A5E01231722 亿佳在等你

该视觉检测设备将视觉系统与机器人系统有机结合， 实现 了高度柔性的工业机器人和高检测精度的视觉相机的结合， 能 够大范围高柔性兼容生产产品，大幅度了生产效率。

基于人工智能的 EMS 侧围下件视觉引导的系统组成包括 视觉引导传感器( 3 个)、控制柜( 1 套) 。传感器安装于取 件机器人六轴上。

引导取件流程：

1 )机器人带抓手和传感器运动至零件前约 800mm 处(传 感器拍照距离， EMS 取件无需测距仪) ；

2 )传感器对零件上 6 处不同的特征进行拍照， 利用 3D 引 导算法，确定零件的位置及角度偏移；

3 ) 计算机器人运动修正值， 反馈至机器人；

4 ) 机器人修正抓取轨迹，并抓取零件。

特征点选取： 侧围特征点主要选取孔和角点特征， 一般情 况下 A 柱、 B 柱、 C 柱三角窗/尾灯/轮罩各选 1-2 个特征。

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