CN107458875A - A kind of vision positioning feeder and its operating method - Google Patents
A kind of vision positioning feeder and its operating method Download PDFInfo
- Publication number
- CN107458875A CN107458875A CN201710675288.6A CN201710675288A CN107458875A CN 107458875 A CN107458875 A CN 107458875A CN 201710675288 A CN201710675288 A CN 201710675288A CN 107458875 A CN107458875 A CN 107458875A
- Authority
- CN
- China
- Prior art keywords
- knob
- workpiece
- bar
- feeding
- cover plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000011017 operating method Methods 0.000 title claims abstract description 8
- 239000012636 effector Substances 0.000 claims abstract description 28
- 208000032370 Secondary transmission Diseases 0.000 claims description 15
- 208000032369 Primary transmission Diseases 0.000 claims description 11
- 101001010782 Drosophila melanogaster Fez family zinc finger protein erm Proteins 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 230000002950 deficient Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of vision positioning feeder and its operating method, including：Cover plate (1), arm link, at least three industrial cameras are set under the cover plate (1), at least four servomotors are set in cover plate (1), and each servo motor output shaft connects arm link respectively, control end effector (3) is coordinated by arm link and is moved to the feeding demand location of workpiece；It is reasonable that actuator of the present invention is set, and feeding is accurate, instead of substantial amounts of producing line worker; greatly human resources are saved for enterprise; the more common automatic equipment of production efficiency doubles, and can handle various defective products and abnormal condition, significantly reduces the downtime of equipment.
Description
Technical field
Automatic charging machine field of the present invention, specially a kind of vision positioning feeder and its operating method.
Background technology
At present in electronics manufacturing enterprise for small product generally using based on artificial loading, common automatic equipment feeding
Supplemented by production model.Artificial loading has that efficiency is low, action repeats that uninteresting, working easily to occur neglecting etc. for a long time lacks
Fall into.The deficiencies of being difficult to tackle various contingencies, production efficiency is not high enough then be present in common automatic equipment.In that case,
Feeding station often turns into the bottleneck station in production line, greatly affected the efficiency of manufacturing enterprise.
The Chinese patent of Application No. 201621046326.9 discloses a kind of full-automatic CCD feeders, and utilizes workpiece
Grabbing assembly carries out feeding, and workpiece grabbing component includes the linear module of horizontal drive, active mount, vertically drives linear mould
Group, workpiece grabbing fixture；Vertical supporting bar, vertical supporting bar installment surface light are installed in automatic delivering belt upper end side in frame upper end portion
Source, CCD industrial cameras, display screen；The robot mounting seat in frame upper end portion installs four axle robots, the robotically-driven end of four axles
Install Workpiece transfer fixture；The full-automatic CCD feeders also include controller.Its workpiece grabbing fixture is only in horizontal drive line
Property module and vertically drive linear module to move along a straight line, it moves underaction, and fixture sets unreasonable, can not do micro-
Adjust, cause feeding not accurate, there is an urgent need to improved.
The content of the invention
To solve the above problems, the invention provides a kind of new vision positioning feeder and its operating method, this hair
It is reasonable that bright actuator is set, and feeding is accurate, instead of substantial amounts of producing line worker, greatly saves human resources for enterprise, raw
The production more common automatic equipment of efficiency doubles, and can handle various defective products and abnormal condition, greatly
Reduce the downtime of equipment.
To realize the technical purpose, the technical scheme is that：A kind of vision positioning feeder, including：Cover plate, hand
Arm link, at least three industrial cameras are set under the cover plate, at least four servomotors, and each servo electricity are set in cover plate
Machine output shaft connects arm link respectively, and coordinating control end effector by arm link is moved to the feeding demand location of workpiece；
The servomotor and industrial camera are connected to the industrial control computer in the cover plate；
The end effector is disc structure, and surrounding sets ear muff, and lower section sets sucker；
The arm link includes gripping connecting rod and brandishes bar, and the connecting rod that grips sets the level Four connected by knob to pass
Lever clamping is on the ear muff of the end effector；Brandish bar to be movably connected in above the end effector, and brandish bar
For stretching structure.
Further, the level Four drive link includes primary transmission bar, secondary transmission bar, three-level drive link and level Four transmission
Bar；The knob includes the first knob and the second knob；The primary transmission bar is connected with secondary transmission bar by the first knob；
The three-level drive link and secondary transmission bar are fixed on the second knob, and the second knob is fixed on the cover plate by fixed plate
Under；Level Four drive link sets two connecting rods by bearing pin difference activity clamping in the axle sleeve of the three-level drive link end and described
On ear muff；
Further, first knob and the second knob are the two primary and secondary knob that can be rotated against engaging compositions, described
Primary transmission bar is fixed on the sub- knob of first knob, and one end of the secondary transmission bar is fixed on first knob
On female knob；The other end and three-level drive link of the secondary transmission bar are fixed on the sub- knob of second knob, and second
Female knob of knob is fixed under the cover plate by fixed plate.
Further, the primary transmission bar is connected on the servomotor.
Further, at least one geometrical clamp is set on two connecting rods of the level Four drive link.
Further, support is set outside the cover plate.
Further, the sucker connects air extractor by tracheae, and the air extractor is arranged in the cover plate, institute
Tracheae is stated to arrange along arm link.
As a preference of the present invention, the industrial control computer connects external communication interface by universal serial bus.
As a preference of the present invention, the feeding demand workpiece is positioned on crawler belt, and it is solid around feeding demand workpiece
Determine light source.
A kind of vision positioning feeder operating method, it is characterised in that comprise the following steps：
S1：Establish coordinate system to feeding demand workpiece, coordinate system includes feeding demand workpiece the three-dimensional on the crawler belt
Position and direction vector in space, its direction vector are described using Eulerian angles.
S2：Feeding demand workpiece coordinate system information in step 1 is pre-stored in the industrial control computer；
S3：Prestored in coordinate system informations and the industrial control computer in the sighting device being made up of industrial camera
Feeding demand workpiece coordinate system information is consistent, and industrial camera carries out visual scanning to feeding demand workpiece, is believed according to coordinate system
Breath scans for matching, and allows the error of 0.1 millimeter and 0.3 degree；
S4：Industrial control computer is according to the feeding demand workpiece coordinate system information and workpiece matched on the crawler belt
Three dimensions defined in coordinate system informations, the optimal movement path of the end effector is planned, further described in control
Serve Motor Control brandishes bar, and now end effector is moved to above feeding demand workpiece；
S5：Control single gripping connecting rod so that end effector rotates to proper angle in the horizontal direction around bar is brandished；Together
When control is each grips connecting rod so that end effector is moved along brandishing bar, now brandish bar elongation, while is drawn on sucker
Feeding workpiece is moved on feeding demand workpiece, and now tracheae stops suction, and is completed feeding, is waited next feeding demand workpiece
It is moved in the coordinate system defined in the three dimensions on the crawler belt.
The beneficial effects of the present invention are：
The present invention is organically combined the vision technique and Industrial Robot Technology that are made up of industrial camera, makes system
Flexible and operating efficiency reaches highest.The human eye in artificial loading is replaced using machine vision device, accurately obtains current production
Position in space；Industrial robot replaces the human hand in artificial loading, and the position obtained according to machine vision device is carried out
The feeding action of high speed；And end effector can not only do any direction and brandish, and can also be run business into particular one in the feeding demand location of workpiece
Micro- direction adjustment, it is reasonable to set, and feeding is accurate.
The present invention instead of substantial amounts of producing line worker, greatly save human resources for enterprise.Production efficiency is more common
Automatic equipment doubles, and can handle various defective products and abnormal condition, significantly reduces equipment
Downtime.
Brief description of the drawings
Fig. 1 is the overall structure diagram of vision positioning feeder of the present invention；
Fig. 2 is the connection relationship diagram of arm link and end effector of the present invention；
Fig. 3 is the part A mplifying structure schematic diagram in Fig. 2 of the present invention；
Fig. 4 is the part B mplifying structure schematic diagram in Fig. 2 of the present invention.
Embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below.
As shown in figure 1, a kind of vision positioning feeder, including：Cover plate 1, arm link, 1 time setting of cover plate is at least
Three industrial cameras, cover plate 1 is interior to set at least four servomotors, and each servo motor output shaft connects arm company respectively
Bar, control end effector 3 is coordinated by arm link and is moved to the feeding demand location of workpiece；
The servomotor and industrial camera are connected to the industrial control computer in the cover plate 1；
The end effector 3 is disc structure, and surrounding sets ear muff 301, and lower section sets sucker 302；
The arm link includes gripping connecting rod and brandishes bar 4, and the connecting rod that grips sets the level Four connected by knob
Drive link clamping is on the ear muff 301 of the end effector 3；Brandish bar 4 and be movably connected in the top of end effector 3,
And it is stretching structure to brandish bar 4.
Further, the level Four drive link includes primary transmission bar 501, secondary transmission bar 503, the and of three-level drive link 504
Level Four drive link 507；The knob includes the first knob 502 and the second knob 505；The primary transmission bar 501 and two level pass
Lever 503 is connected by the first knob 502；The three-level drive link 504 and secondary transmission bar 503 are fixed on the second knob 505
On, and the second knob 505 is fixed under the cover plate 1 by fixed plate 506；Level Four drive link 507 sets two connecting rods to pass through
Bearing pin difference activity clamping is on the axle sleeve 509 and the ear muff 301 of the end of three-level drive link 504；
Further, the knob 505 of the first knob 502 and second is two primary and secondary knob engaging groups that can be rotated against
Into the primary transmission bar 501 is fixed on the sub- knob of first knob 502, and one end of the secondary transmission bar 503 is fixed
On female knob of first knob 502；The other end and three-level drive link 504 of the secondary transmission bar 503 are fixed on institute
On the sub- knob for stating the second knob 505, female knob of the second knob 505 is fixed under the cover plate 1 by fixed plate 506.
Further, the primary transmission bar 501 is connected on the servomotor, Serve Motor Control one-level rotating bar
501 around the first knob, while drives secondary transmission bar 503 and three-level drive link 504 to be rotated around the second knob, has pulled four
Level drive link 507 rotates around axle sleeve 509, and so as to drive ear muff 301, now end effector 3 does water around the end of bar 4 of brandishing
Square upward fine setting.
Further, at least one geometrical clamp 508 is set on two connecting rods of the level Four drive link 507, ensure that transmission
The stability of bar structure.
Further, support 2 is set outside the cover plate 1, and support 2 is securable in the frame beside crawler belt.
Further, the sucker 302 connects air extractor by tracheae, and the air extractor is arranged on the cover plate 1
Interior, the tracheae is arranged along arm link, and sucker is drawn and placed feeding workpiece by tracheae.
As a preference of the present invention, the industrial control computer connects external communication interface by universal serial bus, it is convenient
The shape facility of the online programming of this feeder and the feeding demand workpiece of prestoring.
As a preference of the present invention, the feeding demand workpiece is positioned on crawler belt, feeding demand workpiece with crawler belt by
It is individual to be moved under feeder；Fixed light source ensure that illumination when vision industrial camera gathers image around feeding demand workpiece
Factor stability, prevent matching error caused by external light source interference.
A kind of vision positioning feeder operating method, it is characterised in that comprise the following steps：
S1：Establish coordinate system to feeding demand workpiece, coordinate system includes feeding demand workpiece the three-dimensional on the crawler belt
Position and direction vector in space, its direction vector are described using Eulerian angles.
S2：Feeding demand workpiece coordinate system information in step 1 is pre-stored in the industrial control computer；
S3：Prestored in coordinate system informations and the industrial control computer in the sighting device being made up of industrial camera
Feeding demand workpiece coordinate system information is consistent, and industrial camera carries out visual scanning to feeding demand workpiece, is believed according to coordinate system
Breath scans for matching, and allows the error of 0.1 millimeter and 0.3 degree；
S4：Industrial control computer is according to the feeding demand workpiece coordinate system information and workpiece matched on the crawler belt
Three dimensions defined in coordinate system informations, the optimal movement path of the end effector is planned, further described in control
Serve Motor Control brandishes bar, and now end effector is moved to above feeding demand workpiece；
S5：Control single gripping connecting rod so that end effector rotates to proper angle in the horizontal direction around bar is brandished；Together
When control is each grips connecting rod so that end effector is moved along brandishing bar, now brandish bar elongation, while is drawn on sucker
Feeding workpiece is moved on feeding demand workpiece, and now tracheae stops suction, and is completed feeding, is waited next feeding demand workpiece
It is moved in the coordinate system defined in the three dimensions on the crawler belt.
For the person of ordinary skill of the art, without departing from the concept of the premise of the invention, can also do
Go out several modifications and improvements, these belong to protection scope of the present invention.
Claims (10)
- A kind of 1. vision positioning feeder, it is characterised in that including：Cover plate (1), arm link, set under the cover plate (1) to Few three industrial cameras, cover plate (1) is interior to set at least four servomotors, and each servo motor output shaft connects arm respectively Connecting rod, control end effector (3) is coordinated by arm link and is moved to the feeding demand location of workpiece；The servomotor and industrial camera are connected to the industrial control computer in the cover plate (1)；The end effector (3) is disc structure, and surrounding sets ear muff (301), and lower section sets sucker (302)；The arm link includes gripping connecting rod and brandishes bar (4), and the connecting rod that grips sets the level Four connected by knob to pass Lever clamping is on the ear muff (301) of the end effector (3)；Brandish bar (4) and be movably connected in the end effector (3) Top, and it is stretching structure to brandish bar (4).
- 2. a kind of vision positioning feeder according to claim 1, it is characterised in that the level Four drive link includes one-level Drive link (501), secondary transmission bar (503), three-level drive link (504) and level Four drive link (507)；The knob includes first Knob (502) and the second knob (505)；The primary transmission bar (501) and secondary transmission bar (503) pass through the first knob (502) connect；The three-level drive link (504) and secondary transmission bar (503) are fixed on the second knob (505), and the second rotation Button (505) is fixed under the cover plate (1) by fixed plate (506)；Level Four drive link (507) sets two connecting rods to pass through bearing pin Activity clamping is on the axle sleeve (509) and the ear muff (301) of three-level drive link (504) end respectively.
- 3. according to a kind of vision positioning feeder described in any one of claim 1 or 2, it is characterised in that first knob (502) and the second knob (505) is the two primary and secondary knob that can be rotated against engaging compositions, and the primary transmission bar (501) is solid Due to the sub- knob of first knob (502), one end of the secondary transmission bar (503) is fixed on first knob (502) on female knob；The other end and three-level drive link (504) of the secondary transmission bar (503) are fixed on second rotation On the sub- knob of button (505), female knob of the second knob (505) is fixed under the cover plate (1) by fixed plate (506).
- 4. according to a kind of vision positioning feeder described in any one of claim 1 or 2, it is characterised in that the primary transmission Bar (501) is connected on the servomotor.
- 5. according to a kind of vision positioning feeder described in any one of claim 1 or 2, it is characterised in that the level Four transmission At least one geometrical clamp (508) is set on two connecting rods of bar (507).
- 6. a kind of vision positioning feeder according to claim 1, it is characterised in that the cover plate (1) sets support outside (2)。
- 7. a kind of vision positioning feeder according to claim 1, it is characterised in that the sucker (302) passes through tracheae Air extractor is connected, and the air extractor is arranged in the cover plate (1), the tracheae is arranged along arm link.
- 8. a kind of vision positioning feeder according to claim 1, it is characterised in that the industrial control computer passes through Universal serial bus connects external communication interface.
- 9. a kind of vision positioning feeder according to claim 1, it is characterised in that the feeding demand workpiece is positioned over On crawler belt, and the fixed light source around feeding demand workpiece.
- 10. a kind of vision positioning feeder corresponds to a kind of vision positioning feeder operating method, it is characterised in that including following step Suddenly：S1：Establish coordinate system to feeding demand workpiece, coordinate system includes feeding demand workpiece the three dimensions on the crawler belt In position and direction vector, its direction vector be described using Eulerian angles.S2：Feeding demand workpiece coordinate system information in step 1 is pre-stored in the industrial control computer；S3：The feeding to be prestored in coordinate system informations and the industrial control computer in the sighting device being made up of industrial camera Demand workpiece coordinate system information is consistent, and industrial camera carries out visual scanning to feeding demand workpiece, is entered according to coordinate system informations Row search matching, allow the error of 0.1 millimeter and 0.3 degree；S4：Industrial control computer according to the feeding demand workpiece coordinate system information and workpiece matched on the crawler belt three Coordinate system informations defined in dimension space, the optimal movement path of the end effector is planned, further controls the servo Motor control brandishes bar, and now end effector is moved to above feeding demand workpiece；S5：Control single gripping connecting rod so that end effector rotates to proper angle in the horizontal direction around bar is brandished；Same time control System is each to grip connecting rod so that end effector edge is brandished bar and moved, and now brandishes bar elongation, while the feeding drawn on sucker Workpiece is moved on feeding demand workpiece, and now tracheae stops suction, and completes feeding, waits next feeding demand workpiece to move In the coordinate system defined in three dimensions on to the crawler belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710675288.6A CN107458875A (en) | 2017-08-09 | 2017-08-09 | A kind of vision positioning feeder and its operating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710675288.6A CN107458875A (en) | 2017-08-09 | 2017-08-09 | A kind of vision positioning feeder and its operating method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107458875A true CN107458875A (en) | 2017-12-12 |
Family
ID=60548847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710675288.6A Pending CN107458875A (en) | 2017-08-09 | 2017-08-09 | A kind of vision positioning feeder and its operating method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107458875A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202869A (en) * | 2018-11-05 | 2019-01-15 | 佛山市奇创智能科技有限公司 | A kind of grabbing device and system |
| CN109436786A (en) * | 2018-12-21 | 2019-03-08 | 广东赛德英斯智能装备有限公司 | A kind of size self-adapting type article grasping means and the device for realizing this method |
| CN114670174A (en) * | 2022-03-31 | 2022-06-28 | 三船(无锡)智能科技有限公司 | Parallel robot |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5333514A (en) * | 1992-04-24 | 1994-08-02 | Toyoda Koki Kabushiki Kaisha | Parallel robot |
| CN101602205A (en) * | 2008-06-10 | 2009-12-16 | 村田机械株式会社 | Parallel institution |
| US20100005919A1 (en) * | 2007-01-29 | 2010-01-14 | Michael Breu | Device for displacing and positioning an object in space |
| CH700057A2 (en) * | 2008-12-12 | 2010-06-15 | Veltru Ag | Method for moving wafer from arbitrary retaining position to standard filling position, involves correcting path of gripper by control processor with respect to evaluated image so that workpiece is transferred to correct position |
| CN201752888U (en) * | 2010-04-16 | 2011-03-02 | 东莞东聚电子电讯制品有限公司 | Mechanical arm capable of moving quickly and stably |
| CN202825825U (en) * | 2012-09-26 | 2013-03-27 | 广州达意隆包装机械股份有限公司 | Robot |
| CN103192397A (en) * | 2012-01-09 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Off-line visual programming method and system for robot |
| CN104260093A (en) * | 2014-07-30 | 2015-01-07 | 华南理工大学 | Delta parallel-connection manipulator control system |
| CN104589357A (en) * | 2014-12-01 | 2015-05-06 | 佛山市万世德机器人技术有限公司 | Control system and method of DELTA robots based on visual tracking |
| CN106423916A (en) * | 2016-12-12 | 2017-02-22 | 燕山大学 | Machine-vision-based DELTA sorting manipulator |
| CN106695752A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Delta parallel robot |
| CN106695845A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Control method for electronic control system of robot |
| CN106737664A (en) * | 2016-11-25 | 2017-05-31 | 中国科学院自动化研究所 | Sort the Delta robot control methods and system of multiclass workpiece |
| CN207482882U (en) * | 2017-08-09 | 2018-06-12 | 爱维迅自动化科技（昆山）有限公司 | A kind of vision positioning feeder |
-
2017
- 2017-08-09 CN CN201710675288.6A patent/CN107458875A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5333514A (en) * | 1992-04-24 | 1994-08-02 | Toyoda Koki Kabushiki Kaisha | Parallel robot |
| US20100005919A1 (en) * | 2007-01-29 | 2010-01-14 | Michael Breu | Device for displacing and positioning an object in space |
| CN101602205A (en) * | 2008-06-10 | 2009-12-16 | 村田机械株式会社 | Parallel institution |
| CH700057A2 (en) * | 2008-12-12 | 2010-06-15 | Veltru Ag | Method for moving wafer from arbitrary retaining position to standard filling position, involves correcting path of gripper by control processor with respect to evaluated image so that workpiece is transferred to correct position |
| CN201752888U (en) * | 2010-04-16 | 2011-03-02 | 东莞东聚电子电讯制品有限公司 | Mechanical arm capable of moving quickly and stably |
| CN103192397A (en) * | 2012-01-09 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Off-line visual programming method and system for robot |
| CN202825825U (en) * | 2012-09-26 | 2013-03-27 | 广州达意隆包装机械股份有限公司 | Robot |
| CN104260093A (en) * | 2014-07-30 | 2015-01-07 | 华南理工大学 | Delta parallel-connection manipulator control system |
| CN104589357A (en) * | 2014-12-01 | 2015-05-06 | 佛山市万世德机器人技术有限公司 | Control system and method of DELTA robots based on visual tracking |
| CN106695752A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Delta parallel robot |
| CN106695845A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Control method for electronic control system of robot |
| CN106737664A (en) * | 2016-11-25 | 2017-05-31 | 中国科学院自动化研究所 | Sort the Delta robot control methods and system of multiclass workpiece |
| CN106423916A (en) * | 2016-12-12 | 2017-02-22 | 燕山大学 | Machine-vision-based DELTA sorting manipulator |
| CN207482882U (en) * | 2017-08-09 | 2018-06-12 | 爱维迅自动化科技（昆山）有限公司 | A kind of vision positioning feeder |
Non-Patent Citations (1)
| Title |
|---|
| 郝建豹等, 哈尔滨：哈尔滨工业大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202869A (en) * | 2018-11-05 | 2019-01-15 | 佛山市奇创智能科技有限公司 | A kind of grabbing device and system |
| CN109436786A (en) * | 2018-12-21 | 2019-03-08 | 广东赛德英斯智能装备有限公司 | A kind of size self-adapting type article grasping means and the device for realizing this method |
| CN114670174A (en) * | 2022-03-31 | 2022-06-28 | 三船(无锡)智能科技有限公司 | Parallel robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208392655U (en) | 360 degree of arm-type 3D printers of stereo rotating double-mechanical | |
| CN107458875A (en) | A kind of vision positioning feeder and its operating method | |
| CN103658282B (en) | Stainless-steel pan automatic hemming device | |
| CN210139636U (en) | Automatic hot melt nut equipment of plastic part drain pan | |
| CN106737795B (en) | A kind of the tool fast replacing device and method of dynamic power machine hand | |
| CN104944154A (en) | Glove transferring and stacking manipulator system and glove transferring and stacking method | |
| CN106955945B (en) | Robot nut crimping machine automatic loading and unloading system and method | |
| CN101961903A (en) | Code dividing machine for grabbing and counting plastic glove | |
| CN107433576A (en) | A kind of industrial robot based on NI Vision Builder for Automated Inspection | |
| CN216939325U (en) | Intelligent screw mounting equipment of industrial distribution box | |
| CN205466171U (en) | High -speed high accuracy robot of desktop type | |
| CN106873350A (en) | Watch and clock movement part automatic installation apparatus | |
| CN207482882U (en) | A kind of vision positioning feeder | |
| CN207480599U (en) | A kind of motion control device for industrial robot based on machine vision | |
| CN206435765U (en) | Robot automatic charging device | |
| CN110216075A (en) | It is a kind of to manufacture with the material convenient for manipulation with line robot | |
| CN209094939U (en) | Electric cabinet automatic assembling mechanism | |
| CN207748519U (en) | A kind of automatic error feeder | |
| CN109514424A (en) | A kind of grinding machine automatic charging system of processing and method | |
| CN206172522U (en) | Pneumatic grabbing device | |
| CN104860061A (en) | Automatic conveying system and use method thereof | |
| CN211565893U (en) | Six-shaft mechanical arm | |
| CN110323651B (en) | Full-automatic terminal assembling machine | |
| CN208395414U (en) | A kind of industrial robot wrapping cloth automation equipment | |
| CN209214662U (en) | The quality inspection all-in-one machine of conveyer belt position-adjustable |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171212 |
|
| RJ01 | Rejection of invention patent application after publication |