CN213381588U - Industrial robot terminal mobile vision workstation - Google Patents
Industrial robot terminal mobile vision workstation Download PDFInfo
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- CN213381588U CN213381588U CN202021892173.6U CN202021892173U CN213381588U CN 213381588 U CN213381588 U CN 213381588U CN 202021892173 U CN202021892173 U CN 202021892173U CN 213381588 U CN213381588 U CN 213381588U
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Abstract
The utility model discloses an industrial robot terminal mobile vision workstation, which comprises a working platform, a robot and a terminal execution device, wherein the robot is arranged on the working platform; the tail end executing device comprises a clamp beam, a pneumatic clamp and a vision system, wherein the pneumatic clamp and the vision system are arranged on the clamp beam; the clamp beam is arranged on a tail end shaft of the robot; the vision system comprises an industrial intelligent camera, a lens is arranged at the front end of the industrial intelligent camera, the industrial intelligent camera is installed at the lower end of a camera installation plate, the camera installation plate is installed on a clamp beam in a sliding mode through a sliding assembly, and a locking mechanism for locking and positioning the sliding assembly is arranged on the clamp beam. The utility model discloses with the integration of vision system on the terminal anchor clamps of robot, avoided shooting to detect the fixed unchangeable defect in the field of vision to can arrange the robot and accomplish relevant operation with different anchor clamps, use the flexibility high.
Description
Technical Field
The utility model relates to a robot end effector technical field especially relates to an industrial robot end removes vision workstation.
Background
With the rapid development of robot technology, the application of robots is fully developed and utilized in more and more industrial fields. In order to solve the problem of shortage of applied talents of domestic robots at present, a large number of automatic high-level talents are cultured for enterprises by means of teaching, practice training and the like, and the culture mode is very meaningful for schools and society. Real standard platform of present visual inspection robot still has some defects and not enough, and among the prior art, the platform is installed visual system at fixed position, and it is fixed unchangeable to shoot the detection field of vision, causes easily to shoot the field of vision and receives hindrance and restriction, and industrial robot has simultaneously sensor too few, leads to the external object state of perception that can not be fine, and the robot often is difficult to make accurate action.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem who exists among the background art, the utility model provides an industrial robot end removes vision workstation, the purpose is integrated on the terminal anchor clamps of robot with the vision system, avoids shooting the fixed unchangeable defect in detection field of vision to can arrange the robot and accomplish relevant operation with different anchor clamps.
The utility model provides an industrial robot terminal mobile vision workstation, which comprises a working platform, a robot and a terminal execution device, wherein the robot is arranged on the working platform; the tail end executing device comprises a clamp beam, a pneumatic clamp and a vision system, wherein the pneumatic clamp and the vision system are arranged on the clamp beam; the clamp beam is arranged on a tail end shaft of the robot;
the vision system comprises an industrial intelligent camera, a lens is arranged at the front end of the industrial intelligent camera, the industrial intelligent camera is installed at the lower end of a camera installation plate, the camera installation plate is installed on a clamp beam in a sliding mode through a sliding assembly, and a locking mechanism for locking and positioning the sliding assembly is arranged on the clamp beam.
Further, the lower end of the industrial intelligent camera is provided with a light source mounting plate, the light source mounting plate is fixedly connected to the camera mounting plate through a supporting shaft, an opening is formed in the light source mounting plate, an annular light source is fixed to the lower end of the light source mounting plate and corresponds to the opening, and the annular light source and the lens are coaxially mounted, so that the influence of external environment light on lens shooting can be reduced, and meanwhile, the effect of the industrial intelligent camera on picture shooting through the lens can be improved.
Further, the sliding assembly comprises a guide rail fixed on the camera mounting plate, the clamp beam is provided with a sliding groove in sliding fit with the guide rail along the length direction of the clamp beam, the locking mechanism comprises a positioning screw arranged on the clamp beam, the guide rail is provided with positioning screw holes distributed at intervals along the length direction of the guide rail, and the positioning screw holes are connected with the positioning screw holes of the guide rail.
Furthermore, the pneumatic fixture comprises a cylindrical cylinder fixed on the surface of the fixture beam, a pneumatic plug is arranged on the circumferential surface of the cylindrical cylinder, a sucker fixture is installed at one end, away from the fixture beam, of the cylindrical cylinder, and the sucker fixture is communicated with the inner cavities of the cylindrical cylinder and the pneumatic plug.
Furthermore, the sucker clamp is a first sucker which is connected to the end part of the columnar cylinder through threads, a single first sucker can only clamp one workpiece at a time, the grabbing action is completed through the cooperation of robot driving and a vision system, the workpieces in a certain shape can be placed into corresponding positions, and the workpiece sorting work can be completed.
Further, the sucking disc anchor clamps include the sucking disc mounting panel and install a plurality of second sucking discs on the sucking disc mounting panel, and sucking disc mounting panel threaded connection is at column cylinder tip, and the column cylinder passes through sucking disc mounting panel inner chamber respectively with each second sucking disc intercommunication, can once snatch a plurality of work pieces through more sucking discs, make the robot can carry and pile up neatly the work piece more high-efficiently.
Further, in order to make the end effector have a larger range of action and to photograph and grip the workpiece more flexibly, the robot is preferably a six-axis articulated industrial robot.
Further, a workpiece storage tray is fixed at the upper end of the working platform and provided with a workpiece storage cavity.
The utility model discloses in, install at terminal mobilizable visual system of robot and can shoot unordered work piece in a jumble, make it have great shooting field of vision and flexibility ratio, the shooting field of vision can be freely adjusted as required, avoided shooting to detect the fixed unchangeable defect in field of vision, and simultaneously, visual system's position can be adjusted in the terminal flexibility of robot through the guide rail, produce when preventing sectional fixture and interfere, can cooperate different pneumatic fixture to use together, it is higher to use the flexibility, applicable in different anchor clamps more. After the appearance of the workpiece is analyzed and recognized through the vision processor, an analysis result is transmitted to the robot control system, the robot can determine the specific position of the workpiece according to information transmitted by the vision system, and finally the workpiece is grabbed through the pneumatic clamp to complete sorting, stacking and other operations.
Drawings
Fig. 1 is a schematic structural diagram of an industrial robot end mobile vision workstation according to the present invention;
FIG. 2 is a perspective view of an end effector in a first embodiment;
FIG. 3 is a front view of an end effector in a first embodiment;
fig. 4 is a front view of an end effector in a second embodiment.
In the drawings, the components represented by the respective reference numerals are listed below:
1-work platform, 2-robot, 3-end actuator, 4-workpiece tray, 301-clamp beam, 302-cylindrical cylinder, 303-pneumatic plug, 304-industrial smart camera, 305-camera mounting plate, 306-guide rail, 307-positioning screw hole, 308-positioning screw, 309-lens, 310-light source mounting plate, 311-support shaft, 312-opening, 313-annular light source, 314-first suction cup, 315-suction cup mounting plate, 316-second suction cup.
Detailed Description
Please refer to fig. 1-3, which provides the utility model discloses a first embodiment's an industrial robot terminal mobile vision workstation, including work platform 1, robot 2 and terminal executive device 3, work platform 1 is the aluminium alloy platform, the universal wheel is installed to its bottom, for movable workstation, robot 1 fixes on work platform 1, in order to make terminal executive device 3 have bigger action range, can shoot more in a flexible way and press from both sides and get the work piece, robot 2 is preferably six articulated industrial robot, the automatically controlled system of robot installs inside work platform 1, work platform 1 upper end is fixed with work piece storage tray 4, work piece storage tray 4 is equipped with the work piece and stores the chamber, be convenient for robot 2 and terminal executive device 3 to instruct the operation teaching in fact.
The end effector 3 comprises a clamp beam 301 and a pneumatic clamp and vision system mounted on the clamp beam 301; the jig cross member 301 is screwed to the distal end shaft of the robot 2 through a flange hole. The pneumatic clamp comprises a cylindrical cylinder 302 fixed on the surface of a clamp beam 301, the cylindrical cylinder 302 and a tail end shaft of the robot are coaxially mounted, a pneumatic plug 303 is arranged on the peripheral surface of the cylindrical cylinder 302, a sucker clamp is detachably mounted at one end, far away from the clamp beam 301, of the cylindrical cylinder 302 in a threaded connection mode, the sucker clamp is communicated with inner cavities of the cylindrical cylinder 302 and the pneumatic plug 303, and the pneumatic plug 303 is used for being connected with an air path conveying system so as to control the sucker clamp to suck or put down a workpiece. In the first embodiment, the suction cup fixture is a first suction cup 314 screwed at the end of the cylindrical cylinder 302, and a single first suction cup 314 can be used for clamping only one workpiece at a time, the robot 2 is driven to cooperate with the vision system to complete the clamping action, and the workpieces with certain shapes can be placed in corresponding positions to complete the workpiece sorting work.
Wherein, the vision system includes the industrial intelligent camera 304, the front end of the industrial intelligent camera 304 is provided with a lens 309, the industrial intelligent camera 304 is fixedly connected to the lower end of the camera mounting plate 305, the camera mounting plate 305 is slidably mounted on the clamp beam 301 through the sliding assembly, the clamp beam 301 is provided with a locking mechanism for locking and positioning the sliding assembly, as a preferred scheme of this embodiment, the sliding assembly includes a guide rail 306 fixed on the camera mounting plate 305, the clamp beam 301 is provided with a sliding groove in sliding fit with the guide rail 306 along the length direction thereof, the locking mechanism includes a positioning screw 308 arranged on the clamp beam 301, the guide rail 306 is provided with positioning screw holes 307 distributed at intervals along the length direction thereof, the positioning screw 308 is connected with the positioning screw hole 307 of the guide rail 306, when the positioning screw 308 is unscrewed, the guide rail 306 can slide along the sliding groove of the clamp beam, the mounting distance between the vision system and the pneumatic fixture is adjusted, and the positioning screw 308 is screwed into the positioning screw hole 307 after the mounting distance is adjusted, so that interference of parts is prevented when different pneumatic fixtures are mounted, the vision system is convenient to be matched with different pneumatic fixtures for use, and the use flexibility is higher.
Further, the lower end of the industrial intelligent camera 304 is provided with a light source mounting plate 310, the light source mounting plate 310 is fixedly connected to the camera mounting plate 305 through a support shaft 311, the light source mounting plate 310 is provided with an opening 312, the lower end of the light source mounting plate 310 is fixedly provided with an annular light source 313, the annular light source 313 corresponds to the opening 312, and the annular light source 313 and the lens 309 are coaxially arranged, so that the influence of external environment light on the shooting of the lens 309 can be reduced, and meanwhile, the effect of the industrial intelligent camera 304 in shooting pictures through the lens 309 can be improved.
As shown in fig. 4, the utility model discloses a second implementation mode has been given, its difference with the first implementation mode lies in, the sucking disc anchor clamps include sucking disc mounting panel 315 and install the second sucking disc 316 on sucking disc mounting panel 315, second sucking disc 316 sets one row according to the equidistance interval, the interval of second sucking disc 316 can be according to the interval concrete design of putting of pile up neatly work piece, sucking disc mounting panel 315 threaded connection is at column cylinder 302 tip, column cylinder 302 passes through sucking disc mounting panel 315 inner chamber respectively with each second sucking disc 316 intercommunication, this sucking disc anchor clamps can be applied to the pile up neatly and instruct the teaching in fact, can once snatch a plurality of work pieces through a plurality of second sucking discs 316, make the robot can carry and pile up neatly work piece more efficiently.
During operation, install at 2 terminal mobilizable visual system of robot and can shoot unordered work pieces in a jumble, make it have great shooting field of vision and flexibility ratio, shoot the field of vision and can freely adjust as required, simultaneously, visual system's mounted position can be adjusted in 2 terminal flexiblely of robot through the guide rail. The appearance of the workpiece is analyzed through the vision processor to extract information such as the shape and the position of the sorted article, the analysis result is transmitted to the robot control system, the robot can determine the specific position of the workpiece according to the information transmitted by the vision system, and finally the workpiece is grabbed through the pneumatic clamp to complete operations such as sorting and stacking.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (8)
1. An industrial robot end mobile vision workstation is characterized by comprising a working platform (1), a robot (2) and an end execution device (3), wherein the robot (2) is arranged on the working platform (1);
the end executing device (3) comprises a clamp beam (301), and a pneumatic clamp and a vision system which are arranged on the clamp beam (301); the clamp beam (301) is arranged on a tail end shaft of the robot (2);
the vision system comprises an industrial intelligent camera (304), a lens (309) is arranged at the front end of the industrial intelligent camera (304), the industrial intelligent camera (304) is installed at the lower end of a camera installation plate (305), the camera installation plate (305) is installed on a clamp beam (301) in a sliding mode through a sliding assembly, and a locking mechanism for locking and positioning the sliding assembly is arranged on the clamp beam (301).
2. The industrial robot end mobile vision workstation as claimed in claim 1, characterized in that the industrial intelligent camera (304) is provided with a light source mounting plate (310) at the lower end thereof, the light source mounting plate (310) is fixedly connected to the camera mounting plate (305) through a support shaft (311), the light source mounting plate (310) is provided with an opening (312), the light source mounting plate (310) is fixed with an annular light source (313) at the lower end thereof, and the annular light source (313) corresponds to the opening (312).
3. The industrial robot end mobile vision workstation of claim 1, characterized in that the sliding assembly comprises a guide rail (306) fixed on the camera mounting plate (305), the clamp beam (301) is provided with a sliding groove along its length direction, which is in sliding fit with the guide rail (306); the locking mechanism comprises positioning screws (308) arranged on the clamp beam (301), the guide rail (306) is provided with positioning screw holes (307) distributed at intervals along the length direction of the guide rail, and the positioning screws (308) are matched with the positioning screw holes (307) of the guide rail (306) for locking.
4. The industrial robot end mobile vision workstation according to any one of claims 1-3, characterized in that the pneumatic clamp comprises a cylindrical cylinder (302) fixed on a clamp beam (301), a pneumatic plug (303) is arranged on the outer side of the cylindrical cylinder (302), a sucker clamp is arranged at the lower end of the cylindrical cylinder (302), and the sucker clamp is communicated with the inner cavities of the cylindrical cylinder (302) and the pneumatic plug (303).
5. An industrial robot end mobile vision workstation according to claim 4, characterized in that the suction cup clamp is a first suction cup (314) screwed to the end of the cylinder (302).
6. The industrial robot end mobile vision workstation of claim 4, characterized in that the sucker clamp comprises a sucker mounting plate (315) and a plurality of second suckers (316) mounted on the sucker mounting plate (315), the sucker mounting plate (315) is screwed at the end of the cylindrical cylinder (302), and the cylindrical cylinder (302) is respectively communicated with the second suckers (316) through the inner cavity of the sucker mounting plate (315).
7. An industrial robot end mobile vision workstation according to any of the claims 1-3, characterized in that the robot (2) is a six-axis articulated industrial robot.
8. The industrial robot end mobile vision workstation according to any of the claims 1-3, characterized in that a work piece tray (4) is fixed on the upper end of the working platform (1), the work piece tray (4) is provided with a work piece storage cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021892173.6U CN213381588U (en) | 2020-09-01 | 2020-09-01 | Industrial robot terminal mobile vision workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021892173.6U CN213381588U (en) | 2020-09-01 | 2020-09-01 | Industrial robot terminal mobile vision workstation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213381588U true CN213381588U (en) | 2021-06-08 |
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ID=76213807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021892173.6U Active CN213381588U (en) | 2020-09-01 | 2020-09-01 | Industrial robot terminal mobile vision workstation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213381588U (en) |
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2020
- 2020-09-01 CN CN202021892173.6U patent/CN213381588U/en active Active
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