CN205572431U - System of assembling of intelligent vision robot - Google Patents
System of assembling of intelligent vision robot Download PDFInfo
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- CN205572431U CN205572431U CN201620021608.7U CN201620021608U CN205572431U CN 205572431 U CN205572431 U CN 205572431U CN 201620021608 U CN201620021608 U CN 201620021608U CN 205572431 U CN205572431 U CN 205572431U
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Abstract
The utility model provides a system of assembling of intelligent vision robot, including host computer, manipulator and vision equipment, the host computer passes through the ethernet and is connected with the manipulator for control of manipulator's motion, vision equipment passes through ethernet and host computer communication connection, triggers the formation of image back at vision equipment, when carrying out image processing, sends image data to host computer through the ethernet to accomplish from the concrete position in article place that the image mesoanlysis obtained. The utility model discloses system integration is high, and the modularized design makes intelligent vision and robot brand combination collocation wantonly, and inside has abundant article model database, can assemble multiple article, in the article model arrives this system through self -defined type is additive to according with the user's request, simultaneously, possessing the calibration module of high accuracy, make the picking and placing material very accurate, whole functioning speed is fast. The utility model discloses system easy operation, it only needs to use on the computer this system host computer can to go up the electricity back.
Description
Technical field
This utility model belongs to field of machine vision, particularly relates to the assembling system of a kind of intelligent vision robot.
Background technology
Along with arrival and country's " made in China 2025 " strategical planning of " industry 4.0 ", " machine substitution " is to promote tradition
Manufacturing industry realizes an Important Action of industrial transformation upgrading, and various " machine substitution " technology will obtain in these epoch
To extensively application.For many years, robot is mainly in the working site of the mechanical movement realizing repetitive, such as robot piling, machine
Device people's welding etc., and the application of robot vision is paid close attention to by more and more manufacturers, the assembly of a kind of intelligent vision robot
System is arisen at the historic moment the most in this context, makes " machine substitution " application be enriched.
Prior art: the application of existing robot vision has:
1. vision robot: belong to robot manipulation field, including vision support, photographic head, cutting table, cutting knife and machine
People forms, and is wherein controlled the operation of robot by holding wire, has the beneficial effect that structure humanization designing, simple to operate, improves
The accuracy cut off, and also can complete voluntarily to pile up work；
2. four axle robot systems of band vision: four axle robot systems of a kind of band vision, relate to four systems of axle robot
Commander territory.The present invention solves the problem that existing four axle robot systems can not meet the needs of actual production.A kind of band
Four axle robot systems of vision, it includes that four axle robot bodies, four axles control drive system, some sensors and master control system
System；Sensor includes imageing sensor；Independent lighting source it is provided with near each imageing sensor；Master control system is by image
Identification module, framing module, image measurement module, image data processing module, control module form；Master control system is also
Including fault detect and alarm module.A kind of four axle robot systems of the band vision of the present invention in production line to replace people
Work operates；This system can the crawl of complete independently material in various different production lines, place and detect work；This is
Four axle robot bodies of system can be customized according to the different demands of user, to meet the needs of production；
3. visual identity industrial robot: mainly applicable industry streamline intelligentized control method field, particularly in manual work
Inefficient or artificial vision is beyond one's reach environment, replaces manual work, to improve work efficiency and to realize the production automation.
Use embedded vision system, the part such as including Image Acquisition, pretreatment, feature extraction and matching.Visual identity industrial machine
The goal of the invention of people is to provide a kind of then applicable industry streamline intelligentized control method.Its technical characterstic is to use target designation,
Image procossing-module coupling and outline identification.Use gray level image to control industrial flow-line Automated condtrol cost, utilize small echo
The methods such as exchange carry out noise reduction according to the different noise classifications occurred in image, for pretreated image, intend based on Canny
Algorithm carries out feature extraction and obtains the characteristic information that we are required.
Existing vision robot's assembly system is mostly that fixed position relative captures, and splices article, the initial pose of article
Being all fixing with stopping pose, motility is poor, and assembly precision and speed are the highest, and device is more complicated, complex operation, uses
External visual apparatus is expensive, and does not possess the assembled molding function identifying variation article, in use such as difference
Structure or article then need reprogramming operation, and artificial and time cost is greatly increased, and versatility is extremely low.
Utility model content
In order to solve above-mentioned technical problem, the purpose of this utility model is to pick up and place material very precisely, overall fortune
The assembling system of a kind of intelligent vision robot that line speed is fast.
In order to realize above-mentioned purpose, this utility model have employed following technical scheme:
Thering is provided the assembling system of a kind of intelligent vision robot, including host computer, mechanical hand and visual apparatus, host computer passes through
100M/1000M Ethernet is connected with mechanical hand, in order to control the motion of mechanical hand；Visual apparatus passes through 100M/1000M ether
Net and host computer communicate to connect, after visual apparatus triggers imaging, while carrying out image procossing, by 100M/1000M with
Too net transmission view data is to host computer, to complete to analyze the article place particular location obtained from image.I.e. host computer passes through
100M/1000M Ethernet controls visual apparatus image reading and process, arranges parameter etc., needs before use to configure respective IP
For the same network segment, as " 192.168.1.x ".
As preferably, described arm end is provided with electrically controllable fixture fixture, and visual apparatus is arranged on the electricity of arm end can
Control fixture fixture middle, with more preferable imaging.
As preferably, described arm end is provided with sucker.
Compared with prior art, this utility model has the advantages that
This utility model level of integrated system is high, modularized design make intelligent vision and robot can any brand combination collocation, interior
Portion has abundant object model data base, can assembled various article, object model can add native system to by customization type
In, to meet user's request, meanwhile, possess high-precision demarcating module so that pick up and place material very accurate, overall
The speed of service is fast.This utility model system is simple to operate, only need to use native system host computer on computers after powering on.
Accompanying drawing explanation
Fig. 1: main system block diagram in this utility model；
Fig. 2: the main working process figure of visual apparatus in this utility model；
Fig. 3: mechanical hand main working process figure in this utility model；
Fig. 4: host computer major design flow chart in this utility model；
Fig. 5: main working process figure of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is made a detailed explanation.
As shown in Fig. 1～5, the present embodiment provides the specific embodiment of the assembling system of a kind of intelligent vision robot, and Fig. 1 is one
Planting the assembling system block diagram of intelligent vision robot, native system mainly includes that the assembling system having installed intelligent vision robot is upper
The computer of machine, possesses mechanical hand and visual apparatus that ethernet communication controls, electrically controllable fixture, workbench, assembled article, line
Cable is some.
Wherein, computer end host computer by 100M/1000M Ethernet control the motion of mechanical hand and visual apparatus image reading with
Processing, arrange parameter etc., needing before use to configure respective IP is the same network segment, as being all " 192.168.1.x ".
Visual apparatus is arranged on manipulator fixture middle, with more preferable imaging.Article can any attitude on the basis of not stacking
Lying in working area, the size of working area defines with visual apparatus cog region.
The main working process figure of Fig. 2 visual apparatus, visual apparatus Main Function in this application is to provide accurate for robot motion
True take-off location information, Fig. 2 is its main working process figure, after visual apparatus is opened, initializes internal each operational module,
Obtain the initial setting up such as exposure rate, imaging size, gain, wait that host computer is by, after Ethernet connection equipment, loading and run
The last operation, this operation host computer can redefine and change at any time.The moment of visual apparatus seizure image can be chosen
Position machine, mechanical hand and inside carry out trigger control, host computer by Ethernet connect control, mechanical hand is controlled by I/O, its
Internal adjustable whole for continuous print or timing triggering pattern.After equipment triggers imaging, while carrying out internal image process, logical
Cross Ethernet send view data to host computer, to complete to analyze the article place particular location obtained from image.
Fig. 3 mechanical hand main working process figure, mechanical hand is main actuator in this application, by controlling tool ends end
Fixture or sucker pickup and placing articles, its software main working process is as it is shown on figure 3, after mechanical hand powers on, initialize internal
Each functional module and each joint, start mechanical hand, and robot movement can be integrated into inside by user program, it is possible to by upper
Position machine or demonstrator directly transmit control command and make it perform specific action.A most complete action first to be closed sucker or to beat
Open fixture, move to article position, open sucker or the fixture that closes, after pickup article, move to target location, close
Sucker or open fixture, placing articles, finally move to home position.
Fig. 4 host computer broad flow diagram, host computer exercises ownership in this application, its main working process as shown in Figure 4,
Open host computer, after loading internal module, be connected to vision and the robotic device of this network, choosing by the inquiry of computer Ethernet interface
Select and be connected to equipment, obtaining in real time mechanical hand and be correlated with pose kinestate, actively triggering or passive etc. to be received set from vision
The current visual angle image information that preparation is come, analyzes image, obtains article position, and calculating machine hands movement pose also exports analysis knot
Fruit, to mechanical hand, carries out the pickup of next article after waiting mechanical hand execution.This host computer is contained within self-defining multiple thing
One concrete article is decomposed in this data base by product combined data base, each self-defined for each parts of article, combination
Go out the assembled order of a kind of optimum.After this data base can add the data of article and parts by host computer, automatically generate, it is not necessary to
Carry out operation bidirectional.
The main working process of the assembling system of a kind of intelligent vision robot of this utility model is as shown in Figure 5.Open mechanical hand with
Visual apparatus power supply, after starting host computer, clicks on after connecting appliance icon in host computer, carries out system calibrating.System calibrating bag
Including visual apparatus inside and outside parameter to demarcate, visual apparatus position of manipulator relation demarcates two parts.
First, the pose data needed for utilizing host computer to gather image and record demarcation, scaling board is fixed to arm end,
Mobile manipulator to some point, and trigger visual apparatus adopt as and record mechanical hand terminal position.
Then, the image gathered and pose data are utilized to calculate the intrinsic parameter of visual apparatus, the phase para-position between two visual apparatus
Put, and calculate the relative position of visual apparatus and mechanical hand support simultaneously.
After demarcation completes, mobile manipulator to initial position, it is contained within various article assembled model data base at host computer, in storehouse
Information and assembled order to each article all parts, then compare with visual apparatus acquisition image, to mate corresponding thing
Material, after coupling, material center of gravity is issued mechanical hand, mechanical hand pickup material by host computer, places material to right in database model
Answer position, until after being finally completed article assembly, waiting that next article are assembled or close hull closure, ending task.
Of the present utility model ultimate principle and principal character and of the present utility model advantage have more than been shown and described.The skill of the industry
Art personnel are it should be appreciated that this utility model is not restricted to the described embodiments, and described in above-described embodiment and description is to say
Bright principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model also has various change
Change and improve, in the range of these changes and improvements both fall within claimed this utility model.This utility model claims scope
Defined by appending claims and equivalent thereof.
Claims (2)
1. the assembling system of an intelligent vision robot, it is characterised in that include host computer, mechanical hand and visual apparatus, host computer is connected with mechanical hand, in order to control the motion of mechanical hand by 100M/1000M Ethernet；Visual apparatus is communicated to connect with host computer by 100M/1000M Ethernet, after visual apparatus triggers imaging, while carrying out image procossing, by 100M/1000M Ethernet transmission view data to host computer, to complete to analyze the article place particular location obtained from image；Described arm end is provided with electrically controllable fixture fixture, and visual apparatus is arranged on the electrically controllable fixture fixture middle of arm end, with more preferable imaging.
2. according to the assembling system of a kind of intelligent vision robot described in claim 1, it is characterised in that described arm end is provided with sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620021608.7U CN205572431U (en) | 2016-01-08 | 2016-01-08 | System of assembling of intelligent vision robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620021608.7U CN205572431U (en) | 2016-01-08 | 2016-01-08 | System of assembling of intelligent vision robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363653A (en) * | 2016-10-20 | 2017-02-01 | 中国农业大学 | End effector of cucumber picking robot |
| CN106652747A (en) * | 2016-12-22 | 2017-05-10 | 北京华航唯实机器人科技有限公司 | Multi-purpose industrial robot teaching station |
| CN106672634A (en) * | 2016-12-08 | 2017-05-17 | 广东工业大学 | Aluminum profile automatic stacking system and control method thereof |
| CN106961573A (en) * | 2017-02-21 | 2017-07-18 | 广东尚菱视界科技有限公司 | A kind of establishing method of general vision alignment system |
| CN108038257A (en) * | 2017-11-02 | 2018-05-15 | 中车工业研究院有限公司 | The modularization modeling method and device of intelligent industrial production line |
| WO2019000640A1 (en) * | 2017-06-27 | 2019-01-03 | 巨轮（广州）机器人与智能制造有限公司 | Modularized vision system manufacturing method |
| CN109335672A (en) * | 2018-09-30 | 2019-02-15 | 珠海市运泰利自动化设备有限公司 | It is a kind of it is high-accuracy pick and place material process control and intelligent analysis method |
| CN109591009A (en) * | 2017-10-02 | 2019-04-09 | 发那科株式会社 | Robot system |
| EP3650180A1 (en) * | 2018-11-07 | 2020-05-13 | Wolfgang Grigo | System for optical inspection |
| CN111899629A (en) * | 2020-08-04 | 2020-11-06 | 菲尼克斯(南京)智能制造技术工程有限公司 | Flexible robot teaching system and method |
| CN113414566A (en) * | 2021-08-25 | 2021-09-21 | 江苏锦上装饰设计工程有限公司 | Glass mounting equipment and system for realizing active positioning through visual feedback |
| CN115323751A (en) * | 2022-07-19 | 2022-11-11 | 上海申羽纺织集团有限公司 | Processing method for preparing finished cloth from broken waste cloth pieces |
-
2016
- 2016-01-08 CN CN201620021608.7U patent/CN205572431U/en active Active
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363653A (en) * | 2016-10-20 | 2017-02-01 | 中国农业大学 | End effector of cucumber picking robot |
| CN106363653B (en) * | 2016-10-20 | 2018-12-28 | 中国农业大学 | A kind of end effector of cucumber picking robot |
| CN106672634A (en) * | 2016-12-08 | 2017-05-17 | 广东工业大学 | Aluminum profile automatic stacking system and control method thereof |
| CN106672634B (en) * | 2016-12-08 | 2022-08-02 | 广东工业大学 | Automatic aluminum profile stacking system and control method thereof |
| CN106652747A (en) * | 2016-12-22 | 2017-05-10 | 北京华航唯实机器人科技有限公司 | Multi-purpose industrial robot teaching station |
| CN106961573A (en) * | 2017-02-21 | 2017-07-18 | 广东尚菱视界科技有限公司 | A kind of establishing method of general vision alignment system |
| WO2019000640A1 (en) * | 2017-06-27 | 2019-01-03 | 巨轮（广州）机器人与智能制造有限公司 | Modularized vision system manufacturing method |
| CN109591009A (en) * | 2017-10-02 | 2019-04-09 | 发那科株式会社 | Robot system |
| CN108038257A (en) * | 2017-11-02 | 2018-05-15 | 中车工业研究院有限公司 | The modularization modeling method and device of intelligent industrial production line |
| CN109335672B (en) * | 2018-09-30 | 2020-09-18 | 珠海市运泰利自动化设备有限公司 | High-precision material taking and discharging process control and intelligent analysis method |
| CN109335672A (en) * | 2018-09-30 | 2019-02-15 | 珠海市运泰利自动化设备有限公司 | It is a kind of it is high-accuracy pick and place material process control and intelligent analysis method |
| EP3650180A1 (en) * | 2018-11-07 | 2020-05-13 | Wolfgang Grigo | System for optical inspection |
| CN111899629A (en) * | 2020-08-04 | 2020-11-06 | 菲尼克斯(南京)智能制造技术工程有限公司 | Flexible robot teaching system and method |
| CN111899629B (en) * | 2020-08-04 | 2022-06-10 | 菲尼克斯(南京)智能制造技术工程有限公司 | Flexible robot teaching system and method |
| CN113414566A (en) * | 2021-08-25 | 2021-09-21 | 江苏锦上装饰设计工程有限公司 | Glass mounting equipment and system for realizing active positioning through visual feedback |
| CN113414566B (en) * | 2021-08-25 | 2021-11-16 | 江苏锦上装饰设计工程有限公司 | Glass mounting system capable of realizing active positioning through visual feedback |
| CN115323751A (en) * | 2022-07-19 | 2022-11-11 | 上海申羽纺织集团有限公司 | Processing method for preparing finished cloth from broken waste cloth pieces |
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