CN213967790U - Robot vision teaching application device - Google Patents
Robot vision teaching application device Download PDFInfo
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- CN213967790U CN213967790U CN202022184074.9U CN202022184074U CN213967790U CN 213967790 U CN213967790 U CN 213967790U CN 202022184074 U CN202022184074 U CN 202022184074U CN 213967790 U CN213967790 U CN 213967790U
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- 238000001514 detection method Methods 0.000 claims abstract description 113
- 230000002950 deficient Effects 0.000 claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 210000000078 claw Anatomy 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 claims description 13
- 239000007788 liquid Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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Abstract
The utility model discloses a robot vision teaching application device, including teaching platform, detection mechanism, letter sorting mechanism and defective article fixture, teaching bench side is located to detection mechanism, detection mechanism is including detecting the frame, detecting the conveyer belt, detecting telescopic link and visual detection device, the teaching bench side is located to the detecting the frame, the teaching bench side is located to the detection conveyer belt, it locates the detecting frame below to detect the conveyer belt, detect the telescopic link and locate the detecting frame roof, visual detection device locates the output that detects the telescopic link, visual detection device locates and detects the conveyer belt top. The utility model belongs to the technical field of the robot teaching, specifically provide a detection mechanism is convenient for detect whether qualified work piece, and letter sorting mechanism is convenient for sort the work piece to different platforms, and defective article fixture is convenient for put defective article commentaries on classics to repair the platform, the robot vision teaching application device of the later stage repair work piece of being convenient for.
Description
Technical Field
The utility model belongs to the technical field of the robot teaching, specifically indicate a robot vision teaching application device.
Background
With the improvement of the technological level, the microcomputer is rapidly developed, and the vision system of the microcomputer is attached to various fields of social construction, wherein the robot with the vision system for industrial production occupies a large area, the robot vision system in the market at present uses a machine to replace human eyes for measurement and judgment, and further controls a mechanical arm to perform corresponding operation, the function replaces the traditional manual sorting, the labor cost is saved, but the application of the robot vision system is lack of the control of professional technicians, the function of the robot needs to be displayed to a student aiming at the training of the robot vision system, the student really knows the working principle of the robot by observing the operation, the existing robot teaching application device does not aim at the special function of the vision system, and the student is inconvenient to observe the operation process of the vision system, therefore, a robot vision teaching application device is urgently needed to solve the problems.
SUMMERY OF THE UTILITY MODEL
For solving above-mentioned current difficult problem, the utility model provides a detection mechanism is convenient for detect whether qualified work piece, and letter sorting mechanism is convenient for sort the work piece to different platforms, and defective article fixture is convenient for put defective article commentaries on classics repair the platform, and the robot vision teaching application device of work piece is restoreed in the later stage of being convenient for.
The utility model adopts the following technical scheme: the utility model relates to a robot vision teaching application device, which comprises a teaching table, a detection mechanism, a sorting mechanism and a defective product clamping mechanism, wherein the detection mechanism is arranged above the teaching table, the detection mechanism comprises a detection frame, a detection conveyor belt, a detection telescopic rod and a vision detection device, the detection frame is arranged above the teaching table, the detection conveyor belt is arranged below the detection frame, the detection telescopic rod is arranged on the top wall of the detection frame, the vision detection device is arranged at the output end of the detection telescopic rod, the vision detection device is arranged above the detection conveyor belt, the length of the detection telescopic rod is adjusted according to the size of a workpiece to be detected, the vision detection device is convenient to detect the complete workpiece, the detection conveyor belt is started to transport the workpiece to be detected below the vision detection device, and the vision detection device detects the appearance of the workpiece to judge the quality of the workpiece, the sorting mechanism is arranged above the teaching table and comprises a sorting motor chamber, a sorting motor, a sorting baffle, a defective product conveying platform and a finished product conveying platform, the sorting motor chamber is arranged on one side of the detection conveyor belt, the sorting motor is rotatably arranged in the sorting motor chamber, the sorting baffle is arranged at the output end of the sorting motor and is arranged above the detection conveyor belt, the sorting baffle is arranged on one side of the detection frame, the defective product conveying platform is arranged on one side of the detection conveyor belt, which is far away from the motor chamber, the cross section of the defective product conveying platform is in an inclined arrangement, the defective product conveying platform is connected with the detection conveyor belt, one end, which is connected with the defective product conveying platform, is higher than the other end, the finished product conveying platform is arranged on one end, which is far away from the detection frame, of the detection conveyor belt, and the finished product conveying platform is arranged on one side of the sorting baffle, when the workpieces are qualified, the detection conveyor belt conveys the workpieces to a finished product conveying platform, when the workpieces have defects, the sorting motor is started to rotate the sorting baffle to be parallel to the defective product conveying platform, the workpieces on the detection conveyor belt cannot be conveyed to the finished product conveying platform due to the separation of the sorting baffle and can only move to the defective product conveying platform along the direction of the sorting baffle, so that the workpiece sorting function is completed, the defective product clamping mechanism is arranged on one side, away from the detection conveyor belt, of the defective product conveying platform, the defective product clamping mechanism comprises a defective product placing table, a rotating motor chamber, a rotating motor, a clamping bracket, a clamping hydraulic rod, a clamping workbench and a clamping mechanical claw, the defective product placing table is arranged on one side, away from the detection conveyor belt, of the defective product placing table is connected with the defective product conveying platform, and the rotating motor chamber is arranged above the teaching table, the rotating motor chamber is arranged at one side of the defective product placing table far away from the defective product conveying platform, the rotating motor is rotatably arranged in the rotating motor chamber, the clamping bracket is arranged at the output end of the rotating motor, the clamping bracket is rotatably arranged above the rotating motor chamber, the clamping hydraulic rod is arranged at the top end of the clamping bracket, the clamping worktable is arranged at the output end of the clamping hydraulic rod, the clamping mechanical claw is arranged below the clamping workbench, one side of the clamping bracket, which is far away from the defective product placing table, is provided with a repairing platform, the repairing platform is arranged above the teaching platform, the clamping hydraulic rod is adjusted to a proper position, the clamping mechanical claw can smoothly clamp a workpiece on the defective product placing platform, the rotating motor is started, the clamping support is rotated by the rotating motor, the clamping mechanical claw and the clamped workpiece rotate to the upper part of the repairing platform along with the clamping support, and the clamping mechanical claw releases the workpiece to the repairing platform.
Further, the bottom wall of the clamping workbench is provided with a position sensor, and the position sensor is convenient for detecting the workpiece position of the defective product placing table.
Further, the defective product placing table is provided with a pressure sensor, and the pressure sensor is convenient for detecting whether a workpiece exists on the defective product placing table.
Furthermore, a lighting lamp is arranged in the detection frame, illuminates the workpiece to be detected below the detection frame, and facilitates the detection of the quality of the workpiece to be detected by the visual detection device.
Furthermore, a PLC is arranged in the teaching platform, and the PLC is convenient for controlling other mechanisms of the vision system to operate.
Furthermore, a monitoring computer is arranged on one side of the teaching platform, a control line is arranged on the side wall of the monitoring computer, the control line is connected with the PLC and the monitoring computer, and the monitoring computer is convenient for monitoring and observing the working state of the visual system.
Adopt above-mentioned structure the utility model discloses the beneficial effect who gains as follows: the robot vision teaching application device adjusts the length of the detection telescopic rod according to the size of a workpiece to be detected, so that the vision detection device can conveniently detect the complete workpiece, the detection conveyor belt is started to convey the workpiece to be detected to the vision detection device below the vision detection device to detect the appearance of the workpiece to judge the quality of the workpiece, when the workpiece is qualified, the detection conveyor belt conveys the workpiece to the finished product conveying platform, when the workpiece has a flaw, the sorting motor is started to rotate the sorting baffle to be parallel to the defective product conveying platform, because of the baffle of the sorting baffle, the workpiece on the detection conveyor belt can not be conveyed to the finished product conveying platform and can only move to the defective product conveying platform along the direction of the sorting baffle, so that the workpiece sorting function is completed, the clamping hydraulic rod is adjusted to a proper position, so that the clamping mechanical claw can smoothly clamp the workpiece on the defective product placing platform, and the rotating motor is started, the clamping support is rotated by the rotating motor, the clamping mechanical claw and the clamped workpiece rotate to the upper part of the repairing platform along with the clamping support, and the clamping mechanical claw releases the workpiece to the repairing platform.
Drawings
Fig. 1 is a schematic structural view of a robot vision teaching application device of the present invention;
fig. 2 is the utility model relates to a robot vision teaching application apparatus top view.
The flaw product conveying device comprises a teaching platform 1, a teaching platform 2, a detection mechanism 3, a sorting mechanism 4, a flaw product clamping mechanism 5, a detection frame 6, a detection conveying belt 7, a detection telescopic rod 8, a vision detection device 9, a sorting motor chamber 10, a sorting motor 11, a sorting baffle 12, a flaw product conveying platform 13, a finished product conveying platform 14, a flaw product placing platform 15, a rotating motor chamber 16, a rotating motor 17, a clamping support 18, a clamping hydraulic rod 19, a clamping workbench 20, a clamping mechanical claw 21, a repair platform 22, a position sensor 23, a pressure sensor 24, a lighting lamp 25, a PLC controller 26, a monitoring computer 27 and a control line.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to specific embodiments, and all the parts of the present invention not described in detail in the technical features or the connection relation are the prior art.
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in FIGS. 1 and 2, the utility model relates to a robot vision teaching application device, including teaching platform 1, detection mechanism 2, letter sorting mechanism 3 and defective article fixture 4, detection mechanism 2 locates teaching platform 1 top, detection mechanism 2 includes detection frame 5, detects conveyer belt 6, detects telescopic link 7 and vision detection device 8, detection frame 5 locates teaching platform 1 top, it locates teaching platform 1 top to detect conveyer belt 6, it locates detection frame 5 below to detect conveyer belt 6, it locates detection frame 5 roof to detect telescopic link 7, vision detection device 8 locates the output that detects telescopic link 7, vision detection device 8 locates and detects conveyer belt 6 top, letter sorting mechanism 3 locates teaching platform 1 top, letter sorting mechanism 3 includes letter sorting room 9, letter sorting motor 10, letter sorting baffle 11, motor room 9, letter sorting motor room 10, letter sorting baffle 11, A defective product conveying platform 12 and a finished product conveying platform 13, wherein the sorting motor chamber 9 is arranged on one side of the detection conveyor belt 6, the sorting motor 10 is rotatably arranged in the sorting motor chamber 9, the sorting baffle 11 is arranged at the output end of the sorting motor 10, the sorting baffle 11 is arranged above the detection conveyor belt 6, the sorting baffle 11 is arranged on one side of the detection frame 5, the defective product conveying platform 12 is arranged on one side of the detection conveyor belt 6 away from the motor chamber, the cross section of the defective product conveying platform 12 is arranged in an inclined shape, the defective product conveying platform 12 is connected with the detection conveyor belt 6, one end of the defective product conveying platform 12 is connected with the other end of the defective product conveying platform 12, the finished product conveying platform 13 is arranged at one end of the detection conveyor belt 6 away from the detection frame 5, the finished product conveying platform 13 is arranged on one side of the sorting baffle 11, and the defective product clamping mechanism 4 is arranged on one side of the defective product conveying platform 12 away from the detection conveyor belt 6, the defective product clamping mechanism 4 comprises a defective product placing table 14, a rotating motor chamber 15, a rotating motor 16, a clamping bracket 17, a clamping hydraulic rod 18, a clamping worktable 19 and a clamping mechanical claw 20, wherein the defective product placing table 14 is arranged on one side of the defective product transporting platform 12 away from the detection conveyor belt 6, the defective product placing table 14 is connected with the defective product transporting platform 12, the rotating motor chamber 15 is arranged above the teaching table 1, the rotating motor chamber 15 is arranged on one side of the defective product placing table 14 away from the defective product transporting platform 12, the rotating motor 16 is rotatably arranged in the rotating motor chamber 15, the clamping bracket 17 is arranged at the output end of the rotating motor 16, the clamping bracket 17 is rotatably arranged above the rotating motor chamber 15, the clamping hydraulic rod 18 is arranged at the top end of the clamping bracket 17, the clamping worktable 19 is arranged at the output end of the clamping hydraulic rod 18, the clamping gripper 20 is arranged below the clamping workbench 19, a repairing platform 21 is arranged on one side of the clamping bracket 17 far away from the defective product placing table 14, and the repairing platform 21 is arranged above the teaching table 1.
The bottom wall of the clamping workbench 19 is provided with a position sensor 22, the defective product placing table 14 is provided with a pressure sensor 23, the detection frame 5 is internally provided with an illuminating lamp 24, the teaching table 1 is internally provided with a PLC (programmable logic controller) 25, one side of the teaching table 1 is provided with a monitoring computer 26, the side wall of the monitoring computer 26 is provided with a control line 27, and the control line 27 is connected with the PLC 25 and the monitoring computer 26.
When the automatic detection device is used specifically, the length of the detection telescopic rod 7 is adjusted according to the size of a workpiece to be detected, so that the visual detection device 8 can detect the complete appearance of the workpiece, the robot visual system is started through the monitoring computer 26, the PLC 25 controls the detection mechanism 2, the sorting mechanism 3 and the defective product clamping mechanism 4 to be started, the workpiece is placed at the initial point of the detection conveyor belt 6, the workpiece to be detected is conveyed to the lower part of the visual detection device 8 by the detection conveyor belt 6, the visual detection device 8 detects the appearance of the workpiece and judges the quality of the workpiece, when the visual detection device 8 judges the quality of the workpiece for the first time and is qualified, the qualified workpiece is conveyed to the finished product conveying platform 13 by the detection conveyor belt 6, when the visual detection device 8 judges that the workpiece is unqualified, the PLC 25 controls the sorting motor 10 to rotate in the forward direction, the sorting motor 10 drives the forward rotation sorting baffle 11 to rotate to be parallel to the defective product conveying platform 12, the sorting baffle 11 cuts off the connection between the detection conveyor belt 6 and the finished product transportation platform 13, a defective workpiece can only move to the defective product transportation platform 12 along the direction of the sorting baffle 11, the defective workpiece slides to the defective product placing platform 14 along the defective product transportation platform 12, when the pressure sensor 23 detects that the defective workpiece is on the defective product placing platform 14, the PLC controller 25 controls the clamping hydraulic rod 18 to extend, when the position sensor 22 detects that the defective workpiece is below the clamping workbench 19, the PLC controls the clamping hydraulic rod 18 to be fixed in position, and simultaneously controls the clamping mechanical claw 20 to tighten to clamp the workpiece on the defective product placing platform 14, at the moment, the PLC controller 25 controls the rotating motor 16 to start, the rotating motor 16 rotates positively to drive the clamping bracket 17 to rotate, the clamping mechanical claw 20 and the clamped workpiece rotate to the upper part of the repairing platform 21 along with the clamping bracket 17, at this moment, the PLC 25 controls the clamping mechanical claw 20 to release the workpiece to the repairing platform 21, after the clamping mechanical claw 20 releases the workpiece, the PLC 25 controls the rotating motor 16 to rotate reversely to enable the clamping workbench 19 and the clamping mechanical claw 20 to rotate to the position above the defective product placing table 14, when the visual detection device 8 judges the workpiece to be qualified again, the PLC 25 controls the sorting motor 10 to rotate reversely to start, the sorting motor 10 rotates reversely to drive the sorting baffle 11 to rotate to be parallel to the detection conveyor belt 6, the sorting baffle 11 disconnects the detection conveyor belt 6 from the defective product transportation platform 12, and the workpiece can only move to the finished product transportation platform 13 along the direction of the detection conveyor belt 6.
The present invention and the embodiments thereof have been described above, but the description is not limited thereto, and the embodiment shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should understand that they should not be limited to the embodiments described above, and that they can design the similar structure and embodiments without departing from the spirit of the invention.
Claims (6)
1. The utility model provides a robot vision teaching application apparatus which characterized in that: the automatic flaw product sorting machine comprises a teaching table, a detection mechanism, a sorting mechanism and a flaw product clamping mechanism, wherein the detection mechanism is arranged above the teaching table, the detection mechanism comprises a detection frame, a detection conveying belt, a detection telescopic rod and a visual detection device, the detection frame is arranged above the teaching table, the detection conveying belt is arranged below the detection frame, the detection telescopic rod is arranged on the top wall of the detection frame, the visual detection device is arranged at the output end of the detection telescopic rod, the visual detection device is arranged above the detection conveying belt, the sorting mechanism is arranged above the teaching table, the sorting mechanism comprises a sorting motor chamber, a sorting motor, a sorting baffle, a flaw product conveying platform and a finished product conveying platform, the sorting motor chamber is arranged on one side of the detection conveying belt, the sorting motor is rotatably arranged in the sorting motor chamber, and the sorting baffle is arranged at the output end of the sorting motor, the flaw product clamping mechanism is arranged on one side of the flaw product conveying platform, which is far away from the detection conveyor belt, and comprises a flaw product placing table, a rotating motor chamber, a clamping bracket, a clamping hydraulic rod, a clamping worktable and a clamping mechanical claw, wherein the flaw product placing table is arranged on one side of the flaw product conveying platform, which is far away from the detection conveyor belt, the flaw product placing table is connected with the flaw product conveying platform, the rotary motor chamber is arranged above the teaching table, the rotary motor chamber is arranged on one side, away from the flaw product conveying platform, of the flaw product placing table, the rotary motor is rotatably arranged in the rotary motor chamber, the clamping support is arranged at the output end of the rotary motor, the clamping support is rotatably arranged above the rotary motor chamber, the clamping liquid pressure rod is arranged at the top end of the clamping support, the clamping workbench is arranged at the output end of the clamping hydraulic rod, the clamping mechanical claw is arranged below the clamping workbench, and a repairing platform is arranged on one side, away from the flaw product placing table, of the clamping support.
2. The robot vision teaching application device of claim 1, wherein: and a position sensor is arranged on the bottom wall of the clamping workbench.
3. The robot vision teaching application device of claim 1, wherein: and the defective product placing table is provided with a pressure sensor.
4. The robot vision teaching application device of claim 1, wherein: and a lighting lamp is arranged in the detection frame.
5. The robot vision teaching application device of claim 1, wherein: and a PLC (programmable logic controller) is arranged in the teaching platform.
6. The robot vision teaching application device of claim 5, wherein: a monitoring computer is arranged on one side of the teaching platform, a control line is arranged on the side wall of the monitoring computer, and the control line is connected with the PLC and the monitoring computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022184074.9U CN213967790U (en) | 2020-09-29 | 2020-09-29 | Robot vision teaching application device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022184074.9U CN213967790U (en) | 2020-09-29 | 2020-09-29 | Robot vision teaching application device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213967790U true CN213967790U (en) | 2021-08-17 |
Family
ID=77255301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022184074.9U Expired - Fee Related CN213967790U (en) | 2020-09-29 | 2020-09-29 | Robot vision teaching application device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213967790U (en) |
-
2020
- 2020-09-29 CN CN202022184074.9U patent/CN213967790U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210817 |
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| CF01 | Termination of patent right due to non-payment of annual fee |