CN107186696B - Practical training device for hand-eye servo operation robot - Google Patents
Practical training device for hand-eye servo operation robot Download PDFInfo
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- CN107186696B CN107186696B CN201710407917.7A CN201710407917A CN107186696B CN 107186696 B CN107186696 B CN 107186696B CN 201710407917 A CN201710407917 A CN 201710407917A CN 107186696 B CN107186696 B CN 107186696B
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a practical training device of a hand-eye servo operation robot, which comprises: the industrial robot is positioned on the upper surface of the platform; the industrial robot includes: robot body, vacuum chuck, pneumatic control circuit, teaching awl, demonstrator, robot control system; a conveyor belt mechanism; the conveyor belt mechanism includes: a motor for driving the conveyer belt to act; the conveying belt is positioned below the action arm; an automatic feeding mechanism; the automatic feeding mechanism is positioned at the feeding end of the conveying belt; a stereoscopic warehouse; the stereoscopic warehouse is positioned at the discharging end of the conveying belt; a tray; the tray is positioned at one side of the conveying belt; a vision system; the vision system includes: the mounting bracket is arranged on the upper surface of the platform, and the camera and the light source are arranged on the mounting bracket; a programmable controller; the I/O port of the programmable controller is electrically connected with the robot body, the motor and the automatic feeding mechanism respectively; and the industrial personal computer system is used for controlling the action of the visual system.
Description
Technical Field
The invention relates to the technical field of robot teaching equipment, in particular to a practical training device for a hand-eye servo operation robot.
Background
With the development strategy of "industry 4.0" and "China manufacturing 2025", the importance of intelligent manufacturing and intelligent products has been highlighted at the historic junction formed by the new technological revolution, the industrial revolution and the accelerated conversion of China into economic development modes. Talents grasping application skills of forefront industrial robots are also the requirement points of more and more manufacturing enterprises, and domestic higher institutions and various skill training institutions increasingly use the application of the industrial robots as teaching directions, and the robot practical training system can be used as an integrated teaching platform for culturing robot technology application and professional research and development talents and also can be used as a display platform for robot technology application and popularization.
The general robot training system only aims at a certain application of the robot to realize a single function and flow, and if the application of multiple robots can be realized in one system, the cost can be reduced, and the comprehensive application skill can be improved.
Disclosure of Invention
The invention aims to solve the technical problems that: providing a practical training device of a hand-eye servo operation robot; the practical training device for the hand-eye servo operation robot can be used for completing various robot application projects of different types. The system integrates industrial robot technology, programmable control technology, visual identification technology, visual guiding and positioning technology, conveyor belt tracking technology, sensing technology, servo control technology, pneumatic control technology, data transmission system and information conversion system, and solves the problem that one set of system completes learning and development of leading edge application of multiple robots. The whole system adopts a modularized design, and different forms of training items are constructed through splitting and assembling, so that the problem of single training items of the traditional training system is solved, and the system has better expansibility.
The invention adopts the technical proposal for solving the technical problems in the prior art that:
a hand-eye servo operation robot training device at least comprises:
a platform formed by splicing aluminum profiles;
an industrial robot located on the upper surface of the platform; the industrial robot includes: the robot comprises a robot body, a vacuum chuck for picking up parts, a pneumatic control loop for controlling the action of the vacuum chuck, a teaching cone for coordinate system calibration, a demonstrator and a robot control system for controlling the action of the robot body; the vacuum chuck is arranged on an action arm of the robot body; the robot control system is electrically connected with the robot body;
a conveyor belt mechanism positioned on the upper surface of the platform; the conveyor belt mechanism includes: a motor for driving the conveyer belt to act; the conveying belt is positioned below the action arm;
the automatic feeding mechanism is positioned on the upper surface of the platform; the automatic feeding mechanism is positioned at the feeding end of the conveying belt;
the stereoscopic warehouse is positioned on the upper surface of the platform; the stereoscopic warehouse is positioned at the discharging end of the conveying belt; the stereoscopic warehouse is divided into three layers from top to bottom;
a tray positioned on the upper surface of the platform; the tray is positioned at one side of the conveying belt;
a vision system located above the conveyor belt; the vision system includes: the mounting bracket is arranged on the upper surface of the platform, and the camera and the light source are arranged on the mounting bracket;
a programmable controller; the I/O port of the programmable controller is electrically connected with the robot body, the motor and the automatic feeding mechanism respectively;
the industrial personal computer system is used for controlling the action of the visual system; the industrial personal computer system comprises a display and a host case provided with a vision system acquisition card; the mainframe performs data interaction with the camera through the Ethernet.
Further: and safety gratings are arranged around the upper surface of the platform.
Further: a storage cabinet for storing the programmable controller and the mainframe box is arranged below the platform; the front surface and the rear surface of the storage cabinet are both provided with doors.
Further: the automatic feeding mechanism includes: the device comprises a mounting frame arranged on a platform, a positioning bottom plate for positioning the bottom of a workpiece, a positioning cylinder for storing the workpiece in a mechanism, a storage bin with a cylindrical structure, a cylinder for pushing the workpiece onto a conveying belt, and a photoelectric sensor for detecting whether the workpiece exists or not; and a signal output terminal of the photoelectric sensor is electrically connected with a trigger terminal of the air cylinder.
The invention has the advantages and positive effects that:
the system can complete four training tasks through the combination and collocation of different devices: 1. the robot, the conveyer belt mechanism, the three-dimensional automatic feeding mechanism and the lower two layers of the three-dimensional warehouse are combined with round workpieces with the same size, so that training projects of tracking and grabbing the workpieces by the robot conveyer belt and warehousing can be completed. 2. The robot, the conveyer belt mechanism, the three-dimensional automatic feeding mechanism, the tray and the circular workpieces with the same size are combined, and the training items of tracking and grabbing the workpieces and stacking by the robot conveyer belt can be completed. 3. The robot, the vision system, the conveyer belt mechanism, the three-dimensional automatic feeding mechanism, the uppermost layer of the three-dimensional warehouse and the three-dimensional round workpiece combinations with different sizes can finish the training projects that the robot intelligently recognizes workpiece specifications based on the vision system, accurately guides, positions, grabs and places at the corresponding correct positions. 4. The robot, the vision system, the conveying belt mechanism, the tray and the jigsaw puzzle workpiece combination can complete intelligent assembly of any jigsaw pattern by the robot. The system is provided with four demonstration items, but the functions of the system are not limited to the four demonstration items, more practical training items can be developed through random collocation combination of equipment, change of equipment positions and change of workpiece properties, so that training contents are richer, more developable teaching and learning can be completed in one practical training system, and the input cost of the equipment is reduced.
Description of the drawings:
FIG. 1 is a schematic perspective view of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the teaching cone in the preferred embodiment of the present invention;
FIG. 3 is a schematic view of the effect of the training program after completion;
FIG. 4 is a schematic diagram of the effect of the training project II after completion;
FIG. 5 is a schematic view of the effect of the training project III after completion;
FIG. 6 is a schematic diagram of the effect of the training program after completion;
FIG. 7 is a schematic diagram showing the components of a vision system in accordance with a preferred embodiment of the present invention;
FIG. 8 is a schematic diagram of a pneumatic control circuit for a vacuum chuck in accordance with a preferred embodiment of the present invention;
FIG. 9 is a schematic view showing a specific structure of a stereoscopic automatic feeding mechanism in a preferred embodiment of the present invention;
wherein: 1-a platform; 2-a robot; 3-a robot control system; 4-a vacuum chuck; 5-a demonstrator; 6-a conveyor belt mechanism; 7-an encoder; 8-a three-dimensional automatic feeding mechanism; 9-a stereoscopic warehouse; 10-a tray; 11-vision system; 12-an electronic control system mounting plate; 13-a man-machine interface control box; 14-an alarm lamp; 15-a display; 16-a main chassis; 17-a security grating; 18-teaching cone; 19-round workpieces of the same size; 20-three different sized round workpieces; 21-jigsaw puzzle pieces; a 22-camera assembly; 23-a light source; 24-mounting a bracket; 25-camera communication cable; 26-mounting frame; 27-a storage bin of a three-dimensional automatic feeding mechanism; 28-cylinder push rod; 29-positioning a cylinder; 30-positioning a bottom plate; 31-photosensor a; 32-photosensor B; 33-photosensor C.
Detailed Description
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings in which:
referring to fig. 1 to 9, a practical training device for a hand-eye servo operation robot includes:
the integrated aluminum profile platform 1 is formed by splicing all aluminum profiles above a desktop, is used for installing various main equipment and control operation equipment, and is convenient for the random change of the equipment position; the control system for placing the corresponding equipment below the desktop is arranged in the space below the desktop, and the space below the desktop adopts a front-back double-door structure, so that the installation and the maintenance are convenient; the four corners of the platform, which are contacted with the ground, are combined by the universal wheels and the foot cups, so that the whole platform is convenient to move and maintain the fixation of the whole platform;
the industrial robot 2, the body is positioned above the table top, the industrial robot 2 comprises a vacuum chuck 4, the vacuum chuck 4 can be used for picking up various parts in the training system, and the vacuum chuck 4 adopts a pneumatic control loop; the teaching cone 18 is used for calibrating a coordinate system; a demonstrator 5 for operation and programming of robot 2; the robot control system 3 is positioned below the desktop and connected with the body through a power cable and a data transmission cable, and the power cable and the data transmission cable are both wired inside the desktop, so that the attractive appearance and the safety effect are ensured;
the conveying belt mechanism 6 is used for conveying workpieces and is positioned in front of the robot 2, driven by a servo motor and provided with an encoder 7, and the workpiece conveying position and speed can be accurately obtained in real time; the charging end of the conveyor belt mechanism 6 is provided with a photoelectric sensor B32, and the discharging end of the conveyor belt mechanism 6 is provided with a photoelectric sensor C33;
the three-dimensional automatic feeding mechanism 8 is positioned at one end above the conveying belt mechanism 6, adopts a three-dimensional structure mode, can save occupied space, adopts a mode of combining the photoelectric sensor A31 and the air cylinder at the discharge hole, can automatically finish feeding workpieces onto the conveying belt mechanism 6, and can also intelligently detect whether the workpieces exist in the three-dimensional automatic feeding mechanism 8; the photoelectric sensor A31 can be used for detecting whether a workpiece is at the discharge hole, and the detection result of the photoelectric sensor is a binary signal, namely a high level and a low level, and the high level and the low level respectively represent a detection result (whether the workpiece is present or not).
The stereoscopic warehouse 9 is positioned at the other end of the conveying belt mechanism 6, the robot 2 body is of a three-layer structure, the lower two layers are used for placing round workpieces 19 with the same size, the uppermost layer is used for placing round workpieces 20 with three different sizes, all layers are connected with the frame by bolts with the same specification, and the positions can be replaced at will;
the tray 10 is located at the other side of the robot 2 body, and the tray 10 has two functions, namely, an area for placing when stacking the round workpieces 19 with the same size, and an area for placing when stacking the jigsaw puzzle workpieces 21.
A vision system 11 located above the conveyor belt mechanism 6, the vision system 11 including a camera assembly 22, a light source 23, a vision system mounting bracket 24, and a camera communication cable 25; the camera assembly 22 includes a camera and a lens; the installation height of the vision system and the selection of the lens meet the visual field range for accurately identifying the workpiece on the conveyor belt;
the programmable controller PLC is used for general control of the whole equipment, and comprises a CUP, a communication module, an IO module, a circuit breaker, a contactor, a switching power supply, a servo driver, a relay and a wiring terminal, wherein the CUP, the communication module, the IO module, the circuit breaker, the contactor, the switching power supply, the servo driver, the relay and the wiring terminal are all fixed on an electric control system mounting plate 12 positioned below a desktop, a certain number of sliding rails are arranged on the mounting plate, random disassembly and assembly of components are convenient, bolt connection is adopted between the mounting plate and a platform, and disassembly is convenient when an electric control system is changed; the control box 13 is positioned at one corner of the desktop, the operation and display on the interface are completed by adopting a touch screen, and the control box is provided with a start button, a stop button, a reset button and an emergency stop button, a hand/automatic knob and a system running state indicator lamp; the alarm lamp 14 is positioned at the other corner of the desktop and is used for displaying the running state of the system;
the industrial personal computer system is used for running visual system software and visual development, and the display 15 is positioned on one side of the desktop and used for displaying a visual system processing interface; the main case 16 is positioned below the desktop, a vision system acquisition card is arranged in the main case 16, is connected with a camera through an Ethernet, acquires image information, and performs image processing and vision system development through a software system arranged in the board;
the safety protection system is characterized in that safety gratings 17 are arranged at four corners above the platform, signals of the safety protection system are connected with a safety loop of the robot 2 and are used for detecting whether an object enters the working range of the robot 2, when the object enters the range of the safety gratings 17, the equipment automatically stops running, and after the object leaves the range of the safety gratings 17, the equipment can run;
a plurality of trained workpieces, a plurality of round workpieces 19 with the same size; a set 20 of three different sized circular workpieces; a set 21 of jigsaw puzzle pieces.
The preferred embodiment mainly comprises a platform 1, a robot system, a conveyer belt mechanism 6, an encoder 7, a stereoscopic automatic feeding mechanism 8, a stereoscopic warehouse 9, a tray 10 and a vision system 11; the control system comprises a programmable controller, a man-machine interface control box 13 and an alarm lamp 14, wherein main electric elements are arranged on an electric control system mounting plate 12; the control system comprises an industrial personal computer and comprises a display 15 and a mainframe 16; the safety protection system comprises a safety grating 17; the workpieces to be trained comprise three types, a plurality of circular workpieces 19 with the same size, one set of circular workpieces 20 with three different sizes and one set of jigsaw puzzle workpieces 21. The system can complete four training tasks through the combination and collocation of different devices.
The robot 2 comprises a robot body 2, a robot control system 3, a demonstrator 5, a demonstrator cone 18, a vacuum chuck 4 and a pneumatic control loop, and all operations, programming and control of the robot 2 can be completed through the demonstrator 5; the mounting surface of the teaching cone 18 is provided with a mounting hole, the teaching cone can be mounted on a flange plate at the tail end of the robot 2, the structure of the teaching cone 18 is shown in fig. 2, and the front end of the teaching cone is provided with a sharp point, so that the teaching cone can be used for calibrating and teaching a coordinate system during programming of the robot 2; the vacuum chuck 4 is arranged on a flange plate at the tail end of the robot 2, and a chuck structure is adopted, so that the workpiece with a smooth platform can be picked up at will; the pneumatic control loop of the vacuum chuck 4 is shown in fig. 8, and is composed of an air compressor, a triple piece, an electromagnetic valve, a vacuum generator, a filter and a chuck clamp, wherein the air compressor provides an air source, the triple piece is used for filtering a purified air source and adjusting the pressure effect, the electromagnetic valve is used for controlling the on-off of the air source, the vacuum generator is used for generating negative vacuum, the filter is used for filtering the air entering the chuck again, and the vacuum chuck and the pneumatic control loop can ensure arbitrary pick-up and placement of workpieces. The robot system composed of the equipment can be used for learning various actions, instructions and programming in the process of operating a workpiece by a robot.
The three-dimensional automatic feeding mechanism 8 has the composition and working principle shown in fig. 9 and comprises a mounting frame 26 for being connected to the platform 1; the positioning bottom plate 30 is used for positioning the bottom of the workpiece, and the length of the positioning bottom plate extends above the conveying belt mechanism 6; the positioning cylinder 29 is used for integrally positioning the stored workpieces in the mechanism; the storage bin 27 adopts a cylindrical structure with a certain length, the length can be determined according to the number of workpieces, if the number of the workpieces is more, the storage space can be increased by heightening the length; the air cylinder push rod 28 is used for pushing the workpieces to the conveying belt mechanism 6, and the air cylinder push rod 28 is controlled by signals to push the workpieces one at a time according to the requirements; the photoelectric sensor 131 is used for detecting whether a workpiece exists in the mechanism, and when no workpiece exists in the three-dimensional automatic feeding mechanism 8, the cylinder push rod 28 is not pushed.
The robot 2 realizes the tracking and grabbing process of the workpiece on the conveying belt mechanism 6 as follows: as shown in fig. 9, the conveyor mechanism 6 is operated all the time, the photoelectric sensor B32 is a start window when the robot 2 starts to perform the conveyor tracking gripping, the photoelectric sensor C33 is an end window when the robot 2 starts to perform the conveyor tracking gripping, when the workpiece 19 moves to the position of the photoelectric sensor B32, the robot 2 starts to act and moves above the workpiece, the movement speed and the real-time position of the workpiece 19 are obtained by the robot 2 through the calculation of the encoder 7, and then the pickup of the workpiece 19 is completed through the vacuum chuck 4.
The training project is that a robot conveyer belt tracks and grabs workpieces and finishes warehousing. The implementation method comprises the following steps:
the round workpieces 19 with the same size are all stored in a stock bin 27 of the three-dimensional automatic feeding mechanism 8, and the feeding time interval can be set and adjusted randomly through a program; the conveying belt mechanism 6 keeps running all the time, and when a workpiece is pushed onto the conveying belt mechanism 6 from the three-dimensional automatic feeding mechanism 8 through the cylinder push rod 28, the workpiece is automatically conveyed forwards; the robot 2 realizes the tracking and grabbing process of the workpiece on the conveying belt mechanism 6 as described in the above section; after picking up, the workpieces are sequentially sent to corresponding workpiece placement positions of two layers below the stereoscopic warehouse 9, the number of the workpiece placement positions is set to 8, when the robot 2 finishes grabbing and warehousing 8 workpieces, the system automatically stops running, and the robot 2 returns to the HOME point position to wait for subsequent instructions; the effect of the training program after completion is shown in fig. 3.
The training project is characterized in that a robot conveyer belt tracks and grabs workpieces and stacking is completed according to stacking requirements. The implementation method comprises the following steps:
likewise, the round workpieces 19 with the same size are all stored in the stock bin 27 of the three-dimensional automatic feeding mechanism 8, and the feeding time interval can be set and adjusted randomly through a program; the conveying belt mechanism 6 keeps running all the time, and when a workpiece is pushed onto the conveying belt mechanism 6 from the three-dimensional automatic feeding mechanism 8 through the cylinder push rod 28, the workpiece is automatically conveyed forwards; the robot 2 realizes the tracking and grabbing process of the workpiece on the conveying belt mechanism 6 as described in the above section; after picking up, stacking the workpieces on a tray 10 shown in fig. 1 according to a set stacking program in sequence, stopping the system automatically after the number of the workpieces set by the stacking program is finished, and returning the robot 2 to the HOME position to wait for a subsequent instruction; the effect of the training project II after completion is shown in fig. 4, and the setting of the stack type can be changed randomly through a program, so that the training project II is not limited to the stacking effect in fig. 4.
Three training projects are based on the visual system intelligent recognition workpiece specification to finish warehousing. The implementation method comprises the following steps:
the three kinds of round workpieces 20 with different sizes are stored in a storage bin 27 of the three-dimensional automatic feeding mechanism 8, the sizes of the three kinds of workpieces are different and are divided into large, medium and small workpieces, and the storage sequence is arbitrary; when any workpiece runs on the conveyor belt mechanism 6 to the position below the station of the vision system 11 shown in fig. 1, the size and the model of the workpiece can be automatically identified through the camera and the lens 22, the light source 23 and the software program shown in fig. 7 and are conveyed into the control system; after the robot 2 finishes tracking and grabbing, automatically judging the placement position corresponding to the uppermost layer of the stereoscopic warehouse 9 according to the obtained workpiece model; after all the steps are completed, the automatic operation of the system is stopped, and the robot 2 returns to the HOME point to wait for a subsequent instruction; the effect of the training project three is shown in fig. 5, the project is provided with round workpieces of three sizes, the shape and the number of the round workpieces can be changed at will according to the needs, and the training project three is not limited to the demonstration effect in fig. 5.
Four training projects are robot jigsaw based on a vision system. The implementation method comprises the following steps:
seven jigsaw pieces 21 are randomly placed at any initial position end of the conveying belt mechanism 6 by manpower, and no requirements are made on the placing position, posture and sequence of the jigsaw pieces; when the jigsaw moves to the position of the vision system 11 shown in fig. 1, the shape of the jigsaw can be automatically identified and the position error can be calculated through the camera and the lens 22, the light source 23 and the software program shown in fig. 7; after the robot 2 finishes tracking and grabbing, according to the identified jigsaw type, position and posture error, automatically judging the correct placement point of the block jigsaw, and automatically calculating the position error of the block jigsaw during grabbing, thereby accurately finishing the jigsaw pattern shape set by a program; the effect of the training project IV is shown in fig. 6, the project is set to spell square patterns by using a jigsaw puzzle, and the jigsaw puzzle and the effect patterns can be changed randomly according to the needs, so that the training project IV is not limited to the demonstration effect in fig. 6.
The foregoing describes the embodiments of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (4)
1. The utility model provides a real device of instructing of hand eye servo operation robot which characterized in that: at least comprises:
a platform formed by splicing aluminum profiles;
an industrial robot located on the upper surface of the platform; the industrial robot includes: the robot comprises a robot body, a vacuum chuck for picking up parts, a pneumatic control loop for controlling the action of the vacuum chuck, a teaching cone for coordinate system calibration, a demonstrator and a robot control system for controlling the action of the robot body; the vacuum chuck is arranged on an action arm of the robot body; the robot control system is electrically connected with the robot body;
a conveyor belt mechanism positioned on the upper surface of the platform; the conveyor belt mechanism includes: a motor for driving the conveyer belt to act; the conveying belt is positioned below the action arm;
the automatic feeding mechanism is positioned on the upper surface of the platform; the automatic feeding mechanism is positioned at the feeding end of the conveying belt;
the stereoscopic warehouse is positioned on the upper surface of the platform; the stereoscopic warehouse is positioned at the discharging end of the conveying belt; the stereoscopic warehouse is divided into three layers from top to bottom;
a tray positioned on the upper surface of the platform; the tray is positioned at one side of the conveying belt;
a vision system located above the conveyor belt; the vision system includes: the mounting bracket is arranged on the upper surface of the platform, and the camera and the light source are arranged on the mounting bracket;
a programmable controller; the I/O port of the programmable controller is electrically connected with the robot body, the motor and the automatic feeding mechanism respectively;
the industrial personal computer system is used for controlling the action of the visual system; the industrial personal computer system comprises a display and a host case provided with a vision system acquisition card; the mainframe performs data interaction with the camera through the Ethernet.
2. The hand-eye servo operation robot training device according to claim 1, wherein: and safety gratings are arranged around the upper surface of the platform.
3. The hand-eye servo operation robot training device according to claim 1, wherein: a storage cabinet for storing the programmable controller and the mainframe box is arranged below the platform; the front surface and the rear surface of the storage cabinet are both provided with doors.
4. The hand-eye servo operation robot training device according to claim 1, wherein: the automatic feeding mechanism includes: the device comprises a mounting frame arranged on a platform, a positioning bottom plate for positioning the bottom of a workpiece, a positioning cylinder for storing the workpiece in a mechanism, a storage bin with a cylindrical structure, a cylinder for pushing the workpiece onto a conveying belt, and a photoelectric sensor for detecting whether the workpiece exists or not; and a signal output terminal of the photoelectric sensor is electrically connected with a trigger terminal of the air cylinder.
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| CN201710407917.7A CN107186696B (en) | 2017-06-02 | 2017-06-02 | Practical training device for hand-eye servo operation robot |
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| CN201710407917.7A CN107186696B (en) | 2017-06-02 | 2017-06-02 | Practical training device for hand-eye servo operation robot |
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