CN106272421A - A kind of program control industrial robot - Google Patents
A kind of program control industrial robot Download PDFInfo
- Publication number
- CN106272421A CN106272421A CN201610786453.0A CN201610786453A CN106272421A CN 106272421 A CN106272421 A CN 106272421A CN 201610786453 A CN201610786453 A CN 201610786453A CN 106272421 A CN106272421 A CN 106272421A
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- Prior art keywords
- workpiece
- storage part
- electric magnet
- base station
- determines
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Classifications
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of programmable robot's system, for by the workpiece handling in workpiece storage part to target portion, wherein when there is not, in described target selection portion determines workpiece storage part, the workpiece that can take out, trigger specific rearrangement device, make the workpiece rearrangement in workpiece storage part, thus form the workpiece that can be removed, proceed follow-up workpiece handling flow process；Described rearrangement device includes that electromagnet assembly, described electromagnet assembly include the electric magnet on top and the magnetic conductor of bottom；Described electric magnet includes the first electric magnet and the second electric magnet, and it is respectively arranged at described base station both sides；Described first electric magnet and the electrical current of the second electric magnet can be controlled by controller.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of program control transportation industrial robot.
Background technology
Background technology
Along with the development of science and technology, robot is so more and more that to apply industrial automation production field.Current existing profit
Carry out the technique of operation with Industrial Robot Technology and device has a variety of: the production line Deng Shangshi robot at processed goods is carried out
The predetermined processing operation for processed product carried out by people, thus realize the efficient activity of production line.
In the production system employing robot, especially industrial robot, robot is used for the grasping of workpiece, removes
The operations such as fortune.In the purposes of such robot, workpiece picking up system is used in being placed on storage box in a jumble or pallet
On state workpiece in carry out each workpiece taking-up, workpiece picking up system is by surveying with two dimensional measuring instrument or three-dimensional measurement instrument
Each position of amount workpiece determines that the next one is treated held workpiece and indicates multi-axis robot to clamp the work being determined
Part.Then, held workpiece is sent on transporter by multi-axis robot, by each work arranged along transporter
Industrial robots in standing etc. perform predetermined work.
In prior art, most of pipeline machine people use the industrial robot system of so operation.In conventional skill
In art, when image based on the workpiece loaded on pallet cannot detect workpiece to be removed, need to carry out resetting behaviour
Make thus form the workpiece that can be removed.Existing reordering operations by be by again shake storage box or will directly by
Mechanical hand stretches into storage box and stirs workpiece, thus changes the arrangement of workpiece, proceeds follow-up workpiece handling work, as
201210154170.6, described in 201610000083.3 inventions such as grade.
But, in existing solution, shake storage box is the rearrangement to workpiece all in storage box again, and actual
The upper workpiece that may only be in storage box upper strata needing to reset.And mechanical hand is stretched in storage box, due to different situations
The combination of lower workpiece is different, it is impossible to determine clear and definite Robot Path, deposits consequently, it is possible to cause mechanical hand to touch
Put case or make workpiece interaction cause workpiece damage.
Summary of the invention
The invention provides the program control transportation industrial robot system of a kind of improvement, by improving the weight of workpiece in this system
Row's mode, solves the problems referred to above of prior art.
As one aspect of the present invention, it is provided that a kind of programmable robot's system, including: workpiece storage part, it is used for putting
Put the workpiece needing carrying；Imageing sensor, for gathering the workpiece image of workpiece storage part；Target selection portion, it is based on adopting
The image of collection determines the workpiece to take out from workpiece storage part；Robots arm, for carrying what described target selection portion determined
Workpiece；Workpiece target portion, for receiving the workpiece of described robots arm carrying；Described robots arm top arranges clamping device,
Described clamping device includes base station and a pair fingers being arranged on base station, it is possible to by change described fingers it
Between distance and clamp workpiece；Storage part determines portion, and it can determine in workpiece storage part whether workpiece；Controller, it controls
The running of each element of described robot system；Also setting up contraction track in described base station, described fingers can be along described receipts
Contracting Orbital contraction returns in described base station；Described base station both sides arrange electromagnet assembly；When described target selection portion determines workpiece
When there is not, in storage part, the workpiece that can take out, trigger described storage part and determine whether portion exists work in determining workpiece storage part
Part；When described storage part determines in portion determines workpiece storage part and there is workpiece, described controller triggers described fingers and receives
Retract in described base station, described electromagnet assembly is energized simultaneously such that it is able to adsorb the element in described workpiece storage part；?
After described electromagnet assembly adsorbs the element in described workpiece storage part, described controller, by described electromagnet assembly power-off, makes
Described element returns in described workpiece storage portion.
Preferably, described workpiece include magnetic material at least partially.
Preferably, described storage part determines that portion includes weight sensor, the reality of its workpiece storage part by detecting
Shi Chongliang compares with the empty-weight of workpiece storage part, thus whether there is workpiece in judging described workpiece storage part.
Preferably, described electromagnet assembly includes the electric magnet on top and the magnetic conductor of bottom.
Preferably, described workpiece target portion is streamline or transporter.
Preferably.After described electromagnet assembly is with the first current electrifying, described storage part determines that portion passes according to described weight
The weight of sensor detection determines whether that workpiece is adsorbed on described electromagnet assembly, is adsorbed to described without workpiece
On electromagnet assembly, described controller controls the electrical current of described electromagnet assembly and increases to the second electric current, at the second electric current
Time there is workpiece and be adsorbed on described electromagnet assembly.
Preferably, after adsorbing workpiece on electromagnet assembly, described imageing sensor gathers the image of described absorption workpiece,
Described controller judges whether vertically to be adsorbed in the workpiece of described electromagnet assembly according to acquired image；If there is
Vertically being adsorbed in the workpiece of described electromagnet assembly, described controller controls the electrical current of described electromagnet assembly and increases to the
Three electric currents, when described three electric current the described workpiece being vertically adsorbed in described electromagnet assembly by Level Adsorption to described electromagnetism
On iron component.
Optionally, described electric magnet includes the first electric magnet and the second electric magnet, and it is respectively arranged at described base station both sides；
Described controller can control described first electric magnet and the electrical current of the second electric magnet.
Preferably, also include highly determining portion, by highly determining that portion can determine in described workpiece storage part not coordination
The workpiece height put；Described controller is when being energized to electric magnet, to described first electric magnet and described second electric magnet middle-range
From the electric magnet energising that workpiece maximum height is nearest.
Preferably, described height determines that portion includes sonac, by the ultrasound wave for launching to workpiece storage part
The measurement of reflection, determine the workpiece height of diverse location in workpiece storage part.
Optionally, described imageing sensor can be to obtain the storage of described workpiece with vertical plane more than the angle of 30 degree of angles
The image information in portion, described height determines that portion determines the workpiece of diverse location in workpiece storage part by acquired image information
Highly.
As another aspect of the present invention, it is provided that a kind of programmable robot's system, including: workpiece storage part, use
In placing the workpiece needing carrying；Imageing sensor, for gathering the workpiece image of workpiece storage part；Target selection portion, its base
The workpiece to take out from workpiece storage part is determined in the image gathered；Robots arm, is used for carrying described target selection portion true
Fixed workpiece；Workpiece target portion, for receiving the workpiece of described robots arm carrying；Described robots arm top arranges clamping dress
Putting, described clamping device includes base station and a pair fingers being arranged on base station, it is possible to by changing described finger-like structure
Distance between part and clamp workpiece；Wherein there is not, in described target selection portion determines workpiece storage part, the work that can take out
During part, reset the workpiece in described workpiece storage part by described robots arm.
Accompanying drawing explanation
Fig. 1 is the structure chart of embodiment of the present invention robot system.
Fig. 2 is the longitudinal cross-section view on the robots arm top of embodiment of the present invention robot system.
Detailed description of the invention
In order to be illustrated more clearly that technical scheme, below the present invention is situated between by use embodiment simply
Continue, it should be apparent that, in describing below is only one embodiment of the present of invention, comes for those of ordinary skill in the art
Say, on the premise of not paying creative work, it is also possible to obtain other technical scheme according to these embodiments, fall within
Disclosure of the invention scope.
Programmable robot's system of the embodiment of the present invention, as depicted in figs. 1 and 2, including workpiece storage part 1, robots arm
2, workpiece target portion (not shown), imageing sensor 3, target selection portion 4, storage part determines portion 5, controller 6.Workpiece storage part
1 for placing the workpiece needing to carry, and it can be container or platform.The workpiece placed in workpiece storage part 1, workpiece is extremely
A few part includes magnetic material, and this magnetic material can be ferrum, nickel, cobalt etc..
Robots arm 2 is for transferring to workpiece target portion by workpiece from workpiece storage part 1 such that it is able to carry out for workpiece
Follow-up operation.Workpiece target portion can be streamline or transporter.Imageing sensor 3 is used for gathering workpiece storage part 1
Interior workpiece image, it can be arranged on robots arm 2.Preferably, height and the angle of imageing sensor 3 is adjustable.
Imageing sensor 3 can be CCD camera or CMOS camera.Target selection portion 4, the image inspection gathered based on imageing sensor 3
Survey the workpiece allowing to take out from workpiece storage part 1.And, when the workpiece allowing to be removed being detected, robot system indicates
Robots arm 2 takes out workpiece, with by workpiece transfer to workpiece target portion.
The top of robots arm 2 arranges clamping device, and this clamping device includes base station 21 and is arranged on base station 21
A pair fingers 22.When the workpiece that operation is removed being detected in target selection portion 4, robot system generates robots arm 2
Actuating signal, robots arm 2 stretches in workpiece storage part 1 according to actuating signal, by change between fingers 22 away from
From and clamp workpiece.
Being provided with contraction track in the base station 21 of robots arm 2, fingers 22 can return to along this contraction Orbital contraction
In base station 21；The both sides of base station 21 arrange electromagnet assembly 23.Electromagnet assembly 23 includes the electric magnet on top and leading of bottom
Magnet 232.
Storage part determines portion 5, and whether it exists workpiece in can determine workpiece storage part 1.Can be at workpiece storage part 1
Bottom arranges weight sensor, and storage part determines real-time weight and the work of the workpiece storage part 1 that weight sensor detects by portion 5
The empty-weight of part storage part 1 compares, thus whether there is workpiece in judging workpiece storage part 1.
Controller 6 is for controlling the running of each element of described robot system.When target selection portion 4 is based on imageing sensor
3 images gathered, when there is not, in determining workpiece storage part 1, the workpiece that can take out, controller 6 triggers storage part and determines portion 5
Whether workpiece is there is in determining workpiece storage part 1.When storage part determines in portion 5 determines workpiece storage part 1 and there is workpiece, control
Device 6 triggers the fingers 22 of robots arm 2 and shrinks back in base station 21, is energized by electromagnet assembly 23 simultaneously such that it is able to inhale
Element in attached workpiece storage part 1.Storage part determines the weight that portion 5 can be detected in real time by weight sensor, it may be judged whether
Workpiece is had to be adsorbed on electromagnet assembly 23.If after electromagnet assembly 23 is with the first current electrifying, storage part determines that portion 5 is true
Surely not having workpiece to be adsorbed on electromagnet assembly 23, controller 6 controls the electrical current of electromagnet assembly 23 and increases to second
, there is workpiece when the second electric current and be adsorbed on electromagnet assembly 23 in electric current.Preferably, when the second electric current, more than one
Workpiece is adsorbed on electromagnet assembly 23.
After electromagnet assembly 23 adsorbs workpiece, can be controlled by the image of imageing sensor collection absorption workpiece
Device 6 judges whether vertically to be adsorbed in the workpiece of electromagnet assembly 23 according to acquired image；If there is vertically absorption
In the workpiece of electromagnet assembly 23, the electrical current of controller control 6 electromagnet assembly processed 23 increases to the 3rd electric current, described
During three electric currents, this is vertically adsorbed in the workpiece of described electromagnet assembly by Level Adsorption to electromagnet assembly 23.In electromagnet group
After part 23 adsorbs the element in workpiece storage part 1, controller 6, by electromagnet assembly 23 power-off, makes the element of absorption return workpiece
In reservoir 1.
Preferably, as in figure 2 it is shown, electric magnet can include the first electric magnet 231 and the second electric magnet 233, it sets respectively
Being placed in base station 21 both sides, controller 6 can control the first electric magnet 231 and electrical current of the second electric magnet 233.Can pass through
Highly determine that portion determines the workpiece height of diverse location in workpiece storage part 1；Controller 6 is when being energized to electric magnet 221, to
The electric magnet energising that in one electric magnet 2211 and the second electric magnet 2212, distance workpiece maximum height is nearest.
Preferably, highly determine that portion can include sonac, by the ultrasound wave for launching to workpiece storage part 1
The measurement of reflection, determine the workpiece height of diverse location in workpiece storage part 1.Optionally, imageing sensor 3 can be with perpendicular
Face the image information obtaining workpiece storage part 1 more than the angle of 30 degree of angles directly, highly determine that portion passes through acquired image letter
Breath determines the workpiece height of diverse location in workpiece storage part 1.
In all documents incorporated by reference the most in this application that the present invention mentions, it is individually recited just as each document
As with reference to like that.In addition, it is to be understood that after the above disclosure having read the present invention, protection scope of the present invention is not
Being limited only to above-described embodiment, the present invention can be made various changes or modifications by those skilled in the art, without departing from the present invention
Under principle premise, these equivalent form of values fall within the application appended claims limited range equally.
Claims (3)
1. programmable robot's system, including: workpiece storage part, for placing the workpiece needing carrying；Imageing sensor, uses
In the workpiece image gathering workpiece storage part；Target selection portion, it determines to take from workpiece storage part based on the image gathered
The workpiece gone out；Robots arm, for carrying the workpiece that described target selection portion determines；Workpiece target portion, is used for receiving described machine
The workpiece of device robot arm carrying；Described robots arm top arranges clamping device, and described clamping device includes base station and is arranged at
A pair fingers on base station, it is possible to clamp workpiece by the distance between the described fingers of change；It is characterized in that:
Also including that storage part determines portion, it can determine in workpiece storage part whether workpiece；Controller, it controls described robot system
The running of each element；Also setting up contraction track in described base station, described fingers can return to along described contraction Orbital contraction
In described base station；Described base station both sides arrange electromagnet assembly；Do not exist in described target selection portion determines workpiece storage part
During the workpiece that can take out, trigger described storage part and determine whether portion exists workpiece in determining workpiece storage part；When described storage
Portion determines when portion exists workpiece in determining workpiece storage part, and described controller triggers described fingers and shrinks back described base station
In, described electromagnet assembly is energized such that it is able to adsorb the element in described workpiece storage part simultaneously；In described electromagnet group
After part adsorbs the element in described workpiece storage part, described controller, by described electromagnet assembly power-off, makes described element return
In described workpiece storage portion；Described electromagnet assembly includes the electric magnet on top and the magnetic conductor of bottom；Described electric magnet includes
First electric magnet and the second electric magnet, it is respectively arranged at described base station both sides；Described controller can control described first electricity
Magnet and the electrical current of the second electric magnet.
Programmable robot's system the most according to claim 1, it is characterised in that: also include highly determining portion, by height
Determine that portion can determine the workpiece height of diverse location in described workpiece storage part；Described controller when being energized to electric magnet,
To the electric magnet energising that distance workpiece maximum height in described first electric magnet and described second electric magnet is nearest.
Robot system the most according to claim 2, it is characterised in that: described height determines that portion includes sonac,
By the measurement of the reflection of the ultrasound wave for launching to workpiece storage part, determine that the workpiece of diverse location is high in workpiece storage part
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786453.0A CN106272421B (en) | 2016-04-09 | 2016-04-09 | A kind of program-controlled industrial robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610215803.8A CN105619414B (en) | 2016-04-09 | 2016-04-09 | A kind of programmable robot's system |
| CN201610786453.0A CN106272421B (en) | 2016-04-09 | 2016-04-09 | A kind of program-controlled industrial robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610215803.8A Division CN105619414B (en) | 2016-04-09 | 2016-04-09 | A kind of programmable robot's system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272421A true CN106272421A (en) | 2017-01-04 |
| CN106272421B CN106272421B (en) | 2018-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610786453.0A Active CN106272421B (en) | 2016-04-09 | 2016-04-09 | A kind of program-controlled industrial robot |
| CN201610215803.8A Active CN105619414B (en) | 2016-04-09 | 2016-04-09 | A kind of programmable robot's system |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610215803.8A Active CN105619414B (en) | 2016-04-09 | 2016-04-09 | A kind of programmable robot's system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129489A (en) * | 2017-01-07 | 2019-01-04 | 宁波亿诺维信息技术有限公司 | Program-controlled industrial carrying machine people and control method |
| CN109465812A (en) * | 2018-11-26 | 2019-03-15 | 广东工业大学 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
| CN110524539A (en) * | 2019-08-08 | 2019-12-03 | 北京航空航天大学 | A kind of electromagnetism suction carrying stacking device that view-based access control model senses more |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994829A (en) * | 2017-06-06 | 2018-12-14 | 精工爱普生株式会社 | control device and robot system |
| CN114222650A (en) * | 2019-09-30 | 2022-03-22 | 上海成业智能科技股份有限公司 | Method and device for extracting product through magnetic adsorption |
| GB2606991A (en) * | 2021-03-31 | 2022-11-30 | Alumatlq As | Electrolytic cell lid handling system and method of use |
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| JP2001277167A (en) * | 2000-03-31 | 2001-10-09 | Okayama Pref Gov Shin Gijutsu Shinko Zaidan | Three-dimensional attitude recognizing method |
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| CN110524539B (en) * | 2019-08-08 | 2021-05-28 | 北京航空航天大学 | Electromagnetic suction type carrying stacking device based on vision multi-sensing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105619414A (en) | 2016-06-01 |
| CN105619414B (en) | 2017-07-07 |
| CN106272421B (en) | 2018-07-13 |
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Effective date of registration: 20180604 Address after: 510000 A310 room 93, Che Mei Ming Street, Tianhe District, Guangzhou, Guangdong. Applicant after: Guangzhou Jiafan Computer Co. Ltd. Address before: 100039 Beijing Fengtai District Sanhuan new town 8 hospital 18 building 1730 Applicant before: Wang Wei |
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Denomination of invention: A programmable industrial robot Effective date of registration: 20210126 Granted publication date: 20180713 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Tianhe branch Pledgor: GUANGZHOU JIAFAN COMPUTER Co.,Ltd. Registration number: Y2021440000022 |