Jämförelse och implementering av visionsystem
Sammanfattning: This thesis project has been conducted in collaboration with Automationsteknik in Hässleholm. The issue of this thesis was to investigate two vision cameras from different manufacturers and create an application that can improve part of an existing automation system. The process that was to be improved packs cupboard doors with an industrial robot arm. Mechanical aspects of the packing process will not be covered unless the required accuracy of 2mm is affected. The base of the problem lies in the fact that the doors are stacked 100 to a pallet and not oriented properly when they arrive to this process. In the existing system this problem is solved with an angled table. A method for replacing the angled table with vision cameras has been developed to speed up the process and make it more versatile. A PLC from Siemens operates the system which also consists of a robot from Yaskawa Motoman, a grip tool on the robot and camera lights. The PLC sends out positons that instructs the robot how to operate depending on the size of the door and where in the process the robot is. First, the robot lifts the door at one position, moving the door so that it’s placed with one of its corners in front of the camera. Once there, the camera takes a photo of the corner. The vision system is constructed so that it has hardware and software built in the camera, making it able to detect the position of the corner and to do necessary calculations for the operation. This information is sent to the PLC which calculates how to adjust the doors position before putting it down on its final position with the right accuracy.
HÄR KAN DU HÄMTA UPPSATSEN I FULLTEXT. (följ länken till nästa sida)