CN204790503U - CCD automatic alignment assembles system based on robot - Google Patents
CCD automatic alignment assembles system based on robot Download PDFInfo
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- CN204790503U CN204790503U CN201520474393.XU CN201520474393U CN204790503U CN 204790503 U CN204790503 U CN 204790503U CN 201520474393 U CN201520474393 U CN 201520474393U CN 204790503 U CN204790503 U CN 204790503U
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Abstract
The utility model discloses a CCD automatic alignment assembles system based on robot, including first camera, second camera, embedded industrial computer, robot and robot control ware, the robot is controlled by the robot control ware, and robot control ware, first camera, second camera are controlled by embedded industrial computer respectively: first, two cameras are taken the image information of first, two products respectively and are delivered a letter in embedded industrial computer, and embedded industrial computer obtains the coordinate figure of impact point among the image information of first, two products to the instruction controls the machine people and counterpoints the second product and assemble in first product in view of the above. This CCD automatic alignment assembles system based on robot adopts two cameras to shoot the image information of two products respectively to acquire the coordinate of impact point, if the deviation appears in the second product space, can carry out corresponding adjustment, then assemble second product accurate location in first product according to the coordinate figure of impact point in two products, improved the equipment precision greatly.
Description
Technical field
The utility model relates to a kind of CCD automatic aligning package system based on robot.
Background technology
Along with the high speed development of science and technology, adopt robot also to get more and more to the equipment that product is assembled, but robot is when assembling by two products, if the product space be transferred or angle exist deviation, will installation quality be affected, even cause and cannot assemble.
Summary of the invention
In order to overcome above-mentioned defect, the utility model provides a kind of CCD automatic aligning package system based on robot, can judge the positional information of two products, thus realizes accurate contraposition assembling.
The utility model in order to the technical scheme solving its technical matters and adopt is: a kind of CCD automatic aligning package system based on robot, comprise first camera, second camera, built-in industrial control machine, robot and robot controller, described robot is controlled by described robot controller, this robot controller, first camera, second camera is delivered a letter respectively and is controlled by described built-in industrial control machine: this first camera and second camera are taken the image information of the first product and the second product respectively and be messaging in described built-in industrial control machine, this built-in industrial control machine obtains the coordinate figure of impact point in the image information of this first product and the second product, and instruction robot controller carrys out control and is assembled in the first product by the second product aligning accordingly.
As further improvement of the utility model, also comprise display device, this display device is controlled by described built-in industrial control machine.
As further improvement of the utility model, described first camera and second camera are CCD, the artificial four axle robots of described machine.
The beneficial effects of the utility model are: two cameras should be adopted to take the image information of two products respectively based on the CCD automatic aligning package system of robot, and undertaken by built-in industrial control machine calculating the coordinate obtaining impact point, if there is deviation in the second product space, first its position can be rotated adjustment accordingly, then making it be located accurately by the second product according to the coordinate control robot of impact point in two products is assembled in the first product, substantially increase assembly precision, ensure that product quality.
Accompanying drawing explanation
Fig. 1 is the automatic aligning of CCD shown in the utility model package system structural representation.
By reference to the accompanying drawings, make the following instructions:
1---first camera 2---second camera
3---built-in industrial control machine 4---robot
5---robot controller 6---display device
Embodiment
Below in conjunction with accompanying drawing, a preferred embodiment of the present utility model is elaborated.But protection domain of the present utility model is not limited to following embodiment, the simple equivalence namely in every case done with the utility model claim and description changes and modifies, and all still belongs within the utility model patent covering scope.
As shown in Figure 1, a kind of CCD automatic aligning package system based on robot, comprise first camera 1, second camera 2, built-in industrial control machine 3, robot 4, robot controller 5 and display device 6, robot is controlled by robot controller, this robot controller, first camera, second camera, display device is delivered a letter respectively and is controlled by described built-in industrial control machine: this first camera and second camera are taken the image information of the first product and the second product respectively and be messaging in built-in industrial control machine, this built-in industrial control machine obtains the coordinate figure of impact point in the image information of this first product and the second product, and instruction robot controller carrys out control and is assembled in the first product by the second product aligning accordingly, said process shows accordingly by display device.Wherein, described first camera and second camera are CCD, the artificial four axle robots of described machine.
The following detailed description of under, utilize the above-mentioned CCD automatic aligning package system based on robot to carry out automatic aligning assemble method, specifically comprise the following steps:
1. first camera takes the first product image, and is transferred to built-in industrial control machine, and this built-in industrial control machine, by the image processing method of track and localization, accurately finds the coordinate figure of the impact point needed in the first product image, and this impact point can be multiple;
2. robot controller control captures the second product and moves to below second camera, second camera takes the image information of this second product, and be transferred to built-in industrial control machine, this built-in industrial control machine calculates the coordinate figure of the impact point needed in acquisition second product by ROI area algorithm, this impact point also can be multiple;
3. built-in industrial control machine is according to the coordinate figure of each impact point obtained in the first product and the second product, first judge whether the position of the second product has skew, if there is skew, instruction robot controller control rotates this second product to tram, then instruction second camera takes the image information of this second product again, correct to determine this second product space; If the second product space is correct or it is correct to obtain the second product space by adjustment, then instruction robot controller captures the movement locus of the second product with control, and the second product aligning is assembled in the first product.
Wherein, described first camera and second camera are CCD, the artificial four axle robots of described machine.
As can be seen here, two cameras should be adopted to take the image information of two products respectively based on the CCD automatic aligning package system of robot and method, and undertaken by built-in industrial control machine calculating the coordinate obtaining impact point, if there is deviation in the second product space, first its position can be rotated adjustment accordingly, then making it be located accurately by the second product according to the coordinate control robot of impact point in two products is assembled in the first product, substantially increase assembly precision, ensure that product quality.
Claims (3)
1. the CCD automatic aligning package system based on robot, it is characterized in that: comprise first camera (1), second camera (2), built-in industrial control machine (3), robot (4) and robot controller (5), described robot is controlled by described robot controller, this robot controller, first camera, second camera is delivered a letter respectively and is controlled by described built-in industrial control machine: this first camera and second camera are taken the image information of the first product and the second product respectively and be messaging in described built-in industrial control machine, this built-in industrial control machine obtains the coordinate figure of impact point in the image information of this first product and the second product, and instruction robot controller carrys out control and is assembled in the first product by the second product aligning accordingly.
2. the CCD automatic aligning package system based on robot according to claim 1, is characterized in that: also comprise display device (6), this display device is controlled by described built-in industrial control machine.
3. the CCD automatic aligning package system based on robot according to claim 1, is characterized in that: described first camera and second camera are CCD, the artificial four axle robots of described machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520474393.XU CN204790503U (en) | 2015-07-03 | 2015-07-03 | CCD automatic alignment assembles system based on robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520474393.XU CN204790503U (en) | 2015-07-03 | 2015-07-03 | CCD automatic alignment assembles system based on robot |
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| CN204790503U true CN204790503U (en) | 2015-11-18 |
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| CN201520474393.XU Active CN204790503U (en) | 2015-07-03 | 2015-07-03 | CCD automatic alignment assembles system based on robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965489A (en) * | 2015-07-03 | 2015-10-07 | 昆山市佰奥自动化设备科技有限公司 | CCD automatic positioning assembly system and method based on robot |
| CN112076947A (en) * | 2020-08-31 | 2020-12-15 | 博众精工科技股份有限公司 | Bonding equipment |
-
2015
- 2015-07-03 CN CN201520474393.XU patent/CN204790503U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965489A (en) * | 2015-07-03 | 2015-10-07 | 昆山市佰奥自动化设备科技有限公司 | CCD automatic positioning assembly system and method based on robot |
| CN112076947A (en) * | 2020-08-31 | 2020-12-15 | 博众精工科技股份有限公司 | Bonding equipment |
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Address after: Suzhou City, Jiangsu Province, Yushan Town, Kunshan City, 215300 Yuan Feng Road No. 232, room 8 Patentee after: KUNSHAN KSTOPA INTELLIGENT EQUIPMENT CO., LTD. Address before: The Palestinian town of Dongrong road Kunshan city 215300 Suzhou city of Jiangsu Province Patentee before: Kunshan Baiao Automation Equipment Technology Co., Ltd. |