CN205032395U - Robot vision sorts equipment - Google Patents

Robot vision sorts equipment Download PDF

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Publication number
CN205032395U
CN205032395U CN201520675769.3U CN201520675769U CN205032395U CN 205032395 U CN205032395 U CN 205032395U CN 201520675769 U CN201520675769 U CN 201520675769U CN 205032395 U CN205032395 U CN 205032395U
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CN
China
Prior art keywords
spider
vision
sorting arrangement
arrangement according
robot vision
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Active
Application number
CN201520675769.3U
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Chinese (zh)
Inventor
李永成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong euifeng robot Polytron Technologies Inc
Original Assignee
DONGGUAN CUIFENG METALS MACHINERY Co Ltd
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Priority to CN201520675769.3U priority Critical patent/CN205032395U/en
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Abstract

The utility model discloses a robot vision sorts equipment, including the assembly line workstation, the middle period number who is located the assembly line workstation puts and is equipped with longmen, and longmen top is equipped with the vision camera, and the low reaches position that is located longmen is equipped with a plurality of movements and postures of actors that snatch, and every snatchs and is equipped with the spider hand that the work piece was snatched in a tracking in the movements and postures of actors. The photograph scope of vision camera covers the whole horizontal span of assembly line workstation. The vision camera passes through the visual system with the spider hand and realizes the coordinate data interconnection. Visual system coordinate data is received to the spider hand and the encoder data are taken in the transportation, and the spider hand is connected with the program manipulation ware. The program manipulation ware is coordinate data operation and tracking control program manipulation ware. The utility model discloses need not to increase alone the mechanical locating means of work piece again, saving equipment cost, the parallel robot of the visual system of having arranged can sort the work piece at a high speed, and nimble fast -speed sorting operation can be realized to the spider hand, has improved production efficiency.

Description

A kind of robot vision sorting arrangement
Technical field
The utility model relates to a kind of industrial robot vision application apparatus, particularly a kind of robot vision sorting arrangement.
Background technology
In the application of industrial robot equipment, product in the past is not arranged in pairs or groups the robot of vision system, and must carry out machinery location to workpiece when sorting operation, this is often cumbersome, and slowly, process is long, and operating efficiency is low for speed.Therefore need to improve robot device.
Summary of the invention
In order to overcome the deficiencies in the prior art, the purpose of this utility model is the robot vision sorting arrangement providing a kind of vision system of having arranged in pairs or groups, can identify at a high speed and sort workpiece, can realize flexible high speed sorting operation.
The utility model solves the technical scheme that its technical problem adopts: a kind of robot vision sorting arrangement, comprise production line working platform, the interlude position being positioned at production line working platform is provided with gantry, top, gantry is provided with vision camera, the downstream position being positioned at gantry is provided with multiple crawl movements and postures of actors, and each crawl movements and postures of actors are provided with the spider that is followed the tracks of grabbing workpiece.
As the technical scheme improved further, the number of the described crawl movements and postures of actors is two.
As the technical scheme improved further, the photo cover of described vision camera covers the whole horizontal span of production line working platform.
As the technical scheme improved further, it is interconnected that described vision camera and spider realize coordinate data by vision system.
As the technical scheme improved further, described spider receives vision system coordinate data and conveyer belt encoder data, and spider is connected with program processor.
As the technical scheme improved further, described program processor is coordinate data calculation process and tracing control program process processor.
As the technical scheme improved further, described spider is to accept the manipulator that program processor controls to carry out tracking grabbing workpiece.Described manipulator comprises telescopic arm, captures finger, Driving Stepping Motor, coordinate setting scale.
The beneficial effects of the utility model are: without the need to increasing separately the mechanical positioner of workpiece again, save equipment cost, and sorting speed is fast, and flexibility is high, increases work efficiency.The parallel robot of vision system of having arranged in pairs or groups can sort workpiece at a high speed, and need not carry out machinery location to workpiece, can realize sorting operation at a high speed flexibly.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the utility model is described in further detail.
Fig. 1 is structural representation of the present utility model.
Detailed description of the invention
With reference to Fig. 1, a kind of robot vision sorting arrangement of the utility model, a kind of robot vision sorting arrangement, comprise production line working platform 1, the interlude position being positioned at production line working platform is provided with gantry 2, top, gantry is provided with vision camera 3, and the downstream position being positioned at gantry is provided with multiple crawl movements and postures of actors 4, and each crawl movements and postures of actors are provided with the spider 5 that is followed the tracks of grabbing workpiece.
As the technical scheme improved further, the number of the described crawl movements and postures of actors is two, can the clear tracking grasping movement of carrying out workpiece in order.
As the technical scheme improved further, the photo cover of described vision camera covers the whole horizontal span of production line working platform.Like this, can not vision dead zone be formed, workpiece can not be omitted not crawled.
As the further technical scheme improved, it is interconnected that described vision camera and spider realize coordinate data by vision system, thus reach coordinate setting and react rapidly tracking grabbing workpiece.
As the technical scheme improved further, described spider receives vision system coordinate data and conveyer belt encoder data, spider is connected with program processor, sends command signal by program processor computing, controls spider and carries out grasping movement accurately.
As the technical scheme improved further, described program processor is coordinate data calculation process and tracing control program process processor.
As the technical scheme improved further, described spider is to accept the manipulator that program processor controls to carry out tracking grabbing workpiece.This manipulator comprises telescopic arm, captures finger, Driving Stepping Motor, coordinate setting scale.Thus make manipulator carry out grasping movement accurately.
Robot vision sorting arrangement described in the utility model, its course of work is as follows: the workpiece on vision camera identification production line working platform conveyer belt, coordinate data is sent to vision system, vision system sends coordinate data again to spider, after spider receives vision system coordinate data and conveyer belt encoder data, through the data that program processor calculation process receives, calculate real-time crawl position and send instruction to spider, thus control spider carries out tracking crawl to workpiece.
After the utility model workpiece logs in vision system, can carry out track and localization to this workpiece, after completing track and localization, can sort, therefore, the utility model is applicable to the place that streamline batch production needs to sort workpiece.The utility model is without the need to increasing the mechanical positioner of workpiece, and save cost, flexibility is high, and sorting speed is fast, enhances productivity.
In addition, the utility model is not limited to above-mentioned embodiment, as long as it reaches technique effect of the present utility model with substantially identical means, all should belong to protection domain of the present utility model.

Claims (8)

1. a robot vision sorting arrangement, comprise production line working platform (1), it is characterized in that: the interlude position being positioned at production line working platform is provided with gantry (2), top, gantry is provided with vision camera (3), the downstream position being positioned at gantry is provided with multiple crawl movements and postures of actors (4), and each crawl movements and postures of actors are provided with the spider (5) that is followed the tracks of grabbing workpiece.
2. robot vision sorting arrangement according to claim 1, is characterized in that: the number of the described crawl movements and postures of actors is two.
3. robot vision sorting arrangement according to claim 1, is characterized in that: the photo cover of described vision camera covers the whole horizontal span of production line working platform.
4. robot vision sorting arrangement according to claim 1, is characterized in that: it is interconnected that described vision camera and spider realize coordinate data by vision system.
5. robot vision sorting arrangement according to claim 1, is characterized in that: described spider receives vision system coordinate data and conveyer belt encoder data, and spider is connected with program processor.
6. robot vision sorting arrangement according to claim 5, is characterized in that: described program processor is coordinate data calculation process and tracing control program process processor.
7. robot vision sorting arrangement according to claim 1, is characterized in that: described spider is to accept the manipulator that program processor controls to carry out tracking grabbing workpiece.
8. robot vision sorting arrangement according to claim 7, is characterized in that: described manipulator comprises telescopic arm, captures finger, Driving Stepping Motor, coordinate setting scale.
CN201520675769.3U 2015-09-02 2015-09-02 Robot vision sorts equipment Active CN205032395U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520675769.3U CN205032395U (en) 2015-09-02 2015-09-02 Robot vision sorts equipment

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Application Number Priority Date Filing Date Title
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Publications (1)

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CN205032395U true CN205032395U (en) 2016-02-17

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105944976A (en) * 2016-05-16 2016-09-21 陕西科技大学 Method and device for sorting massive gangue by using digital image processing technology
CN106198558A (en) * 2016-08-31 2016-12-07 威海康州生物工程有限公司 The process equipment of early pregnancy Test paper and method
CN106311616A (en) * 2016-10-21 2017-01-11 广州铁路职业技术学院 Parallel machine sorter and sorting method
CN108297076A (en) * 2017-12-15 2018-07-20 陕西北人印刷机械有限责任公司 A kind of turnup robot
CN109132460A (en) * 2018-07-11 2019-01-04 芜湖隆深机器人有限公司 A kind of robot is from movable pendulum intestines production line
CN109625950A (en) * 2018-10-24 2019-04-16 台州联帮机器人科技有限公司 A kind of dried bean curd automatic material distributing device
CN109807085A (en) * 2019-01-17 2019-05-28 安徽鸿森智能装备股份有限公司 Spider sorting machine people
CN109926342A (en) * 2019-03-27 2019-06-25 杭州翼道智能科技有限公司 A kind of efficient sorting system of express delivery and its method for sorting
CN111334901A (en) * 2020-02-18 2020-06-26 常熟理工学院 Goat raw wool automatic sorting device based on memristor neural network

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105944976A (en) * 2016-05-16 2016-09-21 陕西科技大学 Method and device for sorting massive gangue by using digital image processing technology
CN106198558A (en) * 2016-08-31 2016-12-07 威海康州生物工程有限公司 The process equipment of early pregnancy Test paper and method
CN106198558B (en) * 2016-08-31 2019-02-05 威海康州生物工程有限公司 The process equipment and method of early pregnancy Test paper
CN106311616A (en) * 2016-10-21 2017-01-11 广州铁路职业技术学院 Parallel machine sorter and sorting method
CN106311616B (en) * 2016-10-21 2019-11-08 广州铁路职业技术学院 Parallel manipulator sorter and method for sorting
CN108297076A (en) * 2017-12-15 2018-07-20 陕西北人印刷机械有限责任公司 A kind of turnup robot
CN109132460A (en) * 2018-07-11 2019-01-04 芜湖隆深机器人有限公司 A kind of robot is from movable pendulum intestines production line
CN109625950A (en) * 2018-10-24 2019-04-16 台州联帮机器人科技有限公司 A kind of dried bean curd automatic material distributing device
CN109807085A (en) * 2019-01-17 2019-05-28 安徽鸿森智能装备股份有限公司 Spider sorting machine people
CN109926342A (en) * 2019-03-27 2019-06-25 杭州翼道智能科技有限公司 A kind of efficient sorting system of express delivery and its method for sorting
CN111334901A (en) * 2020-02-18 2020-06-26 常熟理工学院 Goat raw wool automatic sorting device based on memristor neural network

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Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CP01 Change in the name or title of a patent holder

Address after: 523000 Dongguan City, Fenggang Province town of Yan Tian Village, South Road, No. 67

Patentee after: Guangdong euifeng robot Polytron Technologies Inc

Address before: 523000 Dongguan City, Fenggang Province town of Yan Tian Village, South Road, No. 67

Patentee before: DONGGUAN CUIFENG METALS MACHINERY CO., LTD.

CP01 Change in the name or title of a patent holder