CN107825426A - A kind of motion control device for industrial robot based on machine vision - Google Patents
A kind of motion control device for industrial robot based on machine vision Download PDFInfo
- Publication number
- CN107825426A CN107825426A CN201711181505.2A CN201711181505A CN107825426A CN 107825426 A CN107825426 A CN 107825426A CN 201711181505 A CN201711181505 A CN 201711181505A CN 107825426 A CN107825426 A CN 107825426A
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- fixedly installed
- cylinder
- camera
- industrial robot
- supporting plate
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Classifications
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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
- 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
- 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
- B25J19/023—Optical sensing devices including video camera 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of motion control device for industrial robot based on machine vision,Including workbench,First cylinder,Supporting plate,Gag lever post,Adjustment mechanism and camera,The side of the workbench is fixedly installed the first vertical cylinder,The end of the telescopic shaft of first cylinder is fixedly installed supporting plate,Position above the workbench close to the first cylinder is fixedly installed gag lever post,The gag lever post is enclosed on the inner side of supporting plate,The side of the supporting plate is fixedly installed adjustment mechanism,The camera is fixedly mounted on below camera installing plate close to the position of workbench,It is located at by will be fixed for the camera of the collection image information of vision industrial robot on the inside of the activity box with cylinder,And activity box is movably connected in the inner side of fixed frame by screw mandrel and stepper motor,So that camera can carry out the adjustment and change of local during image collection,It is easy to the completion of image information to gather,It is simple and convenient.
Description
Technical field
The present invention relates to motion control device for industrial robot technical field, specially a kind of industry based on machine vision
Robot movement control device.
Background technology
Industrial robot is made up of three main body, drive system and control system essential parts.Main body is support and execution
There is walking mechanism in mechanism, including arm, wrist and hand, some robots.Most of industrial robots have 3~6 motions
The free degree, wherein wrist generally have 1~3 freedom of motion；Drive system includes power set and transmission mechanism, to make to hold
Row mechanism produces corresponding action；Control system is that instruction letter is sent to drive system and executing agency according to the program of input
Number, and be controlled.Industrial robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type can be along three right angles
Coordinate moves；The arm of circular cylindrical coordinate type can lift, turn round and expanding-contracting action；The arm of spherical coordinates type can turn round, pitching and
It is flexible；The arm of joint type has multiple cradle heads.Industrial robot presses the Control function of executing agency's motion, again can branch position
Type and continuous path type.Point bit-type only controls executing agency by any being accurately positioned to another point, suitable for lathe loading and unloading,
The operation such as spot welding and general carrying, handling；Continuous path type can control executing agency by given track motion, suitable for continuous
The operation such as welding and application.Feel with tactile, power or the industrial robot of simple vision, can under complex environment work
Make；Such as there is identification function or further increase adaptive, self-learning function, become intelligent industrial robot.Its energy
" macro-instruction " given according to people is free or self-compiling program deacclimatizes environment, and is automatically performed increasingly complex work.
The industrial robot with vision has the following disadvantages in the control process of motion process in the prior art：
1st, the coverage for the camera of visual information collection is limited, influences the complete collection of image.
2nd, the height of camera is inconvenient to adjust, and fluctuates larger during adjustment, influences normal use.
The content of the invention
It is an object of the invention to provide a kind of motion control device for industrial robot based on machine vision, with solution
State the problem of being proposed in background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of industrial robot fortune based on machine vision
Dynamic control device, including workbench, the first cylinder, supporting plate, gag lever post, adjustment mechanism and camera, the one of the workbench
Side is fixedly installed the first vertical cylinder, and the end of the telescopic shaft of first cylinder is fixedly installed supporting plate, the work
Make the position above platform close to the first cylinder and be fixedly installed gag lever post, the gag lever post is enclosed on the inner side of supporting plate, described
The side of supporting plate is fixedly installed adjustment mechanism, the adjustment mechanism include fixed frame, screw mandrel, stepper motor, activity box and
Second cylinder, it is fixedly connected between the side of the fixed frame and the side of supporting plate, the inner side of the fixed frame and supporting plate
Parallel is rotatably connected to screw mandrel, and the position that the outside of the fixed frame is relative with screw mandrel is fixedly installed stepper motor, institute
State and be fixedly connected between the output shaft of stepper motor and the side side of screw mandrel, the side of the activity box is fixedly installed screw
Plate, it is threadedly coupled between the screw plate and screw mandrel, the inner side other end of the activity box is fixedly installed close to the position of end
There is slide bar, be slidably connected between the activity box and slide bar, the inner side of the activity box is fixedly installed close to the side of slide bar
Second cylinder, the flexible shaft end of second cylinder are fixedly installed camera installing plate, and the camera is fixedly mounted on
Close to the position of workbench below camera installing plate.
Preferably, signal connects between the Vision information processing center of the camera and industrial robot.
Preferably, the inside of the activity box is fixedly installed chute respectively in the both sides of camera installing plate, described to take the photograph
As the both sides of head installing plate are slidably connected between chute respectively.
Preferably, the top of the gag lever post is fixedly installed limited block.
Preferably, the outside of the fixed frame is fixedly installed motor protecting cover on the outside of stepper motor.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, it is located at the activity box with cylinder by will be fixed for the camera of the collection image information of vision industrial robot
Inner side, and activity box is movably connected in the inner side of fixed frame by screw mandrel and stepper motor, so that camera is in image
The adjustment and change of local can be carried out in gatherer process, is easy to the completion of image information to gather, it is simple and convenient.
2nd, the telescopic shaft top of cylinder is located at by the way that the supporting plate of fixed adjustment mechanisms is fixed, and is fixed on the table
The gag lever post with supporting plate socket connection is provided with, so that adjustment mechanism can carry out height by the telescopic action of cylinder
Adjustment, and can keeps stable by gag lever post, and height adjustment when being easy to the industrial robot vision to gather uses.
Brief description of the drawings
Fig. 1 is overall structure front view of the present invention；
Fig. 2 is integrated regulation structural scheme of mechanism of the present invention.
In figure：1- workbench；The cylinders of 2- first；3- supporting plates；4- gag lever posts；5- adjustment mechanisms；6- limited blocks；7- is fixed
Frame；8- screw mandrels；9- stepper motors；10- screw plates；11- slide bars；12- activity box；The cylinders of 13- second；14- camera installing plates；
15- chutes；16- cameras.
Embodiment
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 carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1 and Fig. 2 are referred to, the present invention provides a kind of technical scheme：A kind of industrial robot fortune based on machine vision
Dynamic control device, including workbench 1, the first cylinder 2, supporting plate 3, gag lever post 4, adjustment mechanism 5 and camera 16, the work
The side of platform 1 is fixedly installed the first vertical cylinder 2, and the end of the telescopic shaft of first cylinder 2 is fixedly installed support
Plate 3, the position above the workbench 1 close to the first cylinder 2 are fixedly installed gag lever post 4, and the gag lever post 4 is enclosed on support
The inner side of plate 3, the side of the supporting plate 3 are fixedly installed adjustment mechanism 5, and the adjustment mechanism 5 includes fixed frame 7, screw mandrel
8th, stepper motor 9, the cylinder 13 of activity box 12 and second, it is fixed between the side of the fixed frame 7 and the side of supporting plate 3 to connect
Connect, the inner side of the fixed frame 7 it is parallel with supporting plate 3 be rotatably connected to screw mandrel 8, outside and the screw mandrel 8 of the fixed frame 7
Relative position is fixedly installed stepper motor 9, fixed between the output shaft of the stepper motor 9 and the side side of screw mandrel 8
Connection, the side of the activity box 12 is fixedly installed screw plate 10, is threadedly coupled between the screw plate 10 and screw mandrel 8, institute
The inner side other end for stating activity box 12 is fixedly installed slide bar 11 close to the position of end, between the activity box 12 and slide bar 11
It is slidably connected, the inner side of the activity box 12 is fixedly installed the second cylinder 13, second cylinder close to the side of slide bar 11
13 flexible shaft end is fixedly installed camera installing plate 14, and the camera 16 is fixedly mounted on camera installing plate 14
Below close to the position of workbench 1.
For the ease of using, signal connects between the Vision information processing center of the camera 16 and industrial robot,
The inside of the activity box 12 is fixedly installed chute 15, the camera installing plate in the both sides of camera installing plate 14 respectively
14 both sides are slidably connected between chute 15 respectively, and the top of the gag lever post 4 is fixedly installed limited block 6, the fixation
The outside of frame 7 is fixedly installed motor protecting cover in the outside of stepper motor 9.
Operation principle：During using industrial robot with vision, when needing to move adjustment region during vision collecting,
Laterally adjust and drive the rotation of screw mandrel 8 to drive the movement of activity box 12 by stepper motor 9, complete the horizontal shifting of camera 16
It is dynamic；
During vertical motion, the Slideslip in chute 15 of camera installing plate 14 is driven by the second cylinder 13；
When needing to adjust height, the first cylinder 2 is started so that the first cylinder 2 drives supporting plate 3 to rise, you can complete camera
16 height adjustment, adjustment process is simple, is easy to the motion control of the image collection of vision industrial robot, efficiently convenient.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of motion control device for industrial robot based on machine vision, including workbench（1）, the first cylinder（2）, support
Plate（3）, gag lever post（4）, adjustment mechanism（5）And camera（16）, it is characterised in that：The workbench（1）Side fix set
It is equipped with the first vertical cylinder（2）, first cylinder（2）The end of telescopic shaft be fixedly installed supporting plate（3）, the work
Make platform（1）Above close to the first cylinder（2）Position be fixedly installed gag lever post（4）, the gag lever post（4）It is enclosed on supporting plate
（3）Inner side, the supporting plate（3）Side be fixedly installed adjustment mechanism（5）, the adjustment mechanism（5）Including fixed frame
（7）, screw mandrel（8）, stepper motor（9）, activity box（12）With the second cylinder（13）, the fixed frame（7）Side and supporting plate
（3）Side between be fixedly connected, the fixed frame（7）Inner side and supporting plate（3）Parallel is rotatably connected to screw mandrel
（8）, the fixed frame（7）Outside and screw mandrel（8）Relative position is fixedly installed stepper motor（9）, the stepper motor
（9）Output shaft and screw mandrel（8）Side side between be fixedly connected, the activity box（12）Side be fixedly installed screw
Plate（10）, the screw plate（10）With screw mandrel（8）Between be threadedly coupled, the activity box（12）The inner side other end close to end
Position be fixedly installed slide bar（11）, the activity box（12）With slide bar（11）Between be slidably connected, the activity box（12）
Inner side close to slide bar（11）Side be fixedly installed the second cylinder（13）, second cylinder（13）Flexible shaft end consolidate
Surely it is provided with camera installing plate（14）, the camera（16）It is fixedly mounted on camera installing plate（14）Below close to work
Make platform（1）Position.
A kind of 2. motion control device for industrial robot based on machine vision according to claim 1, it is characterised in that：
The camera（16）Signal is connected between the Vision information processing center of industrial robot.
A kind of 3. motion control device for industrial robot based on machine vision according to claim 1, it is characterised in that：
The activity box（12）Inside in camera installing plate（14）Both sides be fixedly installed chute respectively（15）, the camera
Installing plate（14）Both sides respectively with chute（15）Between be slidably connected.
A kind of 4. motion control device for industrial robot based on machine vision according to claim 1, it is characterised in that：
The gag lever post（4）Top be fixedly installed limited block（6）.
A kind of 5. motion control device for industrial robot based on machine vision according to claim 1, it is characterised in that：
The fixed frame（7）Outside in stepper motor（9）Outside be fixedly installed motor protecting cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711181505.2A CN107825426A (en) | 2017-11-23 | 2017-11-23 | A kind of motion control device for industrial robot based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711181505.2A CN107825426A (en) | 2017-11-23 | 2017-11-23 | A kind of motion control device for industrial robot based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107825426A true CN107825426A (en) | 2018-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711181505.2A Pending CN107825426A (en) | 2017-11-23 | 2017-11-23 | A kind of motion control device for industrial robot based on machine vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109751493A (en) * | 2019-03-12 | 2019-05-14 | 天津大学 | A kind of lifting device suitable for stacked cage group inspection scene |
| CN114012720A (en) * | 2021-10-27 | 2022-02-08 | 因格(苏州)智能技术有限公司 | Robot |
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| CN107108120A (en) * | 2014-12-25 | 2017-08-29 | 株式会社大福 | Article carrying container lift transport device |
| CN207480599U (en) * | 2017-11-23 | 2018-06-12 | 纳博特南京科技有限公司 | A kind of motion control device for industrial robot based on machine vision |
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10272570A (en) * | 1997-03-31 | 1998-10-13 | Nkk Corp | Welding robot device for large structure |
| JP2002264049A (en) * | 2001-03-12 | 2002-09-18 | Ricoh Co Ltd | Table top type robot and table top type robot line |
| CN102513256A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot driving device |
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| CN204255867U (en) * | 2014-12-12 | 2015-04-08 | 金川集团股份有限公司 | A kind of core image acquisition instrument of energy fine scanning |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109751493A (en) * | 2019-03-12 | 2019-05-14 | 天津大学 | A kind of lifting device suitable for stacked cage group inspection scene |
| CN114012720A (en) * | 2021-10-27 | 2022-02-08 | 因格(苏州)智能技术有限公司 | Robot |
| CN114012720B (en) * | 2021-10-27 | 2022-12-16 | 因格(苏州)智能技术有限公司 | Robot |
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