CN116945205A - TR robot workstation based on visual assistance and application method thereof - Google Patents
TR robot workstation based on visual assistance and application method thereof Download PDFInfo
- Publication number
- CN116945205A CN116945205A CN202310980883.6A CN202310980883A CN116945205A CN 116945205 A CN116945205 A CN 116945205A CN 202310980883 A CN202310980883 A CN 202310980883A CN 116945205 A CN116945205 A CN 116945205A
- Authority
- CN
- China
- Prior art keywords
- storage
- storage box
- block
- robot
- servo motor
- 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.)
- Granted
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims description 35
- 230000000149 penetrating effect Effects 0.000 claims abstract description 3
- 238000012545 processing Methods 0.000 claims description 61
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 40
- 238000003754 machining Methods 0.000 claims description 22
- 229910052742 iron Inorganic materials 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 10
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a TR robot workstation based on visual assistance, which comprises a base, wherein a first servo motor is arranged on the bottom wall of a first storage seat, a first connecting block is arranged at the output end of the first servo motor, a second servo motor is arranged at the top of a storage plate, a first mechanical arm is arranged at the output end of the second servo motor penetrating through the outer wall of one side of the storage plate, a first storage box is arranged at the top of a first support plate, a second storage box is arranged at the outer wall of one side of the first storage box, a panoramic camera is arranged at the bottom wall of the second storage box, and a console is arranged at the top of the base; one end of the supporting rod is provided with a display screen. According to the utility model, the first storage seat, the panoramic camera, the control platform and the display screen are arranged, and the second storage box is driven to rotate through the rotation of the first storage box, so that the shooting angle of the panoramic camera is adjusted, related staff can conveniently control the TR robot through the control platform, and the practicability of the workstation can be improved.
Description
Technical Field
The utility model relates to the technical field of TR robot workstations, in particular to a TR robot workstation based on visual assistance and a using method thereof.
Background
The existing robot positions are generally fixed, the mechanical arm of the robot can move in multiple dimensions, the machining of a workpiece can be limited due to the limitation of the position of the base, the vision auxiliary function of the existing TR robot workstation is also fixed when the existing TR robot workstation is used, shooting dead angles are easy to exist, the convenience is poor when the existing TR robot workstation is used, and certain defects exist.
The existing TR robot workstation has the following defects:
1. the patent document JP7226637B2 provides a manipulator which has a simple structure and is capable of gripping an object in various ways. The utility model comprises the following steps: a first finger portion 91; a third finger 93 disposed to face the first finger 91; a second finger 92 arranged side by side with the third finger 93; a first finger connection portion 96, the first finger portion 91 being rotatably connected to the first finger connection portion 96; a second finger connection portion 97, the second finger portion 92 being rotatably connected to the second finger connection portion 97, the third finger portion 93 being rotatably connected to the second finger connection portion 97; a hand base 98, to which the first finger connecting portion 96 and the second finger connecting portion 97 are connected; and a finger moving part moving at least one of the first and second connection parts 96 and 97 with respect to the hand base 98 such that a distance between the first and third finger parts 91 and 93 increases or decreases, but the manipulator of the above publication mainly considers how to improve flexibility in use of the manipulator, and does not consider the problem of poor convenience in use of the existing TR robot workstation;
2. patent document JP2020157401a provides a robot system capable of preventing an increase in the number of wirings to be laid in a robot when an external instrument is added, thereby increasing the degree of freedom of design, and a robot. The solution is as follows: the robotic system includes a robot, a controller that controls operation of the robot, and a first external instrument. The robot includes: a first member; a second member that rotates relative to the first member; a motor that generates a driving force for rotating the second member relative to the first member; a detection unit that detects a rotation amount of the motor; a control section that controls an operation of the detection section; a communication section that communicates with the controller; and a first instrument connection portion connected to the first external instrument. The control part has an encoder connected to the detection part, the communication part and the first instrument connection part, and a first communication line through which the communication part is connected to the controller, the controller transmitting data on the first external instrument to the controller through the first instrument connection part and the first communication line, but the robot system in the above publication mainly considers how to improve the degree of freedom of the robot, and does not consider that the existing TR robot workstation is inconvenient to change different processing modes according to the processing needs when in use;
3. patent document WO2018206279A1 relates to a safety device (18) comprising a bottom support (16), a transmitting device (17) with a transmitting antenna connection (18), which transmitting antenna connection (18) can be electrically contacted on the bottom support (16), and a signal generator (19) designed to generate an output signal with predetermined characteristics and to transmit it to the transmitting device (17) in order to radiate the output signal via the bottom support (16). The device further comprises an input wire (20), which input wire (20) is electrically couplable to the metal structure of the robotic arm (2) and is designed to detect as input signal an output signal radiated by the bottom support (16) via the metal structure of the robotic arm (2); -receiving means (21) designed to receive an input signal detected by an input line (20); -comparison means (22) connected to the receiving means (21) and the transmitting means (17), -evaluation means (23) designed to compare the input signal detected by the receiving means (21) with the output signal transmitted by the transmitting means (17), and-evaluation means (23) connected to the comparison means (22) designed to generate a safety signal identifying the safety state of the workstation for transmission to the robot control system (12) of the robot (1) for realizing at least one safety function based on the comparison result of the comparison means (22). The utility model also relates to a robot workstation comprising such a safety device (15), but the above-mentioned publication mainly considers how to improve the safety of the robot workstation in use, and does not consider the problem of poor convenience in mounting and dismounting of the existing TR robot workstation in use;
4. patent document CN216577834U discloses a robot workstation, belonging to the technical field of robots. The automatic feeding and discharging machine comprises a circular workbench, a feeding conveying line and a discharging conveying line, wherein an annular electric guide rail is fixedly connected to the periphery of the side wall of the workbench, at least two machine hands are connected to the electric guide rail in a sliding mode, a lifting groove is further formed in the middle position of the workbench, a lifting positioning conveying line is arranged in the lifting groove, one ends of the feeding conveying line and the discharging conveying line are all extended into the lifting groove, and the lifting groove is respectively in butt joint with two ends of the positioning conveying line. The robot station disclosed by the utility model is arranged around the workpiece in a ring shape, the workpiece can be processed in all directions through the movement of the robot, so that errors caused by workpiece adjustment and repositioning are avoided, the accuracy is good, but the robot station in the above publication mainly considers how to improve the accuracy of workpiece processing, and the problem that the existing TR robot station is poor in flexibility in use is not considered.
Disclosure of Invention
The utility model aims to provide a TR robot workstation based on visual assistance and a use method thereof, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the TR robot workstation based on visual assistance comprises a base, wherein a visual assistance module is arranged at the top of the base and used for controlling the use direction of a robot, and the visual assistance module comprises a first object placing seat arranged at the top of the base;
the automatic storage device comprises a storage box, a panoramic camera, a base and a control platform, wherein a first servo motor is installed on the bottom wall of a first storage seat, a first connecting block is installed at the output end of the first servo motor, a second storage plate is installed at the top of the first connecting block, a second servo motor is installed at the top of the second storage plate, a first mechanical arm is installed at the output end of the second servo motor penetrating through the outer wall of one side of the first storage plate, a first support plate is installed on the outer wall of one side of the first mechanical arm through a shaft piece, a first storage box is installed at the top of the first support plate, a second storage box is installed on the outer wall of one side of the first storage box, the panoramic camera is installed at the bottom wall of the second storage box, and the control platform is installed at the top of the base;
the front of the control console is provided with a supporting rod, and one end of the supporting rod is provided with a display screen.
Preferably, the flexible module of changing is installed to the internally mounted of storage tank one, and is used for changing the instrument of processing usefulness to change the module in a flexible way, and flexible module of changing is including fixing the hydraulic push rod one on the storage tank one front wall, and the thing piece is put to the output of hydraulic push rod one, and the back of putting the thing piece is provided with the mounting hole, and the inside threaded connection of mounting hole has the mounting block, and the back of mounting block is connected with the processing module.
Preferably, flexible disassembly and assembly module is installed at the top of base, and flexible disassembly and assembly module is used for the dismouting to change working plane, flexible disassembly and assembly module is including installing the thing seat second of putting on the base, and the loading board is installed to the inner wall of putting thing seat second, and servo motor third is installed at the top of loading board, and the connecting rod third is installed to servo motor third's output, and the surface of connecting rod third runs through and is provided with the jack, and the surface parcel of connecting rod has connecting block second, and miniature electric push rod is all installed to the both sides inner wall of connecting block second, and the stopper is installed to miniature electric push rod's output.
Preferably, the internally mounted who puts thing seat two has adjusting module, and adjusting module is used for adjusting the height of connecting block two, adjusting module is including the symmetry hydraulic push rod two of installing on putting thing seat two diapire, the supporting shoe is installed at the top that two sets of hydraulic push rod two's output all run through the loading board, the top of putting thing seat two runs through the slotted hole that is provided with symmetrical arrangement, and the slotted hole is located the both sides of connecting rod, the diameter of supporting shoe is less than the diameter of slotted hole, the top of supporting shoe is provided with the connecting hole, the bottom wall of connecting hole is embedded to install the electro-magnet, the iron fixture block of symmetrical arrangement is installed to the bottom of connecting block two, and iron fixture block and connecting hole looks adaptation.
Preferably, the storage plate is in an L-shaped structure, the control table is positioned in front of the side of the first storage seat, the support rod is movably connected with the display screen through a shaft piece, the visual sensor is mounted on the bottom wall of the first storage box, the visual sensor is positioned on one side of the panoramic camera, and the display screen, the visual sensor and the panoramic camera are electrically connected;
the object placing seat is located at the rear side of the first object placing seat, the top of the connecting rod is attached to the top wall of the second connecting block, and the limiting block is located at the inner side of the jack.
Preferably, a second supporting plate is installed on the outer wall of one side of the first storage box, the top of the second supporting plate is connected with the bottom of the second storage box, the supporting columns which are uniformly arranged are installed at the bottom of the second supporting plate, the bottom of each supporting column is connected with the top of the first supporting plate, a storage cylinder is installed on the outer wall of the other side of the first mechanical arm, a variable frequency motor is installed on the inner wall of one side of the storage cylinder, and the output end of the variable frequency motor is connected with the outer wall of the other side of the first storage box.
Preferably, a limiting rod is mounted on the outer wall of one side of one group of limiting blocks, a limiting hole is formed in the outer wall of one side of the other group of limiting blocks, and the limiting rod is embedded with the limiting hole.
Preferably, the connecting rod is arranged on the outer surface of the second connecting block, the connecting rod is in a Z-shaped structure, the connecting rod is positioned right behind the object placing plate, the third storage box is arranged at the bottom of the connecting rod, the fourth servo motor is arranged at the bottom wall of the third storage box, the workbench is arranged at the output end of the fourth servo motor, and the bottom of the workbench is attached to the bottom wall of the connecting rod.
Preferably, the TR robot workstation is used as follows:
s1, before the TR robot workstation is used, a proper type of processing module is selected according to workpiece processing requirements, then an installation block on the processing module is screwed into an installation hole on a storage block, and then the processing module can be fixed on the storage block;
s2, starting a first servo motor in a first storage seat according to the processing requirement to drive a first connecting block to rotate, so that the TR robot can rotate at the center point of the first connecting block, starting a second servo motor on a storage plate to drive a mechanical arm to rotate, so that the first mechanical arm can swing back and forth, starting a variable frequency motor in a storage barrel, and then driving a first storage box to rotate, so that the inclination angle of a processing module is adjusted;
s3, shooting the positions of the workpiece and the TR robot and the machining condition through the panoramic camera in the workpiece machining process, and transmitting the shot pictures and videos to a display screen, so that relevant staff can conveniently control the machining direction and angle of the TR robot through a console according to the result displayed on the display screen, and the practicability of the TR robot workstation can be improved to a certain extent;
s4, in the process of machining a workpiece, if the height of the workbench needs to be adjusted, the hydraulic push rod II is started firstly, then the supporting block is driven to move upwards, the supporting block is embedded with the iron clamping block after passing through the slot hole, then the electromagnet is electrified, the iron clamping block can be attracted with the electromagnet, then the miniature electric push rod in the connecting block II is started, the two groups of limiting blocks are far away from each other, the limiting rod is driven to be separated from the limiting hole, and the limiting block is not embedded with the jack any more.
Preferably, in the step S1, the method further includes the following steps:
s11, fixing a workpiece to be processed on a workbench, starting a servo motor III on a bearing plate, and then driving a connecting block II to rotate so that a connecting rod can drive the workbench to rotate, and then adjusting the position of the workbench;
in the step S2, the method further includes the following steps:
s21, in the process of rotating the first storage box, the second storage box on the second support plate can be driven to rotate along with the first storage box, then the up-down inclination angle of the panoramic camera in the second storage box can be adjusted, in the process of machining, the first hydraulic push rod in the first storage box is started according to the use requirement, and then the machining module can be driven to move forwards and backwards until the machining operation is completed;
in the step S4, the method further includes the following steps:
s41, then continue to start hydraulic push rod two, then just can drive connecting block two and upwards remove for the connecting rod no longer is located the inside of connecting block two, and when starting the servo motor four in the storage tank three, can drive the workstation and rotate on the surface of linking the pole, make the workstation can adjust the direction of work piece, thereby can improve the efficiency of work piece processing to a certain extent.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, the first storage box, the second storage box, the panoramic camera, the control console and the display screen are arranged, when the TR robot workstation is used, the TR robot is used for processing a workpiece on the workstation, and the second storage box is driven to rotate in the rotating process of the first storage box, so that the shooting angle of the panoramic camera is regulated, the panoramic camera can transmit the positions of the processing module and the workpiece to the display screen in the processing process of the workpiece by the TR robot, and therefore, related workers can conveniently control the TR robot through the control console, and the practicability of the workstation can be improved to a certain extent.
2. According to the utility model, the first hydraulic push rod, the object placing block, the mounting hole, the mounting block and the processing module are arranged, before the TR robot workstation is used, the processing module of a proper type is selected according to the processing requirement, the mounting block is screwed into the mounting hole on the object placing block, and then the processing module can be fixed on the object placing block, so that the first hydraulic push rod can push the processing module to move back and forth in the subsequent processing process, and the processing flexibility is improved.
3. According to the utility model, the second storage seat, the third servo motor, the connecting rod, the second connecting block, the jack, the micro electric push rod and the limiting block are arranged, before the TR robot workstation is used, a proper workbench is selected, the second connecting block is sleeved on the surface of the connecting rod, then the two groups of micro electric push rods are started to drive the two groups of limiting blocks to be close to each other, the limiting block is embedded with the jack through the embedding of the limiting rod and the limiting hole, then the second connecting block and the second connecting rod can be fixed together, and then the third servo motor in the second storage seat is started in the subsequent use process of the TR robot workstation, and then the second connecting block can be driven to rotate, so that the aim of adjusting the position of the workbench is achieved.
4. According to the utility model, the second hydraulic push rod, the supporting block, the connecting hole, the electromagnet and the iron clamping block are arranged, when the height of the workbench is required to be adjusted, the second hydraulic push rod is started, then the supporting block can be driven to move upwards, the connecting hole on the supporting block can be embedded with the iron clamping block and electrify the electromagnet, then the supporting block and the second connecting block can be fixed together through the attraction of the electromagnet and the iron clamping block, the connection between the second connecting block and the connecting rod is released, and then the workbench can be driven to move up and down under the action of the second hydraulic push rod.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
fig. 2 is a schematic plan assembly structure of the panoramic camera of the present utility model;
FIG. 3 is a schematic plan view of a second embodiment of the present utility model;
FIG. 4 is a schematic plan view of the hydraulic putter and the block according to the present utility model;
FIG. 5 is a schematic diagram illustrating an assembled structure of a second storage case according to the present utility model;
FIG. 6 is a schematic diagram of an assembled structure of the connecting rod of the present utility model;
FIG. 7 is a schematic diagram of an assembly structure of a block according to the present utility model;
FIG. 8 is a schematic view of a planar assembly structure of a stopper and a micro electric putter of the present utility model;
fig. 9 is a flowchart of the operation of the present utility model.
In the figure: 1. a base; 2. a first storage seat; 3. a servo motor I; 4. a first connecting block; 5. a storage plate; 6. a servo motor II; 7. a mechanical arm I; 8. a storage barrel; 9. a variable frequency motor; 10. a first storage box; 11. a first supporting plate; 12. a second supporting plate; 13. a support column; 14. a second storage box; 15. a panoramic camera; 16. a console; 17. a support rod; 18. a display screen; 19. a first hydraulic push rod; 20. a storage block; 21. a mounting hole; 22. a mounting block; 23. a processing module; 24. a second storage seat; 25. a carrying plate; 26. a servo motor III; 27. a connecting rod; 28. a second connecting block; 29. a jack; 30. a miniature electric push rod; 31. a limiting block; 32. a limiting hole; 33. a limit rod; 34. a second hydraulic push rod; 35. a support block; 36. a connection hole; 37. an electromagnet; 38. an iron clamping block; 39. a connecting rod; 40. a third storage box; 41. a servo motor IV; 42. a working table.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, 2, 5 and 9, an embodiment of the present utility model is provided: the utility model provides a TR robot workstation based on vision is supplementary, including base 1 and display screen 18, vision assistance module is installed at the top of base 1, and vision assistance module is used for controlling the direction that the robot used, vision assistance module is including installing thing seat one 2 of putting at the base 1 top, servo motor one 3 is installed to the diapire of putting thing seat one 2, servo motor one 3's output is installed connecting block one 4, thing board 5 is installed at the top of connecting block one 4, servo motor two 6 is installed at the top of thing board 5, mechanical arm one 7 is installed to the output of servo motor two 6 through one side outer wall of thing board 5, backup pad one 11 is installed through the shaft part to one side outer wall of mechanical arm one 7, storage tank one 10 is installed at the top of backup pad one 11, storage tank two 14 are installed to one side outer wall of storage tank one 10, panoramic camera 15 is installed to the diapire of storage tank two 14, the top of the base 1 is provided with a control table 16, the front of the control table 16 is provided with a support rod 17, one end of the support rod 17 is provided with a display screen 18, the object placing plate 5 is of an L-shaped structure, the control table 16 is positioned in front of the side of the object placing seat 1, the support rod 17 is movably connected with the display screen 18 through a shaft part, the bottom wall of the storage box 10 is provided with a vision sensor, the vision sensor is positioned on one side of the panoramic camera 15, the display screen 18, the vision sensor and the panoramic camera 15 are electrically connected, the outer wall of one side of the storage box 10 is provided with a support plate two 12, the top of the support plate two 12 is connected with the bottom of the storage box two 14, the bottom of the support plate two 12 is provided with uniformly arranged support columns 13, the bottom of the support columns 13 is connected with the top of the support plate one 11, the outer wall of the other side of the mechanical arm one 7 is provided with an object storing cylinder 8, a variable frequency motor 9 is arranged on the inner wall of one side of the storage barrel 8, and the output end of the variable frequency motor 9 is connected with the outer wall of the other side of the storage box 10.
Further, when the TR robot workstation is used, the first servo motor 3 in the first storage seat 2 is started, then the first connecting block 4 can be driven to rotate, so that the position of the processing module 23 is adjusted, then the second servo motor 6 on the first storage plate 5 is started, the first mechanical arm 7 is driven to rotate, the first mechanical arm 7 can drive the processing module 23 to swing back and forth, the variable frequency motor 9 in the storage barrel 8 is started, the first storage box 10 and the first support plate 11 are driven to rotate, then the second storage box 14 can be driven to rotate under the action of the support column 13, the purpose of adjusting the shooting angle of the panoramic camera 15 in the second storage box 14 is achieved, and the position direction between the TR robot and a workpiece and the surface of the display screen 18 are conveyed to the surface of the display screen 18 through the panoramic camera 15, so that related staff can conveniently operate the control console 16 through the display screen 18, and convenience and practicability of the TR robot workstation can be improved to a certain extent.
Referring to fig. 4 and 7, an embodiment of the present utility model is provided: the utility model provides a TR robot workstation based on vision is supplementary, including hydraulic putter one 19 and processing module 23, the internally mounted of storage tank one 10 has nimble module of changing, and nimble module of changing is used for changing the instrument of processing usefulness, nimble module of changing is including fixing the hydraulic putter one 19 on the front wall of storage tank one 10, put thing piece 20 is installed to the output of hydraulic putter one 19, put the back of thing piece 20 and be provided with mounting hole 21, the internal thread connection of mounting hole 21 has installation piece 22, the back of installation piece 22 is connected with processing module 23.
Further, before using the TR robot workstation, a processing module 23 with which kind of processing is selected according to the processing requirement, the mounting block 22 is screwed into the mounting hole 21 on the object placing block 20, then the processing module 23 can be fixed on the object placing block 20, and the forward and backward moving distance of the processing module 23 is controlled by the hydraulic push rod 19 in the storage box 10 in the subsequent processing process, so that the processing precision is improved, and the flexibility and the functionality of the TR robot workstation in use can be improved to a certain extent.
Referring to fig. 3 and 6, an embodiment of the present utility model is provided: the utility model provides a TR robot workstation based on vision is supplementary, including putting thing seat two 24 and gag lever post 33, nimble dismouting module is installed at the top of base 1, and nimble dismouting module is used for the dismouting to change the working plane, nimble dismouting module is including installing putting thing seat two 24 on base 1, the loading board 25 is installed to the inner wall of putting thing seat two 24, servo motor three 26 is installed at the top of loading board 25, the connecting rod three 27 is installed to servo motor three 26's output, the surface of connecting rod three 27 runs through and is provided with jack 29, connecting rod 27's surface parcel has connecting block two 28, miniature electric putter 30 is all installed to connecting block two 28's both sides inner wall, stopper 31 is installed to miniature electric putter 30's output, put thing seat two 24 and be located the side rear of putting thing seat two 28, the top of connecting rod 27 is laminated mutually with connecting block two 28's roof, stopper 31 is located the inboard of jack 29, gag lever post 33 is installed to one side outer wall of one set of stopper 31, one side outer wall of another set of stopper 31 is provided with spacing hole 32, and gag lever post 33 is jogged mutually with spacing hole 32.
Further, when the workbench 42 needs to be replaced, the micro electric push rod 30 in the second connecting block 28 is started first, then the limiting block 31 can be driven to move, the limiting rod 33 is separated from the limiting hole 32, then the limiting block 31 can be brought out of the jack 29, the limiting block 31 is not embedded into the jack 29, then the second connecting block 28 is pulled upwards, the second connecting block 28 can be taken down from the surface of the connecting rod 27, after the new workbench 42 is replaced, the servo motor III 26 on the bearing plate 25 is started, then the second connecting block 28 can be driven to rotate through the connecting rod 27, the purpose of adjusting the position of the workbench 42 is achieved, and flexibility and convenience in disassembly and assembly when the TR robot workstation is used are improved.
Referring to fig. 8, an embodiment of the present utility model is provided: the utility model provides a TR robot workstation based on vision is supplementary, including hydraulic push rod two 34 and workstation 42, put the internally mounted of thing seat two 24 and have the adjustment module, and the adjustment module is used for adjusting the height of connecting block two 28, the adjustment module is including the symmetrical hydraulic push rod two 34 of installing on putting thing seat two 24 diapire, the supporting shoe 35 is installed at the top that two sets of hydraulic push rod two 34 all run through loading board 25, the top of putting thing seat two 24 runs through and is provided with the slotted hole of symmetrical arrangement, and the slotted hole is located the both sides of connecting rod 27, the diameter of supporting shoe 35 is less than the diameter of slotted hole, the top of supporting shoe 35 is provided with connecting hole 36, the diapire embedment of connecting hole 36 installs electro-magnet 37, the iron fixture block 38 of symmetrical arrangement is installed to the bottom of connecting block two 28, and iron fixture block 38 and connecting hole 36 looks adaptation, the outer surface mounting of connecting block two 28 connects pole 39, and link up pole 39 is "Z" font structure, link up pole 39 is located the dead center behind of putting thing board 5, install three 40 in the bottom of link up pole 39, servo motor four 41 are installed to servo motor four in the diapire 41, servo motor four is installed to the bottom 41, the output end of servo motor four is installed with the workstation 42, the bottom of the workstation 39 is laminated mutually with the bottom 42.
Further, in the process of using the TR robot workstation, the servo motor IV 41 in the storage box III 40 is started, then the workbench 42 can be driven to rotate, so that the position of a workpiece on the workbench 42 is adjusted, the TR robot can conveniently process other parts of the workpiece, when the height of the workbench 42 needs to be adjusted, the hydraulic push rod II 34 in the storage seat II 24 is started, then the supporting block 35 can be driven to pass through the slotted hole, the connecting hole 36 on the supporting block 35 can be embedded with the iron clamping block 38 at the bottom of the connecting block II 28, then the electromagnet 37 is electrified, the electromagnet 37 can be attracted with the iron clamping block 38, then the connecting block II 28 and the supporting block 35 can be fixed together, then the micro electric push rod 30 is started again, the limiting block 31 is driven to be separated from the jack 29, the connecting block II 28 can move upwards under the pushing of the hydraulic push rod II 34, and therefore the flexibility of the TR robot workstation in use can be improved to a certain extent.
Further, the TR robot workstation is used as follows:
s1, before the TR robot workstation is used, firstly, selecting a proper type of processing module 23 according to workpiece processing requirements, then screwing an installation block 22 on the processing module 23 into an installation hole 21 on a storage block 20, and then fixing the processing module 23 on the storage block 20;
s2, starting a first servo motor 3 in a first storage seat 2 according to the processing requirement to drive a first connecting block 4 to rotate, enabling the TR robot to rotate at the center point of the first connecting block 4, starting a second servo motor 6 on a storage plate 5 to drive a first mechanical arm 7 to rotate, enabling the first mechanical arm 7 to swing back and forth, starting a variable frequency motor 9 in a storage barrel 8, and then driving a first storage box 10 to rotate, so that the inclination angle of a processing module 23 is adjusted;
s3, in the process of processing a workpiece, the positions of the workpiece and the TR robot and the processing condition are shot through the panoramic camera 15, and shot pictures and videos are transmitted to the display screen 18, so that relevant staff can conveniently control the processing direction and the angle of the TR robot through the console 16 according to the result displayed on the display screen 18, and the practicability of the TR robot workstation can be improved to a certain extent;
s4, in the process of machining a workpiece, if the height of the workbench 42 needs to be adjusted, the hydraulic push rod II 34 is started firstly, then the supporting block 35 is driven to move upwards, the supporting block 35 is enabled to be embedded with the iron clamping block 38 after passing through the slot hole, then the electromagnet 37 is electrified, the iron clamping block 38 can be attracted with the electromagnet 37, then the micro electric push rod 30 in the connecting block II 28 is started, the two groups of limiting blocks 31 are enabled to be far away from each other, the limiting rod 33 is driven to be separated from the limiting hole 32, and the limiting block 31 is enabled not to be embedded with the jack 29 any more.
In step S1, the method further includes the steps of:
s11, fixing a workpiece to be processed on a workbench 42, starting a servo motor III 26 on a bearing plate 25, and then driving a connecting block II 28 to rotate, so that a connecting rod 39 can drive the workbench 42 to rotate, and then adjusting the position of the workbench 42;
in step S2, the method further includes the steps of:
s21, in the process of rotating the first storage box 10, the second storage box 14 on the second support plate 12 can be driven to rotate along with the first storage box, then the up-down inclination angle of the panoramic camera 15 in the second storage box 14 can be adjusted, in the process of machining, the first hydraulic push rod 19 in the first storage box 10 is started according to the use requirement, and then the machining module 23 can be driven to move forwards and backwards until the machining operation is completed;
in step S4, the method further includes the steps of:
s41, then continue to start the hydraulic push rod II 34, then just can drive connecting block II 28 and upwards remove for connecting rod 27 no longer is located the inside of connecting block II 28, and when the servo motor IV 41 in the storage tank III 40 is started, can drive workstation 42 and rotate on the surface of linking rod 39, makes workstation 42 can adjust the direction of work piece, thereby can improve the efficiency of work piece processing to a certain extent.
Working principle: when the TR robot workstation is used, a workpiece to be machined is fixed on a workbench 42, a servo motor III 26 is started, then a connecting block II 28 can be driven to rotate, a connecting rod 39 can drive the workbench 42 to move to the rear of the TR robot, then a servo motor I3 is started according to machining requirements, a connecting block I4 is driven to rotate, a servo motor II 6 is started, a mechanical arm I7 is driven to rotate, the mechanical arm I7 can swing back and forth, a variable frequency motor 9 is started, then a storage box I10 can be driven to rotate, the inclination angle of a machining module 23 is adjusted, in the process of rotating the storage box I10, a storage box II 14 can be driven to rotate, the up-down inclination angle of a panoramic camera 15 in the storage box II 14 is adjusted, and a hydraulic push rod I19 is started according to use requirements in the machining process, so that the machining module 23 is driven to move back and forth;
in the process of machining a workpiece, if the height of the workbench 42 needs to be adjusted, firstly, starting the hydraulic push rod II 34 to drive the supporting block 35 to move upwards, enabling the supporting block 35 to be embedded with the iron clamping block 38 after passing through the slot hole, and electrifying the electromagnet 37, enabling the iron clamping block 38 to be attracted with the electromagnet 37, then starting the micro electric push rod 30 to drive the limiting rod 33 to be separated from the limiting hole 32, enabling the limiting block 31 not to be embedded with the jack 29 any more, then continuing to start the hydraulic push rod II 34, then enabling the connecting block II 28 to move upwards, enabling the connecting rod 27 not to be located in the connecting block II 28 any more, and when the servo motor IV 41 is started, enabling the workbench 42 to be driven to rotate on the surface of the connecting rod 39, enabling the workbench 42 to adjust the direction of the workpiece until machining operation is completed;
in the process of processing a workpiece, the positions of the workpiece and the TR robot and the processing condition are shot through the panoramic camera 15, and the shot pictures and videos are transmitted to the display screen 18, so that relevant staff can conveniently control the processing direction and the angle of the TR robot through the control platform 16 according to the result displayed on the display screen 18, and the practicability of the TR robot workstation can be improved to a certain extent.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. TR robot workstation based on vision is supplementary, including base (1), its characterized in that: the top of the base (1) is provided with a vision auxiliary module, the vision auxiliary module is used for controlling the use direction of the robot, and the vision auxiliary module comprises a first storage seat (2) arranged at the top of the base (1);
the automatic storage device comprises a first storage seat (2), a first servo motor (3) is installed on the bottom wall of the first storage seat, a first connecting block (4) is installed at the output end of the first servo motor (3), a second storage plate (5) is installed at the top of the first connecting block (4), a second servo motor (6) is installed at the top of the second storage plate (5), a first mechanical arm (7) is installed on the outer wall of one side of the second servo motor (6), a first supporting plate (11) is installed on the outer wall of one side of the first mechanical arm (7) through a shaft element, a first storage box (10) is installed at the top of the first supporting plate (11), a second storage box (14) is installed on the outer wall of one side of the first storage box (10), a panoramic camera (15) is installed at the bottom wall of the second storage box (14), and a control table (16) is installed at the top of the base (1);
the front of the control table (16) is provided with a supporting rod (17), and one end of the supporting rod (17) is provided with a display screen (18).
2. A TR robot workstation based on visual aids as claimed in claim 1, characterized in that: the utility model discloses a flexible change module is used for changing the instrument of processing to the internally mounted of storage tank one (10), and flexible change module is used for changing the instrument of processing usefulness, and flexible change module is including fixing hydraulic push rod one (19) on storage tank one (10) front wall, and the output of hydraulic push rod one (19) is installed and is put thing piece (20), and the back of putting thing piece (20) is provided with mounting hole (21), and the inside threaded connection of mounting hole (21) has installation piece (22), and the back of installation piece (22) is connected with processing module (23).
3. A TR robot workstation based on visual aids as claimed in claim 1, characterized in that: the utility model discloses a miniature electric push rod, including base (1), nimble dismouting module is installed at the top of base (1), and nimble dismouting module is used for the dismouting to change work plane, nimble dismouting module is including installing put thing seat two (24) on base (1), load-bearing plate (25) are installed to the inner wall of putting thing seat two (24), servo motor three (26) are installed at the top of load-bearing plate (25), connecting rod three (27) are installed to the output of servo motor three (26), the surface of connecting rod three (27) runs through and is provided with jack (29), the surface parcel of connecting rod (27) has connecting block two (28), miniature electric push rod (30) are all installed to the both sides inner wall of connecting block two (28), stopper (31) are installed to the output of miniature electric push rod (30).
4. A TR robot workstation based on visual aid as claimed in claim 3, characterized in that: the internally mounted who puts thing seat two (24) has adjusting module, and adjusting module is used for adjusting the height of connecting block two (28), adjusting module is including the symmetry hydraulic push rod two (34) of installing on putting thing seat two (24) diapire, supporting shoe (35) are installed at the top that two sets of hydraulic push rod two (34) all run through loading board (25), the top of putting thing seat two (24) is run through and is provided with the slotted hole of symmetrical arrangement, and the slotted hole is located the both sides of connecting rod (27), the diameter of supporting shoe (35) is less than the diameter of slotted hole, the top of supporting shoe (35) is provided with connecting hole (36), electromagnet (37) are installed in the diapire of connecting hole (36), iron fixture block (38) of symmetrical arrangement are installed to the bottom of connecting block two (28), and iron fixture block (38) and connecting hole (36) looks adaptation.
5. A TR robot workstation based on visual aid as claimed in any one of claims 1 or 3, characterized in that: the storage box is characterized in that the storage plate (5) is of an L-shaped structure, the control table (16) is positioned in front of the side of the first storage seat (2), the support rod (17) is movably connected with the display screen (18) through a shaft part, the visual sensor is arranged on the bottom wall of the first storage box (10) and is positioned on one side of the panoramic camera (15), and the display screen (18), the visual sensor and the panoramic camera (15) are electrically connected;
the second storage seat (24) is positioned at the side rear of the first storage seat (2), the top of the connecting rod (27) is attached to the top wall of the second connecting block (28), and the limiting block (31) is positioned at the inner side of the jack (29).
6. A TR robot workstation based on visual aids as claimed in claim 1, characterized in that: the storage box is characterized in that a second support plate (12) is arranged on the outer wall of one side of the first storage box (10), the top of the second support plate (12) is connected with the bottom of the second storage box (14), the bottom of the second support plate (12) is provided with uniformly arranged support columns (13), the bottom of each support column (13) is connected with the top of the first support plate (11), a storage cylinder (8) is arranged on the outer wall of the other side of the first mechanical arm (7), a variable frequency motor (9) is arranged on the inner wall of one side of the storage cylinder (8), and the output end of the variable frequency motor (9) is connected with the outer wall of the other side of the first storage box (10).
7. A TR robot workstation based on visual aid as claimed in claim 3, characterized in that: one group of limiting blocks (31) is provided with a limiting rod (33) on one side outer wall, the other group of limiting blocks (31) is provided with a limiting hole (32) on one side outer wall, and the limiting rod (33) is embedded with the limiting hole (32).
8. A TR robot workstation based on visual aid as claimed in claim 3, characterized in that: the connecting rod (39) is arranged on the outer surface of the connecting block II (28), the connecting rod (39) is in a Z-shaped structure, the connecting rod (39) is located right behind the object placing plate (5), the storage box III (40) is arranged at the bottom of the connecting rod (39), the servo motor IV (41) is arranged on the bottom wall of the storage box III (40), the workbench (42) is arranged at the output end of the servo motor IV (41), and the bottom of the workbench (42) is attached to the bottom wall of the connecting rod (39).
9. A method of using a TR robot station based on visual aids as claimed in any one of claims 1 to 8, characterized in that the TR robot station is used as follows:
s1, before the TR robot workstation is used, firstly, a processing module (23) of a proper type is selected according to workpiece processing requirements, then an installation block (22) on the processing module (23) is screwed into an installation hole (21) on a storage block (20), and then the processing module (23) can be fixed on the storage block (20);
s2, starting a first servo motor (3) in a first storage seat (2) according to the processing requirement to drive a first connecting block (4) to rotate, enabling the TR robot to rotate at the center point of the first connecting block (4), starting a second servo motor (6) on a first storage plate (5), driving a first mechanical arm (7) to rotate, enabling the first mechanical arm (7) to swing back and forth, starting a variable frequency motor (9) in a storage barrel (8), and then driving a first storage box (10) to rotate, so that the inclination angle of a processing module (23) is adjusted;
s3, in the process of processing a workpiece, shooting the positions of the workpiece and the TR robot and the processing condition through the panoramic camera (15), and transmitting the shot pictures and videos to the display screen (18), so that relevant staff can conveniently control the processing direction and angle of the TR robot through the console (16) according to the result displayed on the display screen (18), and the practicability of the TR robot workstation can be improved to a certain extent;
s4, in the process of machining a workpiece, if the height of a workbench (42) needs to be adjusted, firstly starting a second hydraulic push rod (34), then driving a supporting block (35) to move upwards, enabling the supporting block (35) to be embedded with an iron clamping block (38) after penetrating through a slotted hole, then electrifying an electromagnet (37), enabling the iron clamping block (38) to be capable of being attracted with the electromagnet (37), and then starting a miniature electric push rod (30) in a second connecting block (28), enabling two groups of limiting blocks (31) to be far away from each other, and driving a limiting rod (33) to be separated from a limiting hole (32), so that the limiting block (31) is not embedded with a jack (29).
10. The method of using a TR robot workstation based on visual aid as claimed in claim 9, further comprising the steps of, in said step S1:
s11, fixing a workpiece to be processed on a workbench (42), starting a servo motor III (26) on a bearing plate (25), and then driving a connecting block II (28) to rotate, so that a connecting rod (39) can drive the workbench (42) to rotate, and then adjusting the position of the workbench (42);
in the step S2, the method further includes the following steps:
s21, in the process of rotating the first storage box (10), the second storage box (14) on the second support plate (12) can be driven to rotate along with the first storage box, then the vertical inclination angle of the panoramic camera (15) in the second storage box (14) can be adjusted, in the process of machining, the first hydraulic push rod (19) in the first storage box (10) is started according to the use requirement, and then the machining module (23) can be driven to move forwards and backwards until the machining operation is completed;
in the step S4, the method further includes the following steps:
s41, then continue to start hydraulic push rod two (34), then just can drive connecting block two (28) and upwards remove for connecting rod (27) no longer are located the inside of connecting block two (28), and when servo motor four (41) in the storage tank three (40) are started, can drive workstation (42) and rotate on the surface of linking pole (39), make workstation (42) can adjust the direction of work piece, thereby can improve the efficiency of work piece processing to a certain extent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310980883.6A CN116945205B (en) | 2023-08-07 | 2023-08-07 | TR robot workstation based on visual assistance and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310980883.6A CN116945205B (en) | 2023-08-07 | 2023-08-07 | TR robot workstation based on visual assistance and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116945205A true CN116945205A (en) | 2023-10-27 |
| CN116945205B CN116945205B (en) | 2024-04-23 |
Family
ID=88461867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310980883.6A Active CN116945205B (en) | 2023-08-07 | 2023-08-07 | TR robot workstation based on visual assistance and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116945205B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117207201A (en) * | 2023-11-09 | 2023-12-12 | 中科浩成(北京)科技产业发展有限公司 | Mechanical arm control system based on vision technology and laser positioning |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003311670A (en) * | 2002-04-17 | 2003-11-05 | Denso Wave Inc | Positioning control method of robot arm and robot equipment |
| CN206242054U (en) * | 2016-12-12 | 2017-06-13 | 佛山市新鹏机器人技术有限公司 | A kind of multi-functional many application apparatus of robot |
| CN108527343A (en) * | 2018-06-25 | 2018-09-14 | 广东广航科技有限公司 | A kind of adjustable working table mechanical arm |
| CN211806256U (en) * | 2019-11-26 | 2020-10-30 | 四川协同创新智能装备制造有限公司 | Industrial robot workstation based on visual image preprocessing system |
| CN113466131A (en) * | 2021-06-30 | 2021-10-01 | 山东大学 | Continuous detection device for metal cutting tool |
| CN216577834U (en) * | 2021-12-07 | 2022-05-24 | 上海伟晟自动化焊接技术有限公司 | Robot workstation |
| CN217516593U (en) * | 2022-05-05 | 2022-09-30 | 盐城市松源智能环保科技有限公司 | Three-dimensional elevating platform with adjustable rotation angle |
| CN218190734U (en) * | 2022-09-22 | 2023-01-03 | 江苏施依洛通风设备有限公司 | Inner ring painting device for cylindrical workpiece |
| CN115739468A (en) * | 2022-11-25 | 2023-03-07 | 江苏科钛机器人有限公司 | Intelligent spraying robot and use method thereof |
| CN219094859U (en) * | 2022-10-31 | 2023-05-30 | 佛山市顶意金属制品有限公司 | Clamp for processing aluminum profile |
-
2023
- 2023-08-07 CN CN202310980883.6A patent/CN116945205B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003311670A (en) * | 2002-04-17 | 2003-11-05 | Denso Wave Inc | Positioning control method of robot arm and robot equipment |
| CN206242054U (en) * | 2016-12-12 | 2017-06-13 | 佛山市新鹏机器人技术有限公司 | A kind of multi-functional many application apparatus of robot |
| CN108527343A (en) * | 2018-06-25 | 2018-09-14 | 广东广航科技有限公司 | A kind of adjustable working table mechanical arm |
| CN211806256U (en) * | 2019-11-26 | 2020-10-30 | 四川协同创新智能装备制造有限公司 | Industrial robot workstation based on visual image preprocessing system |
| CN113466131A (en) * | 2021-06-30 | 2021-10-01 | 山东大学 | Continuous detection device for metal cutting tool |
| CN216577834U (en) * | 2021-12-07 | 2022-05-24 | 上海伟晟自动化焊接技术有限公司 | Robot workstation |
| CN217516593U (en) * | 2022-05-05 | 2022-09-30 | 盐城市松源智能环保科技有限公司 | Three-dimensional elevating platform with adjustable rotation angle |
| CN218190734U (en) * | 2022-09-22 | 2023-01-03 | 江苏施依洛通风设备有限公司 | Inner ring painting device for cylindrical workpiece |
| CN219094859U (en) * | 2022-10-31 | 2023-05-30 | 佛山市顶意金属制品有限公司 | Clamp for processing aluminum profile |
| CN115739468A (en) * | 2022-11-25 | 2023-03-07 | 江苏科钛机器人有限公司 | Intelligent spraying robot and use method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117207201A (en) * | 2023-11-09 | 2023-12-12 | 中科浩成(北京)科技产业发展有限公司 | Mechanical arm control system based on vision technology and laser positioning |
| CN117207201B (en) * | 2023-11-09 | 2024-01-05 | 中科浩成(北京)科技产业发展有限公司 | Mechanical arm control system based on vision technology and laser positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116945205B (en) | 2024-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116945205B (en) | TR robot workstation based on visual assistance and application method thereof | |
| CN105290691B (en) | The double column positioner mechanisms and its control system welded for hopper | |
| US7316149B2 (en) | Inter-pressing-machine work transfer device | |
| KR101841257B1 (en) | Position adjusting device for plant | |
| CN109367825B (en) | Automatic butt joint method for cabin sections | |
| CN113375559B (en) | Online measurement centering device, system and method based on multi-source sensing | |
| EP2343498A1 (en) | Device for adjusting the light source of an electronic alignment device, operation being simplified by motorized adjustment of the light source, and methods in which this device is used | |
| JP6779484B2 (en) | Mobile work robot support device and its operation method | |
| CN105598658A (en) | Automatic assembling device for flexible shaft holes applied to large precision equipment | |
| CN115256333A (en) | Photovoltaic engineering intelligent installation robot and working method thereof | |
| CN108638103A (en) | The end effector of robot and method of adjustment of a kind of automatic crawl and pose adjustment | |
| CN112858299A (en) | Welding seam detection system | |
| CN109050964B (en) | Ball head butt joint self-adaptive positioning method and device | |
| CN115370541A (en) | Assembling equipment for fan sectional type blades | |
| CN112720470B (en) | Mechanical arm TCP manual rapid calibration device and method for additive machining | |
| CN214365866U (en) | Illumination and camera shooting follow-up system of drill jumbo and drill jumbo | |
| CN211696333U (en) | Tunnel section deformation detection device | |
| CN211230302U (en) | Positioning device for assembling and disassembling drill rod manipulator | |
| CN210152579U (en) | Drill rod thread centering device for automatic drilling machine | |
| CN208992478U (en) | A kind of identification type polishing robot | |
| CN102515023B (en) | Inclined steel structure butting method | |
| CN110279204A (en) | Inlay stone machine and edge stone system | |
| CN104597127A (en) | TOFD ultrasonic nondestructive testing robot system applicable to steam turbine welding rotor | |
| CN211761620U (en) | Object taking mechanism selection control system | |
| CN220922897U (en) | Drilling device suitable for curvature building modeling |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |