CN208276480U - The robot pinning system of view-based access control model positioning - Google Patents
The robot pinning system of view-based access control model positioning Download PDFInfo
- Publication number
- CN208276480U CN208276480U CN201820377744.9U CN201820377744U CN208276480U CN 208276480 U CN208276480 U CN 208276480U CN 201820377744 U CN201820377744 U CN 201820377744U CN 208276480 U CN208276480 U CN 208276480U
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- robot
- nailing device
- nailing
- workpiece
- controller
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- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
Abstract
The utility model discloses a kind of robot pinning system of view-based access control model positioning, the rack including being provided with workbench, workbench top is provided with nailing device, and nailing device is connected by feeding pipeline with for spike devices；It is additionally provided in the rack and obtains the industrial camera to the pre- nailing face picture of operation workpiece, for obtaining to the sensor of the pre- nailing position coordinates of operation workpiece, the robot for adjusting nailing device job position and for controlling robot, nailing device and controller for spike devices coordinative operation；The input terminal of controller is separately connected industrial camera, sensor and nailing device lack nail signal output end, and the output end of controller is connect with robot, nailing device and controlled end for spike devices respectively.The utility model can identify Assembly part before pinning works, while can also carry out positioning and rectifying to workpiece, guarantee the accuracy of robot pinning work, greatly reduce the disqualification rate of product, improve work efficiency.
Description
Technical field
The utility model relates to mounting technology field, pinning system used in especially a kind of assembling process.
Background technique
Assembly line refer to workpiece it is continuous with certain rate, uniformly across a series of mounting work station, and according to certain
It is required that completing the production line of corresponding assembly work in each mounting work station.In recent years, with the fast development of social economy, industry
The variation of upgrading, the continuous improvement of social per capita income, previous labor-intensive Assembling Production mode are faced with huge choose
War, equipment manufacture industry are difficult to carry out the assembling line of full automation, especially since product is totally different, multi-size in industry
It is all too many levels such as positioning, loading and unloading, pinning during being fastenedly connected, is still within handwork state, work is not
Continuously, the disadvantages of time is long, labor efficiency is low, product disqualification rate is high has become many enterprise's assembly efficiencies and is difficult to
The bottleneck of breakthrough.
Utility model content
The utility model technical issues that need to address are to provide a kind of robot pinning system, are applied in assembling process
Terminal operation in, to reduce product disqualification rate, improve working efficiency.
In order to solve the above technical problems, technical solution adopted in the utility model is as follows.
A kind of robot pinning system of view-based access control model positioning, including rack are provided with for placing to operation in rack
The workbench of workpiece, the nailing device that nailing operation is carried out to workpiece is provided with above workbench, and nailing device passes through feeding
Pipeline is connected with for spike devices；Be additionally provided in the rack obtain to the pre- nailing face picture of operation workpiece industrial camera,
For obtain to the sensor of the pre- nailing position coordinates of operation workpiece, the robot for adjusting nailing device job position and
For controlling robot, nailing device and controller for spike devices coordinative operation, the input terminal of the controller connects respectively
It connects industrial camera, sensor and nailing device and lacks nail signal output end, the output end of controller is filled with robot, nailing respectively
It sets and is connected for the controlled end of spike devices.
The robot pinning system of above-mentioned view-based access control model positioning, is provided with workpiece on the workbench below nailing device
Supporting plate, interior be embedded with for monitoring of workpiece supporting plate is the weight sensor for having workpiece to be put into；The lower part setting of the rack is useful
In the jacking cylinder of jacking workpiece supporting plate, the output end of the controlled end connection controller of jacking cylinder, the input terminal of controller connects
Connect the output end of weight sensor.
The robot pinning system of above-mentioned view-based access control model positioning, the artificial four axis joint machine of Yamaha level of machine
People.
The robot pinning system of above-mentioned view-based access control model positioning, it is described to be set to ravine slot type for binding and blow nail for spike devices.
The robot pinning system of above-mentioned view-based access control model positioning, the output end of the controller are also connected with liquid crystal display.
The robot pinning system of above-mentioned view-based access control model positioning is provided at the top of the rack and exports respectively with controller
Hold the light compensating lamp and alarm of connection.
Due to using above technical scheme, technological progress acquired by the utility model is as follows.
The utility model uses the high-accuracy machine vision system being made of industrial camera and sensor, works in pinning
It is preceding that assembly workpiece is identified, prevent robot from malfunctioning；Positioning and rectifying can also be carried out to workpiece simultaneously, pass through vision system
Workpiece actual coordinates are compared by system with the workpiece frame of reference, and actual coordinates are then transferred to refined horse by serial ports
Robot is breathed out, Yamaha robot carries out pinning work according to actual coordinates, so that the operating path of robot and actual
Assembly workpiece matches, and guarantees the accuracy of robot pinning work, greatly reduces the disqualification rate of product, improve work
Efficiency.
Detailed description of the invention
Fig. 1 is the structural block diagram of the utility model.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
A kind of robot pinning system of view-based access control model positioning, including rack are provided with workbench, workpiece support in rack
Plate, jacking cylinder, nailing device, for spike devices, industrial camera, sensor, robot, controller, liquid crystal display, light compensating lamp
And alarm, wherein workbench, workpiece supporting plate and jacking cylinder are used to support the lifting to operation workpiece, and nailing device is used for work
Part carries out nailing operation, is used for for spike devices as nailing device for nail, robot is used to adjust the job position of nailing device, work
For obtaining to the pre- nailing face picture of operation workpiece, sensor is used to obtain the seat to the pre- nailing position of operation workpiece industry camera
Mark, for liquid crystal display for showing nailing information, light compensating lamp is used to provide illuminance for industrial camera, alarm be then used for be
System issues alarm when the error occurs.The electric connecting relation of above-mentioned each component as shown in Figure 1, specifically: the input terminal of controller
Be separately connected industrial camera, sensor and nailing device lack nail signal output end, the output end of controller respectively with jacking gas
Cylinder, nailing device, is connected for the controlled end of spike devices, liquid crystal display, light compensating lamp and alarm robot, controller according to
The information of detection controls each unit coordinates operation.
The rack of the utility model uses the lengthening of general framework, widens, increases version, to provide stronger support force.Work
The middle part of rack is set as platform, the aperture of embedded workpiece supporting plate is offered on workbench, jacking cylinder is arranged in workpiece supporting plate
In the rack of lower section, the piston rod top end of jacking cylinder is fixedly connected with the bottom face of workpiece supporting plate；It is embedded in workpiece supporting plate
It is the weight sensor for thering is workpiece to be put into, the input terminal of the output end connection controller of weight sensor for monitoring.Workpiece support
The setting of plate and jacking cylinder can treat operation workpiece and carry out descending operation, to meet the nailing job requirements of different workpieces.
Robot is arranged in rack middle and upper part, using four axis joint robot of Yamaha level；Nailing device is mounted on machine
In device human arm, electric screwdriver is sent using moral；Robot is used under command of a controller correct the position of nailing device, with
The nailing position to operation workpiece is adapted to, guarantees nailing qualification rate, effectively prevent the phenomenon that misplaying position generation.It is set to for binding
Ravine slot type blows nail for spike devices, and nailing device passes through feeding for spike devices with for being connected between spike devices by feeding pipeline
Device blows nail when lacking nail to nailing device.
Industrial camera and sensor are separately positioned in the rack between nailing device and workbench, and light compensating lamp is arranged in machine
The side of rack is arranged in the top of frame, liquid crystal display.
When the utility model is used for nailing operation, the artificial workpiece support for pushing charge hoisting by skip product and working plate to workbench
On plate, when the weight sensor below workpiece supporting plate has sensed that workpiece is put into, controller is sent a signal to, controller just opens
Dynamic industrial camera is started to work；By the top end face image transmitting of shooting to controller, controller is judged industrial camera, is determined
When top end face is pre- nailing face, risen according to the structural priming jacking cylinder in pre- nailing face, until proper height；Sensor is to pre-
Nailing position on nailing face is positioned, and sends information to controller, controller according to the workpiece frame of reference with to
The actual coordinates of operation workpiece are compared, and calculate the actual coordinate offset to operation workpiece, and by real offset
Yamaha robot is transferred to by serial ports；Yamaha robot adjusts nailing device position according to offset, makes nailing device
Walking path match with to operation workpiece, be effectively ensured robot pinning work accuracy；After the completion of nailing operation,
Jacking cylinder resets, artificial blanking.
Claims (5)
1. view-based access control model positioning robot pinning system, it is characterised in that: including rack, be provided in rack for place to
The middle part of rack is arranged in the workbench of operation workpiece, workbench, is provided with above workbench and carries out nailing operation to workpiece
Nailing device, nailing device is connected by feeding pipeline with for spike devices；Acquisition is additionally provided in the rack to operation
The industrial camera of the pre- nailing face picture of workpiece, for obtaining the sensor to the pre- nailing position coordinates of operation workpiece, for adjusting
The robot of nailing device job position and for controlling robot, nailing device and control for spike devices coordinative operation
Device, the input terminal of the controller are separately connected industrial camera, sensor and nailing device and lack nail signal output end, controller
Output end connect respectively with robot, nailing device and controlled end for spike devices；
It is provided with workpiece supporting plate on the workbench below nailing device, opening for embedded workpiece supporting plate is offered on workbench
Hole, interior be embedded with for monitoring of workpiece supporting plate is the weight sensor for having workpiece to be put into；The lower part of the rack, which is provided with, to be used for
The jacking cylinder of workpiece supporting plate is jacked, the piston rod top end of jacking cylinder is fixedly connected with the bottom face of workpiece supporting plate；Jack gas
The output end of the controlled end connection controller of cylinder, the output end of the input terminal connection weight sensor of controller；
Robot is arranged in rack middle and upper part, and nailing device is mounted on robot arm, and robot is used for the finger in controller
The position of nailing device is corrected under order；Nailing device with for being connected between spike devices by feeding pipeline, for binding
It sets and nail is blown when lacking nail to nailing device by feed appliance；Industrial camera and sensor are separately positioned on nailing device and workbench
Between rack on.
2. the robot pinning system of view-based access control model positioning according to claim 1, it is characterised in that: the machine is artificial
Four axis joint robot of Yamaha level.
3. the robot pinning system of view-based access control model positioning according to claim 1, it is characterised in that: described for spike devices
Nail is blown for spike devices for ravine slot type.
4. the robot pinning system of view-based access control model positioning according to any one of claims 1 to 3, it is characterised in that: institute
The output end for stating controller is also connected with liquid crystal display.
5. the robot pinning system of view-based access control model positioning according to claim 4, it is characterised in that: the top of the rack
Portion is provided with the light compensating lamp and alarm connecting respectively with controller output end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820377744.9U CN208276480U (en) | 2018-03-20 | 2018-03-20 | The robot pinning system of view-based access control model positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820377744.9U CN208276480U (en) | 2018-03-20 | 2018-03-20 | The robot pinning system of view-based access control model positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208276480U true CN208276480U (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820377744.9U Expired - Fee Related CN208276480U (en) | 2018-03-20 | 2018-03-20 | The robot pinning system of view-based access control model positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208276480U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986323A (en) * | 2019-04-01 | 2019-07-09 | 南京睿易智能科技有限公司 | A kind of screw automatic charging device flexible and method |
| CN113245812A (en) * | 2021-07-06 | 2021-08-13 | 深圳市泰科盛自动化系统有限公司 | Intelligent screw locking system with depth control detection function |
-
2018
- 2018-03-20 CN CN201820377744.9U patent/CN208276480U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986323A (en) * | 2019-04-01 | 2019-07-09 | 南京睿易智能科技有限公司 | A kind of screw automatic charging device flexible and method |
| CN113245812A (en) * | 2021-07-06 | 2021-08-13 | 深圳市泰科盛自动化系统有限公司 | Intelligent screw locking system with depth control detection function |
| CN113245812B (en) * | 2021-07-06 | 2021-09-28 | 深圳市泰科盛自动化系统有限公司 | Intelligent screw locking system with depth control detection function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181225 Termination date: 20210320 |