種基于視覺定位的PCB數(shù)控鉆床上下料機(jī)械手進(jìn)行了研究,通過將數(shù)控鉆床、上下料機(jī)械手以及視覺處理等設(shè)備進(jìn)行組合,組成以上下料機(jī)械手為核心的自動(dòng)上下料系統(tǒng),并對其關(guān)鍵部分:機(jī)械手本體結(jié)構(gòu)和視覺定位技術(shù)這兩方面進(jìn)行了研究。論文主要從以下幾個(gè)方面展開研究:對上下料系統(tǒng)的組成進(jìn)行了分析。通過分析工件結(jié)構(gòu)和所需測量的工件位姿數(shù)據(jù),確定了Eye-to-Hand式手眼關(guān)系的單目視覺系統(tǒng)作為視覺模塊的方案。分析了上下料系統(tǒng)布局,確定了上下料流程。根據(jù)上下料系統(tǒng)的布局形式以及上下料過程中機(jī)械手所需要完成的動(dòng)作,通過分析對比確定了機(jī)械手的負(fù)載能力、自由度、結(jié)構(gòu)類型、關(guān)節(jié)運(yùn)動(dòng)副的布局方式、驅(qū)動(dòng)方式和機(jī)械手運(yùn)動(dòng)參數(shù)這幾個(gè)重要指標(biāo)。并通過D-H方法建立機(jī)械手D-H坐標(biāo)系,建立了機(jī)械手運(yùn)動(dòng)學(xué)模型,求解出了機(jī)械手的位姿變換矩陣。對上下料機(jī)械手視覺定位的一些相關(guān)技術(shù)進(jìn)行了研究。首先,研究了圖像處理基本流程。接著,對相機(jī)標(biāo)定原理進(jìn)行研究并運(yùn)用halcon軟件對攝像機(jī)進(jìn)行標(biāo)定,矯正了鏡頭的畸變。最后,分析了工件圖像的處理流程,并運(yùn)用halcon軟件編寫了工件位姿檢測的算法。根據(jù)機(jī)械手設(shè)計(jì)指標(biāo)對機(jī)械手各個(gè)關(guān)節(jié)的驅(qū)動(dòng)電機(jī)以及傳動(dòng)部件進(jìn)行設(shè)計(jì)計(jì)算。同時(shí),運(yùn)用SolidWorks軟件對機(jī)械手腰部、大臂部分、小臂部分以及末端執(zhí)行器的結(jié)構(gòu)進(jìn)行設(shè)計(jì),并建立了機(jī)械手本體模型。在建立了機(jī)械手模型之后,將其進(jìn)行了簡化,并運(yùn)用ADAMS對機(jī)械手進(jìn)行運(yùn)動(dòng)仿真。將機(jī)械手手抓軌跡數(shù)據(jù)與機(jī)械手手抓位姿矩陣的解進(jìn)行對比,驗(yàn)證了機(jī)械手運(yùn)動(dòng)軌跡的正確性;根據(jù)機(jī)械手手抓速度以及加速度曲線,分析了機(jī)械手手抓吸附的穩(wěn)定性;通過提取各個(gè)關(guān)節(jié)的運(yùn)動(dòng)圖像以及力或力矩變化曲線,得到了各個(gè)關(guān)節(jié)力或扭矩?cái)?shù)據(jù),并對各關(guān)節(jié)電機(jī)的選型進(jìn)行了分析驗(yàn)證。論文對機(jī)械手本體結(jié)構(gòu)進(jìn)行了設(shè)計(jì),分析了視覺系統(tǒng)方案,編寫了工件位姿檢測算法,并通過對機(jī)械手的仿真分析和對工件位姿檢測算法的測試,驗(yàn)證了機(jī)械手和位姿檢測算法的可行性。論文研究成果對實(shí)際生產(chǎn)和進(jìn)一步的理論研究都有一定的理論指導(dǎo)意義。
[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，

本文編號：2494877