【導(dǎo)讀】隨著社會的發(fā)展，人口紅利已經(jīng)逐年減弱，工廠流水線招人也變得越來越難。樣適用，生產(chǎn)自動化已經(jīng)成為現(xiàn)今工程機(jī)械企業(yè)轉(zhuǎn)型升級的必經(jīng)之路。方案采用EPSON機(jī)械手代替工廠人工進(jìn)行。定位，該系統(tǒng)設(shè)備由機(jī)器視覺圖像處理、人機(jī)界面部分組成。系統(tǒng)通過攝像頭拍。配合機(jī)器視覺的定位，EPSON機(jī)器人（機(jī)械手）將該產(chǎn)品準(zhǔn)確貼合至賀?？餍牌希瑱C(jī)器人根據(jù)所接收的信號進(jìn)行周而復(fù)始的運動，代替工廠人工作業(yè)，有效的降低公司人工勞力成本，大大提高生產(chǎn)效率。

　　

【正文】 oad LoadPoints OpenNet 201 As Client WaitNet 201 Print collect ok Wait 1 Off 4 m = 1 j = 1 k = 0 Fend Function work1 i = 0 TmReset 0 Tool 0 Jump P0 LimZ 15 1 32 TmReset 1 Do 39。Call quliao TmReset 1 Call Vision_down5 Tool 2 Jump LJM(P451) :Z() /R LimZ 60 WaitPos On 4 Wait 39。Pause Call Vision_up Call CalcTool If i = 0 Then i = 1 Call Vision_down2 Call Vision_down1 Call local_set1 Call Vision_down4 Call Vision_down3 Call local_set2 EndIf Call fangliao_task Print Tmr(1) 39。Move Here +Z(5) CP Loop Fend Function fangliao_task Tool 0 Real z_offset, x_offset If j 9 Then z_offset = 39。 ElseIf j 6 Then 39。 x_offset = Else z_offset = 0 x_offset = 0 EndIf If k = 0 Then Tool 0 Print U_offset=, U_offset 39。 If U_offset 0 Then 39。 U_offset = U_offset + 180 1 3339。 EndIf Print U_offset=, U_offset U_offset = U_offset Do While U_offset 180 U_offset = U_offset 180 Loop Do While U_offset 180 U_offset = U_offset + 180 Loop Print U_offset=, U_offset Print U_offset=, U_offset Tool 4 Jump P(409 + j) X() Y() :Z( + z_offset) :U(U_offset) /R LimZ CP Print cu(here)=, CU(Here) 39。Move Here Z( + z_offset) WaitPos 39。 Tool 0 39。 Print cu(here)=, CU(Here) 39。 Move Here +X() Y() 39。 Move Here Z( + z_offset) CP Off 4 Wait 39。Jump paizao_up LimZ 40 39。Pause If j = 15 Then k = 1 j = 0 EndIf j = j + 1 39。Pause ElseIf k 0 Then 39。Pause 39。Speed 50 If k 12 Then z_offset = 39。 ElseIf k 12 Then 39。 x_offset = Else z_offset = 0 x_offset = 0 EndIf Print U_offset=, U_offset U_offset = U_offset Do While U_offset 180 1 34 U_offset = U_offset 180 Loop Do While U_offset 180 U_offset = U_offset + 180 Loop Print U_offset=, U_offset Tool 4 Jump P(429 + k) X() Y() :Z( + z_offset) :U(U_offset) /R LimZ CP 39。Move Here Z( + z_offset) WaitPos 39。Pause 39。 Tool 0 39。 Move Here +X( + x_offset) Y() CP 39。 Move Here Z( + z_offset) CP Off 4 Wait Print CU(Here) 39。Wait 39。Go Here :Z(15) 39。Jump paizao_up LimZ 15 39。Pause k = k + 1 If k = 21 Then j = 1 k = 0 Jump P0 LimZ Pause i = 0 EndIf 39。Pause EndIf Fend Function local_set1 Print p401=, P401 Print p402=, P402 Print p201=, P201 Print p301=, P301 39。Pause Local 1,(P401:P201),(P402:P301), R, BaseU 1 35 Print local1:, Local(1) P405 = Local(1) Print p405=, P405 SavePoints 39。Pause Fend Function local_set2 Print p403=, P403 Print p404=, P404 Print p203=, P203 Print p303=, P303 39。Pause Local 1,(P403:P203),(P404:P303), R, BaseU Print local1:, Local(1) P406 = Local(1) Print p406=, P406 SavePoints P407 = XY((CX(P405) + CX(P406)) / 2, (CY(P405) + CY(P406)) / 2, 0, (CU(P405) + CU(P406)) / 2) 39。 Local 1, XY(CX(P407), CY(P407), 0, CU(P407)) 39。CU(P407) Print local1:, Local(1) 39。Pause Fend Function CalcTool Boolean found Real x0, y0, u0 Real xTool, yTool, rTool, theta, toolU Tool 0 39。 Get the TOOL 0 position x0 = CX(Here) y0 = CY(Here) u0 = CU(Here) 39。 Calculate initial tool offsets 39。 X and Y distance from tip found with vision 39。 to center of U axis xTool = CX(P(101)) x0 yTool = CY(P(101)) y0 39。 Calculate angle at initial offsets theta = Atan2(xTool, yTool) 39。 Calculate angle of tool when U is at zero degrees theta = theta DegToRad(u0) 39。 Calculate tool radius 1 36 rTool = Sqr(xTool * xTool + yTool * yTool) 39。 Calculate final tool offsets xTool = Cos(theta) * rTool yTool = Sin(theta) * rTool 39。 Set the tool theta = Atan2(xTool, yTool) toolU = RadToDeg(theta) TLSet 4, XY(xTool, yTool, 0, 0) Print xTool=, xTool, yTool=, yTool Fend Function quliao_toolset Boolean found Real x0, y0, u0 Real xTool, yTool, rTool, theta, toolU Tool 0 39。 Get the TOOL 0 position x0 = CX(Here) y0 = CY(Here) u0 = CU(Here) 39。 Calculate initial tool offsets 39。 X and Y distance from tip found with vision 39。 to center of U axis xTool = CX(P(100)) x0 yTool = CY(P(100)) y0 39。 Calculate angle at initial offsets theta = Atan2(xTool, yTool) 39。 Calculate angle of tool when U is at zero degrees theta = theta DegToRad(u0) 39。 Calculate tool radius rTool = Sqr(xTool * xTool + yTool * yTool) 39。 Calculate final tool offsets xTool = Cos(theta) * rTool yTool = Sin(theta) * rTool 39。 Set the tool theta = Atan2(xTool, yTool) toolU = RadToDeg(theta) TLSet 5, XY(xTool, yTool, 0, 0) Fend Function Vision_up 1 37 Tool 0 Jump paizao_up :Z() LimZ WaitPos 39。Wait 39。 Pause String toks$(30), data$ Integer found_up, charnum Real angle_vision_up vrun_up: Print 201, A vrun_up1: charnum = ChkNet(201) If charnum = 0 Then GoTo vrun_up1 Input 201, data$ 39。Print UP camera If charnum 0 Then Print xiangshang xiangji shuju , data$ ParseStr data$, toks$(), 。 found_up = Val(toks$(5)) If found_up = 1 Then x_vision_up = Val(toks$(1)) y_vision_up = Val(toks$(2)) angle_vision_up = Val(toks$(4)) u_offset = angle_vision_up Print x_vision_up=, x_vision_up, y_vision_up, y_vision_up Print angle_vision_up, angle_vision_up, u_offset=, U_offset P100 = VxTrans(1, XY(x_vision_up, y_visio