CN207165091U - A kind of industrial robot vision is with line tracing teaching module - Google Patents
A kind of industrial robot vision is with line tracing teaching module Download PDFInfo
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- CN207165091U CN207165091U CN201720792183.4U CN201720792183U CN207165091U CN 207165091 U CN207165091 U CN 207165091U CN 201720792183 U CN201720792183 U CN 201720792183U CN 207165091 U CN207165091 U CN 207165091U
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- industrial robot
- pallet
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- automatic conveyor
- vision
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Abstract
A kind of industrial robot vision is with line tracing teaching module, including industrial robot and practical traning platform, it is characterised in that：Practical traning platform is separated with industrial robot and in the stroke range of industrial robot, practical traning platform is provided with two automatic conveyor lines for conveying tray being parallel to each other, the initiating terminal of two automatic conveyor lines is provided with pallet auto-feeder and is used to store and discharge pallet to automatic conveyor line, two automatic conveyor line is sequentially provided with feeding station along current direction, vibrate station and vision station, vibration station has vibrating device and is used to make vibration occurs to change position of the product in pallet by the pallet for vibrating station, the top of vision station is provided with image collecting device, the end of automatic conveyor line is provided with collection tray device.It is higher that the industrial robot vision with line tracing teaching module can be applicable industrial production and teaching, the degree of modularity simultaneously.
Description
Technical field
It the utility model is related to robotic technology field, and in particular to a kind of industrial robot vision is with line tracing teaching mould
Group.
Background technology
The vision in robot is exactly that image collecting device is installed in robot at present, is needing to capture and place product
When obtain target location, function is more single, unspecial design not only applicable industrial production but also applicable teaching
Industrial robot vision with modular characteristics is with line tracing teaching module.
Utility model content
The technical problems to be solved in the utility model is：Industrial production and teaching, mould can be applicable simultaneously by providing one kind
The higher industrial robot vision of block degree is with line tracing teaching module.
Technical solution of the present utility model is：A kind of industrial robot vision is with line tracing teaching module, including work
Industry robot and practical traning platform, it is characterised in that：The practical traning platform is separated with industrial robot and positioned at the row of industrial robot
In the range of journey, the practical traning platform is provided with two automatic conveyor lines for conveying tray being parallel to each other, and described two automatic
The initiating terminal of pipeline is provided with pallet auto-feeder and is used to store and discharge pallet to automatic conveyor line, and described two certainly
Dynamic pipeline is sequentially provided with feeding station, vibration station and vision station along current direction, and the vibration station has vibration
Device is used to make vibration occurs to change position of the product in pallet by the pallet for vibrating station, the vision station it is upper
Side is provided with image collecting device, and the end of the automatic conveyor line is provided with collection tray device.
After said structure, the utility model has advantages below：
The utility model industrial robot vision separates industrial robot and practical traning platform with line tracing teaching module, can make
Vision on practical traning platform carries out flexible group to facilitate as independent module with line tracing teaching module with other modules
Close, so as to the application of convenient extension industrial robot, compatibility and the degree of modularity are higher；Secondly, the vision with line with
Track teaching module uses industrial robot, and simulates actual industrial processes, abundant in content various, can be applicable work simultaneously
Industry metaplasia is produced and teaching.
Preferably, it is equipped with universal wheel and liftable pin cup at four angles of the bottom of the practical traning platform.The setting
It can be moved easily and position practical traning platform, to facilitate and other module flexible combinations.
Preferably, being provided with PLC in the practical traning platform, the practical traning platform is provided with terminal box and is arranged on and connects
Switch panel in line box, the switch panel are electrically connected by terminal box with PLC, the PLC and industry
Robot communication connects.Under module set with industrial robot communication connection PLC, using PLC with
Industrial robot interactive information, and module is directly controlled, due to PLC rich interface, so that control letter
Folk prescription just, sets switch panel to facilitate production education activities of the man-machine interaction with control machine people in addition.
Preferably, it is equipped with position detecting device and for keeping off at the feeding station, vibration station and vision station
The only stop gauge of pallet.The setting can make pallet be positioned at corresponding station to sentence convenient correct operation.
Preferably, the linear drive apparatus up and down that the stop gauge includes block and drives block to move up and down.
The stop gauge is simple in construction, and backgauge is reliable.
Preferably, the pallet auto-feeder includes housing, the feed mechanism being arranged in housing and promotes machine
Structure, the feed mechanism are included for the from bottom to top tray rack of single-row storage tray, lead screw transmission mechanism, for drive screw
The motor of transmission mechanism, the opening position where the top of the housing is located at tray rack are provided with breach, and the tray rack passes through silk
Bar transmission mechanism support that the pushing mechanism includes being arranged on housing, can be arranged in the indentation, there oscilaltion of housing
Tandem drive device on support and it is arranged on tandem drive device movable end and is used to make in tray rack
The pushing block of pallet ejection.The pallet auto-feeder is simple in construction, easy to operate, as long as by motor drive screw transmission mechanism
Make tray rack rise through the breach of housing to reach outside housing, be stored in pallet is from bottom to top single-row on tray rack, then
Drive screw transmission mechanism makes the relevant position that tray rack is dropped in housing again, so that it may is pushed away by tandem drive device
Block ejects the pallet on tray rack and slided on automatic conveyor line.
Preferably, the collection tray device includes the fixed seat being connected with practical traning platform and is arranged in fixed seat
Double-deck storage collet, the side of the bottom of the double-deck storage collet is connected by left linkages with fixed seat, and opposite side leads to
Cross electrical retractor with fixed seat to be connected, one end of the left linkages is hinged with the double-deck bottom for storing collet, separately
One end is hinged with fixed seat, and one end of the electrical retractor and the bottom of double-deck storage collet are hinged, the other end
It is hinged with fixed seat.The setting can be by adjusting the length of electrical retractor, you can adjusts the pallet on automatic conveyor line
Save and aligned as the double-deck upper strata for storing collet or lower floor, after filling pallet so as to one layer wherein, using another layer come
Pallet is filled, so as to realize collection tray and transferring pallet while carry out.
Preferably, being additionally provided with warning lamp in the terminal box, the warning lamp is also by terminal box and PLC electricity
Connection.The setting can indicate working condition that use is safer.
Brief description of the drawings：
Fig. 1 is structural representation of the utility model industrial robot vision with line tracing teaching module；
Fig. 2 is the structural representation of the utility model feed mechanism；
Fig. 3 is the structural representation of the utility model pushing mechanism；
Fig. 4 is the structural representation of the utility model collection tray device；
Fig. 5 is the structural representation of the utility model terminal box；
Fig. 6 is the structural representation of the utility model stop gauge：
In figure：1- industrial robots, 2- practical traning platforms, 3- automatic conveyor lines, 4- pallet auto-feeders, 5- feeding works
Position, 6- vibration stations, 7- vision stations, 8- vibrating devices, 9- image collecting devices, 10- collection tray devices, 11- universal wheels,
12- pin cups, 13-PLC controllers, 14- terminal boxes, 15- switch panels, 16- position detecting devices, 17- stop gauges, 18- gears
Block, above and below 19- linear drive apparatus, 20- housings, 21- feed mechanisms, 22- pushing mechanisms, 23- tray racks, 24- screw rod transmissions
Mechanism, 25- motors, 26- breach, 27- supports, 28- tandem drive devices, 29- pushing blocks, 30- fixed seats, 31- is double-deck to be received
Receive collet, 32,33- left linkages, 34- electrical retractors, 35- pallets, 36- nuts, 37- screw mandrels, 38- warning lamps.
Embodiment
Below in conjunction with the accompanying drawings, and in conjunction with the embodiments the utility model is described further.
Embodiment：
A kind of industrial robot vision is with line tracing teaching module, including industrial robot 1 and practical traning platform 2, the industry
Robot 11 is prior art, such as the model IRB1410-5/1.44 of ABB AB's production six-shaft industrial robot 11, institute
State practical traning platform 2 to be separated with industrial robot 1 and in the stroke range of industrial robot 1, the practical traning platform 2 is provided with two
The automatic conveyor line 3 for conveying tray 35 that bar is parallel to each other, the automatic conveyor line 3 uses prior art, described
The initiating terminal of two automatic conveyor lines 3 is provided with pallet auto-feeder 4 and is used to store and discharge pallet 35 to arrive automatic conveyor line 3
On, two automatic conveyor lines 3 are sequentially provided with feeding station 5, vibration station 6 and vision station 7 along current direction, described to shake
Position 6 of starting building has vibrating device 8 and is used to make vibration occurs to change product in pallet 35 by the pallet 35 for vibrating station 6
Position, the vibrating device 8 uses prior art, produces vibration by eccentric motor, the top of the vision station 7 is set
There are image collecting device 9, such as camera of described image harvester 9, the end of the automatic conveyor line 3 fills provided with collection tray
Put 10.
The utility model industrial robot vision separates industrial robot 1 and practical traning platform 2 with line tracing teaching module, can
The vision on practical traning platform 2 is set to carry out spirit with other modules to facilitate as independent module with line tracing teaching module
Combination living, so as to the application of convenient extension industrial robot 1, compatibility and the degree of modularity are higher；Secondly, the vision with
Line tracing teaching module uses industrial robot 1, and simulates actual industrial processes, abundant in content various, can be simultaneously
It is applicable industrialized production and teaching.
Preferably, it is equipped with universal wheel 11 and liftable pin cup 12, institute at four angles of the bottom of the practical traning platform 2
State universal wheel 11 and liftable pin cup 12 uses prior art.The setting can be moved easily and position practical traning platform 2, with side
Just with other module flexible combinations.
Preferably, being provided with PLC 13 in the practical traning platform 2, the practical traning platform 2 is provided with terminal box 14 and set
The switch panel 15 in terminal box 14 is put, the switch panel 15 is electrically connected by terminal box 14 with PLC 13, described
PLC 13 communicates to connect with industrial robot 1, and the PLC 13 is substantially with the communication connection of industrial robot 1
Referring to, the PLC 13 and the robot control cabinet of industrial robot 1 communicate to connect, and robot control cabinet is prior art,
Here no longer illustrate.The PLC 13 communicated to connect with industrial robot 1 is set under module, using PLC 13
With the interactive information of industrial robot 1, and module is directly controlled, due to the rich interface of PLC 13, so that control
Make it is simple and convenient, in addition set switch panel 15 can facilitate production education activities of the man-machine interaction with control machine people.
Preferably, position detecting device 16 is equipped with the feeding station 5, vibration station 6 and vision station 7 and is used
In the stop gauge 17 of block pallet 35, the position detecting device 16 such as photoelectric sensor or travel switch.The setting can
Pallet 35 is positioned at corresponding station and sentence convenient correct operation.
Preferably, the straight line up and down that the stop gauge 17 includes block 18 and drives block 18 to move up and down drives
Dynamic device 19, such as electric cylinder of linear drive apparatus 19 up and down.The stop gauge 17 is simple in construction, and backgauge is reliable.
Preferably, the pallet auto-feeder 4 includes housing 20, the and of feed mechanism 21 being arranged in housing 20
Pushing mechanism 22, the feed mechanism 21 include being used for the from bottom to top tray rack 23 of single-row storage tray 35, screw rod transmission machine
Structure 24, the motor 25 for drive screw transmission mechanism 24, the lead screw transmission mechanism 24 use prior art, including spiral shell
Female and screw mandrel, such as stepper motor of motor 25, the opening position that the top of the housing 20 be located at the place of tray rack 23 are provided with
Breach 26, the tray rack 23 by lead screw transmission mechanism 24 can the oscilaltion at the breach 26 of housing 20, the promotion machine
Structure 22 includes setting support 27 on the housing 20, the tandem drive device 28 being arranged on support 27 and is arranged on
It is used to make the pushing block 29 that the pallet in tray rack 23 ejects on the movable end of tandem drive device 28, the tandem drives
The dynamic such as electric cylinder of device 28.The pallet auto-feeder 4 is simple in construction, easy to operate, as long as driving silk by motor 25
Bar transmission mechanism 24 makes tray rack 23 rise through the breach 26 of housing 20 to reach outside housing 20, and pallet 35 is from bottom to top single
Row are stored on tray rack 23, and then drive screw transmission mechanism 24 makes the corresponding positions that tray rack 23 is dropped in housing 20 again
Put, so that it may promote pushing block 29 to eject the pallet 35 on tray rack 23 by tandem drive device 28 and slide into automatic transport
On line 3.
Preferably, the collection tray device 10 includes the fixed seat 30 being connected with practical traning platform 2 and is arranged on fixation
Double-deck storage collet 31 on seat 30, the side of the bottom of the double-deck storage collet 31 by left linkages 32,33 with it is fixed
Seat 30 is connected, and opposite side is connected by electrical retractor 34 with fixed seat 30, for example electronic gas of electrical retractor 34
Cylinder, the bottom of one end of the left linkages 32,33 with double-deck storage collet 31 are hinged, the other end with the phase of fixed seat 30
Be hinged, one end of the electrical retractor 34 and the bottom of double-deck storage collet 31 are hinged, the other end and the phase of fixed seat 30
It is be hinged.The setting can be by adjusting the length of electrical retractor 34, you can make the pallet 35 on automatic conveyor line 3 adjust as
The upper strata of bilayer storage collet 31 or lower floor align, and after filling pallet 35 so as to one layer wherein, are filled using another layer
Pallet 35, so as to realize collection tray 35 and transferring pallet 35 while carry out.
Preferably, being additionally provided with warning lamp 38 in the terminal box, the warning lamp 38 is controlled also by terminal box 14 and PLC
Device 13 processed electrically connects.The setting can indicate working condition that use is safer.
Utility model works process is as follows：Tray rack 23 is set to pass through housing 20 by the drive screw transmission mechanism 24 of motor 25
Breach 26 rise to outside housing 20, be stored in pallet 35 is from bottom to top single-row on tray rack 23, then silk is driven by motor 25
Bar transmission mechanism 24 makes tray rack 23 drop to the pushing block 29 of lowermost pallet 35 and pushing mechanism 22 to be flush, by front and rear straight
Line drive device 28 drives pushing block 29 to move forward and shift pallet 35 on automatic conveyor line 3 onto, and completion once supplies disk；When pallet 35
During the feeding station 5 being delivered on automatic conveyor line 3, pallet 35 starts to receive the material that industrial robot 1 is placed, when pallet 35
Material can continue to be delivered to vibration station 6 after filling, and feeding station 5 can receive by pallet auto-feeder 4 again
The pallet 35 of push, luggage material of going forward side by side；The vibration of vibrating device 8 can be received to change material by reaching the pallet 35 of vibration station 6
Position in pallet 35；After the completion of vibration, pallet 35 is transported to vision station 7 again, is taken pictures and adopted by image collecting device 9
Collect position of the material in pallet 35, completion of taking pictures, pallet 35 continues to transmit along automatic conveyor line 3, when pallet 35 reaches automatically
During the end of pipeline 3, industrial robot 1 according to vision take pictures collection material category and coordinate carry out discharging；When discharging is complete
Into, pallet 35 can be recycled in collection tray device 10, and so circulation, pallet 35 are arranged in order, and by position detecting device
16 and stop gauge 17 pallet 35 is stopped at each station.
Claims (7)
1. a kind of industrial robot vision is with line tracing teaching module, including industrial robot (1) and practical traning platform (2), its feature
It is：The practical traning platform (2) is separated with industrial robot (1) and in the stroke range of industrial robot (1), the reality
Instruction platform (2) is provided with two automatic conveyor lines (3) for conveying tray (35) being parallel to each other, two automatic conveyor lines
(3) initiating terminal is provided with pallet auto-feeder (4) and is used to store and discharge pallet (35) to arrive automatic conveyor line (3), institute
State two automatic conveyor lines (3) and be sequentially provided with feeding station (5), vibration station (6) and vision station (7), institute along current direction
State vibration station (6) and have vibrating device (8) for making vibration occurs by the pallet (35) for vibrating station (6) to change production
Position of the product in pallet (35), the top of the vision station (7) are provided with image collecting device (9), the automatic conveyor line
(3) end is provided with collection tray device (10).
2. a kind of industrial robot vision according to claim 1 is with line tracing teaching module, it is characterised in that：The reality
Universal wheel (11) and liftable pin cup (12) are equipped with four angles of the bottom of instruction platform (2).
3. a kind of industrial robot vision according to claim 1 is with line tracing teaching module, it is characterised in that：The reality
PLC (13) is provided with instruction platform (2), the practical traning platform (2) is provided with terminal box (14) and is arranged on terminal box (14)
On switch panel (15), the switch panel (15) electrically connected by terminal box (14) with PLC (13), the PLC
Controller (13) communicates to connect with industrial robot (1).
4. a kind of industrial robot vision according to claim 1 is with line tracing teaching module, it is characterised in that：On described
Material station (5), vibration station (6) and vision station (7) place are equipped with position detecting device (16) and for block pallet (35)
Stop gauge (17).
5. a kind of industrial robot vision according to claim 4 is with line tracing teaching module, it is characterised in that：The gear
Expect the linear drive apparatus up and down (19) that device (17) includes block (18) and drives block (18) to move up and down.
6. a kind of industrial robot vision according to claim 1 is with line tracing teaching module, it is characterised in that：The support
Disk auto-feeder (4) includes housing (20), the feed mechanism (21) and pushing mechanism (22) being arranged in housing (20), institute
State feed mechanism (21) include be used for from bottom to top the tray rack (23) of single-row storage tray (35), lead screw transmission mechanism (24),
For the motor (25) of drive screw transmission mechanism (24), the top of the housing (20) is located at the position where tray rack (23)
Place is provided with breach (26), and the tray rack (23) can be above and below breach (26) place of housing (20) by lead screw transmission mechanism (24)
Lifting, support (27) that the pushing mechanism (22) includes being arranged on housing (20), be arranged on it is front and rear straight on support (27)
Line drive device (28) and be arranged on tandem drive device (28) movable end be used for make support in tray rack (23)
The pushing block (29) of disk (35) ejection.
7. a kind of industrial robot vision according to claim 1 is with line tracing teaching module, it is characterised in that：The support
Disk collection device (10) includes the fixed seat (30) being connected with practical traning platform (2) and the double-deck support being arranged in fixed seat (30)
Plate rail (31), the side of the bottom of the double decked flat pallet frame (31) are connected by left linkages (32,33) with fixed seat (30), separately
Side is connected by electrical retractor (34) with fixed seat (30), and one end of the left linkages (32,33) is and tray rack
(23) bottom is hinged, and the other end is hinged with fixed seat (30), one end of the electrical retractor (34) and pallet
The bottom of frame (23) is hinged, and the other end is hinged with fixed seat (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720792183.4U CN207165091U (en) | 2017-07-03 | 2017-07-03 | A kind of industrial robot vision is with line tracing teaching module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720792183.4U CN207165091U (en) | 2017-07-03 | 2017-07-03 | A kind of industrial robot vision is with line tracing teaching module |
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| Publication Number | Publication Date |
|---|---|
| CN207165091U true CN207165091U (en) | 2018-03-30 |
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ID=61710700
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720792183.4U Active CN207165091U (en) | 2017-07-03 | 2017-07-03 | A kind of industrial robot vision is with line tracing teaching module |
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| Country | Link |
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| CN (1) | CN207165091U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248362A (en) * | 2017-07-03 | 2017-10-13 | 武汉金石兴机器人自动化工程有限公司 | A kind of industrial robot vision is with line tracing teaching module |
| CN110315514A (en) * | 2019-08-07 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | Desktop type both arms cooperation robot system for real training |
-
2017
- 2017-07-03 CN CN201720792183.4U patent/CN207165091U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248362A (en) * | 2017-07-03 | 2017-10-13 | 武汉金石兴机器人自动化工程有限公司 | A kind of industrial robot vision is with line tracing teaching module |
| CN110315514A (en) * | 2019-08-07 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | Desktop type both arms cooperation robot system for real training |
| CN110315514B (en) * | 2019-08-07 | 2023-12-01 | 江苏汇博机器人技术股份有限公司 | Desktop type double-arm cooperative robot system for practical training |
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