Fast, robust, and flexible part feeding is essential for enabling automation of low volume, high variance assembly tasks. An actuated vision-based solution on a traditional vibratory feeder, referred to here as a vision trap, should in principle be able to meet these demands for a wide range of parts. However, in practice, the flexibility of such a trap is limited as an expert is needed to both identify manageable tasks and to configure the vision system. We propose a novel approach to vision trap design in which the identification of manageable tasks is automatic and the configuration of these tasks can be delegated to an automated feeder design system. We show that the trap's capabilities can be formalized in such a way that it integrates seamlessly into the ecosystem of automated feeder design. Our results on six canonical parts show great promise for autonomous configuration of feeder systems.
翻译:快速、稳健和灵活的部分喂养对于使低容量、高差异组装任务实现自动化至关重要。这里称之为“视觉陷阱”的传统振动支线的动动视觉解决方案原则上应能满足对多种部件的需求。然而,在实践中,这种陷阱的灵活性是有限的,因为需要专家既能确定可管理的任务,又能配置视觉系统。我们提出了一种新颖的构想陷阱设计方法,即自动确定可管理的任务,并将这些任务的配置委托给自动进料设计系统。我们表明,陷阱的能力可以正规化,从而能够无缝地融入自动进料器设计的生态系统。我们在6个可控部件上的结果显示了对自发配置进料系统的巨大希望。