CN109278021A - It is a kind of for grabbing the robot tool system of thin-wall case class workpiece - Google Patents
It is a kind of for grabbing the robot tool system of thin-wall case class workpiece Download PDFInfo
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- CN109278021A CN109278021A CN201811187861.XA CN201811187861A CN109278021A CN 109278021 A CN109278021 A CN 109278021A CN 201811187861 A CN201811187861 A CN 201811187861A CN 109278021 A CN109278021 A CN 109278021A
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- Prior art keywords
- robot
- thin
- robot tool
- wall case
- grabbing
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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
-
- 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
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot tool systems for thin-wall case class workpiece grabbing, belong to Automatic manual transmission field, it include: robot tool, Laser emission sensor, 2D image recognition sensor, PLC module and clamping jaw etc., the robot tool is fixed on robot arm lower part with soket head cap screw, the Laser emission sensor is mounted on robot tool lower part, and laser head is directed toward workpiece, the 2D image recognition sensor is fixed on immediately below robot tool, the robot arm can be moved neatly, the PLC module is mounted on above 2D image recognition sensor.This system recognition speed faster, saves sweep time about 7 ~ 15s, and is not required to be equipped with exterior terminal processor, also not high to space requirement；Using the 3D vision system that oneself is equipped with, cost is greatly reduced, and system and algorithm are all autonomous Designs, later period debugging maintenance is more convenient and timely, is not limited by supplier technically.
Description
Technical field
It is especially a kind of for grabbing the robot tool system of thin-wall case class workpiece the present invention relates to Automatic manual transmission field
System.
Background technique
At present on the market mainly by two kinds of vision capture systems of FANUC transfer robot and contourgraph: wherein FANUC
The included iRVision intelligent vision system of transfer robot, i.e. the 3D vision system of 2D camera cooperation vision module building
Spatial position, angle judgement may be implemented in system, realizes fuzzy crawl function, and main selling point is that robot is included, complete delivery.
Station shape is scanned, is digitized into the contourgraph done in many visual apparatus supply commercial cities such as Cognex, Keyemce
Cloud point is recorded into computer, realizes three-dimensional capture, and spatial position, angle judgement may be implemented, realize fuzzy crawl, mainly sell
Point is software algorithm.But the former there is purchase and maintenance cost is higher；The latter's precision is excessively high, and feedback time is long, and the two
All there is maintenance and upgrade excessive cycle, core technology is limited to the problems such as supplier, and some equipment also needs to be equipped with outer
Boundary's terminal handler, therefore all it is difficult to meet the needs of client.
Summary of the invention
The object of the present invention is to provide a kind of using laser navigation positioning combination position feedback for fuzzy crawl thin-walled
The robot tool system of shell class workpiece, to solve the problems, such as to mention in above-mentioned background technique.
To achieve the goals above, the present invention is the following technical schemes are provided: a kind of for grabbing thin-wall case class workpiece
Robot tool system, comprising: robot tool, robot arm, Laser emission sensor, 2D image recognition sensor,
Smart camera, PLC module, transport robot, robot system, the robot tool are fixed on machine using soket head cap screw
The lower end of people's mechanical arm, the robot arm can front and back it is flexibly mobile, adjust the phase of robot tool and thin-wall case
To position and angle, the lower end of the robot tool is fixed with clamping jaw, for grabbing thin-wall case to be pressed from both sides；The machine is artificial
2D image recognition sensor and smart camera are installed, the 2D image recognition sensor is used to identify thin wall immediately below tool
The laser beam of body surface reflection, the smart camera are used to the case where shooting thin-wall case surface hot spot to calculate its spatial position
And structure, PLC module is installed above the smart camera, the PLC module is connected to by cable in robot tool
The control system of robot arm, the PLC module are used to receive the thin wall that the operation processing unit of smart camera is passed back
Then the position and structure data of body are compiled into the control system that machine instruction sends robot to, so that it is man-machine to control machine
The motion profile and posture of tool arm；The lower part of the robot tool is fixed with Laser emission sensor, and the Laser emission passes
The laser head direction thin-wall case to be pressed from both sides of sensor；The robot arm is rotatably coupled in transport robot, the transhipment
Robot using foundation bolt be fixed to thin-wall case beside suitable position, the robot system include robot tool,
Robot arm, transport robot and various connection cables.
Preferably, the vision-based detection success rate of the 2D image recognition sensor is up to 99.8%.
Preferably, the smart camera selects the industrial camera for installing vision algorithm program additional, and resolution ratio is adjustable, installation
The operation feedback time of operation processing unit is 4s.
Preferably, the success rate that the clamping jaw of the robot system repeats grabbing workpiece reaches 99%.
Beneficial effects of the present invention: this system passes through Laser emission sensor, 2D image recognition sensor and PLC module
Cooperation, realizes repetitive operation of the robot tool in robot system to the fuzzy crawl of thin-wall case class workpiece.Because
Using the 3D vision system that oneself is equipped with, advantage of lower cost, and system and algorithm belong to autonomous Design, later period debugging maintenance
It is more convenient, also more in time；In addition, also not limited by supplier technically.
Detailed description of the invention
Fig. 1 is shaft side figure of the invention；
Fig. 2 is left view of the invention；
Fig. 3 is the top view of application scenarios of the present invention；
Fig. 4 is the stereoscopic schematic diagram of application scenarios of the present invention.
It is as shown in the figure: 1, robot tool, 2, robot arm, 3, Laser emission sensor, 4,2D image recognition biography
Sensor, 5, smart camera, 6, PLC module, 7, transport robot, 8, clamping jaw, 9, thin-wall case, 10, feeding material path, 11, machine
People's system.
Specific embodiment
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 description, it is clear that described embodiment is only a part of preferred embodiment of the invention, and not all embodiment.
Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts all
Other embodiments shall fall within the protection scope of the present invention.
Embodiment 1: a kind of for grabbing the robot tool system of thin-wall case class workpiece, comprising: robot tool
(1), robot arm 2, Laser emission sensor 3,2D image recognition sensor 4, smart camera 5, PLC module 6, conveyance
Device people 7, clamping jaw 8, the robot tool 1 are fixed on the lower end of robot arm 2, the robot using soket head cap screw
Mechanical arm 2 can be neatly moved forward and backward, so that position and angle that the robot tool 1 grabs thin-wall case 9 are controlled, institute
The lower part for stating robot tool 1 is fixed with clamping jaw 8, for fixing and grabbing thin-wall case 9, the lower part of the robot tool 1
It is fixed with Laser emission sensor 3, the laser head of the Laser emission sensor 3 is towards thin-wall case 9, the robot tool
1 underface is configured with 2D image recognition sensor 4 and smart camera 5, and the 2D image recognition sensor 4 can be captured clearly
The hot spot on 9 surface of thin-wall case, for image recognition rate up to 99.8%, the smart camera 5 is the work for having installed vision algorithm program additional
There are operation processing unit in industry camera, inside, and the image resolution ratio of shooting is adjustable；The top of the smart camera 5 is equipped with PLC mould
Block 6, the PLC module 6 can be instructed according to the position and tectonic information establishment apparatus control for the thin-wall case 9 that camera is fed back,
The instruction is sent to the control system of robot arm 2 again；The rotation of mechanical arm 2 is connected in transport robot 7, institute
It transport robot 7 is stated as tool carrier is fixed on using fot screw the side of thin-wall case 9, position is by strictly counting
It calculates and tests and obtain.
Concrete operations process: robot system 11 is located at the end of a plurality of feeding material path 10, before facilitating thin-wall case 9
The work of sequence feeding.After thin-wall case feeding, the Laser emission sensor 3 positioned at 1 lower part of robot tool is to target thin
The surface-emitting laser beam of wall shell 9；The 2D image recognition sensor 4 immediately below robot tool 1 is detected and is recognized at this time
The laser facula of workpiece surface reflection, smart camera 5 start, according to the phase for requiring to shoot a certain number of 9 surfaces of thin-wall case
Piece, these photographs obtain corresponding position feedback information after the calculating analysis by the operation processing unit in smart camera 5, then
The PLC module 6 of 5 top of smart camera is transmitted the information to, PLC module 6 works out machine according to above-mentioned position feedback information
Control instruction, and corresponding apparatus control is instructed to the control system for being transferred to robot arm 2, last robot arm
2 adjust the posture and motion profile of robot tool 1 according to above-metioned instruction, and the clamping jaw 8 of its lower end is enable rapidly and accurately to grab
The thin-wall case 9 for the side of removing completes single and grabs operation.Then the robot system 1 can be repeated according to project demands
It states operation several times, repeats to grab the thin-wall case 9 on different location, until completing all operationss task.
The ingenious transport robot that itself design is combined using laser positioning airmanship of robot tool system, is completed
Fuzzy crawl of the robot tool to thin-wall case class workpiece, crawl accuracy rate is high, and repeated work is high-efficient, and cost is relatively
It is low, it is easy to maintain, comparatively ideal application effect is obtained in actual production.
It 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 variations, modification, replacement can be carried out to these embodiments 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 (8)
1. a kind of for grabbing the robot tool system of thin-wall case class workpiece, comprising: robot tool (1), machine is man-machine
Tool arm (2), Laser emission sensor (3), 2D image recognition sensor (4), smart camera (5), PLC module (6) transport machine
People (7), robot system (11) etc., it is characterised in that: it is man-machine that the robot tool using soket head cap screw is fixed on machine
The lower end of the lower end of tool arm (2), the robot tool (1) is fixed with clamping jaw (8), the underface of the robot tool (1)
It is provided with 2D image recognition sensor (4) and smart camera (5), PLC module (6) are installed above the smart camera (5),
The PLC module (6) is connected by the connection cables in robot tool (1) with the control system of robot arm (2),
The lower part of the robot tool (1) is fixed with Laser emission sensor (3), and robot arm (2) rotation is connected to
In transport robot (7), the transport robot (7) is fixed on the ground by foundation bolt.
2. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: direction of the laser head of the Laser emission sensor (3) towards thin-wall case to be pressed from both sides (9).
3. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: under working condition, the 2D image recognition sensor (4) and smart camera (5) be all located at thin-wall case to be pressed from both sides (9) just on
Side.
4. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: the vision-based detection success rate of the 2D image recognition sensor (4) is up to 99.8%.
5. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: smart camera (5) selection adds the industrial camera of vision algorithm program, includes operation processing unit, operation feedback
Time is 4s, and image resolution ratio is adjustable.
6. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: the position feedback information that the PLC module (6) can provide according to smart camera (5) works out machine instruction, guides the machine
The clamping jaw (8) that device manually has (1) lower end completes grasping movement under the drive of robot arm (2).
7. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: the robot system (11) mainly include transport robot (7), robot arm (2), robot tool (1) and respectively
Kind connection cables.
8. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: the success rate that the clamping jaw (8) of the robot system (11) repeats grabbing workpiece reaches 99%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187861.XA CN109278021B (en) | 2018-10-12 | 2018-10-12 | Robot tool system for grabbing thin-wall shell workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187861.XA CN109278021B (en) | 2018-10-12 | 2018-10-12 | Robot tool system for grabbing thin-wall shell workpieces |
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| Publication Number | Publication Date |
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| CN109278021A true CN109278021A (en) | 2019-01-29 |
| CN109278021B CN109278021B (en) | 2023-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811187861.XA Active CN109278021B (en) | 2018-10-12 | 2018-10-12 | Robot tool system for grabbing thin-wall shell workpieces |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347273A (en) * | 2019-07-12 | 2019-10-18 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN112091963A (en) * | 2019-06-18 | 2020-12-18 | 株式会社大亨 | Robot control device and robot control system |
| CN113379905A (en) * | 2021-07-16 | 2021-09-10 | 秦皇岛信能能源设备有限公司 | Wheel hub is 3D vision intelligent identification and control system for production line |
| CN113771688A (en) * | 2021-09-28 | 2021-12-10 | 安徽绿舟科技有限公司 | New energy automobile battery replacement method and device based on vision-guided battery positioning |
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| CN108568624A (en) * | 2018-03-29 | 2018-09-25 | 东风贝洱热系统有限公司 | A kind of mechanical arm welding system and welding method based on image procossing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112091963A (en) * | 2019-06-18 | 2020-12-18 | 株式会社大亨 | Robot control device and robot control system |
| CN110347273A (en) * | 2019-07-12 | 2019-10-18 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN110347273B (en) * | 2019-07-12 | 2023-04-28 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN113379905A (en) * | 2021-07-16 | 2021-09-10 | 秦皇岛信能能源设备有限公司 | Wheel hub is 3D vision intelligent identification and control system for production line |
| CN113771688A (en) * | 2021-09-28 | 2021-12-10 | 安徽绿舟科技有限公司 | New energy automobile battery replacement method and device based on vision-guided battery positioning |
| CN113771688B (en) * | 2021-09-28 | 2024-04-02 | 安徽绿舟科技有限公司 | New energy automobile power conversion method and device based on vision guiding battery positioning |
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| CN109278021B (en) | 2023-09-01 |
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