CN207074534U - A kind of Multi-function experimental platform of the Cartesian robot based on machine vision - Google Patents
A kind of Multi-function experimental platform of the Cartesian robot based on machine vision Download PDFInfo
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- CN207074534U CN207074534U CN201720654645.6U CN201720654645U CN207074534U CN 207074534 U CN207074534 U CN 207074534U CN 201720654645 U CN201720654645 U CN 201720654645U CN 207074534 U CN207074534 U CN 207074534U
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Abstract
The utility model discloses a kind of Multi-function experimental platform of the Cartesian robot based on machine vision, the platform includes electrical equipment control module, vision-based detection module, Cartesian robot module, end effector mechanism module, camera shooting in vision-based detection module is placed on the article on camera shooting table top, and change into electronic data and controlled by electrical equipment control module the action of Cartesian robot module and end effector mechanism module, end effector mechanism, which carries different actuating units, can perform different experiment purposes, the utility model design science is reasonable, end effector mechanism is full-featured, substantially every experimental real-training requirement of Industrial Robot Technology is covered.
Description
Technical field
It the utility model is related to a kind of Cartesian robot, more particularly to a kind of rectangular co-ordinate machine based on machine vision
The Multi-function experimental platform of device people.
Background technology
In the case where currently emphasizing the education background of the ability of practice and innovation ability, robot teaching is in different forms major
Colleges and universities carry out extensively.But student is carried out using sensor mostly when carrying out the study and making of intelligent robot at present
The acquisition of external information, this with sensor, the Method And Principle of outer signals is understandable, it is simple to calculate receiving, but this acquisition
Requirement of the mode of information for external environment is very high, and the signal received is very limited, and this just directly results in robot
More complicated and autonomy-oriented requirement can not be met.And industrial robot function at present on the market is relatively simple, and school is past
Past to need to buy more expensive equipment, instruction cost is too high.And often function is single for robot end executing agency, this
The flexibility of sample tail house is not high, is unfavorable for imparting knowledge to students.
The content of the invention
For problems of the prior art, the utility model provides a kind of rectangular co-ordinate machine based on machine vision
The Multi-function experimental platform of device people, this experiment porch not only realize servomotor in industrial robot experimental courses, stepping electricity
The basic experiment links such as machine motion, different end effector mechanisms can also be carried and perform different experiments, increase experiment religion
Interest.
Technical scheme is used by the utility model：A kind of Cartesian robot based on machine vision it is multi-functional
Experiment porch, the platform are held including electrical equipment control module, vision-based detection module, Cartesian robot module, end
Row mechanism module, the electrical equipment control module are body structure, and the electrical equipment control module includes operating desk, control
Cabinet, universal wheel and related component, the universal wheel are arranged on the pin of switch board bottom four, and the operating desk is arranged on control
At the upper side of cabinet processed and angled with ground, the related component is arranged on inside switch board, the vision-based detection mould
Block is arranged on the switch board upper right, and the vision-based detection module includes camera shooting table top, camera frame, camera and light
Source, the camera shooting table-surface level are arranged on the switch board upper right, and the camera frame is arranged on camera shooting table top
Right side, the camera frame are L shapes, and the camera frame bottom is vertically fixed on the right side of camera shooting table top, at the top of the camera frame
Above camera shooting table top, the camera and camera frame top are connected, the camera be located at camera shoot table top just on
Side, the light source are looped around camera circumference.
Preferably, the Cartesian robot module is arranged on the switch board upper left, the rectangular co-ordinate machine
Device people module includes being horizontally set on the work top of switch board upper left, the X-axis moving machine being arranged on above work top
Structure and Y-axis moving mechanism, the X-axis travel mechanism include X-axis guide rail, X-axis screw mandrel, X-axis screw mandrel support seat, X-axis slide unit, X-axis
Servomotor and X-axis shaft coupling, the X-axis guide rail share two, and the X-axis guide rail is separately mounted to front and rear the two of workbench
End, the X-axis screw mandrel are arranged on the forefront of the workbench parallel to X-axis guide rail, and the X-axis screw mandrel both ends pass through X-axis
Screw mandrel support seat is fixed, and the height of the X-axis screw mandrel is identical with the height of X-axis guide rail, and described X-axis slide unit one end is set in described
Outside X-axis screw mandrel, the other end set of the X-axis slide unit is slidably connected above adjacent X-axis guide rail, the X-axis servomotor
X-axis screw mandrel end is arranged on, the X-axis servomotor is connected by X-axis shaft coupling with X-axis screw mandrel, the Y-axis moving mechanism
Including Y-axis screw mandrel, Y-axis slide unit, polished rod, Y-axis support base, Y-axis servomotor and Y-axis shaft coupling, the two of the Y-axis moving mechanism
End is slidably arranged in above X-axis guide rail respectively, is connected on the right side of the Y-axis moving mechanism with X-axis slide unit, the Y-axis moving machine
Structure is axially moved by the effect of X-axis servomotor along X-axis guide rail, and the Y-axis screw mandrel is arranged at Y-axis perpendicular to X-axis guide rail
The centre of travel mechanism, the polished rod are symmetricly set on the upper and lower of Y-axis screw mandrel, and the Y-axis screw mandrel and polished rod both ends pass through Y
Axle support base is fixedly connected, and the Y-axis slide unit is set in outside the Y-axis screw mandrel and polished rod, the Y-axis slide unit and Y-axis
Screw mandrel is threaded connection, and the Y-axis slide unit can freely move axially along polished rod, and the Y-axis servomotor is arranged on Y-axis screw mandrel end
Portion, the Y-axis servomotor are connected by Y-axis shaft coupling with Y-axis screw mandrel.
Preferably, the end effector mechanism module includes monoblock type stepping electric platforms, contiguous block and actuating unit, institute
State monoblock type stepping electric platforms to be fixed on Y-axis slide unit, the monoblock type stepping electric platforms and plane where work top
It is mutually perpendicular to, the contiguous block is arranged on below monoblock type stepping electric platforms, and the actuating unit passes through coupling block and entirety
Formula stepping electric platforms carry out detachable connection.
Preferably, the actuating unit includes fixture, ball pen, laser head, printing nozzle, staking punch, the execution machine
Part is separate module.
Preferably, related component includes air switch, contactor, power filter in the electrical equipment control module
Device, Switching Power Supply, servo-driver, step actuator, light source controller, PLC, binding post.
The beneficial effect that the utility model reaches is：The utility model is a kind of rectangular co-ordinate machine based on machine vision
The Multi-function experimental platform of people, the platform can realize the bases such as servomotor in industrial robot experimental courses, stepper motor motion
This experiment link, while coordinate ball screw, smart camera etc. are combined to realize that servo system control, step-by-step system control, are existing
Multiple experimental projects such as field bus communication, machine vision manipulation, the manipulation of rectangular co-ordinate industrial robot；In addition, the experiment porch
Different experiments can be performed by carrying different end effector mechanisms, also increased the interest of experimental teaching, student is more held
In the easy study into correlated curriculum；Experiment porch setting is scientific and reasonable, and end effector mechanism is full-featured, covers substantially
Every skill set requirements of Industrial Robot Technology, are easy to be extended and applied.
Brief description of the drawings
The utility model is further illustrated below in conjunction with the accompanying drawings,
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of Cartesian robot module and end effector mechanism module in the utility model；
Wherein, 1, electrical equipment control module, 11, operating desk, 12, switch board, 13, universal wheel, 2, vision-based detection module,
21st, camera shooting table top, 22, camera frame, 23, camera, 24, light source, 3, Cartesian robot module, 31, X-axis moving machine
Structure, 311, X-axis guide rail, 312, X-axis screw mandrel, 313, X-axis screw mandrel support seat, 314, X-axis slide unit, 315, X-axis servomotor, 316,
X-axis shaft coupling, 32, Y-axis moving mechanism, 321, Y-axis screw mandrel, 322, Y-axis slide unit, 323, polished rod, 324, Y-axis support base, 325, Y
Axle servomotor, 326, Y-axis shaft coupling, 33, work top, 4, end effector mechanism module, 41, monoblock type stepping it is electronic flat
Platform, 42, contiguous block.
Embodiment
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, technical scheme is used by the utility model：A kind of right angle based on machine vision is sat
The Multi-function experimental platform of scalar robot, the platform include electrical equipment control module 1, vision-based detection module 2, rectangular co-ordinate
Robot module 3, end effector mechanism module 4, the electrical equipment control module 1 are body structure, the electrical equipment control
Molding block 1 includes operating desk 11, switch board 12, universal wheel 13 and related component, and the universal wheel 13 is arranged on switch board
On 12 pin of bottom four, the operating desk 11 is arranged on the upper side of switch board 12 and, the correlation angled with ground
Component is arranged on inside switch board 12.
The vision-based detection module 2 is arranged on the upper right of switch board 12, and the vision-based detection module 2 includes camera
Table top 21, camera frame 22, camera 23 and light source 24 are shot, the camera shooting table top 21 is horizontally set on the switch board 12
Side right side, the camera frame 22 are arranged on camera shooting table top 21 right side, and the camera frame 22 is L shapes, the bottom of camera frame 22
Portion is vertically fixed on the right side of camera shooting table top 21, and the top of camera frame 22 is positioned at the top of camera shooting table top 21, the phase
Machine 23 is connected with the top of camera frame 22, and the camera 23 is located at directly over camera shooting table top 21, and the light source 24 is looped around
The circumference of camera 23.
Light source 24 is fitted around around camera 23, can become apparent from the shooting of camera 1, the shooting of camera 23 is placed on
Article on camera shooting table top 21, after changing into electronic data, rectangular co-ordinate machine is controlled by electrical equipment control module 1
The action of device people module 3.
Preferable scheme is that the Cartesian robot module 3 is arranged on the upper left of switch board 12, described straight
Angular coordinate robot module 3 includes being horizontally set on the work top 33 of the upper left of switch board 12, is arranged on work top 33
The X-axis travel mechanism 31 of top and Y-axis moving mechanism 32, the X-axis travel mechanism 31 include X-axis guide rail 311, X-axis screw mandrel
312nd, X-axis screw mandrel support seat 313, X-axis slide unit 314, X-axis servomotor 315 and X-axis shaft coupling 316, the X-axis guide rail 311 are common
There are two, the X-axis guide rail 311 is separately mounted to the rear and front end of workbench 33, and the X-axis screw mandrel 312 is led parallel to X-axis
Rail 311 is arranged on the forefront of the workbench 33, and the both ends of X-axis screw mandrel 312 are fixed by X-axis screw mandrel support seat 313,
The height of the X-axis screw mandrel 312 is identical with the height of X-axis guide rail 311, and described one end of X-axis slide unit 314 is set in the X-axis silk
Outside bar 312, the other end set of the X-axis slide unit 314 is slidably connected at the adjacent top of X-axis guide rail 311, the X-axis servo
Motor 315 is arranged on the end of X-axis screw mandrel 312, and the X-axis servomotor 315 passes through X-axis shaft coupling 316 and the phase of X-axis screw mandrel 312
Connection, the Y-axis moving mechanism 32 include Y-axis screw mandrel 321, Y-axis slide unit 322, polished rod 323, Y-axis support base 324, Y-axis servo
Motor 325 and Y-axis shaft coupling 326, the both ends of the Y-axis moving mechanism 32 are slidably arranged in the top of X-axis guide rail 311, institute respectively
State the right side of Y-axis moving mechanism 32 with X-axis slide unit 314 to be connected, the work that the Y-axis moving mechanism 32 passes through X-axis servomotor 315
Axially moved with along X-axis guide rail 311, the Y-axis screw mandrel 321 is arranged at Y-axis moving mechanism 32 perpendicular to X-axis guide rail 311
Centre, the polished rod 323 are symmetricly set on the upper and lower of Y-axis screw mandrel 321, and Y-axis screw mandrel 321 and polished rod 323 both ends are logical
Cross Y-axis support base and enter 324 rows and be fixedly connected, the Y-axis slide unit 322 is set in outside the Y-axis screw mandrel 321 and polished rod 323, institute
Y-axis slide unit 322 is stated with Y-axis screw mandrel 321 to be threadedly coupled, the Y-axis slide unit 322 can freely move axially along polished rod 323, described
Y-axis servomotor 325 is arranged on the end of Y-axis screw mandrel 321, and the Y-axis servomotor 325 passes through Y-axis shaft coupling 326 and Y-axis silk
Bar 321 is connected.
The Y-axis moving mechanism 32 is overall to do axial fortune along X-axis guide rail 311 in the presence of X-axis servomotor 315
Dynamic, the Y-axis slide unit 322 can axially move in the presence of Y-axis servomotor 325 along Y-axis screw mandrel 321 and polished rod 323,
Because end effector mechanism module 4 is fixedly connected with Y-axis slide unit, it is achieved that end effector mechanism module 4 moved along X-axis and
The purpose moved along Y-axis.
Preferable scheme is that the end effector mechanism module 4 includes monoblock type stepping electric platforms, contiguous block and execution
Parts, the monoblock type stepping electric platforms are fixed on Y-axis slide unit, the monoblock type stepping electric platforms and work top institute
It is mutually perpendicular in plane, the contiguous block is arranged on below monoblock type stepping electric platforms, and the actuating unit passes through coupling block
Detachable connection is carried out with monoblock type stepping electric platforms.The actuating unit includes fixture, ball pen, laser head, printing
Nozzle, staking punch, the actuating unit are separate module.
Preferable scheme is that related component includes air switch, contactor, power supply in the electrical equipment control module
Wave filter, Switching Power Supply, servo-driver, step actuator, light source controller, PLC, binding post.It is described electric
Element is all arranged on mesh plate, inside switch board 12.The electrical equipment includes air switch, contactor, power supply filter
The discrete devices such as ripple device, Switching Power Supply, servo-driver, step actuator, light source controller, PLC, binding post,
Also can be according to reality teaches pattern independent assortment device and wiring.The data that the electrical equipment is used to collect camera 23 are carried out
Translation operation, control instruction is sent to X-axis servomotor 315, Y-axis servomotor 325 and Integral electric moving platform 41.
Above is preferred embodiment of the present utility model, not makees any formal limitation to the utility model,
It is every according to the technical essence of the utility model to any simple modification, equivalent change and modification made for any of the above embodiments,
Belong in the range of utility model technical scheme.
Claims (5)
- A kind of 1. Multi-function experimental platform of the Cartesian robot based on machine vision, it is characterised in that the platform bag Electrical equipment control module, vision-based detection module, Cartesian robot module, end effector mechanism module are included, it is described electric Device control module is body structure, and the electrical equipment control module includes operating desk, switch board, universal wheel and related member Device, the universal wheel are arranged on the pin of switch board bottom four, the operating desk be arranged at the upper side of switch board and with ground Face is angled, and the related component is arranged on inside switch board, and the vision-based detection module is arranged on the switch board Upper right, the vision-based detection module include camera shooting table top, camera frame, camera and light source, the camera and shoot table top The switch board upper right is horizontally set on, the camera frame is arranged on the right side of camera shooting table top, and the camera frame is L Shape, the camera frame bottom are vertically fixed on the right side of camera shooting table top, at the top of the camera frame on camera shooting table top Side, the camera at the top of camera frame with being connected, and the camera is located at directly over camera shooting table top, and the light source is looped around phase Machine circumference.
- 2. a kind of Multi-function experimental platform of Cartesian robot based on machine vision according to claim 1, its It is characterised by, the Cartesian robot module is arranged on the switch board upper left, the Cartesian robot mould Block includes the work top for being horizontally set on switch board upper left, X-axis travel mechanism and the Y-axis being arranged on above work top Travel mechanism, the X-axis travel mechanism include X-axis guide rail, X-axis screw mandrel, X-axis screw mandrel support seat, X-axis slide unit, X-axis servomotor With X-axis shaft coupling, the X-axis guide rail shares two, and the X-axis guide rail is separately mounted to the rear and front end of workbench, the X Axial filament bar is arranged on the forefront of the workbench parallel to X-axis guide rail, and the X-axis screw mandrel both ends are supported by X-axis screw mandrel Seat is fixed, and the height of the X-axis screw mandrel is identical with the height of X-axis guide rail, and described X-axis slide unit one end is set in the X-axis screw mandrel Outside, the other end set of the X-axis slide unit are slidably connected above adjacent X-axis guide rail, and the X-axis servomotor is arranged on X Axial filament boom end, the X-axis servomotor are connected by X-axis shaft coupling with X-axis screw mandrel, and the Y-axis moving mechanism includes Y-axis Screw mandrel, Y-axis slide unit, polished rod, Y-axis support base, Y-axis servomotor and Y-axis shaft coupling, the both ends difference of the Y-axis moving mechanism It is slidably arranged in above X-axis guide rail, is connected on the right side of the Y-axis moving mechanism with X-axis slide unit, the Y-axis moving mechanism passes through X The effect of axle servomotor axially moves along X-axis guide rail, and the Y-axis screw mandrel is arranged at Y-axis moving mechanism perpendicular to X-axis guide rail Centre, the polished rod is symmetricly set on the upper and lower of Y-axis screw mandrel, and the Y-axis screw mandrel and polished rod both ends pass through Y-axis support base It is fixedly connected, the Y-axis slide unit is set in outside the Y-axis screw mandrel and polished rod, and the Y-axis slide unit and Y-axis screw mandrel are spiral shell Line connects, and the Y-axis slide unit can freely move axially along polished rod, and the Y-axis servomotor is arranged on Y-axis screw mandrel end, the Y Axle servomotor is connected by Y-axis shaft coupling with Y-axis screw mandrel.
- 3. a kind of Multi-function experimental platform of Cartesian robot based on machine vision according to claim 1, its It is characterised by, the end effector mechanism module includes monoblock type stepping electric platforms, contiguous block and actuating unit, the entirety Formula stepping electric platforms are fixed on Y-axis slide unit, and the monoblock type stepping electric platforms mutually hang down with plane where work top Directly, the contiguous block is arranged on below monoblock type stepping electric platforms, and the actuating unit passes through coupling block and monoblock type stepping Electric platforms carry out detachable connection.
- 4. a kind of Multi-function experimental platform of Cartesian robot based on machine vision according to claim 3, its It is characterised by, the actuating unit includes fixture, ball pen, laser head, printing nozzle, staking punch, and the actuating unit is phase Mutually independent module.
- 5. a kind of Multi-function experimental platform of Cartesian robot based on machine vision according to claim 4, its It is characterised by, related component includes air switch, contactor, power-supply filter, switch in the electrical equipment control module Power supply, servo-driver, step actuator, light source controller, PLC, binding post.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720654645.6U CN207074534U (en) | 2017-06-07 | 2017-06-07 | A kind of Multi-function experimental platform of the Cartesian robot based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720654645.6U CN207074534U (en) | 2017-06-07 | 2017-06-07 | A kind of Multi-function experimental platform of the Cartesian robot based on machine vision |
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| CN207074534U true CN207074534U (en) | 2018-03-06 |
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| CN201720654645.6U Expired - Fee Related CN207074534U (en) | 2017-06-07 | 2017-06-07 | A kind of Multi-function experimental platform of the Cartesian robot based on machine vision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109360483A (en) * | 2018-12-25 | 2019-02-19 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for robot real training |
| CN109410686A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for PLC real training |
| CN109461338A (en) * | 2018-12-25 | 2019-03-12 | 苏州富纳艾尔科技有限公司 | Real training mechanism and PLC Practical Training Teaching-Platform for PLC teaching |
| CN111009177A (en) * | 2019-12-13 | 2020-04-14 | 同济大学 | Three-coordinate robot for bone drilling teaching |
| CN111323421A (en) * | 2018-12-14 | 2020-06-23 | 黎越智能技术研究（广州）有限公司 | Intelligent rubber ring detection equipment |
| CN113012539A (en) * | 2021-02-08 | 2021-06-22 | 河源职业技术学院 | Multifunctional machine vision detection test device based on four-axis linkage position tracking |
-
2017
- 2017-06-07 CN CN201720654645.6U patent/CN207074534U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323421A (en) * | 2018-12-14 | 2020-06-23 | 黎越智能技术研究（广州）有限公司 | Intelligent rubber ring detection equipment |
| CN109360483A (en) * | 2018-12-25 | 2019-02-19 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for robot real training |
| CN109410686A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for PLC real training |
| CN109461338A (en) * | 2018-12-25 | 2019-03-12 | 苏州富纳艾尔科技有限公司 | Real training mechanism and PLC Practical Training Teaching-Platform for PLC teaching |
| CN111009177A (en) * | 2019-12-13 | 2020-04-14 | 同济大学 | Three-coordinate robot for bone drilling teaching |
| CN113012539A (en) * | 2021-02-08 | 2021-06-22 | 河源职业技术学院 | Multifunctional machine vision detection test device based on four-axis linkage position tracking |
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Granted publication date: 20180306 |