CN206373896U - A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision - Google Patents
A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision Download PDFInfo
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- CN206373896U CN206373896U CN201621416655.8U CN201621416655U CN206373896U CN 206373896 U CN206373896 U CN 206373896U CN 201621416655 U CN201621416655 U CN 201621416655U CN 206373896 U CN206373896 U CN 206373896U
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- 238000004805 robotic Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 8
- 210000001847 Jaw Anatomy 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The utility model discloses the flexible line apparatus of a kind of six-shaft industrial robot and intelligent vision, including robotic workstation, three sets flexible wires modules, fitter's bench, stacking and case workbench, robotic workstation, intelligent vision system, robot.The utility model integrates robot, intelligent vision, electric automatization control technology using the actual demand of modern industry automatic production line and intelligent Application feature as foundation, realizes intelligent vision flexible wires of the six-shaft industrial robot under.
Description
Technical field
The utility model is related to six-shaft industrial robot, and in particular to a kind of six-shaft industrial robot is flexible with intelligent vision
Line apparatus.
Background technology
At present, in traditional industrial robot automatic assembly line application field, it is usually using robot as carrying, fills
The instrument matched somebody with somebody, with automatic assembly line can only signal dock processing.But in modern automatic assembly line field, often
Have multiple types, the application scenarios of polytypic product sharing production line.And traditional industrial robot application, pair that can only be directed to
Every kind of product is the robot motion track of customization, robot control program, it is impossible to adapt to the change of automatic assembly line.With
Legacy equipment is compared, and has many advantages with the industrial robot Automated production line device of intelligent vision technology.Intelligence is regarded
Feel technology, object positioning is carried out using non-contact detecting mode, and data can in real time be changed by software algorithm, warp
Cross Ethernet and pass to robot, robot does the planning again of outbound path according to data, realizes intelligent path planning and regards
Feel the function of guiding.Based on this, industrial robot automatic assembly line just automatically can be operated flow according to product category
Automatic conversion, be also achieved that the demand of flexible production.
In recent years, the industrial robot automatic flexible line based on intelligent vision technology is in the related scientific research field of robot
In be taken seriously gradually.But, current many industrial robot equipment are limited only to the form of work station, and automate and grind
Study carefully the research direction that equipment is also confined to electric and automatic technology, many scientific research personnel are to industrial robot and automatic flexible
The combination of line and there is no excellent basis with the binding of intelligent vision technology, without good research equipment yet, it is difficult to
Scientific research project is effectively carried out, in view of the foregoing, is concentrating on studies with the basis of technological accumulation, is developing for many years
A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision, are very necessary to the integration capability for improving scientific research personnel's research
's.
The content of the invention
The purpose of this utility model is to provide a kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision, with mould
Block, Full-open, easy exploiting and the innovative advantage developed simultaneously, and the six axle works based on intelligent vision technology can also be shown
The application of industry robot flexibility assembling.
The technical solution adopted in the utility model is：A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision, bag
Robotic workstation, three sets of flexible wires modules, fitter's bench, stacking and vanning workbench are included, robotic workstation is intelligently regarded
Feel system, robot；Three sets of flexible wires modules carry out lateral connection by connector, and by communication interface by three sets of flexible wires
The independent control system of module is attached, and constitutes a double belts, annular streamline；Robotic workstation, fitter's bench,
Stacking and vanning workbench are attached by connector with streamline, then are docked by control interface, communication interface, are matched somebody with somebody
Close intelligent vision system, composition six-shaft industrial robot and the flexible line apparatus of intelligent vision.
Further, three sets of flexible wires modules include First Line module, the second line module, the 3rd line module, often cover
Line module is independent moving cell.
Further, the intelligent vision system includes First look system, the second vision system, the 3rd vision system
System.
Further, the stacking and vanning workbench are provided with vanning area and stacking area.
Further, the robotic workstation is provided with robot and moves jaw arrangement certainly.
Advantage of the present utility model：
The utility model collects machine using the actual demand of modern industry automatic production line and intelligent Application feature as foundation
People, intelligent vision, electric automatization control technology realize intelligent vision of the six-shaft industrial robot under flexible in one
Line.The system is by intelligent vision, six-shaft industrial robot, modular platform, pneumatic, electrical control, sensing detection, PLC, HMI
It is that colleges and universities and R＆D institution provide modularization, Full-open, a Yi Kai and industrial network mechanics of communication is organically integrated
Hair, innovative research and application platform.
In addition to objects, features and advantages described above, the utility model also has other purposes, feature and excellent
Point.Below with reference to figure, the utility model is described in further detail.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing further understanding to of the present utility model, of the present utility model
Schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model.
Fig. 1 is the structural representation of the six-shaft industrial robot and the flexible line apparatus of intelligent vision of the utility model embodiment
Figure.
Reference：
22 be First look system, 23 be safe light curtain, 24 be vanning area, 25 be stacking area, 26 be from move jaw arrangement,
27 it is robot, 28 be the second vision system, 29 be the 3rd vision system, 30 be the first part, 31 is the second part.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain this
Utility model, is not used to limit the utility model.
With reference to Fig. 1, a kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision, including robot as shown in Figure 1
Workbench, three sets of flexible wires modules, fitter's bench, stacking and vanning workbench, robotic workstation, intelligent vision system,
Robot 27；Three sets of flexible wires modules carry out lateral connection by connector, and by communication interface by three sets of flexible wires modules
Independent control system be attached, constitute a double belts, annular streamline；Robotic workstation, fitter's bench, stacking
And vanning workbench is attached by connector with streamline, then docked by control interface, communication interface, coordinate intelligence
Can vision system, composition six-shaft industrial robot and the flexible line apparatus of intelligent vision.
Three sets of flexible wires modules include First Line module 11, the second line module 12, the 3rd line module 13, often cover line mould
Group is independent moving cell.
The intelligent vision system includes First look system 22, the second vision system 28, the 3rd vision system 29.
The stacking and vanning workbench are provided with vanning area 24 and stacking area 25.
The robotic workstation is provided with robot 27 and moves jaw arrangement 26 certainly.
Control system：Control system is made up of PLC, HMI, and the method for operation of kinematic system is carried out by PLC program
Control, is operated with HMI touch program, controls the operation such as operation and stopping of whole system comprising covering photoelectricity more
Sensor, one is constituted for controlling the operating signal transacting of whole automated system, and by multigroup safety light curtain 23
The safe operation space of full enclosed, it is ensured that the security of equipment.
Industrial robot：Industrial robot part is made up of robot body, teaching unit, controller.Robot body
It is responsible for carrying out the execution of mechanical action, teaching unit is used for being operated manually the planning that robot carries out position and path, control
Device operation processed has the motor program of robot.
Intelligent vision system：Intelligent vision system, includes the meter of three sets of vision hardwares, intelligent vision software and runs software
Calculation machine.Wherein, two sets of vision systems are responsible for carrying out the automatic detection of the model, specification and other information of product, robot end
Intelligent vision system be responsible for that the image that vision hardware is gathered is automatically analyzed, handled, result is sent to machine
People, is performed by robot.
Operation principle of the present utility model：
1. annular streamline is transmitted by carrier to workpiece, pass through the vision system of First look system 22 and second respectively
System 28, two sets of vision systems carry out type to workpiece respectively and outward appearance is detected.When workpiece is run to robot localization position,
Robot 27 moves to current location, and triggering is carried out at vision installed in the 3rd vision system 29 of robot end to workpiece
The intelligent vision software run on reason, computer is detected to whole pallet, the coordinate information of workpiece is recognized, by recognition result
Robot 27 is passed to by Ethernet.
The coordinate information after 2. robot 27 is recognized according to big three vision system 29 carries out crawl work to workpiece, and by work
Part is carried to assembling position by Pneumatic suction nozzle.Robot by moving jaw arrangement 26 certainly, changes fixture again, and the one zero is carried out respectively
The assembling of the part 31 of part 30 and second.
3. the workpiece assembled, which is captured by robot and is carried to stacking area 25, carries out stacking, after the completion of stacking, machine
Whole stacking is captured luggage case of going forward side by side by device people.
4. feeding is circulated, until completing whole vanning work.
The utility model collects machine using the actual demand of modern industry automatic production line and intelligent Application feature as foundation
People, intelligent vision, electric automatization control technology realize intelligent vision of the six-shaft industrial robot under flexible in one
Line.The system is by intelligent vision, six-shaft industrial robot, modular platform, pneumatic, electrical control, sensing detection, PLC, HMI
It is that colleges and universities and R＆D institution provide modularization, Full-open, a Yi Kai and industrial network mechanics of communication is organically integrated
Hair, innovative research and application platform.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (5)
1. a kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision, it is characterised in that including robotic workstation, three sets
Flexible wires module, fitter's bench, stacking and vanning workbench, robotic workstation, intelligent vision system, robot (27)；
Three sets of flexible wires modules carry out lateral connection by connector, and by communication interface by the independent control of three sets of flexible wires modules
System is attached, and constitutes a double belts, annular streamline；Robotic workstation, fitter's bench, stacking and vanning work
Platform is attached by connector with streamline, then is docked by control interface, communication interface, coordinates intelligent vision system
System, composition six-shaft industrial robot and the flexible line apparatus of intelligent vision.
2. six-shaft industrial robot according to claim 1 and the flexible line apparatus of intelligent vision, it is characterised in that described three
Covering flexible wires module includes First Line module (11), the second line module (12), the 3rd line module (13), and it is only often to cover line module
Vertical moving cell.
3. six-shaft industrial robot according to claim 1 and the flexible line apparatus of intelligent vision, it is characterised in that the intelligence
Energy vision system includes First look system (22), the second vision system (28), the 3rd vision system (29).
4. six-shaft industrial robot according to claim 1 and the flexible line apparatus of intelligent vision, it is characterised in that the code
Pile and vanning workbench are provided with vanning area (24) and stacking area (25).
5. six-shaft industrial robot according to claim 1 and the flexible line apparatus of intelligent vision, it is characterised in that the machine
Device people workbench is provided with robot (27) and moves jaw arrangement (26) certainly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621416655.8U CN206373896U (en) | 2016-12-22 | 2016-12-22 | A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621416655.8U CN206373896U (en) | 2016-12-22 | 2016-12-22 | A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206373896U true CN206373896U (en) | 2017-08-04 |
Family
ID=59407606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621416655.8U Active CN206373896U (en) | 2016-12-22 | 2016-12-22 | A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274466A (en) * | 2018-01-17 | 2018-07-13 | 广州威沃电子有限公司 | Intelligent vision flexible wires system based on industrial robot |
| TWI699249B (en) * | 2018-03-19 | 2020-07-21 | 日商豐和工業股份有限公司 | Handle for exchanging jaws of clamping table, automatic exchange method of jaws of clamping table and automatic exchange system of jaws |
-
2016
- 2016-12-22 CN CN201621416655.8U patent/CN206373896U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274466A (en) * | 2018-01-17 | 2018-07-13 | 广州威沃电子有限公司 | Intelligent vision flexible wires system based on industrial robot |
| TWI699249B (en) * | 2018-03-19 | 2020-07-21 | 日商豐和工業股份有限公司 | Handle for exchanging jaws of clamping table, automatic exchange method of jaws of clamping table and automatic exchange system of jaws |
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