CN210233081U - Robot guide assembly control device with double camera recognition - Google Patents
Robot guide assembly control device with double camera recognition Download PDFInfo
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- CN210233081U CN210233081U CN201920766830.3U CN201920766830U CN210233081U CN 210233081 U CN210233081 U CN 210233081U CN 201920766830 U CN201920766830 U CN 201920766830U CN 210233081 U CN210233081 U CN 210233081U
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Abstract
The utility model belongs to machine vision guiding orientation field, concretely relates to robot guide assembly controlling means of double camera discernment. The device comprises an assembly station, an industrial six-axis manipulator, a paw mechanism and a vision guide system; the gripper mechanism is arranged at the tail end of the six-axis manipulator; the gripper mechanism is used for grabbing a workpiece to be assembled; an assembly station for fixing another workpiece to be assembled; the visual guide system is used for identifying the position and the shape of the workpiece grabbed by the hand grabbing structure and identifying the position and the shape of another workpiece fixed on the assembling station; the six-axis manipulator is used for assembling the workpiece grabbed by the gripper structure with another workpiece on the assembling station under the guidance of the visual guide system. The utility model discloses can assemble two kinds of work pieces, improve the assembly precision and the efficiency of work piece, replace the manual work, the measured data of record work piece simultaneously, simple easy-to-use has reduced the requirement to operating personnel's professional technical level, improves work efficiency.
Description
Technical Field
The utility model belongs to machine vision guiding orientation field, concretely relates to robot guide assembly controlling means of double camera discernment.
Background
With the proposal and popularization of the industrial 4.0 concept, medium and small enterprises actively respond to the call of national policies and put into the process of modifying a production line, so that more and more opportunities are provided for the application of various technologies such as an automation technology, a machine vision technology, a robot application and the like to land on the ground. The robot replaces manual work to work, and plays an increasingly important role in various enterprises, but the robot belongs to teaching type programming equipment, high technical requirements are required for designers, path programming of the robot needs to be carried out again according to production and assembly requirements of different workpieces, the flexibility degree is low, the positioning technology of just machine vision is quite mature at present, the machine vision positioning technology and the robot control technology are combined, and the problem that the coordinate systems of a vision system and a robot system are fused is solved. For example, the patent of publication No. CN109571008A discloses an accurate positioning intelligence assembly system, including industrial robot unit, intellectual detection system assembly unit and anchor clamps quick change unit, industrial robot unit includes the robot and is fixed in the anchor clamps conversion part on the robot, anchor clamps quick change unit includes the quick change workstation and is located work piece holder and assembly part anchor clamps on the quick change workstation, intellectual detection system assembly unit includes the intelligent workstation, be fixed with SCARA robot, visual detection platform, assembly bench and at least one set of work piece location platform on the intelligent workstation, the work piece location platform the assembly bench and the visual detection platform all is located the home range of SCARA robot. However, the invention can only obtain one group of visual detection signals each time, and the accuracy of the coordinates obtained by conversion is not high enough, and errors exist.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the not high enough shortcoming of accuracy among the prior art, provide a robot guide assembly controlling means of double camera discernment.
The visual system is used for replacing human eyes to complete the guiding assembly between the visual guiding system and the manipulator control system, the labor intensity of operators is effectively reduced, meanwhile, the gripper mechanism is provided with a plurality of grippers, the grabbing and assembling operation of a plurality of workpieces can be realized, firstly, the visual positioning of different workpieces is realized through the visual guiding system, the coordinate value below the visual coordinate system is converted into the coordinate through a calibration algorithm between the vision and the manipulator coordinate system, the coordinate data is transmitted to the manipulator control system through an industrial Ethernet data communication mode, and the assembling action of the workpieces is smoothly completed. Compared with manual assembly, the rapid positioning work of the workpiece can be realized, and the system can ensure the stable operation with high efficiency for a long time.
In order to solve the technical problem, the utility model discloses a following technical scheme can solve:
a robot guide assembly control device for double-camera recognition comprises an assembly station, an industrial six-axis manipulator, a paw mechanism and a vision guide system; the gripper mechanism is arranged at the tail end of the six-axis manipulator; the gripper mechanism is used for grabbing a workpiece to be assembled;
an assembly station for fixing another workpiece to be assembled;
the visual guide system is used for identifying the position and the shape of the workpiece grabbed by the hand grabbing structure and identifying the position and the shape of another workpiece fixed on the assembling station;
the six-axis manipulator is used for assembling the workpiece grabbed by the gripper structure with another workpiece on the assembling station under the guidance of the visual guide system.
Preferably, the robot control system is connected with the intelligent visual guidance system and used for receiving signals of the intelligent visual guidance system and controlling the industrial six-axis robot to work.
Preferably, the intelligent vision guiding system comprises a first camera module, a second camera module, a first light source, a second light source and a vision algorithm module, wherein the first camera module and the first light source are installed at the tail end of the six-axis manipulator, and the second camera module and the second light source are installed on an assembling station; the vision algorithm module is respectively connected with the first camera module and the second camera module.
The six-axis manipulator grabs a workpiece through the first gripper, moves the workpiece to a position below the first camera module, the first camera module photographs the workpiece and identifies the position of the workpiece to obtain position information P1 of the workpiece, then moves another workpiece to a position above the second camera module, photographs the workpiece and identifies the position of the workpiece to obtain position information P2 of the other workpiece. And the manipulator completes the assembly actions of the two workpieces by calculating the relative position relation of the P1 and the P2.
Preferably, the industrial six-axis robot is a six-axis tandem robot. The industrial six-axis manipulator is IRB1200 series of ABB company, and the repeated positioning precision can reach 0.02 mm.
Preferably, the gripper structure comprises a fixing plate, a first gripper and a second gripper, the first gripper and the second gripper are respectively arranged at the left end and the right end of the fixing plate, and the first camera module is mounted beside the gripper mechanism.
Preferably, the first gripper and the second gripper are different in shape and are used for gripping workpieces of different shapes.
Preferably, the position of the first light source corresponds to the position of a lens of the first camera module, and the first light source is fixedly connected with the surface of the first camera module.
Preferably, the assembly station comprises a support with at least two layers, the second camera module is arranged on a certain layer, and a lens of the second camera module is arranged vertically upwards; the upper layer of the layer where the second camera module is located is provided with a through hole, the position of the through hole corresponds to the position of the second camera module, and the second light source is arranged at the edge of the through hole.
Preferably, the first camera module and the second camera module are smart cameras, and include an image acquisition circuit, an image analysis circuit and a data communication circuit therein. With the conradson 7000 series smart camera, the resolution was 640 x 480.
The utility model discloses owing to adopted above technical scheme, have apparent technological effect: two kinds of workpieces can be assembled, and the assembly precision and efficiency of the workpieces are improved; the assembly process of work piece can replace artifical the completion, can take notes the measured data of work piece simultaneously, makes things convenient for the later stage to trace back and the quality is light-operated, and is simple easy-to-use, has reduced the requirement to operating personnel's professional technical level, improves work efficiency.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of embodiment 2 of the present invention.
Fig. 3 is a schematic structural diagram of embodiment 2 of the present invention.
The names of the parts indicated by the numerical references in the above figures are as follows: the robot comprises 1-industrial six-axis manipulator, 2-first camera module, 3-first light source, 4-first paw, 5-second paw, 6-second light source, 7-second camera module and 8-support.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, a robot guiding assembly control device for double-camera recognition comprises an assembly station, an industrial six-axis manipulator 1, a paw mechanism and a visual guide system; the gripper mechanism is arranged at the tail end of the industrial six-axis manipulator 1; the gripper mechanism is used for grabbing a workpiece to be assembled;
an assembly station for fixing another workpiece to be assembled;
the visual guide system is used for identifying the position and the shape of the workpiece grabbed by the hand grabbing structure and identifying the position and the shape of another workpiece fixed on the assembling station;
the industrial six-axis manipulator 1 is used for assembling a workpiece grabbed by the gripper structure with another workpiece on an assembling station under the guidance of a visual guide system.
Example 2
As shown in fig. 2, the robot guiding assembly control device with dual camera recognition further comprises a manipulator control system, wherein the manipulator control system is connected with the intelligent visual guidance system and is used for receiving signals of the intelligent visual guidance system and controlling the industrial six-axis manipulator 1 to work.
The intelligent vision guiding system comprises a first camera module 2, a second camera module 7, a first light source 3, a second light source 6 and a vision algorithm module, wherein the first camera module 2 and the first light source 3 are installed at the tail end of a six-axis manipulator, and the second camera module 7 and the second light source 6 are installed on an assembling station; the vision algorithm module is connected to the first camera module 2 and the second camera module 7, respectively.
The industrial six-axis manipulator 1 is a six-axis serial manipulator.
The hand claw structure includes fixed plate, first hand claw 4 and second hand claw 5, and both ends about the fixed plate are set up respectively to first hand claw 4 and second hand claw 5, and first camera module 2 is installed in hand claw mechanism side.
The first gripper 4 and the second gripper 5 are shaped differently for gripping differently shaped workpieces.
The position of the first light source 3 corresponds to the position of the lens of the first camera module 2, and the first light source 3 is fixedly connected with the surface of the first camera module 2.
The assembly station comprises a support 8 at least provided with two layers, the second camera module 7 is arranged on a certain layer, and the lens of the second camera module 7 is vertically arranged upwards; the upper layer of the layer where the second camera module 7 is located is provided with a through hole, the position of the through hole corresponds to the position of the second camera module 7, and the second light source 6 is arranged at the edge of the through hole.
The first camera module 2 and the second camera module 7 are smart cameras and internally comprise an image acquisition circuit, an image analysis circuit and a data communication circuit. The rest is the same as example 1.
Example 3
In this embodiment, an industrial six-axis manipulator 1 is an IRB1200 series of ABB corporation, and a first camera module 2 and a second camera module 7 are smart cameras, and include an image acquisition circuit, an image analysis circuit, and a data communication circuit therein. With the conradson 7000 series smart camera, the resolution was 640 x 480. The rest is the same as example 2.
In short, the above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the scope of the present invention.
Claims (9)
1. A robot guide assembly control device with double camera recognition is characterized in that: the device comprises an assembly station, an industrial six-axis manipulator, a paw mechanism and a vision guide system; the gripper mechanism is arranged at the tail end of the six-axis manipulator; the gripper mechanism is used for grabbing a workpiece to be assembled;
an assembly station for fixing another workpiece to be assembled;
the visual guide system is used for identifying the position and the shape of the workpiece grabbed by the hand grabbing structure and identifying the position and the shape of another workpiece fixed on the assembling station;
the six-axis manipulator is used for assembling the workpiece grabbed by the gripper structure with another workpiece on the assembling station under the guidance of the visual guide system.
2. The dual-camera recognition robot-guided assembly control device of claim 1, wherein: the robot control system is connected with the intelligent visual guidance system and used for receiving signals of the intelligent visual guidance system and controlling the industrial six-axis robot to work.
3. The dual-camera recognition robot-guided assembly control device of claim 1, wherein: the intelligent vision guiding system comprises a first camera module, a second camera module, a first light source, a second light source and a vision algorithm module, wherein the first camera module and the first light source are arranged at the tail end of the six-axis manipulator, and the second camera module and the second light source are arranged on an assembly station; the vision algorithm module is respectively connected with the first camera module and the second camera module.
4. The dual-camera recognition robot-guided assembly control device of claim 1, wherein: the industrial six-axis manipulator is a six-axis serial manipulator.
5. The dual-camera recognition robot-guided assembly control device of claim 3, wherein: the gripper structure comprises a fixing plate, a first gripper and a second gripper, the first gripper and the second gripper are respectively arranged at the left end and the right end of the fixing plate, and the first camera module is installed beside the gripper mechanism.
6. The dual-camera recognition robot-guided assembly control device of claim 5, wherein: the first gripper and the second gripper are different in shape and are used for gripping workpieces of different shapes.
7. The dual-camera recognition robot-guided assembly control device of claim 3, wherein: the first light source position corresponds to the lens position of the first camera module, and the first light source is fixedly connected with the surface of the first camera module.
8. The dual-camera recognition robot-guided assembly control device of claim 3, wherein: the assembly station comprises a support with at least two layers, the second camera module is arranged on a certain layer, and a lens of the second camera module is vertically arranged upwards; the upper layer of the layer where the second camera module is located is provided with a through hole, the position of the through hole corresponds to the position of the second camera module, and the second light source is arranged at the edge of the through hole.
9. The dual-camera recognition robot-guided assembly control device of claim 3, wherein: the first camera module and the second camera module are intelligent cameras, and the first camera module and the second camera module internally comprise an image acquisition circuit, an image analysis circuit and a data communication circuit.
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| CN201920766830.3U CN210233081U (en) | 2019-05-27 | 2019-05-27 | Robot guide assembly control device with double camera recognition |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590284A (en) * | 2020-04-16 | 2020-08-28 | 中国电子科技集团公司第十四研究所 | Intelligent blind-mate assembly unit of precise electric connector |
| CN113909886A (en) * | 2021-11-04 | 2022-01-11 | 中国兵器装备集团自动化研究所有限公司 | Glass laminating pressure equipment |
| CN114310987A (en) * | 2022-01-05 | 2022-04-12 | 华中科技大学 | Automatic clamping device for visual recognition of multiple types of casings and control method thereof |
-
2019
- 2019-05-27 CN CN201920766830.3U patent/CN210233081U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590284A (en) * | 2020-04-16 | 2020-08-28 | 中国电子科技集团公司第十四研究所 | Intelligent blind-mate assembly unit of precise electric connector |
| CN111590284B (en) * | 2020-04-16 | 2022-03-08 | 中国电子科技集团公司第十四研究所 | Intelligent blind-mate assembly unit of precise electric connector |
| CN113909886A (en) * | 2021-11-04 | 2022-01-11 | 中国兵器装备集团自动化研究所有限公司 | Glass laminating pressure equipment |
| CN114310987A (en) * | 2022-01-05 | 2022-04-12 | 华中科技大学 | Automatic clamping device for visual recognition of multiple types of casings and control method thereof |
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