CN108582080A - A kind of industrial robot crawl positioning system - Google Patents
A kind of industrial robot crawl positioning system Download PDFInfo
- Publication number
- CN108582080A CN108582080A CN201810636765.2A CN201810636765A CN108582080A CN 108582080 A CN108582080 A CN 108582080A CN 201810636765 A CN201810636765 A CN 201810636765A CN 108582080 A CN108582080 A CN 108582080A
- Authority
- CN
- China
- Prior art keywords
- unit
- controller
- data
- connecting pin
- human agent
- Prior art date
- 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.)
- Pending
Links
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
- B25J9/1694—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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robots to capture positioning system, including controller and mechanical human agent, the controller input terminal is provided with CCD camera, the controller connecting pin is provided with control unit, described control unit connecting pin is provided with rotating unit and placement unit, the rotating unit and placement unit output end are connect with mechanical human agent's input terminal, the controller connecting pin is provided with alarm unit and communication unit, the machinery human agent connecting pin is provided with gripper, and the controller output end is provided with emergency braking unit.The present invention carries out data acquisition to object in real time using CCD camera; and the running orbit or deposit position of object are obtained after central processing unit is handled; then control unit control machinery human agent and gripper is utilized to realize crawl and positioning to object; to improve locating accuracy, industrial robot working efficiency is improved.
Description
Technical field
The present invention relates to robot system field, more particularly to a kind of industrial robot captures positioning system.
Background technology
With the raising of industrial automation level, the application of robot deepens continuously and perfect.Machine person cooperative work is got over
It is concerned by people more, but present industrial robot degree of flexibility is low, single grab can only be completed according to study course
It takes and installs, corresponding judgement can not be made according to the different position of object, in process of production, need a large amount of robot total
With working, industrial production is realized, not only increase production cost in this way, and a large amount of robot works together, and occupies
A large amount of space.Therefore, it is necessary to solve the above problems to invent a kind of industrial robot crawl positioning system.
Invention content
The purpose of the present invention is to provide a kind of industrial robots to capture positioning system, using CCD camera in real time to object
Data acquisition is carried out, and obtains the running orbit or deposit position of object after central processing unit is handled, is then utilized
Control unit control machinery human agent and gripper realize crawl and positioning to object, to solve to propose in above-mentioned background technology
Present industrial robot degree of flexibility it is low, single crawl and installation can only be completed according to study course, can not be according to object not
Corresponding judgement is made in same position, in process of production, a large amount of robot is needed to work jointly, realizes industrial production
The problem of.
To achieve the above object, the present invention provides the following technical solutions：A kind of industrial robot crawl positioning system, including
Controller and mechanical human agent, the controller input terminal are provided with CCD camera, and it is single that the controller connecting pin is provided with control
Member, described control unit connecting pin are provided with rotating unit and placement unit, the rotating unit and placement unit output end with
Mechanical human agent's input terminal connection, the controller connecting pin are provided with alarm unit and communication unit, the machinery human agent
Connecting pin is provided with gripper, and the controller output end is provided with emergency braking unit, the emergency braking unit output end
It is connect with mechanical human agent and gripper input terminal.
Preferably, central processing unit is provided in the controller, the central processing unit includes data receipt unit, number
According to analytic unit, data processing unit, Date Conversion Unit and order unit, the data receipt unit output end and data point
The connection of unit input terminal is analysed, the data analysis unit output end is connect with data processing unit input terminal, the data processing
Unit output end is connect with Date Conversion Unit input terminal, and the Date Conversion Unit output end connects with order unit input terminal
It connects.
Preferably, the data processing unit connecting pin is provided with processing unit received data for storing data
Storage unit.
Preferably, the communication unit connecting pin is provided with terminal, and the terminal is set as mobile phone or computer, and terminal is logical
The one kind crossed in Ethernet, bluetooth or GPRS network data is connect with communication unit.
Preferably, the mechanical human agent is composed of multiple joints, and mutually activity between multiple joints
Connection.
Preferably, the alarm unit includes alarm lamp and alarm buzzer.
Preferably, the controller model is set as KY02S.
The technique effect and advantage of the present invention：
1, data acquisition is carried out to object in real time using CCD camera, and object is obtained after central processing unit is handled
Running orbit or deposit position, then control unit control machinery human agent and gripper is utilized to realize the crawl to object
And positioning improves industrial robot working efficiency to improve locating accuracy；
2, by the setting of alarm unit, be conducive to analyze mechanical human agent in central processing unit or event occurs for gripper
When barrier, warning reminding staff nearby is made in time, while control unit utilizes emergency braking unit control machinery human agent
Or gripper carries out emergency braking, avoids the mechanical human agent to break down or the uncontrolled and random work of gripper, subtracts
It is lost caused by few；
3, the configuration of the present invention is simple, it is easy to operate, it is safe to use, intellectualized operation and remote control are combined as a whole,
The intelligent crawl positioning for realizing industrial robot, to substantially increase machine task efficiency.
Description of the drawings
Fig. 1 is present system schematic diagram.
Fig. 2 is central processing unit structural schematic diagram of the present invention.
In figure：1 controller, 2 mechanical human agents, 3CCD cameras, 4 control units, 5 rotating units, 6 placement units, 7 alarms
Unit, 8 communication units, 9 grippers, 10 emergency braking units, 11 central processing units, 12 data receipt units, 13 data analyses
Unit, 14 data processing units, 15 Date Conversion Units, 16 order units, 17 storage units, 18 terminals.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
Positioning system, including controller 1 and mechanical human agent 2, institute are captured according to a kind of industrial robot shown in Fig. 1-2
It states 1 input terminal of controller and is provided with CCD camera 3,1 connecting pin of the controller is provided with control unit 4, described control unit 4
Connecting pin is provided with rotating unit 5 and placement unit 6, the rotating unit 5 and 6 output end of placement unit and mechanical human agent 2
Input terminal connects, and 1 connecting pin of the controller is provided with alarm unit 7 and communication unit 8,2 connecting pin of the machinery human agent
It is provided with gripper 9,1 output end of the controller is provided with emergency braking unit 10,10 output end of emergency braking unit
It is connect with mechanical human agent 2 and 9 input terminal of gripper.
The advantageous effect of the present embodiment：Data acquisition is carried out to object in real time using CCD camera 3, and passes through centre
Reason device 11 obtains the running orbit or deposit position of object after handling, and then utilizes 4 control machinery human agent of control unit, 2 He
Gripper 9 realizes that crawl and positioning to object improve industrial robot working efficiency to improve locating accuracy,
By the setting of alarm unit 7, be conducive to when central processing unit 11 analyzes mechanical human agent 2 or gripper 9 breaks down,
Make warning reminding staff nearby in time, at the same control unit 4 using 10 control machinery human agent 2 of emergency braking unit or
Gripper 9 carries out emergency braking, avoids the mechanical human agent 2 to break down or the uncontrolled and random work of gripper 9, subtracts
It is lost caused by few.
Embodiment 2
As different from Example 1：
Central processing unit 11 is provided in the controller 1, the central processing unit 11 includes data receipt unit 12, number
According to analytic unit 13, data processing unit 14, Date Conversion Unit 15 and order unit 16, the data receipt unit 12 exports
End is connect with 13 input terminal of data analysis unit, and 13 output end of the data analysis unit connects with 14 input terminal of data processing unit
It connects, 14 output end of the data processing unit is connect with 15 input terminal of Date Conversion Unit, and the Date Conversion Unit 15 exports
End is connect with 16 input terminal of order unit.
14 connecting pin of the data processing unit is provided with depositing for 14 received data of processing unit for storing data
Storage unit 17.
8 connecting pin of the communication unit is provided with terminal 18, and the terminal 18 is set as mobile phone or computer, and terminal 18 is logical
The one kind crossed in Ethernet, bluetooth or GPRS network data is connect with communication unit 8, is advantageously implemented remote control, is avoided
Staff is set to be on the scene in time suddenly because of interim accident, loss caused by increase due to failure.
The machinery human agent 2 is to be composed of multiple joints, and be mutually flexibly connected between multiple joints, is had
Conducive to the flexibility of raising machinery human agent 2.
The alarm unit 7 includes alarm lamp and alarm buzzer, is conducive to analyze machine in central processing unit 11
When tool human agent 2 or gripper 9 break down, warning reminding staff nearby is made in time, to reduce caused by failure
Loss.
1 model of the controller is set as KY02S.
The operation principle of the present invention：
Referring to Fig.1：When work, the neighbouring each group of data of the acquisition in real time of CCD camera 3, and by the collected data transfer of institute
To controller 1；
With reference to Fig. 2：Data receipt unit 12 in central processing unit 11 receives data that CCD camera 3 is transmitted and defeated
Data analysis unit 13 is given, data analysis unit 13 analyzes received data, some useless data are carried out
It deletes, data processing unit 14 is passed to after then being arranged data, data processing unit 14 is to being received into traveling
Command signal is converted by Date Conversion Unit 15 after row processing, and passes to order unit 16 and sends corresponding instruction,
Data processing unit 14 stores handled data transfer to storage unit 17 simultaneously, is called convenient for the later stage；
Referring to Fig.1：Control unit 4 receives the command signal that order unit 16 is transmitted, and using rotating unit 5 and grabs
Taking unit 6, control machinery human agent 2 and gripper 9 are rotated and are captured according to the 3 collected data of institute of CCD camera respectively,
Realize precise positioning, when order unit 16 transmitted be danger signal when, control unit 4 passes through emergency braking unit 10 immediately
Control machinery human agent 2 and gripper 9 carry out emergency braking, while signal is passed to alarm unit 7 and reported by controller 1
It is alert, remind staff nearby；
Referring to Fig.1：When work, this operating method is not limited to the above method, and terminal 18 can also be used and pass through Ethernet, indigo plant
One kind in tooth or GPRS network data is remotely connect with communication unit 8, and realization assigns instructions to controller 1, from
And reach the purpose of the present invention.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (7)
1. a kind of industrial robot captures positioning system, including controller (1) and mechanical human agent (2), it is characterised in that：It is described
Controller (1) input terminal is provided with CCD camera (3), and controller (1) connecting pin is provided with control unit (4), the control
Unit (4) connecting pin is provided with rotating unit (5) and placement unit (6), the rotating unit (5) and placement unit (6) output
End is connect with mechanical human agent (2) input terminal, and controller (1) connecting pin is provided with alarm unit (7) and communication unit
(8), described mechanical human agent (2) connecting pin is provided with gripper (9), and controller (1) output end is provided with emergency braking
Unit (10), emergency braking unit (10) output end are connect with mechanical human agent (2) and gripper (9) input terminal.
2. a kind of industrial robot according to claim 1 captures positioning system, it is characterised in that：The controller (1)
It is inside provided with central processing unit (11), the central processing unit (11) includes data receipt unit (12), data analysis unit
(13), data processing unit (14), Date Conversion Unit (15) and order unit (16), data receipt unit (12) output
End is connect with data analysis unit (13) input terminal, and data analysis unit (13) output end and data processing unit (14) are defeated
Enter end connection, data processing unit (14) output end is connect with Date Conversion Unit (15) input terminal, the data conversion
Unit (15) output end is connect with order unit (16) input terminal.
3. a kind of industrial robot according to claim 2 captures positioning system, it is characterised in that：The data processing list
First (14) connecting pin is provided with the storage unit (17) of processing unit (14) received data for storing data.
4. a kind of industrial robot according to claim 1 captures positioning system, it is characterised in that：The communication unit
(8) connecting pin is provided with terminal (18), and the terminal (18) is set as mobile phone or computer, and terminal (18) passes through Ethernet, indigo plant
One kind in tooth or GPRS network data is connect with communication unit (8).
5. a kind of industrial robot according to claim 1 captures positioning system, it is characterised in that：The machinery human agent
(2) it is to be composed of multiple joints, and be mutually flexibly connected between multiple joints.
6. a kind of industrial robot according to claim 1 captures positioning system, it is characterised in that：The alarm unit
(7) include alarm lamp and alarm buzzer.
7. a kind of industrial robot according to claim 1 captures positioning system, it is characterised in that：The controller (1)
Model is set as KY02S.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810636765.2A CN108582080A (en) | 2018-06-20 | 2018-06-20 | A kind of industrial robot crawl positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810636765.2A CN108582080A (en) | 2018-06-20 | 2018-06-20 | A kind of industrial robot crawl positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108582080A true CN108582080A (en) | 2018-09-28 |
Family
ID=63628822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810636765.2A Pending CN108582080A (en) | 2018-06-20 | 2018-06-20 | A kind of industrial robot crawl positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582080A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1026560A1 (en) * | 1998-08-21 | 2000-08-09 | Matsushita Electric Industrial Co., Ltd. | Robot controller and control method |
| CN103042528A (en) * | 2011-10-14 | 2013-04-17 | 鸿富锦精密工业（深圳）有限公司 | Robot controlling device and circuit board picking-up method thereof |
| CN106272483A (en) * | 2016-08-31 | 2017-01-04 | 江门市第职业高级中学 | A kind of high in the clouds controls mechanical hand |
| CN206474704U (en) * | 2017-02-15 | 2017-09-08 | 苏州华天视航智能装备技术有限公司 | A kind of laser vision automatic drilling device of turning |
| CN107150358A (en) * | 2017-07-11 | 2017-09-12 | 孙成波 | A kind of robot fault investigation detecting system and method |
-
2018
- 2018-06-20 CN CN201810636765.2A patent/CN108582080A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1026560A1 (en) * | 1998-08-21 | 2000-08-09 | Matsushita Electric Industrial Co., Ltd. | Robot controller and control method |
| CN103042528A (en) * | 2011-10-14 | 2013-04-17 | 鸿富锦精密工业（深圳）有限公司 | Robot controlling device and circuit board picking-up method thereof |
| CN106272483A (en) * | 2016-08-31 | 2017-01-04 | 江门市第职业高级中学 | A kind of high in the clouds controls mechanical hand |
| CN206474704U (en) * | 2017-02-15 | 2017-09-08 | 苏州华天视航智能装备技术有限公司 | A kind of laser vision automatic drilling device of turning |
| CN107150358A (en) * | 2017-07-11 | 2017-09-12 | 孙成波 | A kind of robot fault investigation detecting system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105137860B (en) | Industry mechanical arm remotely monitor based on internet and control system | |
| CN103922227B (en) | Hoisting crane monitoring management system | |
| CN205545375U (en) | Jack -up mechanical safety monitors management system | |
| CN105573257A (en) | Remote monitoring method for sewage treatment | |
| CN202886949U (en) | Large-scale temporary punching type supersonic velocity wind tunnel digitalized networked safety monitoring system | |
| CN101673420A (en) | System and method for comprehensively examining wireless sensor network node | |
| CN207802183U (en) | A kind of construction site total management system | |
| CN107784819A (en) | A kind of refrigerating box electric power carrier wave remote monitoring system | |
| CN112276946A (en) | Robot application system based on industrial internet platform | |
| CN205029437U (en) | Transformer station inspection robot off -line monitoring system | |
| CN209304588U (en) | Robot coordinated control system based on dual network framework | |
| CN108582080A (en) | A kind of industrial robot crawl positioning system | |
| CN106871960A (en) | A kind of building intelligence wireless monitor system and method | |
| CN205353708U (en) | Two real -time monitoring system that live of application data | |
| CN114531619A (en) | Construction site monitoring method and system based on edge calculation | |
| CN206427946U (en) | Tower crane monitoring system | |
| CN212696024U (en) | Automatic control system of small garbage transfer station with remote monitoring and control functions | |
| CN108777705A (en) | A kind of industrial intelligent manufacture system | |
| CN112186077B (en) | Intelligent manufacturing control system for whole solar cell factory | |
| CN209086736U (en) | More power station opening and closing device long-distance intelligent total management systems | |
| CN112822292A (en) | Safety inspection system and method based on Internet of things | |
| CN201876725U (en) | Wireless control device for industrial robot | |
| CN215187089U (en) | Remote intelligent monitoring software system | |
| CN206021061U (en) | A kind of long distance control system for being applied to flare system | |
| CN101281406B (en) | Tower crane automatic safety monitoring system and method based on WinMAX |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180928 |