CN210549317U - Automatic assembly device for practical training based on structured light - Google Patents
Automatic assembly device for practical training based on structured light Download PDFInfo
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- CN210549317U CN210549317U CN201921271666.5U CN201921271666U CN210549317U CN 210549317 U CN210549317 U CN 210549317U CN 201921271666 U CN201921271666 U CN 201921271666U CN 210549317 U CN210549317 U CN 210549317U
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Abstract
The utility model relates to an automatic device, in particular to an automatic assembly device for practical training based on structured light, which comprises a DLP structured light device, a manipulator and a workpiece clamping device, wherein the workpiece clamping device is configured to clamp a workpiece; the rotary feeding device is provided with a workpiece; the automatic clamping jaw is configured to grab a workpiece, and the automatic clamping jaw is installed on the mechanical arm; the feeding device is configured to sequentially push out the workpieces; the feeding device is positioned at one end of the conveying device, the conveying device is configured to convey the workpiece through the DLP structured light device, the DLP structured light device is positioned above the conveying device, and the DLP structured light device is configured to scan the workpiece on the conveying device; a camera is positioned above the conveyor, the camera configured to acquire a projected raster image. The device scans the workpiece through the structured light and is matched with the camera to obtain the space pose of the workpiece, so that the workpiece can be correctly grabbed and correctly assembled, meanwhile, the perceptual knowledge of students can be provided, and the training effect is improved.
Description
Technical Field
The utility model relates to an automatic change device, especially instruct to use automatic assembly device based on structured light in fact.
Background
With the development of intelligent manufacturing, robots are generally applied to industries such as automobiles and 3C. Traditional tasks such as manual sorting, assembly, welding, detection also are replaced by the robot gradually, in the field of machine vision, the robot can independently discern, fix a position, detect the part, this automated production for the product provides strong assurance, but new visual technology development and application all need the support of high-tech talent, consequently the robot vision training towards education is indispensable, and training in this aspect is at present stops in theory more, does not have actual equipment to carry out the real operation training, and the student does not have the sensible understanding, and the training effect is relatively poor.
The existing automatic assembly device usually adopts a camera to determine the coordinate position, cannot identify the space pose of a workpiece, and is easy to cause grabbing or assembly errors.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a scan the work piece through structured light to the cooperation camera obtains the space position appearance of work piece, thereby guarantees the correct work piece and the correct assembly of snatching, and can effectively improve student's perception, improves training effect's the real automatic assembly device that uses based on real standard of structured light, and concrete technical scheme is:
the automatic assembly device for the practical training based on the structured light comprises a DLP structured light device, a manipulator and a workpiece clamping device, wherein the workpiece clamping device is configured to clamp a workpiece; the rotary feeding device is provided with a workpiece; an automated gripper configured to grasp a workpiece, the automated gripper mounted on a robot; a feeding device configured to sequentially push out workpieces; a conveyor positioned at one end of the conveyor, the conveyor configured to convey the workpiece past a DLP structured light device positioned above the conveyor, the DLP structured light device configured to scan the workpiece on the conveyor; a camera positioned above the conveyor, the camera configured to acquire a projected raster image; the workpiece clamping device, the rotary feeding device and the conveying device are all located within the working range of the manipulator.
By adopting the technical scheme, the DLP structured light device projects the digital grating and carries out three-dimensional reconstruction by adopting a phase measurement-based method; then, calculating phase parameters by using a four-step phase shift method; establishing a one-to-one mapping relation between an ideal grating and a projection grating by analyzing the non-sinusoidal phenomenon of an actual digital grating projected by a four-step phase shift method, and obtaining an error compensation value by an interpolation calculation mode; projecting the grating image subjected to phase calculation and error compensation, acquiring the projected grating image by using a camera, and then establishing a corresponding relation between the camera image and the projected image, so that projector calibration can be converted into camera calibration; and then, combining the three results to carry out three-dimensional reconstruction on the workpiece and simultaneously obtain the spatial attitude information of the workpiece.
The manipulator moves a workpiece from the rotary feeding device to the workpiece clamping device through the automatic clamping jaw, the workpiece clamping device clamps the workpiece, then the manipulator controls the automatic clamping jaw to grab the workpiece according to the obtained pose of the workpiece, and the workpiece is installed on the workpiece, so that automatic assembly is realized.
Preferably, the rotary feeding device comprises a feeding frame; the rotating motor is fixed on the feeding frame; the bearing block is fixed at the top of the feeding frame; the rotating shaft is arranged on the bearing block, and one end of the rotating shaft is connected with the rotating motor; the feeding disc is fixed at the other end of the rotating shaft and is positioned above the bearing block; and the workpiece seat is arranged on the feeding disc and is configured to place a workpiece.
Through adopting above-mentioned technical scheme, the pay-off is rotated to the material loading disc, realizes that the snatching position of work piece is fixed, makes things convenient for the manipulator to snatch.
The material loading device is characterized by preferably further comprising a material sensor, wherein the material sensor is arranged on the material loading frame and is positioned below the material loading disc, a plurality of detection holes are formed in the material loading disc in an annular array mode, and the detection holes correspond to the material sensor; the workpiece seat is provided with a communicating hole, the communicating hole is coaxial with the detection hole and is communicated with the detection hole, and the material sensor is configured to penetrate through the detection hole and the communicating hole to detect whether a workpiece is arranged on the workpiece seat or not.
Through adopting above-mentioned technical scheme, material sensor is photoelectric sensor, thereby material sensor detects whether there is the work piece to guarantee that the manipulator can normally snatch the work piece.
Preferably, the automatic feeding device further comprises a reset detection plate, wherein the reset detection plate is fixed at the bottom of the feeding disc; and a reset sensor mounted on the loading frame, the reset sensor configured to detect a reset detection plate.
Through adopting above-mentioned technical scheme, the pick-up plate that resets can make the material loading disc carry out the zero-bit to reset to guarantee the accuracy of pay-off position.
Preferably, the automatic clamping jaw is provided with a plurality of automatic clamping jaws; the automatic clamping jaw device is characterized by further comprising a clamping jaw seat, wherein a plurality of clamping jaw grooves are formed in the clamping jaw seat and are configured to be used for placing automatic clamping jaws respectively.
Through adopting above-mentioned technical scheme, the clamping jaw groove is fixed a position automatic clamping jaw, makes things convenient for the manipulator to connect automatic clamping jaw.
Preferably, the automatic jaws comprise a first jaw and a second jaw; the first jaw comprises a quick-change coupler socket configured to couple with a manipulator; the pneumatic clamping jaw is arranged on the quick-change connecting seat; the gripper is arranged on the pneumatic clamping jaw; the second jaw comprises a quick-change coupler socket configured to couple with a manipulator; and the vacuum chuck is arranged on the quick-change connecting seat.
Preferably, the conveying device comprises a conveyor belt; the conveying belt is positioned at the top of the conveying frame; the driving belt wheel is fixed at one end of the conveying frame; the conveying motor is fixed on the conveying frame and is connected with the driving belt wheel; the driven belt wheel is fixed at the other end of the conveying frame, and the conveying belt is sleeved on the driving belt wheel and the driven belt wheel; the material blocking plates are fixed on the conveying frame and are positioned on two sides of the conveying belt; the photographing sensor is positioned on one side of the conveying belt; and the encoder is connected with the driving belt wheel.
Through adopting above-mentioned technical scheme, the sensor of shooing is photoelectric sensor, and the sensor of shooing is used for detecting the work piece and sends the signal of shooing to the camera.
The encoder is used with the sensor cooperation of shooing, and the encoder carries out accurate calculation to the material in the position of conveyer belt, reachs the coordinate of work piece, or makes the material stop in fixed position to make things convenient for the manipulator to snatch the material.
Preferably, the feeding device comprises a feeding frame, and the feeding frame is positioned at one end of the conveying device; the feeding cylinder is fixed on the feeding frame; the feeding seat is fixed at one end of the feeding frame and is positioned at one end of the conveying device, and a feeding groove is formed in the feeding seat and corresponds to the feeding air cylinder; the feeding barrel is internally provided with a workpiece, is arranged on the feeding seat and is communicated with the feeding groove; and a feed sensor mounted on the feed block, the feed sensor configured to detect whether a workpiece is within the feed chute.
Through adopting above-mentioned technical scheme, the pay-off cylinder is biax cylinder, and the pay-off cylinder is regularly started, delivers the material to conveyor. The feeding sensor is used for detecting whether materials exist in the feeding groove. The feeding barrel is used for storing materials, facilitates automatic descending of the materials and has a simple structure. The material distributing device is characterized by further comprising a material distributing push plate, wherein the material distributing push plate is fixed on the feeding air cylinder and is right opposite to the feeding groove, and a V-shaped groove is formed in the end part of the material distributing push plate. The material distributing push plate avoids the interference of the feeding cylinder and the feeding groove, and smooth material pushing is guaranteed.
Preferably, the workpiece clamping device comprises a clamping table; the clamping cylinder is fixed on the clamping table; the movable clamping seat is fixed on the clamping cylinder; and the fixed clamping seat is fixed on the clamping table.
Preferably, the method further comprises the following steps of; a master bracket disposed opposite to the slave bracket; the driven rotating shaft is rotatably arranged on the driven bracket, and one end of the driven rotating shaft is fixed on one side of the clamping table; the driving rotating shaft is rotatably arranged on the main bracket, and one end of the driving rotating shaft is fixed at the other end of the clamping table and is coaxial with the driven rotating shaft; the speed reducer is fixed on the main bracket and is connected with the other end of the driving rotating shaft; and the rotating motor is connected with the speed reducer and is fixed on the main bracket.
Through adopting above-mentioned technical scheme, press from both sides tight platform and can drive the work piece and rotate to can cooperate with the manipulator, accomplish complicated assembly.
Compared with the prior art the utility model discloses following beneficial effect has:
the utility model provides a real standard is with automatic assembly device scans the work piece through structured light based on structured light to cooperation camera obtains the space position appearance of work piece, thereby guarantees that the exact work piece and the exact assembly of snatching can provide student's perception simultaneously, improves the training effect.
Drawings
FIG. 1 is a schematic structural diagram of an automatic assembling device for a structured light-based practical training;
FIG. 2 is a schematic view of the construction of the work clamping apparatus;
FIG. 3 is a schematic view of the feed apparatus;
FIG. 4 is a schematic view of the structure of the conveying apparatus;
FIG. 5 is a schematic view of the positional configuration of the camera, DLP structured light apparatus and transport apparatus;
FIG. 6 is a front view of the rotary feeder;
FIG. 7 is a side view of the rotary feeder;
FIG. 8 is a schematic view of an automated gripper mounted on a gripper base;
fig. 9 is a schematic view of the structure of the automatic clamping jaw.
Detailed Description
The present invention will now be further described with reference to the accompanying drawings.
As shown in fig. 1 to 9, the automatic assembling device for the structured light-based practical training comprises a DLP structured light device 81 and a manipulator 2, and further comprises a workpiece clamping device 1, wherein the workpiece clamping device 1 is configured to clamp a workpiece a 110; the rotary feeding device 5 is provided with a workpiece A110; an automatic gripper configured to grip a workpiece a110 and a workpiece B, the automatic gripper being mounted on the robot 2; a feeding device 3, the feeding device 3 being configured to push out the workpieces B in sequence; a conveying device 4, the feeding device 3 being located at one end of the conveying device 4, the conveying device 4 being configured to convey the workpiece B past a DLP structured light device 81, the DLP structured light device 81 being located above the conveying device 4, the DLP structured light device 81 being configured to scan the workpiece B on the conveying device 4; a camera 82, the camera 82 being located above the conveyor 4, the camera 82 being configured to acquire a projected raster image; the workpiece clamping device 1, the rotary feeding device 5 and the conveying device 4 are all located within the working range of the manipulator 2.
The manipulator 2, the workpiece clamping device 1, the rotary feeding device 5, the feeding device 3 and the conveying device 4 are all arranged on the workbench 10.
DLP structured light device 81 projects a digital grating and three-dimensional reconstruction is carried out by adopting a phase measurement-based method; then, calculating phase parameters by using a four-step phase shift method; establishing a one-to-one mapping relation between an ideal grating and a projection grating by analyzing the non-sinusoidal phenomenon of an actual digital grating projected by a four-step phase shift method, and obtaining an error compensation value by an interpolation calculation mode; projecting the grating image subjected to phase calculation and error compensation, acquiring the projected grating image by using a camera 82, and then establishing a corresponding relation between the image of the camera 82 and the projected image, so that projector calibration can be converted into camera 82 calibration; and then, combining the three results to carry out three-dimensional reconstruction on the workpiece and simultaneously obtain the spatial attitude information of the workpiece.
The manipulator 2 firstly moves the workpiece A110 onto the workpiece clamping device 1 from the rotary feeding device 5 through the automatic clamping jaw, the workpiece clamping device 1 clamps the workpiece A110, the feeding device 3 pushes the workpiece B onto the conveying device 4, the conveying device 4 drives the workpiece B to pass through the DLP structured light device 81 and the camera 82 to obtain the pose of the workpiece B, then the manipulator 2 drives the automatic clamping jaw to grab the workpiece B according to the obtained pose of the workpiece B, and the workpiece B is installed on the workpiece A110, so that automatic assembly is realized.
Specifically, as shown in fig. 5, the DLP structured light device 81 and the camera 82 are fixed to the scanning carriage 8, and the scanning carriage 8 is fixed above the conveying device 4.
As shown in fig. 6 and 7, the rotary feeding device 5 includes a feeding frame 51; a rotating motor 52, wherein the rotating motor 52 is fixed on the feeding frame 51; the bearing seat 53 is fixed at the top of the feeding frame 51; a rotating shaft installed on the bearing housing 53, one end of the rotating shaft being connected to the rotating motor 52; a feeding disc 54, wherein the feeding disc 54 is fixed at the other end of the rotating shaft and is positioned above the bearing seat 53; and a workpiece seat 55, the workpiece seat 55 being mounted on the loading disc 54, the workpiece seat 55 being configured to receive the workpiece a 110. The feeding disc 54 rotates to feed, so that the grabbing position of the workpiece A110 is fixed, and the manipulator 2 can grab conveniently.
The material loading device is characterized by further comprising a material sensor 56, wherein the material sensor 56 is mounted on the material loading frame 51 and is positioned below the material loading disc 54, a plurality of detection holes are formed in the material loading disc 54 in an annular array mode, and the detection holes correspond to the material sensor 56; the workpiece seat 55 is provided with a communication hole, the communication hole is coaxial with the detection hole and is communicated with the detection hole, and the material sensor 56 is configured to penetrate through the detection hole and the communication hole to detect whether the workpiece A110 is arranged on the workpiece seat 55. The material sensor 56 is a photoelectric sensor, and the material sensor 56 detects whether the workpiece a110 exists or not, so that the manipulator 2 can normally grab the workpiece a 110.
The feeding device also comprises a reset detection plate 57, wherein the reset detection plate 57 is fixed at the bottom of the feeding disc 54; and a reset sensor 58, the reset sensor 58 being mounted on the loading frame 51, the reset sensor 58 being configured to detect a reset detection plate 57. The reset sensor 58 is a groove-type photoelectric sensor, and the reset detection plate 57 can reset the zero position of the feeding disc 54, so that the accuracy of the feeding position is ensured.
The rotary feeding device 5 rotates the feeding disc 54 to rotate the workpiece a110 to a fixed material grabbing position of the manipulator 2, then the material sensor 56 detects whether the workpiece a110 exists on the workpiece seat 55, if the workpiece a110 exists, the state is maintained, and when no workpiece a110 exists, the feeding disc 54 is continuously rotated to rotate the other workpiece seat 55 to a fixed position, and whether the workpiece a110 exists is continuously detected.
As shown in fig. 8, the automatic gripping jaw is provided in plurality; the automatic clamping jaw device further comprises a clamping jaw seat 6, wherein a plurality of clamping jaw grooves 61 are formed in the clamping jaw seat 6, and the plurality of clamping jaw grooves 61 are configured to be used for placing automatic clamping jaws respectively. The jaw groove 61 positions the automatic jaw, and the manipulator 2 is convenient to connect the automatic jaw.
As shown in fig. 8 and 9, the automatic gripping jaws include a first gripping jaw 71 and a second gripping jaw 72; the first jaw 71 comprises a quick-change coupling socket 711, the quick-change coupling socket 711 being configured to be coupled to the manipulator 2; the pneumatic clamping jaw 712 is mounted on the quick-change connecting seat 711; and a hand grip 713, the hand grip 713 being mounted on the pneumatic gripper 712; the second jaw 72 comprises a quick-change coupling socket 711, the quick-change coupling socket 711 being configured to be coupled to the manipulator 2; and a vacuum suction cup 721, wherein the vacuum suction cup 721 is installed on the quick-change connector seat 711. The first jaw 71 or the second jaw 72 is selected according to the actual condition of the workpiece.
As shown in fig. 4, the conveying device 4 includes a conveying belt 41; a conveying frame 46, wherein the conveying belt 41 is positioned at the top of the conveying frame 46; the driving belt wheel is fixed at one end of the conveying frame 46; the conveying motor 47 is fixed on the conveying frame 46, and the conveying motor 47 is connected with the driving belt wheel through a synchronous belt; the driven belt wheel 43, the driven belt wheel 43 is fixed on another end of the conveying frame 46, the conveying belt 41 is fitted over driving belt wheel and driven belt wheel 43; the material blocking plate 42 is fixed on the conveying frame 46 and is positioned at two sides of the conveying belt 41; a photographing sensor 44, the photographing sensor 44 being located at one side of the conveying belt 41; and the encoder 45, the encoder 45 is connected with driving pulley.
The photo sensor 44 is a photoelectric sensor, and the photo sensor 44 is used for detecting a workpiece and sending an operation signal to the camera 82 and the DLP structured light device 81.
The encoder 45 is used with the photographing sensor 44 in a matched mode, the encoder 45 carries out accurate calculation on the position of the material on the conveying belt 41, the coordinates of a workpiece are obtained, or the material is stopped at a fixed position, and therefore the manipulator 2 can conveniently grab the material.
As shown in fig. 3, the feeding device 3 includes a feeding frame 31, and the feeding frame 31 is located at one end of the conveying device 4; the feeding cylinder 32, the feeding cylinder 32 is fixed on the feeding frame 31; the feeding seat 35 is fixed at one end of the feeding frame 31 and is positioned at one end of the conveying device 4, a feeding groove 351 is formed in the feeding seat 35, and the feeding groove 351 corresponds to the feeding cylinder 32; the feeding cylinder 34, the feeding cylinder 34 is internally provided with a workpiece B, the feeding cylinder 34 is arranged on the feeding seat 35, and the feeding cylinder 34 is communicated with the feeding groove 351; and a feed sensor 36, the feed sensor 36 being mounted on the feed holder 35, the feed sensor 36 being configured to detect whether or not the workpiece B is present in the feed chute 351.
The feeding cylinder 32 is a double-shaft cylinder, and the feeding cylinder 32 is started at a fixed time to feed materials to the conveying device 4. The feed sensor 36 is used to detect whether there is material in the feed chute 351. The feeding barrel 34 is used for storing the workpiece B and is convenient for the workpiece B to automatically descend, so that the structure is simple. The material separating and pushing device further comprises a material separating and pushing plate 33, the material separating and pushing plate 33 is fixed on the feeding air cylinder 32, the material separating and pushing plate 33 faces the feeding groove 351, and a V-shaped groove is formed in the end portion of the material separating and pushing plate 33. The material distributing push plate 33 avoids the interference between the feeding cylinder 32 and the feeding groove 351, and ensures smooth material pushing.
The feeding cylinder 32 is started after receiving a feeding instruction, the feeding cylinder 32 drives the material distributing push plate 33, and the material distributing push plate pushes the workpiece B from the feeding groove 351 to the conveying belt 41.
As shown in fig. 2, the work clamping device 1 includes a clamping table 11; the clamping cylinder 12, the clamping cylinder 12 is fixed on the clamping table 11; the movable clamping seat 13 is fixed on the clamping cylinder 12; and a fixed clamping seat 14, wherein the fixed clamping seat 14 is fixed on the clamping table 11. The movable clamping seat 13 and the fixed clamping seat 14 are both provided with a V-shaped groove for clamping a workpiece A110.
Also included is a slave carrier 15; a primary support 16, the primary support 16 being disposed opposite the secondary support 15; a driven rotating shaft rotatably mounted on the driven bracket 15, one end of the driven rotating shaft being fixed to one side of the clamping table 11; the driving rotating shaft is rotatably arranged on the main bracket 16, and one end of the driving rotating shaft is fixed at the other end of the clamping table 11 and is coaxial with the driven rotating shaft; the speed reducer 17 is fixed on the main support 16, and the speed reducer 17 is connected with the other end of the driving rotating shaft; and a rotating motor 18, wherein the rotating motor 18 is connected with a speed reducer 17, and the rotating motor 18 is fixed on the main bracket 16. The clamping table 11 can drive the workpiece a110 to rotate, so that the workpiece a can be matched with the manipulator 2 to complete complex assembly.
Claims (10)
1. The automatic assembly device for practical training based on the structured light comprises a DLP structured light device and a manipulator, and is characterized by further comprising
A workpiece clamping device configured to clamp a workpiece;
the rotary feeding device is provided with a workpiece;
an automated gripper configured to grasp a workpiece, the automated gripper mounted on a robot;
a feeding device configured to sequentially push out workpieces;
a conveyor positioned at one end of the conveyor, the conveyor configured to convey the workpiece past a DLP structured light device positioned above the conveyor, the DLP structured light device configured to scan the workpiece on the conveyor;
a camera positioned above the conveyor, the camera configured to acquire a projected raster image;
the workpiece clamping device, the rotary feeding device and the conveying device are all located within the working range of the manipulator.
2. The automatic assembly device for structured light based practical training according to claim 1,
the rotary feeding device comprises
A feeding frame;
the rotating motor is fixed on the feeding frame;
the bearing block is fixed at the top of the feeding frame;
the rotating shaft is arranged on the bearing block, and one end of the rotating shaft is connected with the rotating motor;
the feeding disc is fixed at the other end of the rotating shaft and is positioned above the bearing block; and
a workpiece seat mounted on the loading puck, the workpiece seat configured to seat a workpiece.
3. The automatic assembly device for structured light based practical training according to claim 2,
the material loading device is characterized by further comprising a material sensor, wherein the material sensor is mounted on the material loading frame and is positioned below the material loading disc, a plurality of detection holes are formed in the material loading disc in an annular array mode, and the detection holes correspond to the material sensor;
the workpiece seat is provided with a communicating hole, the communicating hole is coaxial with the detection hole and is communicated with the detection hole, and the material sensor is configured to penetrate through the detection hole and the communicating hole to detect whether a workpiece is arranged on the workpiece seat or not.
4. The automatic assembly device for structured light based practical training according to claim 2,
the reset detection plate is fixed at the bottom of the feeding disc; and
a reset sensor mounted on the loading frame, the reset sensor configured to detect a reset detection plate.
5. The automatic assembly device for structured light based practical training according to claim 1,
a plurality of automatic clamping jaws are arranged;
the automatic clamping jaw device is characterized by further comprising a clamping jaw seat, wherein a plurality of clamping jaw grooves are formed in the clamping jaw seat and are configured to be used for placing automatic clamping jaws respectively.
6. The automatic assembly device for structured light based practical training according to claim 5,
the automatic clamping jaw comprises a first clamping jaw and a second clamping jaw;
the first clamping jaw comprises
A quick-change coupler socket configured to couple with a manipulator;
the pneumatic clamping jaw is arranged on the quick-change connecting seat; and
the gripper is arranged on the pneumatic clamping jaw;
the second clamping jaw comprises
A quick-change coupler socket configured to couple with a manipulator; and
and the vacuum chuck is arranged on the quick-change connecting seat.
7. The automatic assembly device for structured light based practical training according to claim 1,
the conveying device comprises
A conveyor belt;
the conveying belt is positioned at the top of the conveying frame;
the driving belt wheel is fixed at one end of the conveying frame;
the conveying motor is fixed on the conveying frame and is connected with the driving belt wheel;
the driven belt wheel is fixed at the other end of the conveying frame, and the conveying belt is sleeved on the driving belt wheel and the driven belt wheel;
the material blocking plates are fixed on the conveying frame and are positioned on two sides of the conveying belt;
the photographing sensor is positioned on one side of the conveying belt; and
and the encoder is connected with the driving belt wheel.
8. The automatic assembly device for structured light based practical training according to claim 1,
the feeding device comprises
The feeding frame is positioned at one end of the conveying device;
the feeding cylinder is fixed on the feeding frame;
the feeding seat is fixed at one end of the feeding frame and is positioned at one end of the conveying device, and a feeding groove is formed in the feeding seat and corresponds to the feeding air cylinder;
the feeding barrel is internally provided with a workpiece, is arranged on the feeding seat and is communicated with the feeding groove; and
a feed sensor mounted on the feed block, the feed sensor configured to detect whether a workpiece is within the feed chute.
9. The automatic assembly device for structured light based practical training according to claim 1,
the workpiece clamping device comprises
A clamping table;
the clamping cylinder is fixed on the clamping table;
the movable clamping seat is fixed on the clamping cylinder; and
the fixed clamping seat is fixed on the clamping table.
10. The automatic assembly device for structured light based practical training according to claim 9,
also comprises
A slave carrier;
a master bracket disposed opposite to the slave bracket;
the driven rotating shaft is rotatably arranged on the driven bracket, and one end of the driven rotating shaft is fixed on one side of the clamping table;
the driving rotating shaft is rotatably arranged on the main bracket, and one end of the driving rotating shaft is fixed at the other end of the clamping table and is coaxial with the driven rotating shaft;
the speed reducer is fixed on the main bracket and is connected with the other end of the driving rotating shaft; and
the rotating motor is connected with the speed reducer and fixed on the main support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921271666.5U CN210549317U (en) | 2019-08-07 | 2019-08-07 | Automatic assembly device for practical training based on structured light |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921271666.5U CN210549317U (en) | 2019-08-07 | 2019-08-07 | Automatic assembly device for practical training based on structured light |
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| CN210549317U true CN210549317U (en) | 2020-05-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315312A (en) * | 2019-08-07 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | Real training automatic assembling apparatus based on structure light |
| CN111702739A (en) * | 2020-07-14 | 2020-09-25 | 杭州智骨软件科技有限公司 | Maintenance robot with automatic replacement maintenance device and clamp device |
-
2019
- 2019-08-07 CN CN201921271666.5U patent/CN210549317U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315312A (en) * | 2019-08-07 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | Real training automatic assembling apparatus based on structure light |
| CN111702739A (en) * | 2020-07-14 | 2020-09-25 | 杭州智骨软件科技有限公司 | Maintenance robot with automatic replacement maintenance device and clamp device |
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