CN211890843U

CN211890843U - Visual guidance robot

Info

Publication number: CN211890843U
Application number: CN202020219474.6U
Authority: CN
Inventors: 周涛; 张波; 孙宏波
Original assignee: Rieter Suzhou Automation Co ltd
Current assignee: Rieter Suzhou Automation Co ltd
Priority date: 2020-02-27
Filing date: 2020-02-27
Publication date: 2020-11-10
Anticipated expiration: 2030-02-27

Abstract

The utility model belongs to the technical field of automation equipment, a vision guide robot is related to, including the arm of locating the base top, locating the terminal rotary device of arm, rotary device includes mounting panel and the drive of the last arm axle of perpendicular to arm the mounting panel centers on the rotatory servo motor of arm axle, the mounting panel is including a plurality of work positions around the axle setting, is provided with the industry camera on one of them work position, is equipped with operating means on all the other work positions. According to the vision guide robot, the position of the industrial camera is replaced by the operating device only by means of rotation of the mounting plate after the industrial camera determines the position of an object, the industrial camera moves by means of the original six-axis mechanical arm of the operating device and flexibly adjusts the detection position, so that accurate vision guide can be conducted on the operating device, unnecessary FOV and the number of cameras can be reduced, and the positioning precision and the system mobility of the vision guide robot can be greatly improved.

Description

Visual guidance robot

Technical Field

The utility model relates to an automation equipment technical field, in particular to vision guide robot.

Background

The robot vision guiding and positioning system is composed of an industrial camera, a light source, a lens, an image acquisition card, an industrial PC, an industrial robot body, a controller, a driver, a conveying assembly line, an electric control element and the like. The robot vision guiding positioning system has the main functions of positioning a workpiece, finding a measured object through an image sensor, determining the position of the measured object, outputting position coordinates (X, Y, R), converting the positioning coordinates (X, Y, R) of the image sensor into coordinates relative to the origin of the robot, and guiding the robot to assemble or otherwise move the workpiece according to the positioning result. The positioning precision of the robot vision guiding positioning system is determined by the repeated positioning precision of the industrial robot body and the precision of the industrial camera, and the higher the precision of the industrial robot and the camera is, the higher the positioning precision of the robot vision guiding positioning system is. The robot vision guiding and positioning system is mainly applied to most medical products, instruments and equipment, and workpieces with space range process requirements or workpieces (such as injection-molded workpieces) with the characteristics of irregular shapes, large size errors, unobvious positioning references and the like.

In the conventional robot, an industrial camera is usually fixedly arranged on one side of a detection position, and although the operation of an operation device can be guided, parts which are easy to deform may exist in some products, such as injection molding parts with complex surfaces, and the fixed industrial camera cannot necessarily find the deformed position, so that the operation device cannot be effectively guided, and the operation precision is poor.

There is therefore a need to develop a vision-guided robot to solve the above problems.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a vision-guided robot, which can realize more accurate operation with a simpler structure, and ensure the accuracy of vision guidance.

The utility model discloses a following technical scheme realizes above-mentioned purpose: the utility model provides a vision guide robot, is including the arm of locating the base top, locating the terminal rotary device of arm, rotary device includes the mounting panel and the drive of the last arm axle of perpendicular to arm the mounting panel centers on the rotatory servo motor of arm axle, the mounting panel is including a plurality of work positions that set up around the axle, is provided with the industry camera on one of them work position, is equipped with operating means on all the other work positions.

Specifically, the working positions are uniformly distributed on the mounting plate around the arm shaft.

Specifically, the optical axis of the industrial camera and the reference line of the operating device are both along the radial direction of the mounting plate.

In particular, the operating means comprises a suction cup.

Specifically, the mechanical arm is a six-axis mechanical arm or a four-axis mechanical arm.

Adopt above-mentioned technical scheme, the utility model discloses technical scheme's beneficial effect is:

according to the vision guide robot, the position of the industrial camera is replaced by the operating device only by means of rotation of the mounting plate after the industrial camera determines the position of an object, the industrial camera moves by means of the original six-axis mechanical arm of the operating device and flexibly adjusts the detection position, so that accurate vision guide can be conducted on the operating device, unnecessary FOV and the number of cameras can be reduced, and the positioning precision and the system mobility of the vision guide robot can be greatly improved.

Drawings

FIG. 1 is a perspective view of an embodiment vision-guided robot;

fig. 2 is a partially enlarged view of a position a in fig. 1.

The figures in the drawings represent:

1-a base;

2-six-axis mechanical arm;

3-rotating device, 31-mounting plate, 311-working position, 32-servo motor, 33-operating device, 331-suction cup;

4-industrial camera.

Detailed Description

The present invention will be described in further detail with reference to specific examples.

Example (b):

as shown in fig. 1 and 2, the utility model discloses a vision guide robot, including six arms 2 of locating the base top, locate the terminal rotary device 3 of six arms 2, rotary device 3 includes the mounting panel 31 of the last arm axle of six arms 2 of perpendicular to and drives mounting panel 31 around the servo motor 32 of arm rotation, and mounting panel 31 includes four work positions 311 around the axle setting, is provided with industrial camera 4 on its work position, is equipped with operating means 33 on all the other work positions. When the six-axis mechanical arm 2 works, the industrial camera 4 carried by the six-axis mechanical arm 2 is firstly moved to the position for detecting a workpiece, the industrial camera 4 overlooks the workpiece, and the industrial camera 4 is directly adjusted to a proper position by the six-axis mechanical arm 2; then the servo motor 32 drives the mounting plate 31 to rotate by a multiple angle of 90 degrees, the operating device 33 on the other working position 311 replaces the position of the industrial camera 4, the posture of the six-axis mechanical arm 2 does not need to be changed in the transposition process, the reference position of the industrial camera 4 is used as the initial position of the operating device 33 for the next movement, and then the six-axis mechanical arm 2 performs corresponding actions. Therefore, the industrial camera 4 moves and flexibly adjusts the detection position by depending on the six-axis mechanical arm 2 originally existing in the operation device 33, so that accurate visual guidance can be performed on the operation device 33, unnecessary FOVs and the number of cameras can be reduced, and the positioning precision and the system maneuverability of the industrial camera can be greatly improved. In practical application, the mechanical arm can be not limited to the six-axis mechanical arm 2, and a four-axis mechanical arm and the like can also be adopted. The mounting plate 31 is not limited to four work stations 311, and may be arbitrarily set according to the number of operation steps at the same station or the types of products to be simultaneously applied.

As shown in FIG. 1, the work stations 311 are evenly distributed on the mounting plate 31 around the arm axis. Thus, a plurality of working positions have fixed included angles, and the angle control of the servo motor 32 can be simplified.

The optical axis of the industrial camera 4 and the reference line of the operation device 33 are both along the radial direction of the mounting plate 31. In this way, the operation device 33 moves along the plane of the mounting plate 31 even if it extends or retracts, so that the space swept when the mounting plate 31 rotates is small, and interference with other components can be avoided as much as possible.

As shown in fig. 2, the operating device 34 includes a suction cup 341. The suction cup 341 provides the operation device 34 with suction and discharge functions, and is suitable for occasions where the workpiece is small and needs to be transferred.

What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.

Claims

1. A vision-guided robot, characterized by: including the arm of locating the base top, locating the terminal rotary device of arm, rotary device includes the mounting panel and the drive of the last arm axle of perpendicular to arm the mounting panel centers on the servo motor of arm rotation of axes, the mounting panel is including a plurality of work positions that set up around the axle, is provided with the industry camera on one of them work position, is equipped with operating means on all the other work positions.

2. The vision-guided robot of claim 1, wherein: the working positions are uniformly distributed on the mounting plate around the arm shaft.

3. The vision-guided robot of claim 1, wherein: the optical axis of the industrial camera and the reference line of the operating device are both along the radial direction of the mounting plate.

4. The vision-guided robot of claim 1, wherein: the operating device comprises a suction cup.

5. The vision-guided robot of claim 1, wherein: the mechanical arm is a six-axis mechanical arm or a four-axis mechanical arm.