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 PDF

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Publication number
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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China
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vision
intelligent vision
industrial robot
robot
line
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CN201621416655.8U
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Chinese (zh)
Inventor
于涛
刘哲
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Shaanxi Dimensional Digital Image Technology Co Ltd
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Shaanxi Dimensional Digital Image Technology Co Ltd
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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

A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision
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.
CN201621416655.8U 2016-12-22 2016-12-22 A kind of six-shaft industrial robot and the flexible line apparatus of intelligent vision Active CN206373896U (en)

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

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CN206373896U true CN206373896U (en) 2017-08-04

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Cited By (2)

* Cited by examiner, † Cited by third party
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

Cited By (2)

* Cited by examiner, † Cited by third party
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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