Engine Head Blocks Handling Robot Guided by Vision System

Abstract This paper presents an industrial robot guided by a vision system into a work cell that will be installed into head block finishing casting line at a foundry company. The robot tasks will be the handling of head blocks between the stations of the work cell. The developed vision system identifies the head block model using the Pearson Correlation and find out its position/orientation aided by the use of Hough Transform. The grasp position is defined for each head block model, and thus, the robot can correctly grasp the part on the input conveyor. The system will allow the avoidance of the use of mechanical positioning devices to ensure the correct grasp by the robot.