CN207480599U - A kind of motion control device for industrial robot based on machine vision - Google Patents
A kind of motion control device for industrial robot based on machine vision Download PDFInfo
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- CN207480599U CN207480599U CN201721581874.6U CN201721581874U CN207480599U CN 207480599 U CN207480599 U CN 207480599U CN 201721581874 U CN201721581874 U CN 201721581874U CN 207480599 U CN207480599 U CN 207480599U
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- fixedly installed
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- industrial robot
- support plate
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Abstract
The utility model discloses a kind of motion control device for industrial robot based on machine vision,Including workbench,First cylinder,Support plate,Gag lever post,Adjustment mechanism and camera,The side of the workbench is fixedly installed the first vertical cylinder,The end of the telescopic shaft of first cylinder is fixedly installed support plate,Position above the workbench close to the first cylinder is fixedly installed gag lever post,The gag lever post is sleeved on the inside of support plate,The side of the support plate is fixedly installed adjustment mechanism,The camera is fixedly mounted below camera installing plate close to the position of workbench,By being located at the camera fixation for being used for the acquisition image information of vision industrial robot on the inside of the activity box with cylinder,And activity box is movably connected in the inside of fixed frame by screw and stepper motor,So that camera can carry out the adjustment and change of local during image collection,It is acquired convenient for the completion of image information,It is simple and convenient.
Description
Technical field
It is specially a kind of based on machine vision the utility model is related to motion control device for industrial robot technical field
Motion control device for industrial robot.
Background technology
Industrial robot is made of three main body, drive system and control system essential parts.Main body, that is, engine base and execution
Mechanism, including arm, wrist and hand, there be walking mechanism in some robots.Most of industrial robots have 3~6 movements
Degree of freedom, wherein wrist usually have 1~3 freedom of motion；Drive system includes power plant and transmission mechanism, to make to hold
Row mechanism generates corresponding action；Control system is that instruction letter is sent out to drive system and executing agency according to the program of input
Number, and controlled.Industrial robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type can be along three right angles
Coordinate moves；The arm of circular cylindrical coordinate type can lift, turn round and expanding-contracting action；The arm of spherical coordinates type can turn round, pitching and
It is flexible；The arm of joint type has multiple cradle heads.Industrial robot presses the Control function of executing agency's movement, and can branch position
Type and continuous path type.Point bit-type only control accurate positionin of the executing agency by any to another point, suitable for lathe loading and unloading,
The operations such as spot welding and general carrying, handling；Continuous path type can control executing agency to be moved by given track, suitable for continuous
The operations such as welding and application.Feel with tactile, power or the industrial robot of simple vision, can under complex environment work
Make；Such as there is identification function or further increase adaptive, self-learning function, become intelligent industrial robot.Its energy
" macro-instruction " given according to people is free or self-compiling program deacclimatizes environment, and is automatically performed increasingly complex work.
The industrial robot with vision has the following disadvantages during the control of motion process in the prior art：
1st, the coverage for the camera of visual information acquisition is limited, influences the complete acquisition of image.
2nd, the height of camera is inconvenient to adjust, and fluctuates larger during adjustment, influences normal use.
Utility model content
The purpose of this utility model is to provide a kind of motion control device for industrial robot based on machine vision, with solution
Certainly the problems mentioned above in the background art.
To achieve the above object, the utility model provides following technical solution：A kind of industrial machine based on machine vision
People's motion control device, including workbench, the first cylinder, support plate, gag lever post, adjustment mechanism and camera, the workbench
Side be fixedly installed the first vertical cylinder, the end of the telescopic shaft of first cylinder is fixedly installed support plate, institute
It states the position above workbench close to the first cylinder and is fixedly installed gag lever post, the gag lever post is sleeved on the inside of support plate,
The side of the support plate is fixedly installed adjustment mechanism, and the adjustment mechanism includes fixed frame, screw, stepper motor, activity
Frame and the second cylinder are fixedly connected, the inside of the fixed frame and branch between the side of the fixed frame and the side of support plate
Fagging it is parallel be rotatably connected to screw, the position that the outside of the fixed frame is opposite with screw is fixedly installed stepping electricity
Machine is fixedly connected between the output shaft of the stepper motor and the side side of screw, the side fixed setting of the activity box
There is screw plate, be threadedly coupled between the screw plate and screw, the inside other end of the activity box is consolidated by the position of close end
Surely slide bar is provided with, is slidably connected between the activity box and slide bar, the inside of the activity box is fixed close to the side of slide bar
The second cylinder is provided with, the flexible shaft end of second cylinder is fixedly installed camera installing plate, and the camera is fixed
Close to the position of workbench below camera installing plate.
Preferably, signal connects between the camera and the Vision information processing center of industrial robot.
Preferably, the inside of the activity box is fixedly installed sliding slot respectively in the both sides of camera installing plate, described to take the photograph
As the both sides of head installing plate are slidably connected between sliding slot respectively.
Preferably, the top of the gag lever post is fixedly installed limited block.
Preferably, the outside of the fixed frame is fixedly installed motor protecting cover on the outside of stepper motor.
Compared with prior art, the beneficial effects of the utility model are：
1st, by the way that the camera fixation for being used for the acquisition image information of vision industrial robot is located at the work with cylinder
It moves on the inside of frame, and activity box is movably connected in the inside of fixed frame by screw and stepper motor, so that camera exists
The adjustment and change of local can be carried out during image collection, is acquired convenient for the completion of image information, it is simple and convenient.
2nd, by the way that the support plate fixation of fixed adjustment mechanisms is located at the telescopic shaft top of cylinder, and fix on the table
The gag lever post with support plate socket connection is provided with, so that adjustment mechanism can carry out height by the telescopic action of cylinder
Adjustment, and can keep stablizing by gag lever post, the adjustment use of height when acquire convenient for industrial robot vision.
Description of the drawings
Fig. 1 is the utility model overall structure front view；
Fig. 2 is the utility model integrated regulation structural scheme of mechanism.
In figure：1- workbench；The first cylinders of 2-；3- support plates；4- gag lever posts；5- adjustment mechanisms；6- limited blocks；7- is fixed
Frame；8- screws；9- stepper motors；10- screw plates；11- slide bars；12- activity box；The second cylinders of 13-；14- camera installing plates；
15- sliding slots；16- cameras.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
It please refers to Fig.1 and Fig. 2, the utility model provides a kind of technical solution：A kind of industrial machine based on machine vision
People's motion control device, it is described including workbench 1, the first cylinder 2, support plate 3, gag lever post 4, adjustment mechanism 5 and camera 16
The side of workbench 1 is fixedly installed the first vertical cylinder 2, and the end of the telescopic shaft of first cylinder 2 is fixedly installed
The upper surface of support plate 3, described workbench 1 are fixedly installed gag lever post 4 close to the position of the first cylinder 2, and the gag lever post 4 is sleeved on
The inside of support plate 3, the side of the support plate 3 are fixedly installed adjustment mechanism 5, the adjustment mechanism 5 include fixed frame 7,
Screw 8, stepper motor 9,12 and second cylinder 13 of activity box, it is fixed between the side of the fixed frame 7 and the side of support plate 3
Connection, the inside of the fixed frame 7 it is parallel with support plate 3 be rotatably connected to screw 8, the outside of the fixed frame 7 and silk
The opposite position of bar 8 is fixedly installed stepper motor 9, solid between the output shaft of the stepper motor 9 and the side side of screw 8
Fixed connection, the side of the activity box 12 are fixedly installed screw plate 10, are threadedly coupled between the screw plate 10 and screw 8,
The inside other end of the activity box 12 is fixedly installed slide bar 11 by the position of close end, the activity box 12 and slide bar 11 it
Between be slidably connected, the inside of the activity box 12 is fixedly installed the second cylinder 13, second gas close to the side of slide bar 11
The flexible shaft end of cylinder 13 is fixedly installed camera installing plate 14, and the camera 16 is fixedly mounted on camera installing plate 14
Below close to workbench 1 position.
For the ease of using, signal connects between the camera 16 and the Vision information processing center of industrial robot,
The inside of the activity box 12 is fixedly installed sliding slot 15, the camera installing plate in the both sides of camera installing plate 14 respectively
14 both sides are slidably connected between sliding slot 15 respectively, and the top of the gag lever post 4 is fixedly installed limited block 6, the fixation
The outside of frame 7 is fixedly installed motor protecting cover in the outside of stepper motor 9.
Operation principle：During using industrial robot with vision, when needing to move adjustment region during vision collecting,
It laterally adjusts and the rotation of screw 8 is driven to drive the movement of activity box 12 by stepper motor 9, complete the lateral of camera 16 and move
It is dynamic；
During vertical motion, the Slideslip in sliding slot 15 of camera installing plate 14 is driven by the second cylinder 13；
When needing to adjust height, the first cylinder 2 is started so that the first cylinder 2 drives support plate 3 to rise, you can completion is taken the photograph
As first 16 height adjusts, adjustment process is simple, convenient for the motion control of the image collection of vision industrial robot, efficiently just
It is prompt.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this practical relationship or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or equipment
Intrinsic element.
While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case of the principle and spirit for not departing from the utility model, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of motion control device for industrial robot based on machine vision, including workbench（1）, the first cylinder（2）, support
Plate（3）, gag lever post（4）, adjustment mechanism（5）And camera（16）, it is characterised in that：The workbench（1）Side fix set
It is equipped with the first vertical cylinder（2）, first cylinder（2）The end of telescopic shaft be fixedly installed support plate（3）, the work
Make platform（1）Above close to the first cylinder（2）Position be fixedly installed gag lever post（4）, the gag lever post（4）It is sleeved on support plate
（3）Inside, the support plate（3）Side be fixedly installed adjustment mechanism（5）, the adjustment mechanism（5）Including fixed frame
（7）, screw（8）, stepper motor（9）, activity box（12）With the second cylinder（13）, the fixed frame（7）Side and support plate
（3）Side between be fixedly connected, the fixed frame（7）Inside and support plate（3）Parallel is rotatably connected to screw
（8）, the fixed frame（7）Outside and screw（8）Opposite position is fixedly installed stepper motor（9）, the stepper motor
（9）Output shaft and screw（8）Side side between be fixedly connected, the activity box（12）Side be fixedly installed screw hole
Plate（10）, the screw plate（10）With screw（8）Between be threadedly coupled, the activity box（12）The inside other end lean on close end
Position be fixedly installed slide bar（11）, the activity box（12）With slide bar（11）Between be slidably connected, the activity box（12）
Inside close to slide bar（11）Side be fixedly installed the second cylinder（13）, second cylinder（13）Flexible shaft end consolidate
Surely it is provided with camera installing plate（14）, the camera（16）It is fixedly mounted on camera installing plate（14）Below close to work
Make platform（1）Position.
2. a kind of motion control device for industrial robot based on machine vision according to claim 1, it is characterised in that：
The camera（16）Signal is connect between the Vision information processing center of industrial robot.
3. a kind of motion control device for industrial robot based on machine vision according to claim 1, it is characterised in that：
The activity box（12）Inside in camera installing plate（14）Both sides be fixedly installed sliding slot respectively（15）, the camera
Installing plate（14）Both sides respectively with sliding slot（15）Between be slidably connected.
4. a kind of motion control device for industrial robot based on machine vision according to claim 1, it is characterised in that：
The gag lever post（4）Top be fixedly installed limited block（6）.
5. a kind of motion control device for industrial robot based on machine vision according to claim 1, it is characterised in that：
The fixed frame（7）Outside in stepper motor（9）Outside be fixedly installed motor protecting cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721581874.6U CN207480599U (en) | 2017-11-23 | 2017-11-23 | A kind of motion control device for industrial robot based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721581874.6U CN207480599U (en) | 2017-11-23 | 2017-11-23 | A kind of motion control device for industrial robot based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207480599U true CN207480599U (en) | 2018-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721581874.6U Expired - Fee Related CN207480599U (en) | 2017-11-23 | 2017-11-23 | A kind of motion control device for industrial robot based on machine vision |
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| CN (1) | CN207480599U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825426A (en) * | 2017-11-23 | 2018-03-23 | 纳博特南京科技有限公司 | A kind of motion control device for industrial robot based on machine vision |
| CN109278129A (en) * | 2018-09-04 | 2019-01-29 | 苏州伍得人造板设备有限公司 | It is a kind of two-sided to flower auxiliary device and plate press-paste technique |
| CN111013685A (en) * | 2018-10-10 | 2020-04-17 | 衢州学院 | General machine vision detection experiment table |
-
2017
- 2017-11-23 CN CN201721581874.6U patent/CN207480599U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825426A (en) * | 2017-11-23 | 2018-03-23 | 纳博特南京科技有限公司 | A kind of motion control device for industrial robot based on machine vision |
| CN109278129A (en) * | 2018-09-04 | 2019-01-29 | 苏州伍得人造板设备有限公司 | It is a kind of two-sided to flower auxiliary device and plate press-paste technique |
| CN111013685A (en) * | 2018-10-10 | 2020-04-17 | 衢州学院 | General machine vision detection experiment table |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180612 Termination date: 20181123 |
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| CF01 | Termination of patent right due to non-payment of annual fee |