CN203317430U - Industrial robot vision picking control system - Google Patents
Industrial robot vision picking control system Download PDFInfo
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- CN203317430U CN203317430U CN2013203655932U CN201320365593U CN203317430U CN 203317430 U CN203317430 U CN 203317430U CN 2013203655932 U CN2013203655932 U CN 2013203655932U CN 201320365593 U CN201320365593 U CN 201320365593U CN 203317430 U CN203317430 U CN 203317430U
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Abstract
The utility model discloses an industrial robot vision picking control system which comprises an industrial robot, wherein the industrial robot is connected with a robot control cabinet through an RS 232 communication cable; an execution tail end of the industrial robot is connected with an electromagnet; the electromagnet is connected with the robot control cabinet through an electromagnet controller; the robot control cabinet is connected with a PC (personal computer); the PC is connected with an image acquisition card; and the image acquisition card is further connected with a CCD (charge coupled device) camera. According to the industrial robot vision picking control system, machine vision and a real-time control technology are introduced to picking operation of the industrial robot, real-time picking operation of the industrial robot on a dynamic target is realized, the reliability and the timeliness are high, and control intelligence and independence of picking movement of the industrial robot are improved; and at the same time, the general CCD camera and the image acquisition card are used, so that the cost is greatly reduced, and the reliability is high.
Description
Technical field
The utility model belongs to industrial robot control technology field, is specifically related to the technology that a kind of industrial robot adopts CCD camera visual identity and picking action to control.
Background technology
The picking task of current industrial robot is that sequencing is controlled mostly, first to write specific operation procedure, robot carries out the program write and completes specific task, must write different robot manipulating task programs for different tasks and scene, the coding complexity, efficiency is low, for the picking action of dynamic object, even can't realize, industrial robot shortcoming independence and intelligent, operating efficiency reduces greatly.In addition, the picking up of, slim part small-sized for packing ring, nut etc., tradition is picked up end equipment and is adopted the gripper type structure, and structure is more complicated, and cost is higher.
The utility model content
Utility model purpose: in order to realize the pick-up operation of industrial robot to ferromagnetic material part dynamic objects such as packing ring, nuts, improve intelligent, independence and reliability that robot picks up motion control, the utility model provides a kind of employing CCD camera to carry out industrial robot pick-up operation device, can realize real-time pick-up operations of ferromagnetic material part such as the packing ring in motion, nuts.
Technical scheme: a kind of industrial robot vision described in the utility model picks up control system, comprise industrial robot, described industrial robot is connected with robot control cabinet by the RS232 communication cable, it is characterized in that: described industrial robot is carried out end and is provided with electromagnet, described electromagnet is connected with robot control cabinet by electromagnet controller, described robot control cabinet is connected with PC, and described PC also is connected with image pick-up card, and described image pick-up card also is connected with the CCD camera.
As optimization, described electromagnet controller is connected by the I/O port with described robot control cabinet.
As optimization, described image pick-up card is connected by the RS232 communication cable with described CCD camera.
As optimization, the pixel of described CCD camera is greater than 250,000.
Beneficial effect: the utility model is by the middle of machine vision and technique of real-time control introducing industrial robot picking task, realize the real-time pick-up operation of industrial robot to dynamic object, reliability is high, real-time, improve the intelligent and independence that industrial robot picks up motion control, man-machine cooperation is more coordinated, and greatly improves robot manipulating task efficiency, adopt universal CCD camera and built-in picture capture card, greatly reduce costs; For ferromagnetic material parts such as packing ring, nuts, pick up end equipment and adopt electromagnet to complete adhesive and discharge the part action, simple in structure, cost is low, and reliability is high.
The accompanying drawing explanation
Fig. 1 is the utility model system architecture schematic diagram.
Fig. 2 is that the utility model is to moving target pick-up operation realization flow figure.
The specific embodiment
A kind of industrial robot vision as shown in Figure 1 picks up control system, comprise industrial robot 1, industrial robot 1 is connected with robot control cabinet by the RS232 communication cable, industrial robot 1 is carried out end and is provided with electromagnet 2, electromagnet 2 is connected with robot control cabinet by electromagnet controller, robot control cabinet is connected with PC, PC also is connected with image pick-up card, described image pick-up card also is connected with CCD camera 3, wherein electromagnet controller is connected by the I/O port with robot control cabinet, image pick-up card is connected by the RS232 communication cable with CCD camera 3, the pixel of CCD camera 3 is greater than 250,000.
The RS232 communication cable that above-mentioned embodiment adopts peace river MOTOMAN-UP6 standard industry robot, XRC-UP6 robot control cabinet and communicates by letter with PC.Wherein industrial robot has 6 rotary joints, and each joint is by AC servo machinery driving, and repetitive positioning accuracy is 0.08mm.
PC adopts common computer, computer adopts Intel Pentium4 processor, Windows XP operating system, the PC Vision Plus image pick-up card that image pick-up card adopts Canadian Coreco company to produce, this jig has 12 A/D converters, sample frequency reaches 53MHz, and transfer rate reaches as high as 132MB/S, and the PCI slot of capture card and PC directly links.The CV-A11 camera that the CCD camera adopts Denmark JAI company to produce, resolution ratio is 640 * 480, pixel dimension is 7.4 μ m * 7.4 μ m, sweep speed is 30fps, aperture and focusing all need manual adjustment, the CCD camera be arranged on conveyer belt 4 visuals field directly over, on conveyer belt 4, transmitting as ferromagnetic material parts 5 such as packing ring, nuts.
As shown in Figure 2, during the industrial robot operation, the CCD camera is intermittently taken the picture signal of part 5 and is sent to image pick-up card by the video connecting line, capture card carries out obtaining digital picture after the A/D conversion to the analog signal received, PC extracts moving target (part 5 in transmission) by the background subtraction point-score, and process by GNN algorithm and Kalman filtering the image sequence that obtains the part on conveyer belt, the characteristics of motion and position, position signalling is sent to robot control cabinet by PC and controls industrial robot motion and follow the tracks of target to be picked up, as the robotic tracking to directly over target during the 6mm left and right, robot control cabinet is controlled the charged generation magnetic attraction of electromagnet coil by target pick-up by electromagnet controller, when part is moved on to desired location, robot control cabinet is controlled electromagnet coil by electromagnet controller and is cut off the power supply and make its quick demagnetization, part is discharged and puts in place rapidly.
The utility model is by the middle of machine vision and technique of real-time control introducing industrial robot picking task, realize the real-time pick-up operation of industrial robot to dynamic object, reliability is high, real-time, improve the intelligent and independence that industrial robot picks up motion control, man-machine cooperation is more coordinated, and greatly improves robot manipulating task efficiency, adopt universal CCD camera and built-in picture capture card, greatly reduce costs; For ferromagnetic material parts such as packing ring, nuts, pick up end equipment and adopt electromagnet to complete adhesive and discharge the part action, simple in structure, cost is low, and reliability is high.
Claims (4)
1. an industrial robot vision picks up control system, comprise industrial robot (1), described industrial robot (1) is connected with robot control cabinet by the RS232 communication cable, it is characterized in that: described industrial robot (1) is carried out end and is provided with electromagnet (2), described electromagnet (2) is connected with robot control cabinet by electromagnet controller, described robot control cabinet is connected with PC, described PC also is connected with image pick-up card, and described image pick-up card also is connected with CCD camera (3).
2. a kind of industrial robot vision according to claim 1 picks up control system, it is characterized in that: described electromagnet controller is connected by the I/O port with described robot control cabinet.
3. a kind of industrial robot vision according to claim 1 picks up control system, it is characterized in that: described image pick-up card is connected by the RS232 communication cable with described CCD camera (3).
4. a kind of industrial robot vision according to claim 1 picks up control system, it is characterized in that: the pixel of described CCD camera (3) is greater than 250,000.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203655932U CN203317430U (en) | 2013-06-25 | 2013-06-25 | Industrial robot vision picking control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203655932U CN203317430U (en) | 2013-06-25 | 2013-06-25 | Industrial robot vision picking control system |
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| Publication Number | Publication Date |
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| CN203317430U true CN203317430U (en) | 2013-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013203655932U Expired - Fee Related CN203317430U (en) | 2013-06-25 | 2013-06-25 | Industrial robot vision picking control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108579A (en) * | 2014-07-15 | 2014-10-22 | 上海发那科机器人有限公司 | Device and method for positioning workpiece on linear conveyor belt through visual system |
| CN104786226A (en) * | 2015-03-26 | 2015-07-22 | 华南理工大学 | Posture and moving track positioning system and method of robot grabbing online workpiece |
| CN105583857A (en) * | 2014-11-12 | 2016-05-18 | 沈阳新松机器人自动化股份有限公司 | Robot vision system |
| CN106182042A (en) * | 2015-05-29 | 2016-12-07 | 库卡罗伯特有限公司 | Equipment or object is selected by camera |
| CN107618030A (en) * | 2016-07-16 | 2018-01-23 | 深圳市得意自动化科技有限公司 | The Robotic Dynamic tracking grasping means of view-based access control model and system |
| CN111069901A (en) * | 2019-12-31 | 2020-04-28 | 昆山菲模斯汽车装备有限公司 | Cell-phone assembly visual identification device |
| CN111300405A (en) * | 2019-12-12 | 2020-06-19 | 国网山东省电力公司电力科学研究院 | Visual identification positioning device and method for mobile platform |
-
2013
- 2013-06-25 CN CN2013203655932U patent/CN203317430U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104108579A (en) * | 2014-07-15 | 2014-10-22 | 上海发那科机器人有限公司 | Device and method for positioning workpiece on linear conveyor belt through visual system |
| CN105583857A (en) * | 2014-11-12 | 2016-05-18 | 沈阳新松机器人自动化股份有限公司 | Robot vision system |
| CN104786226A (en) * | 2015-03-26 | 2015-07-22 | 华南理工大学 | Posture and moving track positioning system and method of robot grabbing online workpiece |
| CN106182042A (en) * | 2015-05-29 | 2016-12-07 | 库卡罗伯特有限公司 | Equipment or object is selected by camera |
| CN106182042B (en) * | 2015-05-29 | 2019-09-20 | 库卡罗伯特有限公司 | Equipment or object are selected by camera |
| CN107618030A (en) * | 2016-07-16 | 2018-01-23 | 深圳市得意自动化科技有限公司 | The Robotic Dynamic tracking grasping means of view-based access control model and system |
| CN111300405A (en) * | 2019-12-12 | 2020-06-19 | 国网山东省电力公司电力科学研究院 | Visual identification positioning device and method for mobile platform |
| CN111300405B (en) * | 2019-12-12 | 2021-07-30 | 国网山东省电力公司电力科学研究院 | Visual identification positioning device and method for mobile platform |
| CN111069901A (en) * | 2019-12-31 | 2020-04-28 | 昆山菲模斯汽车装备有限公司 | Cell-phone assembly visual identification device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131204 Termination date: 20140625 |
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| EXPY | Termination of patent right or utility model |