CN107909911A - Detection arrangement experimental facilities - Google Patents
Detection arrangement experimental facilities Download PDFInfo
- Publication number
- CN107909911A CN107909911A CN201711452779.0A CN201711452779A CN107909911A CN 107909911 A CN107909911 A CN 107909911A CN 201711452779 A CN201711452779 A CN 201711452779A CN 107909911 A CN107909911 A CN 107909911A
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- CN
- China
- Prior art keywords
- workpiece
- hough transform
- detection arrangement
- warehouse
- length
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The present invention discloses a kind of detection arrangement experimental facilities, including rack, rack includes workbench, sets warehouse on the table to arrange mechanism, some workpiece being placed in warehouse, six-joint robot, the sucker clamp being arranged on six-joint robot, controller with detection；Workpiece is trapezoidal plate, including short upper bottom and long is gone to the bottom；Detection, which arranges mechanism, to be included growing the testing agency of bottom direction for detecting workpiece, is arranged on testing agency both sides for holding the different long left workpiece mounting brackets gone to the bottom towards workpiece and right workpiece mounting bracket；Hough transform station that testing agency includes being used to accommodate workpiece, be arranged on the fibre optical sensor for being used for detecting workpiece length bottom direction below hough transform station；Controller is electrically connected with six-joint robot, fibre optical sensor respectively；Six-joint robot is used for the absorption workpiece from warehouse and is put into hough transform station and puts the workpiece in left/right workpiece mounting bracket according to testing result.
Description
Technical field
The present invention relates to teaching equipment technical field, specifically a kind of detection arrangement experimental facilities.
Background technology
Robot is generalizable in industrial circle at present, does some dull, frequencies instead of people in the industrial production
Long working that is numerous and repeating.People can inevitably be felt sleepy under the operation of prolonged high intensity, be caused by subjective consciousness or so
Work mistake, inefficiency.Then robot detection arrangement is come into being, and realizes high efficiency, accurate detection arrangement.But work
Industry equipment is more, and there is the shortcomings of complicated, bulky, installation and transportation debugging is difficult, expansibility is small, of high cost；It is unfavorable
Promoted in producing in enormous quantities and imparting knowledge to students.
In order to show robot application technology, to help them develop practical abilities and a spirit of innovation as the various electromechanicals of objective
Change, industrial automation class teaching equipment, it is necessary to a kind of detection arrangement experimental facilities of exploitation.
The content of the invention
For above-mentioned technical problem, the present invention discloses a kind of detection arrangement experimental facilities.
The present invention to achieve the above object, takes following technical scheme to be achieved：
One kind detection arrangement experimental facilities, including rack, the rack include workbench, the warehouse of setting on the table
With detection arrangement mechanism, some workpiece being placed in warehouse, six-joint robot, the sucking disc clamp being arranged on six-joint robot
Tool, controller；The workpiece is trapezoidal plate, including short upper bottom and long is gone to the bottom；The detection arrangement mechanism includes being used to examine
Survey the testing agency of workpiece length bottom direction, be arranged on testing agency both sides for holding left work of the different long bottoms towards workpiece
Part mounting bracket and right workpiece mounting bracket；The testing agency is including being used to accommodate the hough transform station of workpiece, being arranged on rectangle
It is used for the fibre optical sensor for detecting workpiece length bottom direction below detection station；The controller respectively with six-joint robot, light
Fiber sensor is electrically connected；The six-joint robot is used for the absorption workpiece from warehouse and is put into hough transform station and is tied according to detection
Fruit puts the workpiece in left/right workpiece mounting bracket.
Preferably, the length of the hough transform station is identical with the long bottom length of workpiece；The hough transform station
It is wide identical with the high length of workpiece.
Preferably, the fibre optical sensor is one, is directed at any one angle of hough transform station.It can detect trapezoidal
The direction of the long bottom of workpiece.
Preferably, the fibre optical sensor is two, is respectively aligned to any two angle of hough transform station.It can detect
To the direction of the long bottom of trapezoidal workpiece.
Preferably, the length in the warehouse is identical with the long bottom length of workpiece；The high length of the width and workpiece in the warehouse
It is identical.
Preferably, the left workpiece mounting bracket is equipped with some for accommodating workpiece length bottom one end with right workpiece mounting bracket
Holding tank.
Preferably, the rack is externally provided with tempered glass guardrail.
The operation principle of the present invention is as follows：
First, (the length bottom of workpiece can forward or backward), starting device, six axis machines are put the workpiece in warehouse manually
Device people draws workpiece and is put into hough transform station and detects, so as to identify workpiece direction (direction of long bottom).When detection is tied
Fruit is long bottom towards a left side, then the workpiece is put into right workpiece mounting bracket by six-joint robot；When testing result is long bottom towards the right side, then
The workpiece is put into left workpiece mounting bracket by six-joint robot.Certainly can be with according to which workpiece mounting bracket testing result selection is put into
Choose at random.
Compared with prior art, beneficial effects of the present invention are as follows：
The configuration of the present invention is simple, small volume, installation and transportation are convenient, cost is low, impart knowledge to students easy to produce in enormous quantities and be used for
Promote, can be application technology of student's show robot in terms of workpiece direction detection is with arrangement.
Brief description of the drawings
Fig. 1 is a kind of structure diagram for detecting arrangement experimental facilities of the present invention；
Fig. 2 is the structure diagram of detection arrangement mechanism in the present invention；
Fig. 3 is the cross-sectional view of detection arrangement mechanism in the present invention；
Fig. 4 is the structure diagram in warehouse in the present invention；
Fig. 5 is the structure diagram of sucker clamp in the present invention；
Fig. 6 is the structure diagram of workpiece in the present invention.
Embodiment
With reference to embodiment, the invention will be further described, but it should be recognized that embodiment is not to this hair
Bright claimed scope is construed as limiting.
As shown in figs. 1 to 6, a kind of detection arrangement experimental facilities, including rack 1, rack 1 include workbench 2, are arranged on work
Make warehouse 3 on platform 2 and detection arrangement mechanism 4, some workpiece 5 being placed in warehouse 3, six-joint robot 6, be arranged on six axis
Sucker clamp 7, controller (not indicating) on 6 people of machine.Workpiece 5 is trapezoidal plate, including short upper bottom 51 and long bottom 52.
Detection arrangement mechanism 4 is used to hold including growing the testing agency of bottom direction for detecting workpiece, being arranged on testing agency both sides
Left workpiece mounting bracket 41 and right workpiece mounting bracket 42 of the long bottom of difference towards workpiece.Testing agency includes being used to accommodate workpiece
Hough transform station 43, be arranged on the fibre optical sensor 44 that the lower section of hough transform station 43 is used to detect workpiece length bottom direction.
Controller is electrically connected with six-joint robot 6, fibre optical sensor 44 respectively.Six-joint robot 6 is used to draw workpiece 5 from warehouse 3
It is put into hough transform station 43 and workpiece 5 is put into by left/right workpiece mounting bracket according to testing result.
The length of hough transform station 43 is identical with 52 length of long bottom of workpiece 5；The wide and workpiece 5 of hough transform station 43
High length it is identical.
Fibre optical sensor 44 can be one, an angle of alignment hough transform station 43.Fibre optical sensor 44 can also
For two, two angles of hough transform station 43 are respectively aligned to；Wherein, each angle is any for one long side of hough transform station
One angle of one end.As shown in this embodiment, the two angles are respectively the angle of two long side lower ends of hough transform station.
The length in warehouse 3 is identical with the long bottom length of workpiece 5；The high length of the wide and workpiece 5 in warehouse 3 is identical.
Left workpiece mounting bracket 41 is equipped with some appearances for being used to accommodate 52 one end of the length of workpiece 5 bottom with right workpiece mounting bracket 42
Receive groove 45.
Rack 1 is externally provided with tempered glass guardrail 8.Tempered glass guardrail 8 is equipped with electrical control panel 9, electrical control panel 9 with
Controller is electrically connected, easy to manipulate.
Sucker clamp 7 is equipped with sucker 71.
The operation principle of the present invention is as follows：
First, (the length bottom of workpiece can forward or backward), starting device, six axis machines are put the workpiece in warehouse manually
Device people draws workpiece and is put into hough transform station and detects, so as to identify workpiece direction (direction of long bottom).When detection is tied
Fruit is long bottom towards a left side, then the workpiece is put into right workpiece mounting bracket by six-joint robot；When testing result is long bottom towards the right side, then
The workpiece is put into left workpiece mounting bracket by six-joint robot.Certainly can be with according to which workpiece mounting bracket testing result selection is put into
Choose at random.
Compared with prior art, beneficial effects of the present invention are as follows：
The configuration of the present invention is simple, small volume, installation and transportation are convenient, cost is low, impart knowledge to students easy to produce in enormous quantities and be used for
Promote, can be application technology of student's show robot in terms of workpiece direction detection is with arrangement.
The technical solution provided above the embodiment of the present invention is described in detail, specific case used herein
The principle and embodiment of the embodiment of the present invention are set forth, the explanation of above example is only applicable to help and understands this
The principle of inventive embodiments；Meanwhile for those of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion this specification content should not be construed as limiting the invention.
Claims (7)
1. one kind detection arrangement experimental facilities, including rack, it is characterised in that the rack includes workbench, is arranged on work
Warehouse on platform and detection arrangement mechanism, some workpiece being placed in warehouse, six-joint robot, be arranged on six-joint robot
Sucker clamp, controller；The workpiece is trapezoidal plate, including short upper bottom and long is gone to the bottom；The detection arrangement mechanism bag
Include and the testing agency of bottom direction is grown for detecting workpiece, is arranged on testing agency both sides for holding different long bottoms towards work
The left workpiece mounting bracket of part and right workpiece mounting bracket；The testing agency is including being used to accommodate the hough transform station of workpiece, setting
Put the fibre optical sensor for being used for detecting workpiece length bottom direction below hough transform station；The controller respectively with six axis machines
Device people, fibre optical sensor are electrically connected；The six-joint robot is used for the absorption workpiece from warehouse and is put into hough transform station and root
Left/right workpiece mounting bracket is put the workpiece according to testing result.
A kind of 2. detection arrangement experimental facilities according to claim 1, it is characterised in that the length of the hough transform station
It is identical with the long bottom length of workpiece；The width of the hough transform station is identical with the high length of workpiece.
3. a kind of detection arrangement experimental facilities according to claim 1, it is characterised in that the fibre optical sensor is one
It is a, it is directed at any one angle of hough transform station.
4. a kind of detection arrangement experimental facilities according to claim 1, it is characterised in that the fibre optical sensor is two
It is a, it is respectively aligned to any two angle of hough transform station.
5. a kind of detection arrangement experimental facilities according to claim 1, it is characterised in that the length in the warehouse and workpiece
Long bottom length is identical；The width in the warehouse is identical with the high length of workpiece.
6. a kind of detection arrangement experimental facilities according to claim 1, it is characterised in that the left workpiece mounting bracket and the right side
Workpiece mounting bracket is equipped with some holding tanks for being used to accommodate workpiece length bottom one end.
7. a kind of detection arrangement experimental facilities according to claim 1, it is characterised in that the rack is externally provided with tempering glass
Glass guardrail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711452779.0A CN107909911A (en) | 2017-12-28 | 2017-12-28 | Detection arrangement experimental facilities |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711452779.0A CN107909911A (en) | 2017-12-28 | 2017-12-28 | Detection arrangement experimental facilities |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107909911A true CN107909911A (en) | 2018-04-13 |
Family
ID=61871666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711452779.0A Pending CN107909911A (en) | 2017-12-28 | 2017-12-28 | Detection arrangement experimental facilities |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107909911A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2364823A2 (en) * | 2010-03-11 | 2011-09-14 | Kabushiki Kaisha Yaskawa Denki | Robot system and transfer method |
| CN103920653A (en) * | 2014-03-14 | 2014-07-16 | 东华大学 | Integrated automatic flatness-detecting, feeding and sorting apparatus and control method |
| CN106335787A (en) * | 2016-11-18 | 2017-01-18 | 山东爱而生智能科技有限公司 | Ceramic tile online sorting device and working flow thereof |
| CN106935087A (en) * | 2017-03-21 | 2017-07-07 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform experience system |
| CN107123356A (en) * | 2017-03-21 | 2017-09-01 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform practical training method |
| CN107152910A (en) * | 2017-05-19 | 2017-09-12 | 成都福莫斯智能系统集成服务有限公司 | A kind of porcelain shell Dimension Automatic Test And Measurement System |
| CN107192357A (en) * | 2017-05-19 | 2017-09-22 | 成都福莫斯智能系统集成服务有限公司 | It is a kind of to carry out porcelain shell size automatic testing method using robot |
| CN208548096U (en) * | 2017-12-28 | 2019-02-26 | 肇庆三向教学仪器制造股份有限公司 | Detection arrangement experimental facilities |
-
2017
- 2017-12-28 CN CN201711452779.0A patent/CN107909911A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2364823A2 (en) * | 2010-03-11 | 2011-09-14 | Kabushiki Kaisha Yaskawa Denki | Robot system and transfer method |
| CN103920653A (en) * | 2014-03-14 | 2014-07-16 | 东华大学 | Integrated automatic flatness-detecting, feeding and sorting apparatus and control method |
| CN106335787A (en) * | 2016-11-18 | 2017-01-18 | 山东爱而生智能科技有限公司 | Ceramic tile online sorting device and working flow thereof |
| CN106935087A (en) * | 2017-03-21 | 2017-07-07 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform experience system |
| CN107123356A (en) * | 2017-03-21 | 2017-09-01 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform practical training method |
| CN107152910A (en) * | 2017-05-19 | 2017-09-12 | 成都福莫斯智能系统集成服务有限公司 | A kind of porcelain shell Dimension Automatic Test And Measurement System |
| CN107192357A (en) * | 2017-05-19 | 2017-09-22 | 成都福莫斯智能系统集成服务有限公司 | It is a kind of to carry out porcelain shell size automatic testing method using robot |
| CN208548096U (en) * | 2017-12-28 | 2019-02-26 | 肇庆三向教学仪器制造股份有限公司 | Detection arrangement experimental facilities |
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