CN209256923U - A kind of teaching machine device by visual programming - Google Patents
A kind of teaching machine device by visual programming Download PDFInfo
- Publication number
- CN209256923U CN209256923U CN201821871088.4U CN201821871088U CN209256923U CN 209256923 U CN209256923 U CN 209256923U CN 201821871088 U CN201821871088 U CN 201821871088U CN 209256923 U CN209256923 U CN 209256923U
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- China
- Prior art keywords
- wall
- hydraulic
- exterior walls
- top exterior
- holder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000000007 visual effect Effects 0.000 title claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 abstract description 3
- 230000004438 eyesight Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The utility model discloses a kind of teaching machine devices by visual programming, including cabinet, the top exterior walls side of the cabinet has been bolted hydraulic manipulator, and the power output end bottom of hydraulic manipulator is provided with steering holder, the top exterior walls other side of cabinet is provided with all-in-one machine, the side outer wall for turning to holder, which is provided with, installs typing mechanism additional, and the other side outer wall bottom for turning to holder is provided with infrared scanner, the cabinet has L-type support by rivet close to the side outer wall of hydraulic manipulator, and the top exterior walls of L-type support have been bolted electro-hydraulic rotating mechanical arm, the power output end of electro-hydraulic rotating mechanical arm is fixed with loading plate by hinge.For the utility model by numerical controlled machinery arm to above workpieces processing, multiple high-definition cameras can carry out 3D picture shooting, support reversed modeling that can rebuild workpiece threedimensional model, and with digital information means, workflow is greatly decreased, improves working efficiency.
Description
Technical field
The utility model relates to teaching machine technical field more particularly to a kind of teaching machine devices by visual programming.
Background technique
Robot is moved to target point by way of rocking bar or key by traditional teaching machine, records target point
Set, this mode teaching efficiency is low, the technical background of operator is also required it is relatively high, especially for pahtfinder hard, even
Continuous path, needs the point of teaching especially more, is also easy to produce interference in certain position robots and peripheral equipment, these can all lead
Robot is weary of at family of applying using generation.
Utility model content
Technical problems based on background technology, the utility model proposes a kind of teaching machines by visual programming to fill
It sets.
The utility model proposes a kind of teaching machine device by visual programming, including cabinet, the top of the cabinet
Outer wall side has been bolted hydraulic manipulator, and the power output end bottom of hydraulic manipulator is provided with steering holder,
The top exterior walls other side of cabinet is provided with all-in-one machine, and the side outer wall for turning to holder, which is provided with, installs typing mechanism additional, and
The other side outer wall bottom for turning to holder is provided with infrared scanner, and the cabinet passes through close to the side outer wall of hydraulic manipulator
Rivet has L-type support, and the top exterior walls of L-type support have been bolted electro-hydraulic rotating mechanical arm, electro-hydraulic whirler
The power output end of tool arm is fixed with loading plate by hinge, and the top exterior walls of the loading plate have been bolted electric sliding
Rail, and the inner wall of electric sliding rail slidably connects mounting base, the installation typing mechanism include that rotating mechanism, two specifications are identical
Flexible lens barrel and middle horizontalization platform, and the bottom outer wall of rotating mechanism is arranged in the top exterior walls of middle horizontalization platform, and two are flexible
Lens barrel passes through hinge respectively and is fixed on the two sides outer wall of middle horizontalization platform, and the bottom interior wall of the flexible lens barrel is provided with high definition and takes the photograph
As head, and laser displacement sensor is provided at the bottom outer wall central axes of middle horizontalization platform.
Preferably, the top exterior walls for installing typing mechanism additional are provided with electric pushrod, and the top exterior walls of electric pushrod
It is arranged in the bottom outer wall for turning to holder.
Preferably, the bottom outer wall for turning to holder has been bolted Hall biography close to the side of infrared scanner
The signal output end of sensor, Hall sensor is connected with microprocessor by signal wire.
Preferably, the rotating mechanism includes stepper motor and rangefinder, and the output shaft of stepper motor be plugged in set
At the top exterior walls central axes of platform, the signal output end of rangefinder is connected by signal wire with microprocessor.
Preferably, the slewing area of the hydraulic manipulator and the movement travel of electric sliding rail are adapted, and electro-hydraulic rotation
The slewing area of mechanical arm is zero to 90 degree.
Preferably, the mounting base includes electric fixture and the identical magnetic location plate of four specifications, and four magnetism are fixed
Position plate is respectively positioned on the underface of Hall sensor.
Preferably, the electro-hydraulic rotating mechanical arm, electric sliding rail, infrared scanner, hydraulic manipulator and electric pushrod are equal
It is connected with switch, and switch is connected by conducting wire with microprocessor.
Having the beneficial effect that in the utility model
1. teaching machine installs camera additional on traditional teaching machine, while by numerical controlled machinery arm on the workpiece of processing
Side, control machining path are taken pictures, are handled by the visual processing program on teaching machine picture, and the road for needing to process is found out
After diameter, it is transmitted to controller, with the means closed with digital information, is acquired comprehensively in the information for ensureing progress visual programming
Under the premise of, workflow is greatly decreased, improves working efficiency；
2. teaching machine can carry out the picture shooting of 2D from a camera comparison monocular vision, adapting to machining path is
The scene of plane, 3D picture shooting can be carried out by being improved to multiple high-definition camera comparison binocular visions, be suitble to space 3D processing
Scene, and two-sided vision is also supported reversely to model, and can rebuild 3 dimension modules of workpiece.
In conclusion this teaching machine installs camera additional on traditional teaching machine, while by numerical controlled machinery arm to processing
Above workpiece, multiple high-definition camera comparison binocular visions can carry out 3D picture shooting, and space 3D is suitble to process scene, and
Two-sided vision is also supported reversely to model, and can rebuild 3 dimension modules of workpiece, control machining path is taken pictures, by teaching machine
Visual processing program handles picture, after finding out the path for needing to process, is transmitted to controller, believes with closing with digitlization
Workflow is greatly decreased under the premise of ensure that the information for carrying out visual programming acquires comprehensively in the means of breathization, improves work
Efficiency；
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of teaching machine device by visual programming structural schematic diagram；
Fig. 2 be the utility model proposes the installation typing mechanism structure of teaching machine device by visual programming a kind of show
It is intended to.
In figure: 1 cabinet, 2 electro-hydraulic rotating mechanical arms, 3 mounting bases, 4 loading plates, 5 electric sliding rails, 6 install typing mechanism, 7 additional
Turn to holder, 8 infrared scanners, 9 Hall sensors, 10 hydraulic manipulators, 11 all-in-one machines, 12 electric pushrods, 13 flexible lens barrels,
14 high-definition cameras, 15 laser displacement sensors.
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
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-2, a kind of teaching machine device by visual programming, including cabinet 1, the top exterior walls side of cabinet 1
It is bolted hydraulic manipulator 10, and the power output end bottom of hydraulic manipulator 10 is provided with and turns to holder 7, cabinet
The 1 top exterior walls other side is provided with all-in-one machine 11, and the side outer wall for turning to holder 7, which is provided with, installs typing mechanism 6 additional, and turns to
The other side outer wall bottom of holder 7 is provided with infrared scanner 8, and cabinet 1 passes through riveting close to the side outer wall of hydraulic manipulator 10
Nail riveting has L-type support, and the top exterior walls of L-type support have been bolted electro-hydraulic rotating mechanical arm 2, electro-hydraulic rotating machinery
The power output end of arm 2 is fixed with loading plate 4 by hinge, and the top exterior walls of loading plate 4 have been bolted electric sliding rail
5, and the inner wall of electric sliding rail 5 slidably connects mounting base 3, and it is identical including rotating mechanism, two specifications to install typing mechanism 6 additional
Flexible lens barrel 13 and middle horizontalization platform, and the bottom outer wall of rotating mechanism is arranged in the top exterior walls of middle horizontalization platform, two are flexible
Lens barrel 13 is fixed on the two sides outer wall of middle horizontalization platform respectively by hinge, and the bottom interior wall of flexible lens barrel 13 is provided with high definition and takes the photograph
As head 14, and it is provided with laser displacement sensor 15 at the bottom outer wall central axes of middle horizontalization platform, laser displacement sensor 15
Signal output end is connected with microprocessor by signal wire.
In the utility model, the top exterior walls for installing typing mechanism 6 additional are provided with electric pushrod 12, and the top of electric pushrod
Outer wall is arranged in the bottom outer wall for turning to holder 7, and the bottom outer wall for turning to holder 7 passes through close to the side of infrared scanner 8
Bolt is fixed with Hall sensor 9, and the signal output end of Hall sensor 9 is connected with microprocessor by signal wire, and Hall passes
The model KY17 of sensor 9, the model ARM9TDMI of microprocessor, rotating mechanism includes stepper motor and rangefinder, and is walked
Output shaft into motor is plugged at the top exterior walls central axes of middle horizontalization platform, the signal output end of rangefinder by signal wire and
Microprocessor is connected, the model SW-Q80 of rangefinder, the slewing area of hydraulic manipulator 10 and the movement row of electric sliding rail 5
Journey is adapted, and the slewing area of electro-hydraulic rotating mechanical arm is zero to 90 degree, and mounting base 3 includes electric fixture and four specifications
Identical magnetic location plate, and four magnetic location plates are respectively positioned on the underface of Hall sensor, electro-hydraulic rotating mechanical arm 2, electricity
Dynamic sliding rail 5, infrared scanner 8, hydraulic manipulator 10 and electric pushrod 12 are respectively connected with switch, and switch and pass through conducting wire and Wei Chu
Reason device is connected, the model CMOS of infrared scanner 8.
Working principle: when in use, multiple high-definition cameras 14 compare binocular vision to this teaching machine, while laser displacement passes
Sensor 15 can cooperatively form ranging localization effect, then be placed on loading plate 4 by electro-hydraulic rotating mechanical arm 2 and turn to holder 7
The workpiece top of bottom, 10 pairs of hydraulic manipulator processing is scanned, and electric sliding rail 5 drives the identification object scanning in mounting base 3
Path is handled picture by the visual processing program on teaching machine, after finding out the path for needing to process, is transmitted to control
Device carries out data processing.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (7)
1. a kind of teaching machine device by visual programming, including cabinet (1), which is characterized in that outside the top of the cabinet (1)
Wall side has been bolted hydraulic manipulator (10), and the power output end bottom of hydraulic manipulator (10) is provided with steering
Holder (7), the top exterior walls other side of cabinet (1) are provided with all-in-one machine (11), the side outer wall setting for turning to holder (7)
Have and install typing mechanism (6) additional, and the other side outer wall bottom for turning to holder (7) is provided with infrared scanner (8), the cabinet
(1) the side outer wall close to hydraulic manipulator (10) has L-type support by rivet, and the top exterior walls of L-type support pass through
Bolt is fixed with electro-hydraulic rotating mechanical arm (2), and the power output end of electro-hydraulic rotating mechanical arm (2) is fixed with loading plate by hinge
(4), the top exterior walls of the loading plate (4) have been bolted electric sliding rail (5), and the inner wall sliding of electric sliding rail (5)
Be connected with mounting base (3), the installation typing mechanism (6) include rotating mechanism, the identical flexible lens barrel (13) of two specifications and
Middle horizontalization platform, and the bottom outer wall of rotating mechanism is arranged in the top exterior walls of middle horizontalization platform, two flexible lens barrels (13) are respectively
It is fixed on by hinge on the two sides outer wall of middle horizontalization platform, the bottom interior wall of the flexible lens barrel (13) is provided with high-definition camera
(14), it and at the bottom outer wall central axes of middle horizontalization platform is provided with laser displacement sensor (15), laser displacement sensor (15)
Signal output end microprocessor is connected with by signal wire.
2. a kind of teaching machine device by visual programming according to claim 1, which is characterized in that the installation typing
The top exterior walls of mechanism (6) are provided with electric pushrod (12), and the top exterior walls setting of electric pushrod is at the bottom for turning to holder (7)
On portion's outer wall.
3. a kind of teaching machine device by visual programming according to claim 1, which is characterized in that the steering holder
(7) bottom outer wall has been bolted Hall sensor (9) close to the side of infrared scanner (8), Hall sensor (9)
Signal output end be connected by signal wire with microprocessor.
4. a kind of teaching machine device by visual programming according to claim 1, which is characterized in that the rotating mechanism
Output shaft including stepper motor and rangefinder, and stepper motor is plugged at the top exterior walls central axes of middle horizontalization platform, ranging
The signal output end of instrument is connected by signal wire with microprocessor.
5. a kind of teaching machine device by visual programming according to claim 1, which is characterized in that the hydraulic machinery
The movement travel of the slewing area and electric sliding rail (5) of arm (10) is adapted, and the slewing area of electro-hydraulic rotating mechanical arm is zero
To 90 degree.
6. a kind of teaching machine device by visual programming according to claim 1, which is characterized in that the mounting base
It (3) include electric fixture and the identical magnetic location plate of four specifications, and four magnetic location plates are respectively positioned on Hall sensor
Underface.
7. a kind of teaching machine device by visual programming according to claim 1, which is characterized in that the electro-hydraulic rotation
Mechanical arm (2), electric sliding rail (5), infrared scanner (8), hydraulic manipulator (10) and electric pushrod (12) are respectively connected with switch,
And switch is connected by conducting wire with microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821871088.4U CN209256923U (en) | 2018-11-13 | 2018-11-13 | A kind of teaching machine device by visual programming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821871088.4U CN209256923U (en) | 2018-11-13 | 2018-11-13 | A kind of teaching machine device by visual programming |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209256923U true CN209256923U (en) | 2019-08-16 |
Family
ID=67554899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821871088.4U Withdrawn - After Issue CN209256923U (en) | 2018-11-13 | 2018-11-13 | A kind of teaching machine device by visual programming |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209256923U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397266A (en) * | 2018-11-13 | 2019-03-01 | 上海智殷自动化科技有限公司 | A kind of teaching machine device by visual programming |
-
2018
- 2018-11-13 CN CN201821871088.4U patent/CN209256923U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397266A (en) * | 2018-11-13 | 2019-03-01 | 上海智殷自动化科技有限公司 | A kind of teaching machine device by visual programming |
| CN109397266B (en) * | 2018-11-13 | 2024-03-15 | 上海智殷自动化科技有限公司 | Demonstrator device through visual programming |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190816 Effective date of abandoning: 20240315 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190816 Effective date of abandoning: 20240315 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |