Abstract: In order to achieve the automobile engine cover installed automatically, it develops a robot of engine cover tile material based on machine vision. Through the analysis of the key technologies of the system, it designs the robot’s mechanical structure and electric structure, multipoint lighting methods of image acquisition system. In view of the possible existence of a single piece of errors and the overall upside down, this paper proposes a fast robust workpiece positioning detection algorithm. Test results show that the mechanical and electrical scheme is stable and reliable with high precision of image recognition algorithm and the machine performance to meet customer requirements.

Key words: feeding robot, engine tile, visual location, template matching

摘要： 为了提高装配质量，研究了一种基于机器视觉的发动机瓦盖上料机器人。通过分析系统的关键技术，设计了上料机器人的机械结构、电气结构、多点打光方式的图像采集系统。针对可能存在的单个工件摆放错误和整体倒置，提出了一种快速鲁棒的工件定位检测算法。测试结果表明机械和电气方案稳定可靠、图像识别算法精度高、整机性能满足客户要求。

关键词: 上料机器人, 发动机瓦盖, 视觉定位, 模板匹配