CN207901177U - A kind of Robot visual location system - Google Patents
A kind of Robot visual location system Download PDFInfo
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- CN207901177U CN207901177U CN201721928102.5U CN201721928102U CN207901177U CN 207901177 U CN207901177 U CN 207901177U CN 201721928102 U CN201721928102 U CN 201721928102U CN 207901177 U CN207901177 U CN 207901177U
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Abstract
This application involves technical field of electric automation, and in particular to a kind of Robot visual location system.Existing robot product positioning is all to use frock clamp positioning method, because the clamp hand used is during the work time because loosened screw is inaccurate when also having the reason of wearing to lead to grip and place product, so as to cause gripping and placing deviation.The application provides a kind of Robot visual location system, including industrial personal computer unit, laser photo visual unit, robot control unit, master control cabinet unit and display unit, the industrial personal computer unit is connected with the display unit, the industrial personal computer unit is connected with the laser photo visual unit, the industrial personal computer unit is connected with the master control cabinet unit, and the master control cabinet unit is connected with the robot control unit.It can effectively avoid what is occurred when crawl from falling or press from both sides inclined phenomenon.The downtime of whole system is reduced, equipment mobility is improved.
Description
Technical field
This application involves technical field of electric automation, and in particular to a kind of Robot visual location system.
Background technology
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
Vision positioning be substantially Epipolar geometry between two width figures be the plane of delineation with using baseline as the axial pencil of axis
The geometry of friendship, this geometry is same as video camera in binocular imaging principle extensively, and, by image center C, C ' and respective imaging are flat
Face indicates that, for the point X in any one space, the point in two image planes is respectively the point x on x, x, the piece image
At a ray of space three-dimensional, it is determined back projection by camera center and x, this ray is on second plane of delineation
Projection obtains straight line l ', it is clear that the projection x ' of x is inevitable on l '.
Existing robot positioning system is to use frock clamp positioning method, during the work time because of the clamp hand that uses
Because loosened screw is inaccurate when also having the reason of wearing to lead to grip and place product, so as to cause gripping and placing deviation.
Utility model content
The purpose of this utility model is that the existing robot positioning system of solution is to use frock clamp positioning method, because
The inaccuracy when clamp hand used leads to gripping because of the reason of loosened screw also has abrasion during the work time and places product, from
And lead to the abnormal problem for gripping and placing deviation.
The utility model is the technical scheme adopted is that a kind of Robot visual location system, including industrial personal computer unit, swashs
Illumination phase visual unit, robot control unit, master control cabinet unit and display unit, the industrial personal computer unit and the display
Unit is connected, and the industrial personal computer unit is connected with the laser photo visual unit, the industrial personal computer unit with it is described total
Switch board unit is connected, and the master control cabinet unit is connected with the robot control unit.
Optionally, the industrial personal computer unit is connected with the display unit by video line.
Optionally, the industrial personal computer unit is connect by data line with the laser photo visual unit, and the laser shines
Phase visual unit is fixedly installed on holder.
Optionally, the industrial personal computer unit is connected by connection with the communication interface of the master control cabinet unit.
Optionally, the industrial personal computer unit is connect with the master control cabinet unit wireless.
Optionally, the master control cabinet unit includes programmable controller, the programmable controller and the robot
Control unit is connected by CC-LINK communication interfaces.
Optionally, the quantity of the laser photo visual unit include one or more than one.
The utility model has the beneficial effects that this system is by being arranged industrial personal computer unit, laser photo visual unit, machine
People's control unit, master control cabinet unit and display unit, while industrial personal computer unit being connected with display unit, by industrial personal computer list
Member be connected with laser photo visual unit, industrial personal computer unit is connected with master control cabinet unit, by communications protocol software with
The master control cabinet unit of robot carries out communication connection, and to obtain the offset data of product, then robot control unit receives
Stance adjustment is carried out to robot after to position data, to product accurately grip and place, by product
The calibration of offset data can effectively avoid what is occurred when crawl from falling or press from both sides inclined phenomenon, reduce the shutdown of whole system
Time improves equipment mobility.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be apparent that, for those of ordinary skills, in not making the creative labor property
Under the premise of, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of vision positioning system structural schematic diagram that the utility model embodiment provides；
The symbolic indication of Fig. 1 is：
1- industrial personal computer units, 2- laser photo visual units, 3- robot control units, 4- master control cabinet units, 5- are aobvious
Show unit.
Specific implementation mode
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets the utility model reality
Example is applied, and for explaining the principles of the present invention together with specification.
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, for ordinary skill people
For member, without having to pay creative labor, other drawings may also be obtained based on these drawings.
On the one hand existing frock clamp positioning method is that fixture positioning system is very heavy also has space big, occurs different
Repair is also inconvenient when often, is on the other hand to be extended if system is also bad when increasing other control functions, is confined to
Relatively simple positioning method.
" mobility " English is referred to as activation or utilization, refers to that equipment is within the time that can be provided
Create value and time for occupying shared by proportion.Refer to an actual production quantity of machinery equipment and possible production number
The ratio of amount.
The utility model is described in detail with reference to the accompanying drawings and detailed description.
Referring to Fig. 1, the utility model embodiment provides a kind of Robot visual location system, including industrial personal computer unit 1, swashs
Illumination phase visual unit 2, robot control unit 3, master control cabinet unit 4 and display unit 5, the industrial personal computer unit 1 and institute
It states display unit 5 to be connected, the industrial personal computer unit 1 is connected with the laser photo visual unit 2, the industrial personal computer unit
1 is connected with the master control cabinet unit 4, and the master control cabinet unit 4 is connected with the robot control unit 3.
Optionally, the industrial personal computer unit 1 is connected with the display unit 5 by video line.
Optionally, the industrial personal computer unit 1 is connect by data line with the laser photo visual unit 2, the laser
Photograph visual unit 2 is fixedly installed on holder.
Optionally, the industrial personal computer unit 1 is connected by connection with the communication interface of the master control cabinet unit 4.
Optionally, the industrial personal computer unit 1 is wirelessly connected with the master control cabinet unit 4.
Optionally, the master control cabinet unit 4 includes programmable controller, the programmable controller and the robot
Control unit 3 is connected by CC-LINK communication interfaces.
Optionally, the quantity of the laser photo visual unit 2 include one or more than one.
Industrial personal computer unit 1 as common host computer, can be just directly installed on a platform, without the volume of progress
Outer electric cabinet is placed.After industrial personal computer unit 1 is placed on platform, display unit 5 is connected, connects laser photo vision
The cable and host power supply of unit 2.Finally the network interface of industrial personal computer unit 1 is connected to using one of network communication line
On, the other end is connected to the logical of robot master control cabinet unit 4 and selects on interface.The power supply of industrial personal computer unit 1 is opened, then aobvious
Show and find the good IP address of Network card setup in unit, such as：192.168.0.3.After the IP address for setting industrial personal computer unit 1, then
The IP address of phase same network segment is set in robot demonstrator communication interface, such as：192.168.0.1.Open robot localization system
Then the software of system carries out machine Moral quality card setting, test communicative indication successful connection.Master control cabinet unit can be passed through
4 realize different technological requirements to control laser photo visual unit 2 and robot control unit 3.
Master control cabinet unit 4 by the way that programmable controller, input/output module and relay are arranged in switch board casing,
Using programmable controller as the core of die casting island automatic control system, input/output module receives and control external signal,
Relay connects safety signal, and Simultaneous Switching power supply is that system supplies power supply, and man-machine interface is carried as dialog box for user
For monitoring signal and parameter setting function, signal lamp instruction is provided for system.The flexible control for effectively realizing system is increasing it
Process is simple when his control function, is easy to be extended.Electronic box door lock is provided on panel simultaneously, folding is simple, facilitates dimension
The personnel of repairing overhaul.
This system is by being arranged industrial personal computer unit, laser photo visual unit, robot control unit, master control cabinet unit
And display unit, while industrial personal computer unit being connected with display unit, by industrial personal computer unit and laser photo visual unit phase
Connection, industrial personal computer unit is connected with master control cabinet unit, by the master control cabinet unit of communications protocol software and robot into
Row communication connection, to obtain the offset data of product, then robot control unit receive after position data to robot into
Row stance adjustment, can be effective by the calibration of the offset data to product to product accurately grip and place
Avoid what is occurred when crawl from falling or press from both sides inclined phenomenon, reduce the downtime of whole system, improve equipment mobility.
The advantages of this system includes：
Installation specification, control is simple, reduces the repair time of maintenance personal.Operation interface is simply friendly, is suitble to all skills
Art personnel.Full intelligent control method, the program by changing programmable controller can reach various control effects, without passing through
In addition increase component, reduce maintenance cost.If industrial personal computer unit 1, laser photo visual unit 2 or robot control are single
Member 3 occurs abnormal, it is easy to corresponding exception information is embodied in the touch screen interface of master control cabinet unit 4.This positioning system
System really reduces time and design cost in design, the also small feature of space.
The above is only the specific implementation mode of the utility model embodiment, make skilled artisans appreciate that or
Realize the utility model.Various modifications to these embodiments will be apparent to one skilled in the art, this
General Principle defined in text can without departing from the spirit or scope of the present utility model, in other embodiments
It realizes.Therefore, the utility model is not intended to be limited to the embodiments shown herein, and be to fit to it is disclosed herein
Principle and the consistent widest range of features of novelty.
It should be understood that the application is not limited to the content for being described above and being shown in the accompanying drawings, and can
To carry out various modifications and change without departing from the scope.Scope of the present application is only limited by the accompanying claims.
Claims (7)
1. a kind of Robot visual location system, which is characterized in that including industrial personal computer unit (1), laser photo visual unit
(2), robot control unit (3), master control cabinet unit (4) and display unit (5), the industrial personal computer unit (1) show with described
Show that unit (5) is connected, the industrial personal computer unit (1) is connected with the laser photo visual unit (2), the industrial personal computer list
First (1) is connected with the master control cabinet unit (4), the master control cabinet unit (4) and the robot control unit (3) phase
Connection.
2. Robot visual location system as described in claim 1, which is characterized in that the industrial personal computer unit (1) with it is described
Display unit (5) is connected by video line.
3. Robot visual location system as described in claim 1, which is characterized in that the industrial personal computer unit (1) passes through number
It is connect with the laser photo visual unit (2) according to line, the laser photo visual unit (2) is fixedly installed on holder.
4. Robot visual location system as described in claim 1, which is characterized in that the industrial personal computer unit (1) passes through logical
News line is connected with the communication interface of the master control cabinet unit (4).
5. Robot visual location system as described in claim 1, which is characterized in that the industrial personal computer unit (1) with it is described
Master control cabinet unit (4) is wirelessly connected.
6. Robot visual location system as described in claim 1, which is characterized in that the master control cabinet unit (4) includes
Programmable controller, the programmable controller are connected with the robot control unit (3) by CC-LINK communication interfaces
It connects.
7. such as Robot visual location system according to any one of claims 1 to 6, which is characterized in that the laser photo
The quantity of visual unit (2) include one or more than one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721928102.5U CN207901177U (en) | 2017-12-29 | 2017-12-29 | A kind of Robot visual location system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721928102.5U CN207901177U (en) | 2017-12-29 | 2017-12-29 | A kind of Robot visual location system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207901177U true CN207901177U (en) | 2018-09-25 |
Family
ID=63566272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721928102.5U Active CN207901177U (en) | 2017-12-29 | 2017-12-29 | A kind of Robot visual location system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207901177U (en) |
-
2017
- 2017-12-29 CN CN201721928102.5U patent/CN207901177U/en active Active
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