CN104608137B - A kind of four axle robot systems of band vision - Google Patents
A kind of four axle robot systems of band vision Download PDFInfo
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- CN104608137B CN104608137B CN201510067396.6A CN201510067396A CN104608137B CN 104608137 B CN104608137 B CN 104608137B CN 201510067396 A CN201510067396 A CN 201510067396A CN 104608137 B CN104608137 B CN 104608137B
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Abstract
Four axle robot systems of a kind of band vision, relate to four axle robot system fields.The present invention solves the problem that existing four axle robot systems can not meet the needs of actual production.Four axle robot systems of a kind of band vision, it includes that four axle robot bodies, four axles control drive system, some sensors and master control system；Sensor includes imageing sensor；Independent lighting source it is provided with near each imageing sensor；Master control system is made up of picture recognition module, framing module, image measurement module, image data processing module, control module；Master control system also includes fault detect and alarm module.A kind of four axle robot systems of the band vision of the present invention in production line to replace manual operation；This system can the crawl of complete independently material in various different production lines, place and detect work；Four axle robot bodies of this system can be customized according to the different demands of user, to meet the needs of production.
Description
Technical field
The present invention relates to four axle robot system fields, particularly relate to four systems of axle robot of a kind of band vision
System.
Background technology
Along with improving constantly of the economic development of China and science and technology, industrial automation and robot should
By the development trend becoming a lot of industry.And existing four axle robot systems can not meet actual life
The needs produced.
Summary of the invention
For solving above-mentioned technical problem, the invention provides four axle robot systems of a kind of band vision.
The technical solution adopted for the present invention to solve the technical problems is: four systems of axle robot of a kind of band vision
System, it includes that four axle robot bodies, four axles control drive system, some sensors and master control system；Institute
The sensor stated includes imageing sensor；Described imageing sensor is distributed on four axle robot bodies；Often
Independent lighting source it is provided with near individual imageing sensor；Described master control system by picture recognition module,
Framing module, image measurement module, image data processing module, control module form；Described figure
As identification module, framing module and image measurement module image data input respectively with image sensing
Device connects；The view data output of described picture recognition module, framing module and image measurement module
End is connected with the signal input part of image data processing module；The order of described image data processing module is defeated
Go out to hold the command input end of link control module；The control signal outfan of described control module connects four axles
Control drive system；Four described axles control drive system and are connected with the controller on four axle robot bodies；
Described master control system also includes fault detect and alarm module, described fault detect and the letter of alarm module
Number input is connected with the alarm signal output ends of image data processing module.
Four described axle robot bodies include X-axis, Y-axis, Z axis and 360 ° of S axles；In described X-axis
It is provided with X-axis servomotor and for controlling the X-axis servo controller of X-axis servomotor；Described Y-axis
On be provided with Y-axis servomotor and for controlling the Y-axis servo controller of Y-axis servomotor；Described Z
Z axis servomotor it is provided with and for controlling the Z axis servo controller of Z axis servomotor on axle；Described
It is provided with 360 ° of S axle servomotors on 360 ° of S axles and watches for controlling 360 ° of S axles of 360 ° of S axle servomotors
Take controller；Described four axles control drive systems respectively with X-axis servo controller, Y-axis servo controller,
Z axis servo controller, 360 ° of S axle servo controllers connect.
Described sensor also includes other function sensors for assistant images data processing module；Described
Other function sensors be connected with image data processing module.
The image data processing module of described master control system and fault detect and alarm module are by the Internet even
The display device of logical Surveillance center and data memory device.
Operation principle: collect view data by the imageing sensor on four axle robot bodies；Picture number
According to being transferred in master control system, carried out by picture recognition module, framing module and image measurement module
Identify, position and measure, then be transferred to the data obtained in image data processing module carry out computing, divide
Analysis and differentiation obtain result, then transmit instructions in control module, and control signal is transmitted by control module
Controlling drive system to four axles, four axles control drive system and calculate optimal algorithm and the speed of movement locus,
Control four axle robot body precise movement；Master control system can be by real-time for real-time video data by interconnection
Net is transferred on the display device of Surveillance center and can be stored in data memory device, in order to call at any time；
Real-time working condition can be judged by fault detect and alarm module according to real-time data, as gone wrong, and
Alarm, and relevant data and alarm signal are transferred to Surveillance center.
Beneficial effects of the present invention: four axle robot systems of a kind of band vision of the present invention are in production line
On to replace manual operation；This system can the crawl of complete independently material in various different production lines,
Place and detection work；Four axle robot bodies of this system can be customized according to the different demands of user,
To meet the needs of production.
Accompanying drawing explanation
Fig. 1 is the principle schematic of four axle robot systems of a kind of band vision of embodiment；
Wherein, 1-tetra-axle robot body, 2-tetra-axle control drive system, 4-lighting source, 5-master control system,
6-the Internet, 7-display device, 8-data memory device, 11-X axle servomotor, 12-Y axle servomotor,
13-Z axle servomotor, 14-360 ° of S axle servomotor, 15-X axle servo controller, 16-Y axle servo control
Device processed, 17-Z axle servo controller, 18-360 ° of S axle servo controller, 31-imageing sensor, 32-other
Function sensor, 51-picture recognition module, 52-framing module, 53-image measurement module, 54-image
Data processing module, 55-control module, 56-fault detect and alarm module.
Detailed description of the invention
In order to deepen the understanding of the present invention, below in conjunction with drawings and Examples, the present invention is done the most in detail
Thin description, this embodiment is only used for explaining the present invention, constitutes protection scope of the present invention and limit.
Embodiment
As it is shown in figure 1, four axle robot systems of a kind of band vision, it includes four axle robot bodies 1, four
Axle controls drive system 2, some sensors and master control system 5；Described sensor includes imageing sensor 31；
Described imageing sensor 31 is distributed on four axle robot bodies 1；Set near each imageing sensor 31
It is equipped with independent lighting source 4；Described master control system 5 is by picture recognition module 51, framing module
52, image measurement module 53, image data processing module 54, control module 55 form；Described image
The image data input of identification module 51, framing module 52 and image measurement module 53 respectively with figure
As sensor 31 connects；Described picture recognition module 51, framing module 52 and image measurement module
The view data outfan of 53 is connected with the signal input part of image data processing module 54；Described picture number
Command input end according to the order output terminal link control module 55 of processing module 54；Described control module
The control signal outfan of 55 connects four axles and controls drive system 2；Described four axles control drive systems 2 with
Controller on four axle robot bodies 1 connects；Described master control system 5 also includes fault detect and warning
Module 56, the signal input part of described fault detect and alarm module 56 and image data processing module 54
Alarm signal output ends connect；Four described axle robot bodies 1 include X-axis, Y-axis, Z axis and 360 ° of S
Axle；X-axis servomotor 11 it is provided with and for controlling the X-axis of X-axis servomotor 11 in described X-axis
Servo controller 15；Y-axis servomotor 12 it is provided with and for controlling Y-axis servo electricity in described Y-axis
The Y-axis servo controller 16 of machine 12；Z axis servomotor 13 it is provided with and for controlling on described Z axis
The Z axis servo controller 17 of Z axis servomotor 13；360 ° of S axle servos it are provided with on 360 ° of described S axles
Motor 14 and 360 ° of S axle servo controllers 18 for 360 ° of S axle servomotors 14 of control；Four described axles
Control drive system 2 respectively with X-axis servo controller 15, Y-axis servo controller 16, Z axis SERVO CONTROL
17,360 ° of S axle servo controllers 18 of device connect；Described sensor also includes at assistant images data
Other function sensors 32 of reason module 54；Other described function sensors 32 and image real time transfer mould
Block 54 connects；The image data processing module 54 of described master control system 5 and fault detect and alarm module
56 connect display device 7 and the data memory device 8 of Surveillance center by the Internet 6.
The operation principle of four axle robot systems of a kind of band vision of the present embodiment: by four axle robots originally
Imageing sensor 31 on body 1 collects view data；View data is transferred in master control system 5, passes through
Picture recognition module 51, framing module 52 and image measurement module 53 are identified, position and measure,
The data obtained being transferred in image data processing module 54 carries out computing again, analyze and differentiation obtains result,
Then transmitting instructions in control module 55, control module 55 transmits control signals to four axles and controls to drive
Dynamic system 2, four axles control drive system 2 and calculate optimal algorithm and the speed of movement locus, control four axle machines
Device human body 1 precise movement；Master control system 5 can be by real-time real-time the passing by the Internet 6 of video data
It is passed on the display device 7 of Surveillance center and can be stored in data memory device 8, in order to calling at any time；
Real-time working condition can be judged by fault detect and alarm module 56 according to real-time data, as gone wrong,
And alarm, and relevant data and alarm signal are transferred to Surveillance center.
Above-described embodiment should not in any way limit the present invention, all employing equivalents or the side of equivalency transform
The technical scheme that formula obtains all falls within protection scope of the present invention.
Claims (2)
1. four axle robot systems of a band vision, it is characterised in that: it include four axle robot bodies,
Four axles control drive system, some sensors and master control system；Described sensor includes imageing sensor；
Described imageing sensor is distributed on four axle robot bodies；It is provided with independence near each imageing sensor
Lighting source；Described master control system by picture recognition module, framing module, image measurement module,
Image data processing module, control module form；Described picture recognition module, framing module and figure
As the image data input of measurement module is connected with imageing sensor respectively；Described picture recognition module,
The view data outfan of framing module and image measurement module is defeated with the signal of image data processing module
Enter end to connect；The command input end of the order output terminal link control module of described image data processing module；
The control signal outfan of described control module connects four axles and controls drive system；Four described axles control to drive
Dynamic system is connected with the controller on four axle robot bodies；Described master control system also include fault detect and
Alarm module, described fault detect and the signal input part of alarm module and the report of image data processing module
Four axle robot bodies described in alert signal output part connection include X-axis, Y-axis, Z axis and 360 ° of S axles；Institute
X-axis servomotor it is provided with and for controlling the X-axis servo controller of X-axis servomotor in the X-axis stated；
Y-axis servomotor it is provided with and for controlling the Y-axis servo controller of Y-axis servomotor in described Y-axis；
Z axis servomotor it is provided with and for controlling the Z axis servo controller of Z axis servomotor on described Z axis；
360 ° of S axle servomotors it are provided with and for controlling 360 ° of S of 360 ° of S axle servomotors on 360 ° of described S axles
Axle servo controller；Described four axles control drive systems respectively with X-axis servo controller, Y-axis servo control
Device processed, Z axis servo controller, 360 ° of S axle servo controllers connect；The view data of described master control system
Processing module and fault detect and alarm module are stored up by display device and the data of Internet connectivity Surveillance center
Cryopreservation device.
Four axle robot systems of a kind of band vision the most according to claim 1, it is characterised in that: institute
The sensor stated also includes other function sensors for assistant images data processing module；Described other
Function sensor is connected with image data processing module.
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| CN201510067396.6A CN104608137B (en) | 2015-02-09 | 2015-02-09 | A kind of four axle robot systems of band vision |
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| CN104608137B true CN104608137B (en) | 2016-08-24 |
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| CN106174888B (en) * | 2016-08-31 | 2019-04-19 | 黑金刚（福建）自动化科技股份公司 | A kind of automation patch head technique of vamp |
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| JP2001158599A (en) * | 1999-12-02 | 2001-06-12 | Yaskawa Electric Corp | Positioning device for boom for high lift work |
| CN1799786A (en) * | 2006-01-06 | 2006-07-12 | 华南理工大学 | Housekeeping service robot |
| CN101786272A (en) * | 2010-01-05 | 2010-07-28 | 深圳先进技术研究院 | Multisensory robot used for family intelligent monitoring service |
| CN203282485U (en) * | 2013-05-17 | 2013-11-13 | 苏州工业园区职业技术学院 | Four-shaft medium-speed full-automatic tin welding robot servo control system |
| CN204505271U (en) * | 2015-02-09 | 2015-07-29 | 江苏科沁光电科技有限公司 | With four axle robot systems of vision |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4837116B2 (en) * | 2010-03-05 | 2011-12-14 | ファナック株式会社 | Robot system with visual sensor |
| JP6188440B2 (en) * | 2013-06-17 | 2017-08-30 | キヤノン株式会社 | Robot apparatus and robot control method |
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2015
- 2015-02-09 CN CN201510067396.6A patent/CN104608137B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001158599A (en) * | 1999-12-02 | 2001-06-12 | Yaskawa Electric Corp | Positioning device for boom for high lift work |
| CN1799786A (en) * | 2006-01-06 | 2006-07-12 | 华南理工大学 | Housekeeping service robot |
| CN101786272A (en) * | 2010-01-05 | 2010-07-28 | 深圳先进技术研究院 | Multisensory robot used for family intelligent monitoring service |
| CN203282485U (en) * | 2013-05-17 | 2013-11-13 | 苏州工业园区职业技术学院 | Four-shaft medium-speed full-automatic tin welding robot servo control system |
| CN204505271U (en) * | 2015-02-09 | 2015-07-29 | 江苏科沁光电科技有限公司 | With four axle robot systems of vision |
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Effective date of registration: 20171211 Address after: Room 622, room 622, No. 680, Guiping Road, Shanghai, Shanghai Patentee after: Shanghai Muqin Medical Devices Co. Address before: 215311 Kunshan, Jiangsu, Pakistan Town, Xueyuan Road, No. 88, No. Co-patentee before: Shanghai KeQin Electrical Machine Co., Ltd. Patentee before: Jiangsu Keqin Photoelectric Science & Technology Co., Ltd. |
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Effective date of registration: 20181102 Address after: 215311 88 Xueyuan Road Town, Bacheng Town, Kunshan, Suzhou, Jiangsu Patentee after: Jiangsu Keqin Photoelectric Science & Technology Co., Ltd. Address before: 200233 room 622, 32 Building, 680 Guiping Road, Shanghai. Patentee before: Shanghai Muqin Medical Devices Co. |
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Effective date of registration: 20220608 Address after: 215000 station R2005, unit 201, building B6, phase I project of biomedical industrial park, No. 218, Xinghu street, Suzhou Industrial Park, China (Jiangsu) pilot Free Trade Zone, Suzhou, Jiangsu Patentee after: Suzhou Keqin micro vision Medical Equipment Co.,Ltd. Address before: 215311 88 Xueyuan Road Town, Bacheng Town, Kunshan, Suzhou, Jiangsu Patentee before: JIANGSU KEQIN PHOTOELECTRIC SCIENCE & TECHNOLOGY Co.,Ltd. |