CN206154313U - Self -align industrial robot system - Google Patents
Self -align industrial robot system Download PDFInfo
- Publication number
- CN206154313U CN206154313U CN201621166963.XU CN201621166963U CN206154313U CN 206154313 U CN206154313 U CN 206154313U CN 201621166963 U CN201621166963 U CN 201621166963U CN 206154313 U CN206154313 U CN 206154313U
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- China
- Prior art keywords
- switch
- robot
- self
- switch board
- ccd camera
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- Expired - Fee Related
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Abstract
The utility model provides a self -align industrial robot system, includes six axis robot body, CCD camera, switch, industrial computer, switch board, robot control device, the CCD camera pass through the support and fix near the 5th of six axis robot body, the CCD camera is connected with the switch through the net twine, industrial computer one end be connected with the switch, the other end and switch board link to each other, switch board and robot control device the action of control six axis robot body links to each other. Compared with the prior art, the utility model apparent advantage and beneficial effect have: the self -align function of utilizing the machine vision principle to realize industrial robot unloading in -process on automatic has been solved the terminal actual position of robot and has been had the problem of deviation with expecting the position to adopt ethernet communication mode to leave out image card and communication card, the cost has significantly reduced.
Description
Technical field
This utility model belongs to intelligent robot technology field, more particularly to a kind of self-positioning industrial robot system.
Background technology
At present during automatization's loading and unloading, the movement locus of industrial robot is strict difinition, is only capable of in structure
Change the instruction and action that fixation is performed in environment, lack the perception and adaptability to changes to environment, so as to the position to workpiece
Required precision is very high, otherwise can cause feeding collide or crudy it is not up to standard the problems such as, had a strong impact on automatic production line
Production efficiency.
The content of the invention
Problem to be solved in the utility model is to overcome the deficiencies in the prior art, there is provided a kind of based on machine vision
Industrial robot system with self-positioning control method.
This utility model solves its technical problem and takes technical scheme below to realize：
A kind of self-positioning industrial robot system, including six-joint robot body, CCD camera, switch, industrial computer,
Switch board, robot controller, described CCD camera is attached by the 5th axle that support is fixed on six-joint robot body
Closely, CCD camera is connected by netting twine with switch；Described industrial computer one end is attached with switch, the other end with
Switch board is connected, and described switch board is connected with robot controller, controls the action of six-joint robot body.
Further, described CCD camera belongs to IP Camera, can be connected to after switch by netting twine, with work
Control machine carries out image transmitting, instead of photographic head collection after data by way of image card is transferred to industrial computer.
Further, system for managing video is installed in described industrial computer, is capable of achieving an industrial computer and processes many simultaneously
The image procossing that the transmission of platform CCD camera comes.
Further, described switch board realizes control function by PLC, is capable of achieving control multiple stage robot function, root
Correspondence control is carried out according to the IP address of every robot.
Further, described switch board supports Ethernet communication functions, directly can be connected with industrial computer with netting twine
Connect, instead of industrial computer with switch board by way of address card is connected, improve efficiency, reduces cost.
Described system for managing video is location-based Visual servoing control system, and the visual system is imaged by CCD
Head is extracted to workpiece image and is transferred to industrial computer to be processed, specially：Boundary point is defined using the method for scan line,
Boundary point is fitted by annular region by method of least square, target complete feature is finally drawn.The characteristic information of extraction is uploaded
To switch board, two-dimensional signal is converted into three dimensional space coordinate by switch board, calculates the world coordinates of robot end（X′, Y′,
Z′）, the angular errors of each joint position of robot are drawn by inverse kinematics, so as to adjust the operating position of robot.
This utility model has compared with prior art significant advantage and beneficial effect：Realized using machine vision principle
Self-locating function of the industrial robot during automatization's loading and unloading, solves robot end's physical location and desired locations
There is a problem of deviation, an industrial computer processes the image procossing that the transmission of multiple stage CCD camera comes simultaneously, and adopts Ethernet
Communication mode eliminates image card and address card, greatly reduces cost.
Description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is system flow chart of the present utility model；
Wherein 1, six-joint robot body；2nd, CCD camera；3rd, switch；4th, industrial computer；5th, switch board；6th, robot
Control device.
Specific embodiment
Below in conjunction with accompanying drawing and preferred embodiment, to the specific embodiment, structure, the feature that provide according to this utility model
And its effect, describe in detail as after.
A kind of self-positioning industrial robot system as shown in Figure 1, including including six-joint robot body 1, CCD camera
2nd, switch 3, industrial computer 4, switch board 5, robot controller 6, described CCD camera 2 is fixed on six axles by support
Near 5th axle of robot body 1, CCD camera 2 is connected by netting twine with switch 3；Described one end of industrial computer 4 with
Switch 3 is attached, and the other end is connected with switch board 5, and described switch board 5 is connected with robot controller 6, control six
The action of axle robot body.
Described CCD camera 2 belongs to IP Camera, can be connected to after switch 3 by netting twine, enters with industrial computer 4
Row image transmitting, instead of photographic head collection after data by way of image card is transferred to industrial computer.
System for managing video is installed in described industrial computer 4, is capable of achieving an industrial computer and is processed the shooting of multiple stage CCD simultaneously
The image procossing that head transmission comes.
Described switch board 5 realizes control function by PLC, control multiple stage robot function is capable of achieving, according to every machine
The IP address of device people carries out correspondence control.
Described switch board 5 supports Ethernet communication functions, directly can be attached with industrial computer 4 with netting twine, replaces
Industrial computer by way of address card is connected, improves efficiency, reduces cost with switch board.
One embodiment of the present utility model has been described in detail above, but the content is only of the present utility model
Preferred embodiment, it is impossible to be considered as limiting practical range of the present utility model.It is all to be made according to this utility model application range
Impartial change with improve etc., all should still belong within patent covering scope of the present utility model.
Claims (5)
1. a kind of self-positioning industrial robot system, it is characterised in that：Including six-joint robot body, CCD camera, exchange
Machine, industrial computer, switch board, robot controller, described CCD camera is fixed on six-joint robot body by support
On 5th axle, CCD camera is connected by netting twine with switch；Described industrial computer one end is attached with switch, separately
One end is connected with switch board, and described switch board is connected with robot controller, controls the action of six-joint robot body.
2. a kind of self-positioning industrial robot system according to claim 1, it is characterised in that：Described CCD camera
For IP Camera, it is connected to after switch by netting twine, with industrial computer image transmitting is carried out.
3. a kind of self-positioning industrial robot system according to claim 1, it is characterised in that：Pacify in described industrial computer
Equipped with system for managing video.
4. a kind of self-positioning industrial robot system according to claim 1, it is characterised in that：Described switch board passes through
PLC realizes control function.
5. a kind of self-positioning industrial robot system according to claim 1, it is characterised in that：Described switch board is supported
Ethernet communication functions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621166963.XU CN206154313U (en) | 2016-11-02 | 2016-11-02 | Self -align industrial robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621166963.XU CN206154313U (en) | 2016-11-02 | 2016-11-02 | Self -align industrial robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206154313U true CN206154313U (en) | 2017-05-10 |
Family
ID=58656372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621166963.XU Expired - Fee Related CN206154313U (en) | 2016-11-02 | 2016-11-02 | Self -align industrial robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206154313U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352647A (en) * | 2018-10-12 | 2019-02-19 | 盐城工学院 | A kind of automobile six-joint robot visual grasping system |
-
2016
- 2016-11-02 CN CN201621166963.XU patent/CN206154313U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352647A (en) * | 2018-10-12 | 2019-02-19 | 盐城工学院 | A kind of automobile six-joint robot visual grasping system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170510 Termination date: 20191102 |