CN207630030U - A kind of industrial robot vision's digital measuring device - Google Patents
A kind of industrial robot vision's digital measuring device Download PDFInfo
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- CN207630030U CN207630030U CN201721250239.XU CN201721250239U CN207630030U CN 207630030 U CN207630030 U CN 207630030U CN 201721250239 U CN201721250239 U CN 201721250239U CN 207630030 U CN207630030 U CN 207630030U
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- wrist
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- turntable
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- industrial robot
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Abstract
The utility model discloses a kind of industrial robot vision's digital measuring devices, including switch board, turntable, armstand, wrist passes, wrist is put, transverse arm, scanner, scanning workbench, switch board is electrically connected turntable, armstand on turntable pedestal supports transverse arm, the connecting shaft of turntable is passed by wrist and wrist puts connecting cross arm, transverse arm end, which is bolted, is mounted with scanner, scanner corresponds to lower position and is equipped with scanning workbench, the utility model is by mechanical system, control system and three big pith of drive system composition, mechanical system is robot body, including pedestal, arm, wrist；Control system is the brain of robot, it is the principal element for determining robot function and performance, major function is according to job instruction program and the signal returned from sensor feedback, to control position movement of the robot in working space, posture and trajectory planning, operation order and actuation time；Drive system refers to the driving device of the mechanical system acting of driving.
Description
Technical field
The utility model is related to machinery field, especially a kind of industrial robot vision's digital measuring device.
Background technology
Most of digitized measurement belongs to manual measurement before at present, this needs survey crew to carry scanner to be measured
The different angle of part surrounding is taken pictures, to obtain comprehensive External Shape point cloud, in this way operation not only it is time-consuming also very
Arduously.It is scanned since the focal length and the depth of field of most scanner lens immobilize when being repeated as same part scanning
Require tested part and scanner relative distance constant in journey, and this fully relies on the difficulty being accomplished manually and is also considerably improved
, measurement accuracy also can be irregular.
Utility model content
The shortcomings that the purpose of the utility model is to overcome the prior arts provides a kind of industrial robot vision's digitlization survey
Measure device.The utility model uses following technical scheme to achieve the above object：
A kind of industrial robot vision's digital measuring device, including switch board, turntable, armstand, wrist pass, wrist pendulum, cross
Arm, scanner, scanning workbench, switch board are electrically connected turntable, and the armstand on turntable pedestal supports transverse arm, the company of turntable
Spindle is passed by wrist and wrist puts connecting cross arm, and transverse arm end, which is bolted, is mounted with scanner, and scanner corresponds to lower orientation
It sets and scanning workbench is installed.
Preferably, the scanner is equipped with camera and grating camera.
Preferably, the scanning workbench table top, which is mated formation, pitch-dark panel.
Preferably, the communication I/O module model DSQC652 of the cabinet configuration processed, the outside of communication I/O modules connection are set
Standby includes scanner, safe grating, three color alarms.
Compared with prior art, the utility model has the following advantages：The present invention is by mechanical system, control system and driving
Three big pith of system forms, and mechanical system is robot body, including pedestal, arm, wrist；Control system is machine
The brain of people, is the principal element for determining robot function and performance, and major function is according to job instruction program and from biography
The signal that sensor is fed back, it is suitable to control position movement, posture and trajectory planning, operation of the robot in working space
Sequence and actuation time；Drive system refers to the driving device of the mechanical system acting of driving.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model industrial robot vision's digital measuring device.
Fig. 2 is the structural schematic diagram of the utility model scanner.
Fig. 3 is the structural schematic diagram of the utility model scanning workbench.
In figure：1, switch board, 2, turntable, 3, armstand, 4, wrist pass, 5, wrist pendulum, 6, transverse arm, 7, scanner, 8, scanning work
Make platform, 9, camera, 10, grating camera, 11, pitch-dark panel.
Specific implementation mode
The utility model is further elaborated in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, Figure 2 and Figure 3, a kind of industrial robot vision's digital measuring device, including switch board 1, convolution
Disk 2, armstand 3, wrist pass 4, wrist pendulum 5, transverse arm 6, scanner 7, scanning workbench 8, and switch board 1 is electrically connected turntable 2, turntable 2
Armstand 3 on pedestal supports transverse arm 6, the connecting shaft of turntable 2 to pass 4 and wrist 5 connecting cross arms 6 of pendulum by wrist, and 6 end of transverse arm is logical
It crosses bolt and scanner 7 has been fixedly mounted, scanner 7 corresponds to lower position and is equipped with scanning workbench 8.
The scanner 7 is equipped with camera 9 and grating camera 10.
8 table top of the scanning workbench mats formation and has pitch-dark panel 11.
The communication I/O module model DSQC652 that the cabinet processed 1 configures, the external equipment that communication I/O modules connect include
Scanner, safe grating, three color alarms.
Utility model works principle：The digitized measurement of tested sample can be achieved in the present invention, and hand is not necessarily in measurement process
Dynamic any equipment of operation.Safety barrier is installed, when robot is run in automatic mode, if there is personnel open guardrail into
Enter in work station, the alarm of installation will send out alarm, while robot can emergent stopping.
ABB robots are made of mechanical system, control system and three big pith of drive system.Wherein, mechanical system
As robot body is supporting base and the executing agency of robot, including pedestal, arm, wrist；Control system is machine
The brain of people, is the principal element for determining robot function and performance, and major function is according to job instruction program and from biography
The signal that sensor is fed back, it is suitable to control position movement, posture and trajectory planning, operation of the robot in working space
Sequence and actuation time etc.；Drive system refers to the driving device of the mechanical system acting of driving.
The communication I/O module models DSQC652 of this station robotic switch board configuration.Communicate the connection of I/O modules
External equipment includes scanner, safe grating, three color alarms.
The scanner of the present invention has selected the three-dimensional structure photoscanner of model CF-300.Scanner operation principle is：
Grating is continuously projected body surface, while another camera synchronous acquisition image by grating camera, when Image Acquisition is completed
Afterwards, the image processing software installed on computers handles image, is realized in two images using the steady polar curve of phase
Three dimensional space coordinate (X, Y, Z) calculate, the surface tri-dimensional profile of tested sample is measured to realize.
Digital I/O signal receiving/transmission devices are the bridges of signal interaction between robot and computer, and major function is phase
The digital I/O signal and the identifiable signal of computer of mutual converting machine people.The operation principle of R-T unit is：When robot transports
When moving suitable position, the digital output signal of robot is converted to the identifiable photographing instruction of computer by R-T unit to be believed
Number, output digit signals after computer completion is taken pictures, the digital signal that robot is converted to through signal inputs, and robot is receiving
Continuous action after the completion of continuing after to the signal.
For placing tested sample, upper surface is sprayed with pitch-dark scanning workbench.Black on workbench be scanner not
The color that can be identified, can reduce the noise generated due to workbench in scanning process.
The above is the utility model preferred embodiment, for the ordinary skill in the art, according to this reality
With novel introduction, in the case where not departing from the principles of the present invention with spirit, the change that is carried out to embodiment is repaiied
Change, replace and modification is still fallen within the scope of protection of the utility model.
Claims (4)
1. a kind of industrial robot vision's digital measuring device, which is characterized in that including switch board (1), turntable (2), stand
Arm (3), wrist pass (4), wrist pendulum (5), transverse arm (6), scanner (7), scanning workbench (8), and switch board (1) is electrically connected turntable
(2), the connecting shaft of armstand (3) the support transverse arm (6) on turntable (2) pedestal, turntable (2) passes (4) by wrist and wrist puts (5)
Connecting cross arm (6), transverse arm (6) end, which is bolted, is mounted with scanner (7), the corresponding lower position installation of scanner (7)
There is scanning workbench (8).
2. a kind of industrial robot vision's digital measuring device according to claim 1, which is characterized in that the scanning
Instrument (7) is equipped with camera (9) and grating camera (10).
3. a kind of industrial robot vision's digital measuring device according to claim 1, which is characterized in that the scanning
Workbench (8) table top mats formation and has pitch-dark panel (11).
4. a kind of industrial robot vision's digital measuring device according to claim 1, which is characterized in that the cabinet processed
(1) external equipment of the communication I/O module model DSQC652 configured, communication I/O modules connection include scanner, safety light
Grid, three color alarms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721250239.XU CN207630030U (en) | 2017-09-27 | 2017-09-27 | A kind of industrial robot vision's digital measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721250239.XU CN207630030U (en) | 2017-09-27 | 2017-09-27 | A kind of industrial robot vision's digital measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207630030U true CN207630030U (en) | 2018-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721250239.XU Active CN207630030U (en) | 2017-09-27 | 2017-09-27 | A kind of industrial robot vision's digital measuring device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553469A (en) * | 2017-09-27 | 2018-01-09 | 西安华航唯实机器人科技有限公司 | A kind of industrial robot vision's digital measuring device |
-
2017
- 2017-09-27 CN CN201721250239.XU patent/CN207630030U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553469A (en) * | 2017-09-27 | 2018-01-09 | 西安华航唯实机器人科技有限公司 | A kind of industrial robot vision's digital measuring device |
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