CN207155172U - A kind of assembly system of view-based access control model - Google Patents

A kind of assembly system of view-based access control model Download PDF

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Publication number
CN207155172U
CN207155172U CN201720924330.9U CN201720924330U CN207155172U CN 207155172 U CN207155172 U CN 207155172U CN 201720924330 U CN201720924330 U CN 201720924330U CN 207155172 U CN207155172 U CN 207155172U
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CN
China
Prior art keywords
assembly
assembly bench
workpiece
bench
camera
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Expired - Fee Related
Application number
CN201720924330.9U
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Chinese (zh)
Inventor
陈婵娟
雒永峰
宋龙刚
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Shaanxi University of Science and Technology
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Shaanxi University of Science and Technology
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Priority to CN201720924330.9U priority Critical patent/CN207155172U/en
Application granted granted Critical
Publication of CN207155172U publication Critical patent/CN207155172U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a kind of assembly system of view-based access control model, including workbench, and industrial robot, two assembly line conveying devices and assembly bench are disposed with before workbench;The workbench is also equipped with camera support, camera is provided with camera support, and camera is located at the surface of assembly bench;During working condition, workpiece to be assembled is placed in pallet, and when the correct position on assembly bench is moved to by the first assembly line conveying device, the roller of assembly bench stops operating, assembly bench is taken pictures by camera, the image that camera obtains obtains the posture information of each workpiece after processing unit processes, and sends it to industrial robot, industrial robot is used to capture part according to the workpiece posture information of acquisition and is assembled to workpiece to be assembled, completes assembling;After assembling terminates, the roller of assembly bench rotates, and pallet and the workpiece assembled move forward with the second assembly line conveying device, treat that next pallet is moved to assembly bench.

Description

A kind of assembly system of view-based access control model
Technical field
It the utility model is related to a kind of industrial robot assembly system, and in particular to a kind of assembly system of view-based access control model.
Background technology
Assembling is nearly all industrial necessary links, and industrial production spends one of maximum link, is making Critical role is occupied in the field of making.Put together machines people appearance so that assembly system greatly improves system while cost is reduced Operational efficiency.And in recent years, the appearance of the assembly robot system of view-based access control model technology further increases assembly manipulation Flexibility, and it is increasingly becoming an important development trend in robotic asssembly field.
The assembly system of existing view-based access control model is needed by a series of spacing or positioning mostly, using substantial amounts of folder Have frock, and multiple positioning, final assembling could be completed.Although these assembly methods employ advanced vision technique and machine Device people technology completes assembling, but process is excessively cumbersome, and cost is too high.In addition, multiple clamping and the serious restriction of positioning Production efficiency.
Utility model content
In order to overcome some above-mentioned problem, the utility model provides a kind of assembly system of view-based access control model, and it passes through one Platform camera is taken pictures, and the posture information for two workpiece for needing to assemble is obtained in same image, is wherein treated by robot crawl The workpiece of assembling is assembled on another workpiece.
The utility model is adopted the following technical scheme that to realize:
A kind of assembly system of view-based access control model, including workbench, industrial robot is installed on the workbench, workbench Above it is disposed with the first assembly line conveying device, assembly bench and the second assembly line conveying device;
The workbench is also equipped with camera support, is provided with camera on camera support, and camera be located at assembly bench just on Side;
During working condition, workpiece to be assembled is placed in pallet, and is moved to dress by the first assembly line conveying device During with correct position on platform, the roller of assembly bench is stopped operating, and assembly bench is taken pictures by camera, the image warp that camera obtains The posture information of each workpiece is obtained after processing unit processes, and sends it to industrial robot, industrial robot is used for basis The workpiece posture information crawl part of acquisition is simultaneously assembled on workpiece to be assembled, completes assembling;After assembling terminates, the rolling of assembly bench Wheel rotates, and pallet and the workpiece assembled move forward with the second assembly line conveying device, treat that next pallet is moved to assembling Platform.
The utility model, which further improves, to be, the joint end of industrial robot is equipped with clamper.
The utility model, which further improves, to be, assembly bench is located at the front of industrial robot, and two streamlines Conveyer and assembly bench are linearly laid.
The utility model, which further improves, to be, light source is also equipped with camera support, and light source is located at assembly bench Above side.
The utility model, which further improves, to be, the first assembly bench baffle plate and the second assembly bench gear are provided with assembly bench Plate, for being clamped to pallet.
The utility model, which further improves, to be, is additionally provided with assembly bench for driving two assembly bench baffle plates to carry out The assembly bench baffle plate motor of clamping.
The utility model has following beneficial effect:
A kind of assembly system of view-based access control model provided by the utility model, including workbench, work is installed on the workbench Industry robot, industrial robot joint end are equipped with clamper.There are assembly line conveying device and assembly bench before workbench, assemble Platform immediately ahead of robot, linearly lay by two assembly line conveying devices and assembly bench.Camera support, phase are housed on workbench Light source and camera be housed, camera is in the surface of assembly bench, and light source is above the side of assembly bench on machine support.To be assembled is several Part moves forward in pallet with assembly line conveying device, during correct position to be moved on assembly bench, the rolling of assembly bench Wheel stops operating, and the baffle plate of both sides, which clamps pallet, makes its fixed.Camera is taken pictures to assembly bench, and the image that camera obtains is through place The posture information of each workpiece is obtained after reason cell processing, and sends it to robot.Robot is according to the workpiece pose of acquisition Information scratching part is simultaneously assembled on workpiece to be assembled.After the completion of assembling, the baffle plate of assembly bench two unclamp, roller rotate, pallet and The workpiece assembled moves forward with assembly line conveying device, treats that next pallet is moved to assembly bench.Once assembling is completed to follow Ring.
Because the utility model is adopted by way of camera is taken pictures and obtains workpiece posture information, so there is workpiece positioning precision The advantages of high;Several parts to be assembled are placed in same pallet, and camera, which is taken pictures, can once obtain multiple workpiece to be assembled Posture information, it is not necessary to repeatedly position, the disposable disposable assembling of crawl, save installation time, operating efficiency is high;This The assembling line of utility model is simple and direct, and for saving assembly system cost, saving assembly space has greater advantage.More than being based on Each advantage, this utility model are of great importance for industrial assembling intellectuality.
Brief description of the drawings
Fig. 1 is the integral layout schematic diagram of the utility model assembly system.
Fig. 2 is the utility model assembly bench schematic diagram.
In figure:1- graphics processing units, 2- industrial robots, 3- clampers, 4- assembly bench, 5- workpiece first, 6- workpiece Second, 7- pallets, the assembly line conveying devices of 8- first, 9- cameras, 10- camera supports, the assembly line conveying devices of 11- second, 12- light Source, 13- workbench, 14- the first assembly bench baffle plates, 15- the second assembly bench baffle plates, 16- assembly bench baffle plate motors.
Embodiment
Structural principle of the present utility model and operation principle are described in further detail below in conjunction with the accompanying drawings.
Referring to accompanying drawing 1 to 2, a kind of assembly system of view-based access control model provided by the utility model, including graphics processing unit 1st, industrial robot 2, clamper 3, assembly bench 4, pallet 7, the first assembly line conveying device 8, camera 9, camera support 10, second Assembly line conveying device 11, light source 12, workbench 13, the first assembly bench baffle plate 14, the second assembly bench baffle plate 15 and assembly bench gear Board motor 16.
As shown in Figure 1:Mounting industrial robot 2 on workbench 13, the end of industrial robot 2 are equipped with clamper 3.Assembly bench 4 are arranged on workbench 13, and in the front of industrial robot 2.First assembly line conveying device 8 and the second streamline pass Device 11 is sent to be laid on the same line with assembly bench 4.Camera support 10 is installed, camera 9 and light source 12 are pacified on workbench 13 On camera frame 10.
Workpiece first 5 and workpiece second 6 to be assembled moves forward in pallet 7 with the first assembly line conveying device 8, to be moved During correct position on to assembly bench 4, the roller of assembly bench 4 stops operating, the first assembly bench baffle plate 14 of both sides and the second dress With platform baffle plate 15 under the driving of assembly bench motor 16, clamping pallet 7 makes its fixed.Camera 9 is taken pictures to assembly bench 4, support The upper surface of disk 7 is black frosted, it is to be ensured that will not be reflective.Under the irradiation of light source 12, workpiece first 5, the upper surface of workpiece second 6 ash Spend bright and the upper surface gray scale of pallet 7 is dark, gray scale difference is very big between the two, it can be clearly seen that workpiece profile.Image procossing list Obtained picture is carried out image procossing by member 1, identifies workpiece first 5 and workpiece second 6, calculates position and the appearance of two workpiece State.The posture information of two workpiece is sent to industrial robot 2 after the completion of processing, industrial robot 2 is first by end joint The top of workpiece first 5 is moved to correct angle downwards close to simultaneously grabbing workpiece first 5, workpiece first 5 is carried afterwards and is moved to workpiece second 6 Top and adjustment angle and position move downward and assembled, and clamper 3 unclamps after the completion of assembling, and industrial robot 2 moves to Initial position.First assembly bench baffle plate 14 and the second assembly bench baffle plate 15 unclamp, the roller of assembly bench 4 rotate drive pallet 7 and The workpiece assembled moves forward with the second assembly line conveying device 11, treats that next pallet 7 is moved to assembly bench 4.So far fill Completed with process.
Furthermore, it is necessary to supplementary notes is:
Camera lens model:MLM-3XMP,MLH-10X
Light source model:HPD-400SW/BL 24V 41W, are referred to:
(Daheng's image) http://www.daheng-image.com/main.html
Camera model:Kestrel Series Intelligent cameras
The subsidiary software of graphics processing unit installation smart camera:GtSmartCamKit, such smart camera with it is supporting Software has learning functionality, identifies different workpieces and it is positioned., will be to be identified after the study to masterplate workpiece Workpiece matched with the masterplate that study obtains, so as to the pose for identifying workpiece He finding out workpiece, refer to:
(Gu high-tech) http://www.googoltech.com.cn/product/mvp/cpac11/121/
Robot selects the robot of Hui Bo robot technology company, refers to:
(Hui Bo robots) http://www.huiborobot.com/index.html.

Claims (6)

1. a kind of assembly system of view-based access control model, it is characterised in that including workbench (13), work is provided with the workbench (13) Industry robot (2), the first assembly line conveying device (8), assembly bench (4) and second are disposed with before workbench (13) Waterline conveyer (11);
The workbench (13) is also equipped with camera support (10), and camera (9), and camera (9) position are provided with camera support (10) In the surface of assembly bench (4);
During working condition, workpiece to be assembled is placed in pallet (7), and is moved to by the first assembly line conveying device (8) During correct position on assembly bench (4), the roller of assembly bench (4) is stopped operating, and assembly bench (4) is taken pictures by camera (9), phase The image that machine (9) obtains obtains the posture information of each workpiece after processing unit (1) processing, and sends it to industrial robot (2), industrial robot (2) is used to capture part according to the workpiece posture information of acquisition and is assembled to workpiece to be assembled, completes Assembling;After assembling terminates, the roller of assembly bench (4) rotates, and pallet (7) and the workpiece that assembles are with the second assembly line conveying device (11) move forward, treat that next pallet (7) is moved to assembly bench (4).
A kind of 2. assembly system of view-based access control model according to claim 1, it is characterised in that the pass of industrial robot (2) Section end is equipped with clamper (3).
3. the assembly system of a kind of view-based access control model according to claim 1, it is characterised in that assembly bench (4) is positioned at industry The front of robot (2), and two assembly line conveying devices and assembly bench (4) are linearly laid.
4. the assembly system of a kind of view-based access control model according to claim 1, it is characterised in that camera support is also pacified on (10) Equipped with light source (12), and light source (12) is located above the side of assembly bench (4).
5. the assembly system of a kind of view-based access control model according to claim 1, it is characterised in that assembly bench is provided with (4) First assembly bench baffle plate (14) and the second assembly bench baffle plate (15), for being clamped to pallet (7).
6. the assembly system of a kind of view-based access control model according to claim 5, it is characterised in that assembly bench is also set up on (4) There is the assembly bench baffle plate motor (16) for driving two assembly bench baffle plates to be clamped.
CN201720924330.9U 2017-07-27 2017-07-27 A kind of assembly system of view-based access control model Expired - Fee Related CN207155172U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720924330.9U CN207155172U (en) 2017-07-27 2017-07-27 A kind of assembly system of view-based access control model

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720924330.9U CN207155172U (en) 2017-07-27 2017-07-27 A kind of assembly system of view-based access control model

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Publication Number Publication Date
CN207155172U true CN207155172U (en) 2018-03-30

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109014815A (en) * 2018-08-13 2018-12-18 昆山睿力得软件技术有限公司 A kind of vision guide equipment for Product Assembly
CN109277810A (en) * 2018-11-29 2019-01-29 芜湖常瑞汽车部件有限公司 A kind of part automatic measurement assembly system and method based on machine vision
CN109352302A (en) * 2018-11-28 2019-02-19 合肥常青机械股份有限公司 A kind of the image recognition assembly system and method for micro parts
WO2020057440A1 (en) * 2018-09-17 2020-03-26 鲁班嫡系机器人(深圳)有限公司 Assembling method, assembling apparatus and assembling device
CN111618548A (en) * 2020-05-09 2020-09-04 大连理工大学 System of automatic assembling equipment for tiny parts convenient for interactive operation

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109014815A (en) * 2018-08-13 2018-12-18 昆山睿力得软件技术有限公司 A kind of vision guide equipment for Product Assembly
WO2020057440A1 (en) * 2018-09-17 2020-03-26 鲁班嫡系机器人(深圳)有限公司 Assembling method, assembling apparatus and assembling device
CN109352302A (en) * 2018-11-28 2019-02-19 合肥常青机械股份有限公司 A kind of the image recognition assembly system and method for micro parts
CN109277810A (en) * 2018-11-29 2019-01-29 芜湖常瑞汽车部件有限公司 A kind of part automatic measurement assembly system and method based on machine vision
CN111618548A (en) * 2020-05-09 2020-09-04 大连理工大学 System of automatic assembling equipment for tiny parts convenient for interactive operation

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20180330

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CF01 Termination of patent right due to non-payment of annual fee