CN209256938U - A kind of manipulator intelligent sorting assembly system based on machine vision - Google Patents
A kind of manipulator intelligent sorting assembly system based on machine vision Download PDFInfo
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- CN209256938U CN209256938U CN201822272656.5U CN201822272656U CN209256938U CN 209256938 U CN209256938 U CN 209256938U CN 201822272656 U CN201822272656 U CN 201822272656U CN 209256938 U CN209256938 U CN 209256938U
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Abstract
The manipulator intelligent sorting assembly system based on machine vision that the utility model discloses a kind of, it is related to technical field of machine vision, the system realizes master control function by PLC system, the change in location of gripping portion may be implemented by controlling manipulator in PLC system, machine vision function may be implemented in PLC system combining camera, gripping portion is cooperated to realize automatic sorting and the assembly of component, gripping portion uses two kinds of structures of manipulator and sucker, it can effectively be grabbed for the component of different structure, the automatically working of sorting and assembling process may be implemented in the system, improve the efficiency of sorting and assembly.
Description
Technical field
The utility model relates to technical field of machine vision, especially a kind of manipulator intelligent sorting based on machine vision
Assembly system.
Background technique
As the raising and today's society of modernization industry production level propose product demand and product quality requirement
Height, automation and intelligent production have become the trend of a certainty.The component automatic sorting of Complex Assembly body and assembly
Also become a problem anxious to be resolved therewith.For a long time, the component sorting and assembly of Complex Assembly body are all manually
It completes, labor intensive, material resources and time, while inefficiency.
Utility model content
The present inventor regarding to the issue above and technical need, proposes a kind of manipulator intelligent sorting based on machine vision
Assembly system, the system may be implemented automatic sorting and the assembly of component, improve efficiency.
The technical solution of the utility model is as follows:
A kind of manipulator intelligent sorting assembly system based on machine vision, the manipulator intelligent sorting assembly system packet
Include: PLC system, manipulator and station are provided with conveyer belt and material containing disk on station, there is to be assembled conveying on conveyer belt
Important actor, middle plate, top cover and pedestal, the top of important actor, middle plate and top cover are in planar structure, and pedestal is in hollow column structure；
The end of manipulator includes turntable, and a diametric two sides of turntable are provided with that inclined plate pedestal, another is perpendicular straight
The side in diameter direction is provided with camera pedestal, the first inclined plate and the second inclined plate is respectively fixed on two inclined plate pedestals, first tiltedly
Plate and the second inclined plate are tilted towards opposite direction respectively, one end of separate the inclined plate pedestal of the first inclined plate be connected with gripper with
First distance sensor, first distance sensor and gripper are towards the same direction；The one of the separate inclined plate pedestal of second inclined plate
End is connected with sucker and second distance sensor, and second distance sensor and sucker are towards the same direction；It is also set on second inclined plate
It is equipped with vacuum generator, vacuum generator is connected to sucker；Phase machine bottom board is fixed in camera pedestal, phase machine bottom board is far from camera bottom
One end of seat is fixed with annular light source, and plane is perpendicular to phase machine bottom board where annular light source, and phase machine bottom board is close to camera pedestal
It is fixed with camera at one end, camera is towards annular light source, and the axial direction of camera is parallel with phase machine bottom board and the axis of camera is located at ring
The center of shape light source；PLC system connects and controls manipulator, gripper, vacuum generator and annular light source, and PLC system is also
Connect first distance sensor, second distance sensor and camera；Gripper is for built in and struts in chassis interior crawl
Pedestal, sucker are used to adsorb the top gripping important actor, middle plate and top cover of important actor, middle plate and top cover.
The advantageous effects of the utility model are:
The manipulator intelligent sorting assembly system based on machine vision that this application discloses a kind of, the system is by PLC system
Realize that the change in location of gripping portion, PLC system combining camera may be implemented by controlling manipulator in master control function, PLC system
Machine vision function may be implemented, cooperation gripping portion realizes automatic sorting and the assembly of component, realizes automatically working, improves
The efficiency of sorting and assembly.Gripping portion uses two kinds of structures of manipulator and sucker, can be effective for the component of different structure
Crawl.
Detailed description of the invention
Fig. 1 is the structure chart of the manipulator intelligent sorting assembly system disclosed in the present application based on machine vision.
Fig. 2 is the part-structure enlarged drawing of manipulator intelligent sorting assembly system disclosed in the present application.
Fig. 3 is the part-structure enlarged drawing of manipulator intelligent sorting assembly system disclosed in the present application.
Fig. 4 is the electrical connection diagram of manipulator intelligent sorting assembly system disclosed in the present application.
Specific embodiment
Specific embodiments of the utility model will be further explained with reference to the accompanying drawing.
The manipulator intelligent sorting assembly system based on machine vision that this application discloses a kind of, please refers to Fig. 1-3, this is
System includes PLC system, manipulator 1 and station 2, and wherein PLC system is the main control part of the system, can use existing
A PLC system of anticipating is realized, is not shown in Fig. 1-3.
The end of manipulator 1 includes turntable 11, and a diametric two sides of turntable 11 are provided with inclined plate pedestal, another
A perpendicular diametric side is provided with camera pedestal, and the first inclined plate 3 and are respectively fixed on two inclined plate pedestals
Two inclined plates 4, the first inclined plate 3 and the second inclined plate 4 are tilted towards opposite direction respectively.The separate inclined plate pedestal of first inclined plate 3
One end is connected with gripper 31 and first distance sensor 32, and the gripper 31 in the application is three-jaw structure, and first distance passes
Sensor 32 and gripper 31 are towards the same direction.One end of the separate inclined plate pedestal of second inclined plate 4 is connected with sucker 41 and second
Range sensor 42, fixed on the second inclined plate 4 of the application there are two the suckers 41 being set side by side to increase adsorption capacity and absorption
Stability, second distance sensor 42 and sucker 41 are towards the same direction.It is additionally provided with vacuum generator 43 on second inclined plate 4,
Vacuum generator 43 is connected to sucker 41.
Phase machine bottom board 5 is fixed in camera pedestal, phase machine bottom board 5 is fixed with annular light source far from one end of camera pedestal
51, for 51 place plane of annular light source perpendicular to phase machine bottom board 5, phase machine bottom board 5 is fixed with camera at one end of camera pedestal
52, camera 52 is towards annular light source 51, and the axial direction of camera 52 is parallel with phase machine bottom board 5 and the axis of camera 52 is located at annular light source
51 center.
The electric drawings of Fig. 4 are please referred to, PLC system connects and control manipulator 1, gripper 31, vacuum generator 43
And annular light source 51, PLC system are also connected with first distance sensor 32, second distance sensor 42 and camera 52.
Be provided with conveyer belt 21 and material containing disk 22 on station 2, on conveyer belt 21 conveying have important actor 211 to be assembled, in
Plate 212, top cover 213 and pedestal 214, pedestal 214 are in hollow column structure, the top of important actor 211, middle plate 212 and top cover 213
Portion is in planar structure, and when assembly needs to assemble important actor 211 in pedestal 214, then the plate 212 in assembly on important actor 211, so
Top cover 213 is assembled in the opening of pedestal 214 afterwards.In disclosed system, PLC system can use camera 52 acquire it is defeated
The image of the component of band 21 is sent to determine that unit type, annular light source 51 can provide good illumination for the Image Acquisition of camera 52
Condition.If recognizing is pedestal 214, PLC system control gripper 31 is built-in and struts in 214 inside of pedestal to grab bottom
Seat 214；If recognizing is important actor 211, middle plate 212 and top cover 213, PLC system controls sucker 41 and adsorbs important actor 211, middle plate
212 and top cover 213 top to grabbing these components.After the completion of crawl, the PLC system control movement of manipulator 1 will be grabbed
Component be placed on material containing disk 22, complete sorting and assembly.
Above-described is only the preferred embodiment of the application, and the utility model is not limited to above embodiments.It can manage
Solution, those skilled in the art do not depart from the utility model spirit and design under the premise of directly export or associate other
Improvements and changes are considered as being included within the scope of protection of this utility model.
Claims (1)
1. a kind of manipulator intelligent sorting assembly system based on machine vision, which is characterized in that the manipulator intelligent sorting
Assembly system includes: PLC system, manipulator and station, and conveyer belt and material containing disk, the conveying are provided on the station
Taking conveying has important actor to be assembled, middle plate, top cover and pedestal, and the top of the important actor, middle plate and top cover is in planar structure,
The pedestal is in hollow column structure；The end of the manipulator includes turntable, and one diametric two of the turntable
Side is provided with inclined plate pedestal, another perpendicular diametric side is provided with camera pedestal, described two inclined plate pedestals
On be respectively fixed with the first inclined plate and the second inclined plate, first inclined plate and second inclined plate incline towards opposite direction respectively
Tiltedly, one end far from the inclined plate pedestal of first inclined plate is connected with gripper and first distance sensor, and described first
Range sensor and the gripper are towards the same direction；One end far from the inclined plate pedestal of second inclined plate is connected with
Sucker and second distance sensor, the second distance sensor and the sucker are towards the same direction；On second inclined plate
It is additionally provided with vacuum generator, the vacuum generator is connected to the sucker；Phase machine bottom board, institute are fixed in the camera pedestal
It states phase machine bottom board and is fixed with annular light source far from one end of the camera pedestal, plane is perpendicular to described where the annular light source
Phase machine bottom board, the phase machine bottom board are fixed with camera at one end of the camera pedestal, and the camera is towards the annular
The axis of light source, the axial direction of the camera camera parallel and described with the phase machine bottom board is located at the center of the annular light source；
The PLC system connects and controls the manipulator, the gripper, the vacuum generator and the annular light source, institute
It states PLC system and is also connected with the first distance sensor, the second distance sensor and the camera；The gripper is used
In built-in and strut and grab the pedestal in the chassis interior, the sucker is for adsorbing the important actor, middle plate and top cover
Important actor described in top gripping, middle plate and top cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822272656.5U CN209256938U (en) | 2018-12-29 | 2018-12-29 | A kind of manipulator intelligent sorting assembly system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822272656.5U CN209256938U (en) | 2018-12-29 | 2018-12-29 | A kind of manipulator intelligent sorting assembly system based on machine vision |
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| Publication Number | Publication Date |
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| CN209256938U true CN209256938U (en) | 2019-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822272656.5U Active CN209256938U (en) | 2018-12-29 | 2018-12-29 | A kind of manipulator intelligent sorting assembly system based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643205A (en) * | 2020-12-18 | 2022-06-21 | 沈阳新松机器人自动化股份有限公司 | Rapid multi-variety robot material sorting device and method |
-
2018
- 2018-12-29 CN CN201822272656.5U patent/CN209256938U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643205A (en) * | 2020-12-18 | 2022-06-21 | 沈阳新松机器人自动化股份有限公司 | Rapid multi-variety robot material sorting device and method |
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