CN105751452A - Mechanical arm with visual image system - Google Patents
Mechanical arm with visual image system Download PDFInfo
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- CN105751452A CN105751452A CN201610255585.0A CN201610255585A CN105751452A CN 105751452 A CN105751452 A CN 105751452A CN 201610255585 A CN201610255585 A CN 201610255585A CN 105751452 A CN105751452 A CN 105751452A
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- Prior art keywords
- mechanical hand
- imaging system
- vision imaging
- product
- control system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/20—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of plastics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
Abstract
The invention discloses a mechanical arm with a visual image system.The mechanical arm is characterized in that the visual image system is added to an existing mechanical arm, the vision controller of the system is in communication connection with the CPU of the control system of the mechanical arm, the visual image system shoots products and can identify unqualified products through comparison, the unqualified can be placed to a place for placing the unqualified products, the offset and deflection angles of workpieces can be provided to guide the positioning of the mechanical arm, and parts such as parts with burrs can be polished.By the arrangement, the automation level of the mechanical arm is increased, production efficiency is increased, production cost is lowered, and space occupation is reduced.
Description
Technical field
The present invention relates to mechanical hand technical field, be specifically related to a kind of mechanical hand with vision imaging system.
Background technology
Injection molding mechanical arm is the machinery being equipped with specially for the injection moulding production automation, and it can alleviate heavy physical work, improve working conditions and keep the safety in production；The partial function of human upper limb can be imitated, it is possible to it is automatically controlled and makes it carry goods or instrument of managing to carry out the automated production equipment of production operation according to pre-provisioning request.Improve the production efficiency of injection moulding machine, stabilized product quality, rate of reducing the number of rejects and seconds, reduce production cost, the aspect such as competitiveness that strengthens enterprise plays and important effect.
The composition of injection molding mechanical arm is generally made up of execution system, drive system, control system etc..Perform and drive system has been primarily to the normal function of arm and has designed, driven the operating of mechanical part by pneumatic or servomotor, reach to take the function of thing and following process.
In injecting products industry, injecting products is taken out by the execution system utilizing mechanical hand from injection machine, then manual detection product quality, the defects such as whether surface is jagged, burr, to need product and the certified products sorting placement of sanding and polishing, defective products is carried out sanding and polishing process by recycling polishing tool and clamping apparatus.Traditional mechanical hand function is simple, is only capable of taking out product from injection machine, it is impossible to realize more function.Therefore, manufacturing enterprise needs to buy the high-end devices such as a lot of mould monitor, clamping jig, multi-joint robot to complete follow-up work.Buy these equipment costs too high, and take space limited in Factory Building, add the complexity producing line, also bring difficulty to maintenance.
Accordingly, it would be desirable to the practical situation according to enterprise designs the mechanical hand more intelligent, automaticity is higher.
Summary of the invention
For solving above-mentioned technical problem, we have proposed a kind of mechanical hand with vision imaging system, by setting up vision imaging system on existing mechanical hand, the control system CPU making this system and mechanical hand communicates to connect, whether qualified mechanical hand is enable automatically to detect product, defective products is carried out automatically sanding and polishing process, reached to improve robotic degree, improve production efficiency, reduce production cost, reduced the purpose taken up room.
For reaching above-mentioned purpose, technical scheme is as follows:
A kind of mechanical hand with vision imaging system, supports platform, the actuator being arranged on described removable support platform and for manipulating the control system of described actuator action including removable, and described control system includes:
A. manipulator control system CPU, for the information received is converted into discernible machine language, and processes the information received, result signal is transferred to actuator；
B.HMI human-computer interaction interface, is used for manipulating mechanical hand, controls the monitoring of the operation of mechanical hand and stopping, the read-write of systematic parameter and IO；
C. anti-interference D/C power, for the D/C power individually stable for the offer of HMI human-computer interaction interface, control signal input equipment；
D. input/output module, is read by manipulator control system CPU after converting switching signal to and identify after the signal for collection machinery hands body or outside；
E. vision imaging system interface, is used for accessing vision imaging system；
F. network-type servo-driver interface, is used for connecting bus-type servo-driver；
G, servomotor, for performing the instruction of manipulator control system CPU.
Preferably, described control system also includes:
H. standby bus type servo-driver interface, as spare interface, is used for connecting bus-type servo-driver, carries out Multi-axis motion control, also can do multi-shaft interlocked simultaneously, straight line and circular interpolation.
Preferably, described control system also includes:
I. communication interface, for the access of the secondary development of standby functions and some ancillary equipment.
Preferably, described vision imaging system includes camera, light source and vision controller, and described camera, described light source are arranged at described actuator side or individually fix, and described vision controller is connected with described camera, the described light source signal of telecommunication.
Preferably, described camera is high definition camera lens.
A kind of mechanical hand with vision imaging system, its operational approach controlling system is as follows:
After product injection moulding completes, injection moulding machine mould open, the actuator of mechanical hand captures injecting products；The actuator of mechanical hand moves to ad-hoc location along default path, and product is taken pictures by the camera of vision imaging system, and transmits the positional information such as coordinate of photographic intelligence and product to manipulator control system CPU；The normal pictures of this photo Yu storage is compared by this system, if product does not have the defective work of value, is then directly placed to defective work place；If qualified products defective, then judge that the coordinate information that the position of flaw obtains product occurs, guide the actuator of mechanical hand according to instruction, place defective to be modified；During revising, constantly product is taken pictures, it is thus achieved that the information such as the image information of product and the side-play amount of product, deviation angle, and photo is compared with normal pictures one by one, until photo is the same with picture, then revises and terminate.
A kind of mechanical hand with vision imaging system, described actuator includes:
A. posture parts, described posture parts includes posture portion and posture portion mounting seat, and described posture portion is fixed in described posture portion mounting seat；
B. feeding device, described feeding device includes sucker, sucker disk seat, feeding fixture and feeding fixture installing plate, the bottom of described feeding fixture installing plate is arranged on the fixing plate side plate of L-type in described posture portion, described feeding fixture is arranged at the top of described feeding fixture installing plate, described sucker disk seat is fixed on described feeding fixture, and described sucker is arranged on described sucker disk seat；
C. pneumatic quick-change fixture, described pneumatic quick-change fixture is arranged on the fixing plate base plate of L-type in described posture portion；
D. power set, described power set include motor and motor mount, and described motor mount and described pneumatic quick-change fixture are fixed together, and described motor is arranged on described motor mount；
E. end performs device, and described end performs device and is connected with described motor.
Preferably, described end execution device is rotary milling tools, rotary-grinding machine, buffing machine, 3D printhead, Glue dripping head, pad printer, gilding press, laser engraving machine, cutting machine, has and draw function or embrace the tool of folder function.
Preferably, described removable support platform is three axles, five axles, six axles, seven axles or the full servo control mechanism of eight axles.
By above technical scheme, the present invention can obtain following beneficial effect:
By setting up vision imaging system on existing mechanical hand, make vision controller and the manipulator control system CPU communication connection of this system, product is taken pictures by vision imaging system, through relatively can recognize that underproof product and defective work being placed into defective work place, the side-play amount that simultaneously can provide workpiece guides mechanical hand location with deflection angle, and the positions such as burr are polished polishing.
Therefore, whether the present invention can detect product automatically qualified, and defective products carries out sanding and polishing process automatically, has reached to improve robotic degree, improves production efficiency, reduces production cost, has reduced the purpose taken up room.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the Control system architecture figure of a kind of mechanical hand with vision imaging system disclosed in the embodiment of the present invention；
Fig. 2 is a kind of manipulator control flow chart with vision imaging system disclosed in the embodiment of the present invention；
Fig. 3 is a kind of mechanical hand main TV structure schematic diagram in the state of use with vision imaging system disclosed in the embodiment of the present invention；
Fig. 4 is a kind of mechanical hand perspective view in the state of use with vision imaging system disclosed in the embodiment of the present invention；
Fig. 5 is the main TV structure schematic diagram of the actuator of a kind of mechanical hand with vision imaging system disclosed in the embodiment of the present invention；
Fig. 6 is the perspective view of the actuator of a kind of mechanical hand with vision imaging system disclosed in the embodiment of the present invention；
Fig. 7 is the volume rendering structural representation of the actuator of a kind of mechanical hand with vision imaging system disclosed in the embodiment of the present invention.
The corresponding component title that in figure, numeral is represented:
1. posture parts 2. feeding device 3. pneumatic quick-change fixture
4. power set 5. vision imaging system 11. posture portion
12. posture portion mounting seat 21. sucker 22. sucker disk seat
23. plate fixed by feeding fixture 24. feeding fixture installing plate 110.L type
41. motor 42. motor mount 51. camera
421. the first fixing fixing plate 423. support post of plate 422. second
424. guard shield panel beating 425. holds chamber 411. motor shaft
4221. the first side opening 4222. second side opening 426. motor support plate
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Below in conjunction with embodiment and detailed description of the invention, the present invention is further detailed explanation.
Embodiment.
As it is shown in figure 1, a kind of three axle servo manipulators with vision imaging system, including removable support platform, being arranged at the removable actuator supported on platform and for manipulating the control system of actuator action, described control system includes:
A. manipulator control system CPU, it is equivalent to the brain of mechanical hand, is the most crucial part of mechanical hand, the control system adopting LINUX kernel to be bottom, has the advantage that stability is strong；This part for being converted into discernible machine language by the external information received, and the information received such as pictorial information is processed, and result signal is transferred to actuator；
B.HMI human-computer interaction interface, is used for manipulating mechanical hand, controls the monitoring of the operation of mechanical hand and stopping, the read-write of systematic parameter and IO；
C. anti-interference D/C power, for the D/C power individually stable for the offer of HMI human-computer interaction interface, control signal input equipment；
D. input/output module, is read by manipulator control system CPU after converting switching signal to and identify after the signal for collection machinery hands body or outside；
E. vision imaging system interface, is used for accessing vision imaging system；By accessing vision imaging system, manipulator control system CPU may determine that whether the product to capture is good, thus selecting the action to carry out；The actuator making mechanical hand can coordinate vision imaging system to carry out position correction, thus realizing how not tube workpiece is put, can be modified according to workpiece path, such as work such as polishing or polishings；
F. network-type servo-driver interface, is used for connecting bus-type servo-driver, it is achieved high response, province's line；
G, servomotor, for performing the instruction of manipulator control system CPU, adopt high inertia type servomotor, and speed faster, is run more stable；
H. standby bus type servo-driver interface, as spare interface, is used for connecting bus-type servo-driver, supports incremental and absolute value type servo, carries out Multi-axis motion control, also can do multi-shaft interlocked simultaneously, straight line and circular interpolation；
I. communication interface, for the access of the secondary development of standby functions and some ancillary equipment.
As in figure 2 it is shown, the operating process of above-mentioned manipulator control system is as follows:
(1), after product injection moulding completes, injection moulding machine mould open, the actuator of mechanical hand captures injecting products；
(2) actuator of mechanical hand moves to ad-hoc location along default path, and product is taken pictures by camera, and product photo and coordinate information are transmitted to manipulator control system CPU by vision controller；
(3) manipulator control system CPU by the product picture received with deposit quality good product photo and contrast, detecting judgement product has intact material, the quality such as heterochromatic bad；
(4) if defective products, then signal and guide mechanical hand to be directly placed into defective product box；If qualified products defective, then judge that the coordinate information that the position of flaw obtains product occurs according to coordinate information, guide the actuator of mechanical hand, according to instruction, place defective is carried out polishing and revise；During polishing is revised, constantly product is taken pictures, the information such as the image information of acquisition product and the side-play amount of product, deviation angle, and photo and normal pictures are compared, then ceaselessly product is modified (such as polishing or polishing), take pictures, until photo is the same with picture, then modify (such as polishing or polishing) and terminate.
As shown in Fig. 3-Fig. 7, above-mentioned actuator includes:
A. posture parts 1, posture parts includes posture portion 11 and posture portion mounting seat 12, and posture portion mounting seat 12 is fixed on the top in posture portion, and the lower end in posture portion 11 is connected with the fixing plate 110 of L-type；
B. feeding device 2, feeding device includes sucker 21, sucker disk seat 22, feeding fixture 23 and feeding fixture installing plate 24, the bottom of feeding fixture installing plate 24 is fixed on the side plate of the fixing plate 110 of L-type by four trip bolts, feeding fixture 23 is secured by bolts in the top of feeding fixture installing plate 24, sucker disk seat 22 is sheathed on feeding fixture 23, and sucker 21 is located on sucker disk seat 22；Sucker 21, sucker disk seat 22, feeding fixture 23 quantity be four, arranged in arrays in feeding fixture installing plate 24 top；Compression spring it is provided with between feeding fixture 23 and sucker disk seat 22；
C. pneumatic quick-change fixture 3, pneumatic quick-change fixture 3 is arranged on fixing plate 110 base plate of L-type in posture portion 11；
D. power set 4, power set include motor 41 and motor mount 42, and motor mount 42 and pneumatic quick-change fixture 3 are fixed together, and motor 41 is arranged on motor mount 42；
E. end performs device (not shown), and described end performs device and is connected with the rotating shaft of motor, obtains kinetic energy from motor.
Foregoing visual image system 5 includes camera 51, light source and vision controller, and camera 51 is arranged at motor mount 42 side (or individually fixing), and light source mates with camera 51, and vision controller is connected with camera 51, the light source signal of telecommunication.Vision controller is connected by port communication with manipulator control system CPU simultaneously.
As shown in Fig. 5, Fig. 6 and Fig. 7, motor mount 42 includes the first fixing fixing 422, four support posts 423 of plate of plate 421, second and guard shield panel beating 424, second fixing plate 422 is arranged at the underface of the first fixing plate 421, connect by four support posts 423 are fixing, guard shield panel beating 424 encloses is located at the first fixing plate 421 and the second fixing plate 422 outer, forms the accommodation chamber 425 that can hold motor body.The sidewall of the first fixing plate 421 is provided with the first side opening 4211, and the sidewall of the second fixing plate 422 is provided with the second side opening 4221, and guard shield panel beating 424 is fixed by screws on the first side opening 4211 and the second side opening 4221.
The center of the second fixing plate 422 is provided with the first through hole (not shown) being available for motor shaft traverse.Being additionally provided with motor support plate 426 on second fixing plate 422, motor 41 is positioned in motor support plate 426.Second fixing plate 422 center is provided with the second through hole, and the second through hole is less than the first through hole.
The main body of motor is positioned at accommodation intracavity, motor shaft 411 one end is connected with motor body, the other end is free end, it initially passes through the second through hole, it is then passed through the first through hole, exposed free end is used for connecting end and performs device outside, such as rotary milling tools, rotary-grinding machine, buffing machine, 3D printhead, Glue dripping head, pad printer, gilding press, laser engraving machine, cutting machine, has and draws function or embrace the tool of folder function.
Camera 51 is CCD high-definition fixed-focus camera lens, is fixed on the first fixing plate 421 side.Camera 51 can also be CMOS zoom lens, CMOS tight shot or CCD high definition automatic zoom camera lens, as long as being capable of high-resolution shooting purpose.
In the present embodiment, the removable support platform of mechanical hand is three axle servo structure, but is not limited to this, it is also possible to be five axles, six axles, seven axles or the full servo control mechanism of eight axles.
The hardware components advantage of the present invention is in that:
A, in the market a lot of slide block type manipulator control systems do not possess the interface carrying vision imaging system, and our manipulator control system CPU can pass through Ethernet port and the communication connection of vision imaging system.Vision imaging system provides the side-play amount of workpiece and guides the actuator of mechanical hand to position with deflection angle, coordinating vision imaging system to can also detect that the speckle of workpiece, lack material, burr, both forward and reverse directions etc., mechanical hand can recognize that underproof product according to the data that vision imaging system provides and defective work be placed into defective work place.
B, in the market a lot of slide block type manipulator control systems do not possess the function of multi-shaft interlocked multi-axis interpolation, and our control system can realize very easily.
The software section advantage of the present invention is in that:
A, being derived the CNC machining path of workpiece by CAM software (computer-aided manufacturing software), our manipulator control system CPU can directly read CNC by simple process and process formula, convenient and easy.And can realize multi-shaft interlocked, multi-axis interpolation.
B, vision imaging system are carried out data transmission with controlling system CPU by Ethernet interface, and faster, transmission data are more stable for transmission speed.
This mechanical hand carries vision imaging system, possesses vision guide positioning function, by taking pictures existing product and deposited the contrast of quality good product photo, detecting judgement product has intact material, the quality such as heterochromatic bad, and defective products signals and guides mechanical hand to be directly placed into defective product box.Taking out after product puts into tool detects if any burr, then guide mechanical hand milling cutter or the automatic repair flash of bistrique to non-defective unit；Can also complete to require the bat printing of up to 0.01 millimeter of positioning precision, silk-screen, gold stamping, the point subsequent automated processing such as glue, pad pasting.The another set of tool of fast automatic replacing, after taking-up product puts into localization tool, manipulator control polisher carries out sanding and polishing along product curved surface etc..
Above-described is only the preferred embodiment of the present invention, it is noted that for the person of ordinary skill of the art, without departing from the concept of the premise of the invention, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.
Claims (9)
1. there is a mechanical hand for vision imaging system, support platform, the actuator being arranged on described removable support platform and for manipulating the control system of described actuator action including removable, it is characterised in that described control system includes:
A. manipulator control system CPU, for the information received is converted into discernible machine language, and processes the information received, result signal is transferred to actuator；
B.HMI human-computer interaction interface, is used for manipulating mechanical hand, controls the monitoring of the operation of mechanical hand and stopping, the read-write of systematic parameter and IO；
C. anti-interference D/C power, for the D/C power individually stable for the offer of HMI human-computer interaction interface, control signal input equipment；
D. input/output module, is read by manipulator control system CPU after converting switching signal to and identify after the signal for collection machinery hands body or outside；
E. vision imaging system interface, is used for accessing vision imaging system；
F. network-type servo-driver interface, is used for connecting bus-type servo-driver；
G, servomotor, for performing the instruction of manipulator control system CPU.
2. a kind of mechanical hand with vision imaging system according to claim 1, it is characterised in that described control system also includes:
H. standby bus type servo-driver interface, as spare interface, is used for connecting bus-type servo-driver, carries out Multi-axis motion control, also can do multi-shaft interlocked simultaneously, straight line and circular interpolation.
3. a kind of mechanical hand with vision imaging system according to claim 1 and 2, it is characterised in that described control system also includes:
I. communication interface, for the access of the secondary development of standby functions and some ancillary equipment.
4. a kind of mechanical hand with vision imaging system according to claim 3, it is characterized in that, described vision imaging system includes camera, light source and vision controller, described camera, described light source are arranged at described actuator side or individually fix, and described vision controller is connected with described camera, the described light source signal of telecommunication.
5. a kind of mechanical hand with vision imaging system according to claim 4, it is characterised in that described camera is high definition camera lens.
6. a kind of mechanical hand with vision imaging system according to claim 5, it is characterised in that the operational approach of described control system is as follows:
After product injection moulding completes, injection moulding machine mould open, the actuator of mechanical hand captures injecting products；The actuator of mechanical hand moves to ad-hoc location along default path, and product is taken pictures by the camera of vision imaging system, and transmits the positional information such as coordinate of photographic intelligence and product to manipulator control system CPU；The normal pictures of this photo Yu storage is compared by this system, if product does not have the defective work of value, is then directly placed to defective work place；If qualified products defective, then judge that the coordinate information that the position of flaw obtains product occurs, guide the actuator of mechanical hand according to instruction, place defective to be modified；During revising, constantly product is taken pictures, it is thus achieved that the information such as the image information of product and the side-play amount of product, deviation angle, and photo is compared with normal pictures one by one, until photo is the same with picture, then revises and terminate.
7. a kind of mechanical hand with vision imaging system according to claim 6, it is characterised in that described actuator includes:
A. posture parts, described posture parts includes posture portion and posture portion mounting seat, and described posture portion is fixed in described posture portion mounting seat；
B. feeding device, described feeding device includes sucker, sucker disk seat, feeding fixture and feeding fixture installing plate, the bottom of described feeding fixture installing plate is arranged on the fixing plate side plate of L-type in described posture portion, described feeding fixture is arranged at the top of described feeding fixture installing plate, described sucker disk seat is fixed on described feeding fixture, and described sucker is arranged on described sucker disk seat；
C. pneumatic quick-change fixture, described pneumatic quick-change fixture is arranged on the fixing plate base plate of L-type in described posture portion；
D. power set, described power set include motor and motor mount, and described motor mount and described pneumatic quick-change fixture are fixed together, and described motor is arranged on described motor mount；
E. end performs device, and described end performs device and is connected with described motor.
8. a kind of mechanical hand with vision imaging system according to claim 7, it is characterized in that, described end performs device and is rotary milling tools, rotary-grinding machine, buffing machine, 3D printhead, Glue dripping head, pad printer, gilding press, laser engraving machine, cutting machine, has and draw function or embrace the tool of folder function.
9. a kind of mechanical hand with vision imaging system according to claim 8, it is characterised in that described removable support platform is three axles, five axles, six axles, seven axles or the full servo control mechanism of eight axles.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610255585.0A CN105751452A (en) | 2016-04-22 | 2016-04-22 | Mechanical arm with visual image system |
| CN201610599995.7A CN106079317A (en) | 2016-04-22 | 2016-07-27 | A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610255585.0A CN105751452A (en) | 2016-04-22 | 2016-04-22 | Mechanical arm with visual image system |
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| CN105751452A true CN105751452A (en) | 2016-07-13 |
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| CN201610255585.0A Withdrawn CN105751452A (en) | 2016-04-22 | 2016-04-22 | Mechanical arm with visual image system |
| CN201610599995.7A Pending CN106079317A (en) | 2016-04-22 | 2016-07-27 | A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610599995.7A Pending CN106079317A (en) | 2016-04-22 | 2016-07-27 | A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function |
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