CN204725516U - A kind of single vision being applicable to pipelining coordinates multirobot navigation system - Google Patents
A kind of single vision being applicable to pipelining coordinates multirobot navigation system Download PDFInfo
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- CN204725516U CN204725516U CN201520035427.5U CN201520035427U CN204725516U CN 204725516 U CN204725516 U CN 204725516U CN 201520035427 U CN201520035427 U CN 201520035427U CN 204725516 U CN204725516 U CN 204725516U
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Abstract
The utility model belongs to field of machinery automation, relates to a kind of production line navigation system, is specifically related to a kind of single vision being applicable to pipelining and coordinates multirobot navigation system.This system comprises flow production line platform, the robot that reaches the standard grade, vision robot, the network switch and N number of execution robot; The robot that reaches the standard grade is positioned at flow production line platform front end and positive pipeline is produced platform and arranged; Vision robot and N number of execution machine per capita in the side of flow production line platform and vision robot be arranged on and reach the standard grade between robot and N number of execution robot.Use this system not only greatly reduce production cost but also structure simple, be easy to realize.
Description
Technical field
The utility model belongs to field of machinery automation, relates to a kind of production line navigation system, is specifically related to a kind of single vision being applicable to pipelining and coordinates multirobot navigation system.
Background technology
Along with the continuous progress of science and technology, industrial automaticity is more and more higher, and robot is enhancing productivity, and guarantees that the effect on the quality of production, attenuating production cost is most important.Robot application is in process of production as generally, and the position how robot operationally obtains workpiece is accurately very important.
Particularly in automatic industrial manufacturing line, vision system is needed to provide robot coordinate position for robot work.Because robot manipulation's content becomes increasingly complex, require more and more, a robot cannot meet whole line body running needs, therefore have employed the mode that multiple robots station carries out separate operations.
At present, the locate mode adopted for the multiple robots on streamline is mode one to one, is namely exactly the corresponding vision robot of an execution robot, although solve the accurate location of workpiece on streamline like this, but the cost consumed is too large, and the wasting of resources is very large.
Utility model content
In order to solve the problem in background technology, the utility model proposes a kind of structure a kind of single vision being applicable to pipelining that is simple, that be easy to realize, cost is low and coordinating multirobot navigation system.
Concrete technical scheme of the present utility model is:
The single vision being applicable to pipelining coordinates a multirobot navigation system, it is characterized in that: comprise flow production line platform, the robot that reaches the standard grade, vision robot, the network switch and N number of execution robot;
The described robot that reaches the standard grade is positioned at flow production line platform front end and positive pipeline produces platform setting; Described vision robot and N number of execution machine per capita in the side of flow production line platform and vision robot be arranged on and reach the standard grade between robot and N number of execution robot;
Described vision robot is by the network switch and the communication of N number of execution robot.
Said system also comprises N+1 position sensor; A described N+1 position sensor is installed on Production line platform; Position sensor to be positioned at immediately below vision robot and to be connected with vision robot, and all the other N number of position sensors connect one to one with N number of execution robot and are all positioned at immediately below its corresponding execution robot.
Above-mentioned N number of execution robot and vision robot arrange with side or homonymy is not arranged.
The artificial Cartesian robot of above-mentioned visual machine; The artificial two-articulated robot of described N number of execution machine or four articulated robots or six-DOF robot.
The utility model has the advantage of:
1, the present invention adopts a vision robot to the locate mode of N number of execution robot, avoids for each robot, and the mode all needing a vision system to coordinate, saves production cost greatly.
2, the present invention adopts a vision robot to the locate mode of N number of execution robot, reduce staking-out work amount, the Coordinate Conversion that vision system provides is to robot coordinate, only need an image acquisition process, coordinate data can be obtained for the Coordinate Conversion of robot 1 to robot N, improve operating efficiency.
3, the present invention adopts a vision robot to the locate mode of N number of execution robot, and shooting process only needs to complete shooting at vision robot's station, and follow-up needs carries out shooting process again, saves flow time, improves production line operating efficiency.
4, N number of execution robot of the present invention can with vision robot's homonymy or not homonymy arrange, be applicable to different flow production lines.
5, the utility model adopts N+1 position sensor, and one of them is positioned at immediately below vision robot, and all the other N number of position sensors and N number of execution robot one_to_one corresponding are arranged, and again ensure that positioning precision.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
1-reach the standard grade robot, 2-position sensor, 3-flow production line platform, 4-vision robot, 5-perform robot, the 6-network switch, 7-sequence number paste, 8-tray for work pieces.
Detailed description of the invention
Below in conjunction with accompanying drawing 1, structure of the present utility model is described:
The single vision being applicable to pipelining coordinates a multirobot navigation system, comprise flow production line platform 3, the robot 1 that reaches the standard grade, vision robot 2, the network switch 6 and N number of execution robot 5;
Wherein, the robot 1 that reaches the standard grade is positioned at flow production line platform 3 front end and positive pipeline is produced platform 3 and arranged; Vision robot 2 and N number of execution robot 5 all in the side of flow production line platform 3 and vision robot 2 be arranged on and reach the standard grade between robot 1 and N number of execution robot 5; (N is greater than 1); Vision robot 2 is by the network switch 6 and the communication of N number of execution robot 5.
In order to ensure workpiece when flow production line photographs images and pickup time location more accurate, this system also comprises N+1 position sensor 2;
Specifically, N+1 position sensor 2 is installed on Production line platform; One of them position sensor 2 to be positioned at immediately below vision robot 4 and to be connected with vision robot 4, and all the other N number of position sensors 2 connect one to one with N number of execution robot 5 and are all positioned at immediately below its corresponding execution robot 5.
Especially, it should be noted that: native system is also provided with tray for work pieces 8 on flow production line platform; Tray for work pieces 8 is provided with sequence number and pastes 7; Each sequence number pastes the station sequence number of 7 corresponding execution robots 5;
In order to adapt to different flow production lines or be applicable to different factory building layouts, in this system, N number of execution robot 5 and vision robot can arrange with side or homonymy is not arranged.
In addition, vision robot that the utility model is mentioned 4 is Cartesian robot, and N number of execution robot 5 can be two-articulated robot or four articulated robots or six-DOF robot.
Below the course of work of the present utility model is simply described:
When workpiece runs to vision robot's station by flow production line, workpiece trigger position sensor sends workpiece and puts signal in place to flow production line platform, flow production line platform is out of service, send to vision robot simultaneously and to start working signal, vision robot's setting in motion to be taken pictures location to workpiece.
Under workpiece runs to the execution artificial position of machine, trigger sensor sends the signal that puts in place and stops flow production line running, and the robot of startup execution simultaneously starts working.
The network switch completes the information interaction of vision robot and all the other N number of robots.After stopping under workpiece runs to the execution artificial position of machine, sensor-triggered performs robot and starts working, robot sends reading data command by the network switch to vision robot, vision robot send coordinate data as feedback to this execution machine human hair, performs after robot obtains data and starts to carry out work.
On the flow production line station of place work piece, against the tray for work pieces representing sequence number and paste, workpiece is placed in pallet, under workpiece reaches vision robot's station, first vision robot obtains the sequence number that sequence number is sticked, coordinate information is preserved according to sequence number, calculates the workpiece sequence number under N number of artificial position of execution machine simultaneously, and utilize the network switch that coordinate is sent to execution robot on the coordinate under corresponding sequence number.
Claims (5)
1. the single vision being applicable to pipelining coordinates a multirobot navigation system, it is characterized in that: comprise flow production line platform, the robot that reaches the standard grade, vision robot, the network switch and N number of execution robot;
The described robot that reaches the standard grade is positioned at flow production line platform front end and positive pipeline produces platform setting; Described vision robot and N number of execution machine per capita in the side of flow production line platform and vision robot be arranged on and reach the standard grade between robot and N number of execution robot;
Described vision robot is by the network switch and the communication of N number of execution robot; Wherein, N is greater than 1.
2. the single vision being applicable to pipelining according to claim 1 coordinates multirobot navigation system, it is characterized in that: also comprise N+1 position sensor; A described N+1 position sensor is installed on Production line platform; Position sensor to be positioned at immediately below vision robot and to be connected with vision robot, and all the other N number of position sensors connect one to one with N number of execution robot and are all positioned at immediately below its corresponding execution robot.
3. the single vision being applicable to pipelining according to claim 1 and 2 coordinates multirobot navigation system, it is characterized in that: also comprise the tray for work pieces be arranged on production line balance platform; Described tray for work pieces is provided with sequence number to paste.
4. the single vision being applicable to pipelining according to claim 3 coordinates multirobot navigation system, it is characterized in that: described N number of execution robot and vision robot arrange with side or homonymy is not arranged.
5. the single vision being applicable to pipelining according to claim 4 coordinates multirobot navigation system, it is characterized in that: the artificial Cartesian robot of described visual machine; The artificial two-articulated robot of described N number of execution machine or four articulated robots or six-DOF robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520035427.5U CN204725516U (en) | 2015-01-19 | 2015-01-19 | A kind of single vision being applicable to pipelining coordinates multirobot navigation system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520035427.5U CN204725516U (en) | 2015-01-19 | 2015-01-19 | A kind of single vision being applicable to pipelining coordinates multirobot navigation system |
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| CN204725516U true CN204725516U (en) | 2015-10-28 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105656260A (en) * | 2016-04-12 | 2016-06-08 | 河北工业大学 | Visual-assembly production line of motor rotor and assembly process |
| CN105905560A (en) * | 2016-05-27 | 2016-08-31 | 江苏德罗智能科技有限公司 | Full-automatic control system for dynamic grabbing and storing and control method of full-automatic control system |
| CN106774208A (en) * | 2016-12-23 | 2017-05-31 | 西安交通大学 | Group's visual machine collaborative assembly method and model system |
-
2015
- 2015-01-19 CN CN201520035427.5U patent/CN204725516U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105656260A (en) * | 2016-04-12 | 2016-06-08 | 河北工业大学 | Visual-assembly production line of motor rotor and assembly process |
| CN105656260B (en) * | 2016-04-12 | 2019-01-08 | 河北工业大学 | A kind of rotor vision assembly line and packaging technology |
| CN105905560A (en) * | 2016-05-27 | 2016-08-31 | 江苏德罗智能科技有限公司 | Full-automatic control system for dynamic grabbing and storing and control method of full-automatic control system |
| CN105905560B (en) * | 2016-05-27 | 2018-05-11 | 江苏德罗智能科技有限公司 | A kind of full-automatic control system and its control method of dynamic crawl storage |
| CN106774208A (en) * | 2016-12-23 | 2017-05-31 | 西安交通大学 | Group's visual machine collaborative assembly method and model system |
| CN106774208B (en) * | 2016-12-23 | 2017-12-26 | 西安交通大学 | Group's visual machine collaborative assembly method and model system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151028 |