摘 要
随着社会的发展，人口红利已经逐年减弱，工厂流水线招人也变得越来越难。而随着工业转型升级需求释放、生产力成本上升等问题的凸显，再加上科技进步后的工业机器人性价比日益提高，很多公司已经向工业自动化方向发展，目前工业机器人在不少领域已隐隐形成替代人工的趋势，而在工程机械行业这一趋势同样适用，生产自动化已经成为现今工程机械企业转型升级的必经之路。
本文设计了一个以EPSON机器人为核心的贺卡明星片点胶贴合方案，代替人工实现了工业上的全自动化生产。方案采用EPSON机械手代替工厂人工进行产品上下料抓取搬运，视觉系统采用创科视觉系统平台-CKVisionV5.0进行视觉定位，该系统设备由机器视觉图像处理、人机界面部分组成。系统通过摄像头拍照对照片进行处理，实现产品漏装功能检测和产品反装检测，检测完成后自动给出报警信号，自动分析统计检测贺卡数量，然后将数据反馈给EPSON机器人控制器RC90。配合机器视觉的定位，EPSON机器人（机械手）将该产品准确贴合至贺卡明信片上，机器人根据所接收的信号进行周而复始的运动，代替工厂人工作业，有效的降低公司人工劳力成本，大大提高生产效率。
关键词：EPSON机器人；工业自动化；机器视觉；贺卡点胶；贴合
I
Abstract
With the development of the society and demographic dividend has decreased
year by year, and with the transformation and upgrading of industrial demand release, highlighting the problems of the rising cost of productivity, coupled with the progress of science and technology industrial robots price approaching a turning point, after acceptance, industrial robots in many fields has a faint form to replace artificial trend, this trend also apply in the construction machinery industry, production automation has become a current path of transformation and upgrading engineering machinery enterprises.
This paper designed a EPSON robot as the core of the star card point glue
joint scheme, replace artificial industrial automatic production is realized. USES the EPSON manipulator up-down material fetching the products carrying, using visual positioning System; System, the System the Introduction by machine vision image processing equipment, man-machine interface parts. Through camera take pictures photos show, the system to achieve product packing function test and product testing, testing after the completion of the automatic alarm signal, the automatic analysis of statistical test card number. Cooperate with machine vision, industrial robots will be the paste products accurate fit to the greeting card, robot according to the received signal is the cycle of movement, effectively reduce the manual Labour cost, improve production efficiency.
Key words:EPSON robot; ; Industrial automation; Machine vision; Greeting card dispensing；
II
摘 要..................................................................................................................... I Abstract ..................................................................................错误!未定义书签。 第1章 绪 论...................................................................................................... 2 1.1 机器人行业发展及应用前景 ........................................................................ 2 1.２ 工业机器人国内外发展情况 ....................................................................... 3 1.3 方案的实现方法 .......................................................................................... 3 1.４ 本文组织结构 ........................................................................................... 4 第2章 EPSON机器人介绍............................................................................... 5 ２.1 EPSON机器人 ......................................................................................... 5
1.2.1 工业机器人分类及特点 ..................................................................... 5 1.2.2 EPSON机器人基础知识 ...................................................................... 6
2.2 EPSON RC+5.0软件开发环境 ............................................................. 8
2.2.1 EPSON RC+5.0软件 ............................................................................. 8 2.2.2 多任务SPEL+语言 ........................................................................... 11
第3章 整体方案设计.......................................................................................... 15
3.1 机构设计 .............................................................................................. 15
3.1.1 系统构架......................................................................................... 15 3.1.2 工业机器人结构选型 ....................................................................... 16
3.2 电气设计 .............................................................................................. 18
3.2.1 创科机器视觉软件开发平台 ............................................................ 18 3.2.2 机器人电气线路连接 ....................................................................... 22
第4章 总结与展望.......................................................................................... 27 4.1 课题总结 .................................................................................................. 27 4.2 课题展望 .................................................................................................. 28 参考文献.............................................................................................................. 29 致谢...................................................................................................................... 30 附录一：机器人方案实现程序代码.................................................................. 31
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鍩轰簬EPSON鏈哄櫒浜虹殑宸ヤ笟鑷姩鍖栬В鍐虫柟妗堣璁?- 鐧惧害鏂囧簱
