CN203444480U

CN203444480U - Assembly line work vision locating device

Info

Publication number: CN203444480U
Application number: CN201320524592.8U
Authority: CN
Inventors: 赵盛宇; 张松岭; 田亮; 钟辉; 李勇
Original assignee: Shenzhen Hmx Laser Technology Co ltd
Current assignee: Shenzhen Hymson Laser Intelligent Equipment Co Ltd
Priority date: 2013-08-26
Filing date: 2013-08-26
Publication date: 2014-02-19
Anticipated expiration: 2023-08-26

Abstract

The utility model relates to the field of assembly line work, and provides an assembly line work vision locating device. The assembly line work vision locating device comprises a CCD vision locator, a processor, mechanism arms and a plurality of stations. Only one CCD vision locator is installed on an assembly line with the multiple stations in the locating device, motion or operation of the mechanical arms on the assembly line is calibrated or workpieces on the stations are adjusted according to position information of the workpieces located by the CCD vision locator, the whole assembly line can be located only by one CCD, and therefore cost of the assembly line is saved, and the assembly line is convenient and quick to maintain and debug.

Description

A kind of pipelining vision positioning device

Technical field

The utility model relates to pipelining field, more particularly, relates to a kind of pipelining vision positioning device.

Background technology

Along with the development of industrialization technology, pipelining has been widely applied to production and the making of product in the industries such as small stores, electronic product.During pipelining, each station on pipelining device all arranges a CCD camera, described each CCD camera positions the position of the product on its corresponding station, according to the information of location, calibrate the operating position of operating equipment on this station, thereby can utilize this technical scheme so that operating equipment is more accurate to the operation of the product on station, greatly improve the yield rate of product.But in this technical scheme, each station needs to configure CCD camera, and because CCD camera is expensive, this has caused the cost of this pipelining device high, owing to having, will carry out programming to each CCD camera, this certainly will cause maintenance and the debugging complexity of pipelining device.

Therefore, need a kind of pipelining vision positioning device, can reduce the cost of pipelining, and can reduce the complexity that streamline is safeguarded and debugged.

Summary of the invention

The purpose of this utility model is to provide a kind of pipelining vision positioning device, is intended to solve in prior art pipelining cost high, and the problem that streamline is safeguarded and debugging is complicated etc.

In order to realize the purpose of this utility model, a kind of pipelining vision positioning device, it comprises CCD vision steady arm, processor, mechanical arm and a plurality of station;

Described CCD vision steady arm, for locating the position of workpiece on the first station;

Described processor, for according to the positional information of workpiece on the first station, controls the calibration of mechanical arm or the adjustment of the location of workpiece on follow-up station, and controls the work of mechanical arm and the movement of workpiece;

Described mechanical arm moves on three dimensions, for compensating calibration according to calibration command and the workpiece on station being processed to processing.

Preferably, described CCD vision steady arm, for gathering the image of workpiece on the first station, according to the image that gathers workpiece on the first station, analyze the coordinate position of workpiece on the first station, obtain and send the location coordinate information of workpiece on the first station to processor.

Preferably, described processor, for according to the positional information of workpiece on the first station, generates calibration command, controls the compensation calibration of mechanical arm on follow-up station or the position of workpiece is adjusted; Described mechanical arm or described workpiece compensate calibration or adjust according to calibration command.

Preferably, described device also comprises transmission equipment, and described processor is for controlling the motion of transmission equipment;

Described transmission equipment, for being transferred to next station by workpiece from a station.

In technique scheme of the present utility model, the streamline of a plurality of stations, a CCD vision steady arm is only installed, and according to the positional information of the workpiece of the location of this CCD vision steady arm, come movement or the operation of mechanical arm on calibration flow waterline, or the workpiece on adjustment station, thereby realize a CCD and can locate whole streamline, this has not only saved the cost of streamline, also make the maintenance of streamline and debug more convenient, quick.

Accompanying drawing explanation

Fig. 1 is the structural representation of pipelining vision positioning device in the utility model the first embodiment.

Fig. 2 is another structural representation of pipelining vision positioning device in the utility model the first embodiment.

embodiment

For make the utility model object, technical scheme and advantage clearer, understand, below in conjunction with accompanying drawing to describing.

In conjunction with Fig. 1 and Fig. 2, the utility model proposes the first embodiment.A vision positioning device, comprises CCD vision steady arm 1, processor 2, mechanical arm 3 and a plurality of station 4.Wherein:

(1) described CCD vision steady arm 1, for locating the position of workpiece 5 on the first station 41.

Described CCD(Charge-coupled Device, charge coupled cell) can be called ccd image sensor, it is a kind of semiconductor devices, for optical image is converted into digital signal.Wherein, described CCD vision steady arm comprises CCD camera or ccd video camera.CCD vision steady arm positions the workpiece 5 on the first station 41.

(2) described processor 2, for according to the positional information of workpiece 4 on the first station 41, controls the calibration of mechanical arm 3 on follow-up station 42 or the adjustment of workpiece 4 positions, and controls the work of mechanical arm 3 and the movement of workpiece 5.Wherein, described processor 2 is integrated circuit, for the treatment of data and carry out that instruction control, operation are controlled etc.

(3) described mechanical arm 3 moves on three dimensions, for compensating calibration according to calibration command and according to the control of processor 2, the workpiece on station being processed to processing.

Described mechanical arm 3 is positioned at the top of station 4, under the control of processor 2, processes, as processing such as scolding tin, carvings for the workpiece 5 on station 4.

(4) described a plurality of station 4, for fixation workpiece.

Described station 4 is the working position on streamline, and the station 4 on described streamline has a plurality of, and CCD vision steady arm 1 is only arranged on the first station 41.Described workpiece 5 can for need arbitrarily streamline as product, such as teacup, electronic devices and components etc.According to the number of the operation of pipelining, the number of station is set.

In the technical program, the streamline of multistation, share a set of CCD vision steady arm and carry out vision location, this not only makes the cost of streamline greatly reduce, also make the debugging of streamline or safeguard simply, also having avoided on conventional flow waterline needing the CCD vision steady arm on each station debug or safeguard.

Further, CCD vision steady arm 1, for gathering the image of workpiece on the first station 41, according to the image that gathers workpiece on the first station, analyze the coordinate position of workpiece on the first station, obtain and send the location coordinate information of workpiece on the first station to processor.Wherein, described mechanical arm 3 is arranged on the top of station 4, and mechanical arm 3 moves on three dimensions.Processor 2, according to the positional information of workpiece on the first station 41, calculates the original position of workpiece and the physical location of workpiece, moving direction and distance while analyzing mechanical arm practical operation, thus generate calibration command.Mechanical arm is calibrated mobile according to calibration command, or workpiece according to the existing position of calibration command, calibrate mobile, thereby assurance mechanical arm is accurate to the operating position of workpiece.

Further, described processor 2, for according to the positional information of workpiece 5 on the first station 41, generates calibration command, controls the compensation calibration of mechanical arm on follow-up station 41 or the position of workpiece is adjusted.Wherein, described mechanical arm or described workpiece compensate calibration or adjust according to calibration command.

In above-mentioned arbitrary technical scheme, device also comprises transmission equipment 6, and described processor 2 is for controlling the motion of transmission equipment 6.Wherein, described transmission equipment 6, for being transferred to next station 4 by workpiece from a station 4.

It should be noted that typical case's application of the present utility model is not limited to streamline itself, other similar structure or the methods that also can use the utility model to set forth for product orientation in this area.

Above are only preferred embodiment of the present utility model, be not limited to the utility model, all any modifications of making, be equal to substitutions and modifications etc. within spirit of the present utility model and principle, within all should being included in the scope of the utility model protection.

Claims

1. a pipelining vision positioning device, is characterized in that, comprises CCD vision steady arm, processor, mechanical arm and a plurality of station;

2. pipelining vision positioning device according to claim 1, it is characterized in that, described CCD vision steady arm, for gathering the image of workpiece on the first station, according to the image that gathers workpiece on the first station, analyze the coordinate position of workpiece on the first station, obtain and send the location coordinate information of workpiece on the first station to processor.

3. pipelining vision positioning device according to claim 1, it is characterized in that, described processor, for according to the positional information of workpiece on the first station, generate calibration command, control the compensation calibration of mechanical arm on follow-up station or the position of workpiece is adjusted;

Described mechanical arm or described workpiece compensate calibration or adjust according to calibration command.

4. according to the pipelining vision positioning device described in any one in claims 1 to 3, it is characterized in that, described device also comprises transmission equipment, and described processor is for controlling the motion of transmission equipment;