《视觉检测用X-Y直角坐标机器人设计》-毕业论文.docVIP

PAGE 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，那么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，以及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，以及信息数字化程度很高。 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 factory machinery also more and more modernized. There is often a occasion that needs the machinery automatic detection in the assembly line. Machine vision is to make the machine was part of eye and brain function, the geometry can be measured automatically, the printing quality of the appearance of defects and product identification, such as the quality of the work of identification. Machine vision systems are generally used in fully automated, reliable and efficient mass production of non-contact detection in the process of identification. Common vision systems typically include: light source, lens, CCD camera, frame grabbers, image processing software, monitors, communication / input and output units, such as. Linear motion modules from the multi-axis motion system called the Cartesian coordinate robots, various sports-axis Cartesian coordinate system usually corresponds to the X axis, Y axis. Cartesian coordinate robot mainly by a number of linear motion units, drive motor, control system and the end of the composition operator. As a result of the community on the visual detection and rectangular coordinates the increasing demand for robots, it is necessary to the design of visual inspection with X-Y Cartesian coordinate robot. The design includes three important parts. First, the small rectangular coordinates of the robot m