CN206230514U - A kind of industrial robot of view-based access control model servo - Google Patents
A kind of industrial robot of view-based access control model servo Download PDFInfo
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- CN206230514U CN206230514U CN201621128146.5U CN201621128146U CN206230514U CN 206230514 U CN206230514 U CN 206230514U CN 201621128146 U CN201621128146 U CN 201621128146U CN 206230514 U CN206230514 U CN 206230514U
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Abstract
The utility model discloses a kind of industrial robot of view-based access control model servo, including accumulator, the first pull bar, reference mark module, AGV modules, AGV accumulators, robot arm and end effector module, first pull bar, reference mark module are installed on accumulator, AGV accumulators, robot arm are installed in the AGV modules, end effector module is installed in the end of robot arm, and vision system is provided with end effector module.The utility model view-based access control model servo techniques, realize that high-precision three-dimensional is positioned using 2D video cameras, the two benches position fixing process of use is used to eliminate the parked position error of mobile platform, realize that high-precision three-dimensional is positioned simultaneously, allow that mobile robot performs high accuracy pickup/placement operation for all workpiece in a specified radius of reference mark, its operation flexibility is good, simple to operate, efficiency and precision are higher, and automaticity is good.
Description
Technical field
The utility model is related to Industrial Robot Technology field, more particularly to a kind of industrial machine of view-based access control model servo
People.
Background technology
Robot can very easily be used as various automation equipments because of the difference of end effector operation instrument, complete
Into such as assembling, detection, stacking, loading and unloading, welding, carrying, packaging, de-stacking, flaw detection, classification, spraying, labeling, coding, stamp,
Target such as follows at a series of activities.Robot is particularly well-suited to multi items, becomes the flexibility operation of batch, is improved for stabilization and produced
Quality, improves labor productivity, improves working conditions and is played a very important role with the quick update of product.Machine
The main task of device people's control technology be exactly control robot in working space movement position, attitude and track, operate it is suitable
Time of sequence and action etc..With it is programmable, can menu operation, can carry out man-machine interaction, it is easy to use the characteristics of.
The robot movement-control system of prior art only carries out offset correction in X/Y plane, and telltale mark supports that scope has
Limitation, very flexible, operating process is complicated, and efficiency is low, easily fatigue, and precision is determined by the experience range estimation of demonstrator completely, essence
Degree is relatively low, takes the valuable production time, and robot system is turned into a confrontation unit, it is difficult to realize and other systems
Or production process is integrated, it is impossible to the need for meeting current small lot, multi items flexible production.
Utility model content
In view of the drawbacks described above of prior art, technical problem to be solved in the utility model is to provide one kind and is based on regarding
The industrial robot of servo is felt, to solve the deficiencies in the prior art.
To achieve the above object, the utility model provides a kind of industrial robot of view-based access control model servo, and its feature exists
In：Including accumulator, the first pull bar, reference mark module, AGV modules, AGV accumulators, robot arm and end effector
Module, installs the first pull bar, reference mark module on the accumulator, AGV accumulators, robot are installed in the AGV modules
End effector module is installed in arm, the end of the robot arm, and vision system is provided with the end effector module
System, the vision system includes that search accurately guides camera, placement and completes detection camera, end with parked guiding camera, end
Actuator fork, camera light source and the first work piece holder, the second pull bar and second workpiece fixture, the reference mark module with
Second workpiece fixture is installed together.
A kind of industrial robot of above-mentioned view-based access control model servo, it is characterised in that：The robot arm has six passes
Section.
A kind of industrial robot of above-mentioned view-based access control model servo, it is characterised in that：The reference mark module includes one
Individual central point indexing unit, a rotary label unit and the first boundary marker unit, the second boundary indexing unit, the 3rd border
Indexing unit, four boundary marker units of the 4th boundary marker unit.
A kind of industrial robot of above-mentioned view-based access control model servo, it is characterised in that：The robot arm and parked lead
Draw camera, end accurately to guide camera, place completion detection camera, end effector fork, camera light source by being arranged on
Interface circuit thereon is connected to general control computer.
The beneficial effects of the utility model are：
The utility model view-based access control model servo techniques, realizes that high-precision three-dimensional is positioned, two ranks of use using 2D video cameras
Section position fixing process is used to eliminate the parked position error of mobile platform, while realizing that high-precision three-dimensional is positioned so that mobile machine
People can be that all workpiece in a specified radius of reference mark perform high accuracy pickup/placement operation, its work
Make that good, simple to operate flexibility, efficiency and precision are higher, automaticity is good.
The technique effect of design of the present utility model, concrete structure and generation is made furtherly below with reference to accompanying drawing
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Brief description of the drawings
Fig. 1 is industrial robot system's overall structure diagram of the present utility model.
Fig. 2 is the structural representation of end effector of robot of the present utility model.
Fig. 3 is industrial robot system's reference mark modular structure schematic diagram of the present utility model.
Fig. 4 is AGV modules of the present utility model, the structural representation of AGV accumulators.
Fig. 5 is robot arm structural representation of the present utility model.
Fig. 6 is the structural representation of accumulator of the present utility model.
Specific embodiment
As shown in Figure 1, 2, a kind of industrial robot of view-based access control model servo, it is characterised in that：Including accumulator 1, first
Pull bar 2, reference mark module 3, AGV modules 4, AGV accumulators 5, robot arm 6 and end effector module 7, the storing
First pull bar 2, reference mark module 3 are installed on device 1, AGV accumulators 5, robot arm 6, institute are installed in the AGV modules 4
End effector module 7 is installed in the end for stating robot arm 6, is provided with vision system in the end effector module 7, institute
Stating vision system includes that search accurately guides camera 72, places completion detection camera 73, end with parked guiding camera 71, end
Actuator fork 74, the work piece holder 8 of camera light source 75 and first, the second pull bar 9 and second workpiece fixture 10, the fiducial mark
Note module 3 is installed together with second workpiece fixture 10.
As shown in figure 1, an AGV 4 is mounted with a robot arm 6, the end effector 7 on arm just holds
One workpiece.Station on accumulator is all that robot arm end can carry out loading or unloading operation, therefore robot can be
The exchange of workpiece is carried out between accumulator 1 and AGV accumulators 5.
As shown in Fig. 2 the vision system on end effector, it includes three cameras, light source and forks, is arranged on
The end of robot arm.End effector fork is used to access, and clamps and discharge workpiece.Robot arm 6 and parked guiding
Camera 71, end accurately guides camera 72, placement and completes to detect that camera 73, end effector fork 74, camera light source 75 lead to
Cross interface circuit mounted thereto and be connected to general control computer.
As shown in figure 3, in the present embodiment, the reference mark module 3 includes a central point indexing unit 30, a rotation
Turn the boundary marker unit 32 of indexing unit 31 and first, the second boundary indexing unit 33, the 3rd boundary marker unit 34, the 4th side
35 4 boundary marker units of boundary's indexing unit.Reference mark module 3 is installed together with second workpiece fixture 10, be used to build
Vertical space coordinates relation therebetween.After reference mark has been learnt, the seat that mobile robot will be completed and between reference mark module 3
Mark alignment, reuses the spatial relationship calibration result between end effector and camera system, and reference mark module 3 and second
Spatial relationship calibration result between work piece holder 10, final host computer can set up the pass between end effector and work piece holder
System, for controlling end effector to complete to pick and place the operation of workpiece.
Reference mark module 3 does the process of positioning alignment for vision system, the reference mark figure captured by vision system
As vision positioning alignment procedure can be started.Searching will complete first stage positioning alignment procedure with parked guiding camera 71, with
The parked position error of AGV is reduced so as to realize that end is accurately guided camera 72 brings working region into.Then, robot is used
End accurately guides the alignment procedure that camera 72 performs second stage.Afterwards, robot will obtain three-dimensional localization data, and it is included
Coordinate relation between mobile robot and reference mark, with reference to learning outcome before, it is possible to obtain mobile robot
With the changing coordinates relation of target location.Here critical workflow is, before system operation, it needs to do reference mark module
Relation between 3 and second workpiece fixture 10 is demarcated, for the coordinate relation set up between them, accurately to be led in next end
Draw after camera 72 completes final positioning alignment procedure, the coordinate that can be obtained between robot and second workpiece fixture 10 is closed
System.
As shown in figure 4, being AGV modules 4, the structural representation of AGV accumulators 5, the storage needs of AGV accumulators 5 are transmitted
To the workpiece or material of other positions.AGV modules 4, are a mobile platforms for being mounted with robot, can be at a series of station
Moved between point, can transport and pick and place material.
As shown in figure 5, articulated（6 axles）Robot arm end effector is possessed great flexibility.Node
As shown in 61,62,63,64,65 and 66.All of joint is all swivel joint, it is allowed to which robot arm is pivoted.Robot
Arm is used for the material transferring between AGV accumulators and working terminal and between each working terminal.
As shown in fig. 6, be the structural representation of accumulator 1, for storing workpiece or unclassified stores.
Preferred embodiment of the present utility model described in detail above.It should be appreciated that the ordinary skill people of this area
Member just can make many modifications and variations without creative work according to design of the present utility model.Therefore, all this technology necks
Technical staff passes through logic analysis, reasoning or limited reality on the basis of existing technology according to design of the present utility model in domain
Available technical scheme is tested, all should be in the protection domain being defined in the patent claims.
Claims (4)
1. a kind of industrial robot of view-based access control model servo, it is characterised in that：Including accumulator（1）, the first pull bar（2）, benchmark
Mark module（3）, AGV modules（4）, AGV accumulators（5）, robot arm（6）With end effector module（7）, the storing
Device（1）The first pull bar of upper installation（2）, reference mark module（3）, the AGV modules（4）Upper installation AGV accumulators（5）, machine
Human arm（6）, the robot arm（6）End install end effector module（7）, the end effector module（7）
On vision system is installed, the vision system includes searching and parked guiding camera（71）, end accurately guide camera（72）、
Place and complete detection camera（73）, end effector fork（74）, camera light source（75）And first work piece holder（8）, second
Pull bar（9）With second workpiece fixture（10）, the reference mark module（3）With second workpiece fixture（10）It is installed together.
2. a kind of industrial robot of view-based access control model servo as claimed in claim 1, it is characterised in that：The robot arm
（6）There are six joints.
3. a kind of industrial robot of view-based access control model servo as claimed in claim 1, it is characterised in that：The reference mark mould
Block（3）Including a central point indexing unit（30）, a rotary label unit（31）With the first boundary marker unit（32）,
Two boundary marker units（33）, the 3rd boundary marker unit（34）, the 4th boundary marker unit（35）Four boundary marker units.
4. a kind of industrial robot of view-based access control model servo as claimed in claim 1, it is characterised in that：The robot arm
（6）With parked guiding camera（71）, end accurately guide camera（72）, place complete detection camera（73）, end effector fork
Son（74）, camera light source（75）General control computer is connected to by interface circuit mounted thereto.
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| CN201621128146.5U CN206230514U (en) | 2016-10-17 | 2016-10-17 | A kind of industrial robot of view-based access control model servo |
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| CN201621128146.5U CN206230514U (en) | 2016-10-17 | 2016-10-17 | A kind of industrial robot of view-based access control model servo |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234625A (en) * | 2017-07-07 | 2017-10-10 | 中国科学院自动化研究所 | The method that visual servo is positioned and captured |
| CN109990177A (en) * | 2019-05-10 | 2019-07-09 | 安徽理工大学 | A kind of mobile bracket of view-based access control model |
| CN109986557A (en) * | 2019-02-22 | 2019-07-09 | 浙江树人学院（浙江树人大学） | Industrial robot flexibility method of servo-controlling |
| CN111094136A (en) * | 2017-09-20 | 2020-05-01 | 麦格纳国际公司 | System and method for adaptive case picking for manufacturing |
| CN111300405A (en) * | 2019-12-12 | 2020-06-19 | 国网山东省电力公司电力科学研究院 | Visual identification positioning device and method for mobile platform |
| CN112066898A (en) * | 2018-01-22 | 2020-12-11 | 北京新联铁集团股份有限公司 | Robot measuring device and measuring method thereof |
| CN117428737A (en) * | 2023-09-19 | 2024-01-23 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
-
2016
- 2016-10-17 CN CN201621128146.5U patent/CN206230514U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234625A (en) * | 2017-07-07 | 2017-10-10 | 中国科学院自动化研究所 | The method that visual servo is positioned and captured |
| CN107234625B (en) * | 2017-07-07 | 2019-11-26 | 中国科学院自动化研究所 | The method of visual servo positioning and crawl |
| CN111094136A (en) * | 2017-09-20 | 2020-05-01 | 麦格纳国际公司 | System and method for adaptive case picking for manufacturing |
| US11370111B2 (en) | 2017-09-20 | 2022-06-28 | Magna International Inc. | System and method for adaptive bin picking for manufacturing |
| CN112066898A (en) * | 2018-01-22 | 2020-12-11 | 北京新联铁集团股份有限公司 | Robot measuring device and measuring method thereof |
| CN109986557A (en) * | 2019-02-22 | 2019-07-09 | 浙江树人学院（浙江树人大学） | Industrial robot flexibility method of servo-controlling |
| CN109990177A (en) * | 2019-05-10 | 2019-07-09 | 安徽理工大学 | A kind of mobile bracket of view-based access control model |
| CN111300405A (en) * | 2019-12-12 | 2020-06-19 | 国网山东省电力公司电力科学研究院 | Visual identification positioning device and method for mobile platform |
| CN111300405B (en) * | 2019-12-12 | 2021-07-30 | 国网山东省电力公司电力科学研究院 | Visual identification positioning device and method for mobile platform |
| CN117428737A (en) * | 2023-09-19 | 2024-01-23 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
| CN117428737B (en) * | 2023-09-19 | 2024-04-16 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
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Address after: Singapore Shun Shun Road 2, No. 7 Patentee after: ASM Technology Singapore Pte. Ltd. Address before: Singapore Shun Shun Road 2, No. 7 Patentee before: ASM TECHNOLOGY SINGAPORE Pte. Ltd. |
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