CN209111064U - It is a kind of for grabbing the robot tool system of thin-wall case class workpiece - Google Patents
It is a kind of for grabbing the robot tool system of thin-wall case class workpiece Download PDFInfo
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- CN209111064U CN209111064U CN201821654527.6U CN201821654527U CN209111064U CN 209111064 U CN209111064 U CN 209111064U CN 201821654527 U CN201821654527 U CN 201821654527U CN 209111064 U CN209111064 U CN 209111064U
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Abstract
The utility model discloses a kind of for grabbing the robot tool system of thin-wall case class workpiece, belong to Automatic manual transmission field, it include: robot tool, Laser emission sensor, 2D image recognition sensor, PLC module and clamping jaw etc., the robot tool is fixed on robot arm lower part with soket head cap screw, the Laser emission sensor is mounted on robot tool lower part, and laser head is directed toward workpiece, the 2D image recognition sensor is fixed on immediately below robot tool, the robot arm can be moved neatly, the PLC module is mounted on above 2D image recognition sensor.This system recognition speed faster, saves sweep time about 7 ~ 15s, and is not required to be equipped with exterior terminal processor, also not high to space requirement；Using the 3D vision system that oneself is equipped with, cost is greatly reduced, and system and algorithm are all autonomous Designs, later period debugging maintenance is more convenient and timely, is not limited by supplier technically.
Description
Technical field
The utility model relates to Automatic manual transmission field, especially a kind of machine for grabbing thin-wall case class workpiece is artificial
Tool system.
Background technique
At present on the market mainly by two kinds of vision capture systems of FANUC transfer robot and contourgraph: wherein FANUC
The included iRVision intelligent vision system of transfer robot, the i.e. three dimensional vision system of 2D camera cooperation vision module building,
Spatial position, angle judgement may be implemented, realize fuzzy crawl function, main selling point is that robot is included, complete delivery.Health is resistance to
Depending on many visual apparatus supply commercial cities such as, Keyemce in the contourgraph done, station shape is scanned, cloud is digitized into
Point is recorded into computer, realizes three-dimensional capture, and spatial position, angle judgement may be implemented, realize fuzzy crawl, main selling point
It is software algorithm.But the former there is purchase and maintenance cost is higher；The latter's precision is excessively high, and feedback time is long, and both
There are maintenance and upgrade excessive cycle, core technology is limited to the problems such as supplier, and some equipment also needs to be equipped with the external world
Terminal handler, therefore all it is difficult to meet the needs of client.
Utility model content
The purpose of the utility model is to provide a kind of using laser navigation positioning combination position feedback for fuzzy crawl
The robot tool system of thin-wall case class workpiece, to solve the problems, such as to mention in above-mentioned background technique.
To achieve the goals above, the utility model is the following technical schemes are provided: a kind of for grabbing thin-wall case class work
The robot tool system of part, comprising: robot tool, robot arm, Laser emission sensor, 2D image recognition sensing
Device, smart camera, PLC module, transport robot, robot system, the robot tool are fixed on using soket head cap screw
The lower end of robot arm, the robot arm can front and back flexibly movement, adjustment robot tool and thin-wall cases
Relative position and angle, the lower end of the robot tool be fixed with clamping jaw, for grabbing thin-wall case to be pressed from both sides；The machine
The underface manually having is equipped with 2D image recognition sensor and smart camera, and the 2D image recognition sensor is used to identify thin
The laser beam of wall surface of shell reflection, the smart camera are used to the case where shooting thin-wall case surface hot spot to calculate its space
Position and structure, PLC module is equipped with above the smart camera, and the PLC module is connected by cable in robot tool
It is connected to the control system of robot arm, the operation processing unit that the PLC module is used to receive smart camera is passed back thin
Then the position and structure data of wall shell are compiled into machine instruction and send the control system of robot to, to control machine
The motion profile and posture of people's mechanical arm；The lower part of the robot tool is fixed with Laser emission sensor, the laser hair
Penetrate the laser head direction thin-wall case to be pressed from both sides of sensor；The robot arm is rotatably coupled in transport robot, described
Transport robot is fixed to the suitable position beside thin-wall case using foundation bolt, and the robot system includes that machine is artificial
Tool, robot arm, transport robot and various connection cables.
Preferably, the vision-based detection success rate of the 2D image recognition sensor is up to 99.8%.
Preferably, the smart camera selects the industrial camera for installing vision algorithm program additional, and resolution ratio is adjustable, installation
The operation feedback time of operation processing unit is 4s.
Preferably, the success rate that the clamping jaw of the robot system repeats grabbing workpiece reaches 99%.
The utility model has the beneficial effects that this system passes through Laser emission sensor, 2D image recognition sensor and PLC mould
The cooperation of block realizes repetitive operation of the robot tool in robot system to the fuzzy crawl of thin-wall case class workpiece.
Since using the 3D vision system that oneself is equipped with, advantage of lower cost, and system and algorithm belong to autonomous Design, later period debugging
Safeguard it is more convenient, also more in time；In addition, also not limited by supplier technically.
Detailed description of the invention
Fig. 1 is the shaft side figure of the utility model；
Fig. 2 is the left view of the utility model；
Fig. 3 is the top view of the utility model application scenarios；
Fig. 4 is the stereoscopic schematic diagram of the utility model application scenarios；
Fig. 5 is the shaft side figure partial enlarged view of the utility model.
It is as shown in the figure: 1, robot tool, 2, robot arm, 3, Laser emission sensor, 4,2D image recognition biography
Sensor, 5, smart camera, 6, PLC module, 7, transport robot, 8, clamping jaw, 9, thin-wall case, 10, feeding material path, 11, machine
People's system.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only a part of preferred embodiment of the utility model, not entirely
The embodiment in portion.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, is fallen within the protection scope of the utility model.
Embodiment 1: a kind of for grabbing the robot tool system of thin-wall case class workpiece, comprising: robot tool
(1), robot arm 2, Laser emission sensor 3,2D image recognition sensor 4, smart camera 5, PLC module 6, conveyance
Device people 7, clamping jaw 8, the robot tool 1 are fixed on the lower end of robot arm 2, the robot using soket head cap screw
Mechanical arm 2 can be neatly moved forward and backward, so that position and angle that the robot tool 1 grabs thin-wall case 9 are controlled, institute
The lower part for stating robot tool 1 is fixed with clamping jaw 8, for fixing and grabbing thin-wall case 9, the lower part of the robot tool 1
It is fixed with Laser emission sensor 3, the laser head of the Laser emission sensor 3 is towards thin-wall case 9, the robot tool
1 underface is configured with 2D image recognition sensor 4 and smart camera 5, and the 2D image recognition sensor 4 can be captured clearly
The hot spot on 9 surface of thin-wall case, for image recognition rate up to 99.8%, the smart camera 5 is the work for having installed vision algorithm program additional
There are operation processing unit in industry camera, inside, and the image resolution ratio of shooting is adjustable；The top of the smart camera 5 is equipped with PLC mould
Block 6, the PLC module 6 can be instructed according to the position and tectonic information establishment apparatus control for the thin-wall case 9 that camera is fed back,
The instruction is sent to the control system of robot arm 2 again；The rotation of mechanical arm 2 is connected in transport robot 7, institute
It transport robot 7 is stated as tool carrier is fixed on using fot screw the side of thin-wall case 9, position is by strictly counting
It calculates and tests and obtain.
Concrete operations process: robot system 11 is located at the end of a plurality of feeding material path 10, before facilitating thin-wall case 9
The work of sequence feeding.After thin-wall case feeding, the Laser emission sensor 3 positioned at 1 lower part of robot tool is to target thin
The surface-emitting laser beam of wall shell 9；The 2D image recognition sensor 4 immediately below robot tool 1 is detected and is recognized at this time
The laser facula of workpiece surface reflection, smart camera 5 start, according to the phase for requiring to shoot a certain number of 9 surfaces of thin-wall case
Piece, these photographs obtain corresponding position feedback information after the calculating analysis by the operation processing unit in smart camera 5, then
The PLC module 6 of 5 top of smart camera is transmitted the information to, PLC module 6 works out machine according to above-mentioned position feedback information
Control instruction, and corresponding apparatus control is instructed to the control system for being transferred to robot arm 2, last robot arm
2 adjust the posture and motion profile of robot tool 1 according to above-metioned instruction, and the clamping jaw 8 of its lower end is enable rapidly and accurately to grab
The thin-wall case 9 for the side of removing completes single and grabs operation.Then the robot system 1 can be repeated according to project demands
It states operation several times, repeats to grab the thin-wall case 9 on different location, until completing all operationss task.
The ingenious transport robot that itself design is combined using laser positioning airmanship of robot tool system, is completed
Fuzzy crawl of the robot tool to thin-wall case class workpiece, crawl accuracy rate is high, and repeated work is high-efficient, and cost is relatively
It is low, it is easy to maintain, comparatively ideal application effect is obtained in actual production.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (8)
1. a kind of for grabbing the robot tool system of thin-wall case class workpiece, comprising: robot tool (1), machine is man-machine
Tool arm (2), Laser emission sensor (3), 2D image recognition sensor (4), smart camera (5), PLC module (6) transport machine
People (7), robot system (11) etc., it is characterised in that: it is man-machine that the robot tool using soket head cap screw is fixed on machine
The lower end of the lower end of tool arm (2), the robot tool (1) is fixed with clamping jaw (8), the underface of the robot tool (1)
It is provided with 2D image recognition sensor (4) and smart camera (5), PLC module (6) are installed above the smart camera (5),
The PLC module (6) is connected by the connection cables in robot tool (1) with the control system of robot arm (2),
The lower part of the robot tool (1) is fixed with Laser emission sensor (3), and robot arm (2) rotation is connected to
In transport robot (7), the transport robot (7) is fixed on the ground by foundation bolt.
2. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: direction of the laser head of the Laser emission sensor (3) towards thin-wall case to be pressed from both sides (9).
3. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: under working condition, the 2D image recognition sensor (4) and smart camera (5) be all located at thin-wall case to be pressed from both sides (9) just on
Side.
4. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: the vision-based detection success rate of the 2D image recognition sensor (4) is up to 99.8%.
5. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: smart camera (5) selection adds the industrial camera of vision algorithm program, includes operation processing unit, operation feedback
Time is 4s, and image resolution ratio is adjustable.
6. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: the position feedback information that the PLC module (6) can provide according to smart camera (5) works out machine instruction, guides the machine
The clamping jaw (8) that device manually has (1) lower end completes grasping movement under the drive of robot arm (2).
7. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: the robot system (11) mainly includes transport robot (7), robot arm (2), robot tool (1) and connects
Wiring cable.
8. according to claim 1 a kind of for grabbing the robot tool system of thin-wall case class workpiece, feature exists
In: the success rate that the clamping jaw (8) of the robot system (11) repeats grabbing workpiece reaches 99%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821654527.6U CN209111064U (en) | 2018-10-12 | 2018-10-12 | It is a kind of for grabbing the robot tool system of thin-wall case class workpiece |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821654527.6U CN209111064U (en) | 2018-10-12 | 2018-10-12 | It is a kind of for grabbing the robot tool system of thin-wall case class workpiece |
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| CN209111064U true CN209111064U (en) | 2019-07-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300410A (en) * | 2020-02-25 | 2020-06-19 | 江苏理工学院 | Copper pipe transfer positioning device |
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2018
- 2018-10-12 CN CN201821654527.6U patent/CN209111064U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300410A (en) * | 2020-02-25 | 2020-06-19 | 江苏理工学院 | Copper pipe transfer positioning device |
| CN111300410B (en) * | 2020-02-25 | 2021-08-24 | 江苏理工学院 | Copper pipe transfer positioning device |
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