CN209668183U - A kind of production line unit based on robot and the production line based on robot - Google Patents
A kind of production line unit based on robot and the production line based on robot Download PDFInfo
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- CN209668183U CN209668183U CN201822046222.3U CN201822046222U CN209668183U CN 209668183 U CN209668183 U CN 209668183U CN 201822046222 U CN201822046222 U CN 201822046222U CN 209668183 U CN209668183 U CN 209668183U
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- 238000003384 imaging method Methods 0.000 claims description 26
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- 230000005540 biological transmission Effects 0.000 description 9
- 230000001413 cellular effect Effects 0.000 description 9
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- 238000004590 computer program Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
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- 238000004458 analytical method Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
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Abstract
The utility model provides a kind of production line unit based on robot and the production line based on robot.The production line unit based on robot includes robot, objective table and control unit；Multiple carrying disks can be placed on the objective table；The carrying disk is used for placed content object；Described control unit lotus root meets the robot, with the robot communication；The objective table is arranged on the robot periphery.Using the technical solution of the utility model, by the periphery that objective table is arranged in robot, in this way after the content placed in a carrying disk is by end of operation, robot can easily, efficiently the content placed in other carrying disks is operated, eliminate replacement material or workpiece to be added and etc. process to be replaced etc.；Therefore, operation is facilitated, the time is saved, reduces costs.
Description
Technical field
The utility model relates to the production line technology fields based on robot, and in particular to a kind of production based on robot
Line unit and production line based on robot.
Background technique
As shown in figure 11, the existing production line 30 based on robot may include at least one robot 31 and certain
Material and the production line 30 based on robot formed to operating parts 32 etc..It is processed in the production line 30 based on robot
When production, when robot carry out certain operations when, after the completion of feed or operation, need replacing the feed zone material or to
Workpiece.
But in this process, because the process of replacement or waiting etc., wastes a large amount of time, manpower, drop
The low efficiency of the entire process of production line based on robot.
Utility model content
The production line unit that in view of this, the present invention provides a kind of based on robot and based on the production of robot
Line.
The utility model first aspect provides a kind of production line unit based on robot, the production based on robot
Line unit includes robot, objective table and control unit；
Multiple carrying disks can be placed on the objective table；The carrying disk is used for placed content object；
Described control unit lotus root meets the robot, with the robot communication；
The objective table is arranged on the robot periphery.
Further, the production line unit based on robot further includes the first imaging sensor；
The first image sensor is sent to the control for shooting the image of the carrying disk, and by described image
Unit processed；
The first image sensor lotus root connects described control unit；
Described control unit, the described image for being obtained by parsing, determines the position of the carrying disk, the loading
The type for the content placed on disk and/or the process for judging the content.
Further, corresponding identification (RFID) tag is also set up on each carrying disk, by parsing the identification (RFID) tag, obtained
The identification information of the content in the carrying disk.
Further, the identification (RFID) tag includes electronic tag or image tag.
Further, when the identification (RFID) tag includes the electronic tag；The production line unit based on robot also wraps
Include reader；
The reader lotus root connects described control unit；
The reader is based on RFID technique with the electronic tag and communicates, and parses the described of the electronic tag representative
Identification information, and the identification information is sent to described control unit.
Further, when the identification (RFID) tag includes described image label；The production line unit based on robot also wraps
Include image tag resolver；
Described image tag resolution device lotus root connects described control unit；
Described image tag resolution device scans and parses described image label, obtains the described of described image label representative
Identification information, and the identification information is sent to described control unit；Or
The production line unit based on robot further includes the second imaging sensor；
The second elementary area lotus root connects described control unit；
Second imaging sensor, shoots the label image of described image label, and the label image is sent to
Described control unit；
Described control unit parses the label image of acquisition, obtains the identification information.
Further, position sensor is also set up on the objective table；
The position sensor, for obtaining the location information of the carrying disk；
The position sensor lotus root connects described control unit, and the location information is sent to described control unit.
Further, the objective table, which is arranged on the robot periphery, includes:
The objective table partially surrounds the robot setting or the load around robot setting, the objective table
Object platform is arranged in the robot side.
Further, the objective table includes second conveyer or fixed bracket；
When the objective table includes the second conveyer, the second conveyer lotus root connects described control unit；Root
According to the control of described control unit, the second conveyer works and/or stops working.
Further, the objective table further includes carrying disk feeding port and/or carrying disk feed opening.
Further, the content includes material and/or to operating parts.
Further, the production line unit based on robot further includes workbench；
The carrying disk is moved to the work from the objective table for controlling the robot by described control unit
Platform；And/or
The robot is controlled by the carrying disk from the movable workbench to the objective table or other structures unit.
Further, the objective table also sets up the accommodating position of the carrying disk；
The accommodating position, for placement position of the specification carrying disk on the objective table.
Second aspect of the present invention provides a kind of production line based on robot, and the production line based on robot includes extremely
Production line unit based on robot described in one any of the above one few.
Further, the production line based on robot further includes second conveyer；The second conveyer, is used for
Carrying disk is transmitted between each production line unit based on robot.
By the way that objective table to be arranged in the periphery of robot, and multiple carrying disks can be placed on objective table, each loading
Identical or different content, in this way after the content placed in a carrying disk is by end of operation, robot are placed in disk
Easily, efficiently the content placed in other carrying disks can be operated, eliminate replacement material or workpiece to be added
With etc. process to be replaced etc.；Therefore, operation is facilitated, the time is saved, reduces costs.
Detailed description of the invention
It, below will be to embodiment and description of the prior art in order to illustrate more clearly of the utility model embodiment technical solution
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
One embodiment for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is that the first structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Fig. 2 is that the second structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Fig. 3 is that the third structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Fig. 4 is that the 4th structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Fig. 5 is that the 5th structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Fig. 6 is that the 6th structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Fig. 7 is that the 7th structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Fig. 8 is that the 8th structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Fig. 9 is that the 9th structure of the production line cellular construction section Example provided by the utility model based on robot is shown
It is intended to.
Figure 10 is the structural schematic diagram of the embodiment of the production line provided by the utility model based on robot.
Figure 11 is the structural schematic diagram of the embodiment of the existing production line unit based on robot.
Figure 12 is the first structure of the production line unit part constructive embodiment provided by the utility model based on robot
Block diagram.
Figure 13 is the second structure of the production line unit part constructive embodiment provided by the utility model based on robot
Block diagram.
Figure 14 is the third structure of the production line unit part constructive embodiment provided by the utility model based on robot
Block diagram.
Figure 15 is the 4th structure of the production line unit part constructive embodiment provided by the utility model based on robot
Block diagram.
Figure 16 is the 5th structure of the production line unit part constructive embodiment provided by the utility model based on robot
Block diagram.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining relevant utility model, rather than the restriction to the utility model.It further needs exist for
Illustrate, illustrates only part relevant to related utility model for ease of description, in attached drawing.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the utility model embodiment provides a kind of production line unit 10 based on robot, machine should be based on
The production line unit 10 of people includes: robot 11, objective table 12 and control unit (omitting in figure)；It can be placed on objective table 12 more
A carrying disk 13；Placed content object M is used on carrying disk 13；
The periphery of robot 11 is arranged in objective table 12.
As shown in figure 12, control unit 14 is by wired or wirelessly lotus root welding robot 11, between robot
It is communicated；It executes certain motion profiles specifically, control unit can control robot, corresponding operation is executed to carrying disk
(such as: pick up, put down and/or move carrying disk (as shown in Figure 1, such as control robot 11 ' be moved to 11, robot, from
Drive carrying disk 13 move)), and/or to content execute corresponding operation (such as: in carrying disk workpiece to be added carry out
Process operation；Content in carrying disk is moved to corresponding position；And/or it is moved to corresponding position and executes corresponding add
Work operation etc.)；The relevant feedback information of robot (such as position, speed or electric current) is sent to control unit by robot.
Specifically, control unit can for programmable logic controller (PLC) (Programmable Logic Controller,
PLC), field programmable gate array (Field-Programmable Gate Array, FPGA), computer (Personal
Computer, PC), industrial control computer (Industrial Personal Computer, IPC) or server etc..Control
Unit processed executes computer program, in conjunction with the information, parameter or external equipment being manually entered (such as described in following example
First imaging sensor, position sensor or reader) data etc. of acquisition or feedback generate program instruction etc..
Control unit 14 can be independent a part for calculating equipment；It is also possible to a part of robot；Either
Second conveyer, second conveyer described in following example, the second imaging sensor, are read the first imaging sensor
Read a part of device or image tag resolver etc.；In this embodiment, for convenience of description, control unit 14 is with independent
Component show.
Wireless mode can include but is not limited to: 3G/4G, WIFI, bluetooth, WiMAX, Zigbee, UWB (ultra
), wideband and it is other currently known or in the future exploitation radio connection.
Specifically, robot 11, which can include but is not limited to multiple joints and connecting rod, passes through each of formation in series or in parallel
The manipulator (as shown in Figure 1) of seed type, such as: Serial manipulators or the parallel manipulator such as four axis, six axis；Or robot
It can be traditional chassis equipment (omitting attached drawing).In one embodiment, the output end of the terminal shaft of manipulator or rack are set
It is standby above to also set up end effector 111, every concrete operations are completed by end effector.Specifically, end effector can be with
It is sucker or clamping jaw etc..
Specifically, content M can include but is not limited to: the material (such as electronic component) of processing and/or to
Workpiece etc. in the production line based on robot possible application to or to its content for executing operation.
Specifically, the periphery that robot 11 is arranged in objective table 12 can include but is not limited to: objective table 12 is around machine
(as shown in Figure 1) is arranged in people, objective table 12 partially surrounds robot 11 and (as shown in Figure 5) or the setting of objective table 12 is arranged in machine
Certain side (as shown in Figure 8) of device people 11 etc..Wherein, described surround can be circular rings around (as shown in Figure 1), vesica piscis
Around, straight-flanked ring around, irregular shape around etc. the similar other shapes of circular shape that can form closed circuit；It partially surrounds
(as shown in Figure 5), angled portion can be partially surrounded around (such as Fig. 9 institute around (as shown in Figure 5), ellipse for circular portion
Show) or irregular shape partially surround etc. and similar other shapes of to partially surround structure.
Continue as shown in Figure 1, in one embodiment, 12 cyclization of objective table is arranged around robot 11, in this way can compared with
Objective table is set to have greater room to place more carrying disks in the small stroke range for increasing robot, to save entire process
Operating time.In addition, due to using annular setting the circuit of objective table can be formed in this way, when the setting and Examples hereinafter
When each transmission device matches, entire process can preferably be facilitated to form automatic operation.
Specifically, carrying disk 13 can be sequentially arranged on objective table 12 (as shown in Figure 1) according to certain rule；It can also be with
Random laid out in parallel (as shown in Figure 8) on objective table 12；Or be stacked on objective table (omit attached drawing) etc..
By the way that objective table to be arranged in the periphery of robot, and multiple carrying disks can be placed on objective table, each loading
Identical or different content, in this way after the content placed in a carrying disk is by end of operation, robot are placed in disk
Easily, efficiently the content placed in other carrying disks can be operated, eliminate replacement material or workpiece to be added
With etc. process to be replaced etc.；Therefore, operation is facilitated, the time is saved, reduces costs.
Specifically, objective table 12 may include passing first to send device, or including fixed bracket and table top etc..
Continue as shown in Figure 1, in one embodiment, objective table 12 includes second conveyer 121, by multiple carrying disks
13 are placed in second conveyer 121, transmit multiple carrying disks 13 by second conveyer 121；As shown in figure 13, first
Wirelessly lotus root connects control unit 14 according to the instruction works of control unit or stops transmission device 121 by wired perhaps
Only work.
Specifically, second conveyer 121 can include but is not limited to: transmission belt, driving chain etc. have transmission function
Currently known and exploitation in the future the technical solution of energy.
By using second conveyer, in some cases it may reduce the stroke of the rotation of robot 11；Or one
In a embodiment, robot 11 is relatively fixed, and carrying disk is transmitted to robot corresponding position by second conveyer 121.
As shown in Fig. 2, in one embodiment, objective table 12 further includes feeding port 122 and/or feed opening 123.
It can be convenient by setting feeding port and/or feed opening and carrying disk be put into objective table or is removed from objective table；
In addition, facilitate the cooperation of multiple production line units 10 based on robot, or the production line unit 10 based on robot and its
What the cooperation of its structural unit realize the automation of the production line based on robot in larger scope from.Specifically, other structures
Unit may include second conveyer 21 (as shown in Figure 10) and/or other production line units based on robot；Wherein,
Other production line units based on robot, which refer to, to be had and the production line unit knot described in above example based on robot
The general designation of the production line unit based on robot of the different any other structure of structure.In one embodiment, can be passed through
Two transmission devices are by the material of production line unit and/or other production line units based on robot based on robot or to be added
Workpiece carries out unified dispatching.
Further, in one embodiment, according to above example, when objective table 12 includes transmission device 121,
By the way that the feeding port and/or feed opening that are connected with second conveyer 121, more convenient production line based on robot is arranged
With the cooperations of other production lines or device based on robot, thus to realize the production line based on robot in larger scope
Automation provides convenient.Further, in one embodiment, the second conveyer of objective table by feeding port 122 and/or under
Material mouth 123 is matched with other transmission devices (omitting in figure), and the carrying disk on other transmission devices is transported to objective table 12,
To the realization of more convenient entirely automation of the production line based on robot.
As shown in figure 9, in one embodiment, the production line unit 10 based on robot further includes on 11 periphery of robot
The workbench 17 of certain positions setting, control unit control robot 11 and pick up carrying disk 13 on objective table 12 and by carrying disk
13, which are placed into workbench 17, carries out corresponding operation；The content picked up in carrying disk is placed on workbench corresponding position；
Corresponding operation is executed to content；And/or the carrying disk on workbench 17 is moved to loading by control unit control robot
On platform or other structures unit.Robot executes specific process operation on workbench 17, specifically, the robot can be
Robot 11 described in above example, or robot in addition.
As shown in Figure 3,4, in one embodiment, the production line unit based on robot further includes that the first image passes
Sensor 15；
First imaging sensor 15 for shooting the image of the carrying disk 13 on objective table 12, and sends an image to control
Unit (being omitted in figure) processed；
Specifically, the first imaging sensor 15 may include: camera, video camera, scanner or other have related function
The equipment (mobile phone, computer etc.) etc. of energy.Imaging sensor can be designed as any more than or equal to 1, image as needed
The image of sensor shooting can be 2D image, 3D rendering or video etc..
As shown in figure 14, control unit 14 is by the way that wired or wirelessly lotus root connects the first imaging sensor 15；
The image that control unit 14 is obtained by executing computer program parsing determines the position of carrying disk, on carrying disk
The type of the content of placement and/or the process etc. for judging the content.
Wherein, process refers to the progress of the content in carrying disk.Specifically, can be remaining interior in carrying disk
Tolerant number or the progress operated to operating parts.
Wherein, the type of content refers to that the content in carrying disk is.Specifically, the type of content can be and sentence
It is disconnected to be material or workpiece to be added or be specifically which kind of material or which kind of workpiece to be added.
Continue as shown in figure 3, further, in one embodiment, the first imaging sensor 15 can be set in robot
On 11, robot 11 is followed to move, therefore the quantity of the first imaging sensor can be saved；And/or
Continue as shown in figure 4, further, in one embodiment, the first i imaging sensor 15 can be set in objective table
At the multiple positions in 12 periphery, thus the convenient process that the content on objective table in each carrying disk is understood from multiple angles,
Preferably prepared in advance to convenient.
As shown in fig. 6, in one embodiment, corresponding identification (RFID) tag 161 is also set up on each carrying disk 13；Pass through
It parses identification (RFID) tag and obtains the relevant identification information of each carrying disk；Control unit is by executing computer program, in conjunction with correlation
Identification information, control robot or the first transmitting device and corresponding operation executed to content.
Wherein, identification (RFID) tag refers to the label for representing various identification informations.
Specifically, identification information can include but is not limited to: the type of content；The position of the corresponding working cell of content
It sets or numbers or the placement position etc. of the corresponding objective table of content.
Specifically, identification (RFID) tag 161 can include but is not limited to: electronic tag 161 or image tag 161 etc..
Specifically, electronic tag can be radio frequency identification (Radio Frequency Identification RFID) system
The electronic tag of system.RFID system includes electronic tag 161 and reader 162；Reader 162 is set by receiving antenna with each
The electronic tag 161 set on carrying disk 13 carries out wireless communication, it passes through radiofrequency signal automatic identification target object and obtains
Related data.As shown in figure 15, it specifically, reader 162 is connect by wired or wireless mode and 14 lotus root of control unit, reads
The identification information that device 162 will acquire is sent to control unit 14.
Specifically, reader 162 may include receiving antenna and electronic tag parsing module, electronic tag parsing module,
The identification information that electronic tag represents is parsed for executing computer program by processor；The electronic tag parsing module can
To be integrated in reader, can also be unified in control unit 14.
Wherein, image tag refers to the label by the image expression data information with feature.Specifically, image tag
It can include but is not limited to: two dimensional code or bar code.
Wherein, bar code is one-dimension code, refers to the multiple secret notes and blank for not waiting width, according to certain coding rule
Arrangement, to express the graphical identifier of a group information；
Wherein, two dimensional code, which refers to, is distributed according to certain rules with certain specific geometric figure to express data symbol information.
Further, in one embodiment, when identification (RFID) tag includes image tag, the production line unit based on robot
It can also include image tag resolver；
Image tag resolver lotus root connects control unit；
Image tag resolver scans and parses described image label, obtains the identification information of described image label representative,
And identification information is sent to control unit.
Further, in one embodiment, when identification (RFID) tag includes image tag, the production line unit based on robot
Can also include the second imaging sensor, control unit according to the second imaging sensor of acquisition sends including image tag
The image zooming-out of carrying disk goes out the label image in image, by parsing label image, obtains the identification letter of image tag representative
Breath, to help to know the content in the carrying disk.
Specifically, the second imaging sensor can be for independently of the imaging sensor other than the first imaging sensor 15；
It can synthesize and be integrated with the first imaging sensor, i.e., the first imaging sensor and the second figure be realized by an imaging sensor
As the function of sensor.
Specifically, the image tag analysis unit for being responsible for image tag parsing in control unit 14 can be with imaging sensor collection
Being integrally formed becomes image tag resolver described in above example；And separated with 14 phase of control unit, analysis unit will be passed through
Control unit 14 is sent to the identification information after related information parsing；In addition to this, image tag analysis unit 141 and image pass
Sensor mutually separates；It is integrated in control unit 14, the image information that the second imaging sensor is sent based on the received, and unified
Control unit 14 in by executing the step of computer program realizes label image parsing, believe to obtain corresponding identification
Breath.
Such as Figure 16, position sensor 18 is also set up in one embodiment, on objective table, is obtained by position sensor 18
The location information of carrying disk.Position sensor lotus root connects control unit, and the relevant signal in carrying disk position that will acquire is sent to control
Unit 14 processed；Control unit controls the fortune of machine or second conveyer according to the location information and/or identification information of acquisition
It is dynamic, so that robot can carry out corresponding operation to corresponding carrying disk, or objective table is moved to the position of needs
Etc..
As shown in fig. 7, in one embodiment, the accommodating position 124 of carrying disk 13 being arranged on objective table 12, passes through the appearance
Placement position of the 124 specification carrying disk 13 of set on objective table 12.
Specifically, the accommodating position can be the accommodation groove of the periphery setting for the correspondence carrying disk being arranged in stage surface
(as shown in Figure 7)；Or the guide groove for the correspondence carrying disk two sides being arranged along objective table two sides, carrying disk two sides are accommodated
In guide groove, with the position (omitting attached drawing) of the specification carrying disk.
As shown in Figure 10, in one embodiment, the present invention also provides a kind of production line 20 based on robot, it is described
Production line based on robot includes the production line unit described at least one above example based on robot.
Further, in one embodiment, it includes at least one above example that the production line based on robot, which removes,
Except the production line unit based on robot, can also include at least one with described in above example based on machine
The different other production line units (being omitted in figure) based on robot of the production line unit 10 of people.
In one embodiment, the production line 20 based on robot can also include second conveyer setting 21；Second
Transmission device 21 is used to send the multiple carrying disk 13 to each production line unit based on robot.
Specifically, each production line unit based on robot may include described at least one above example based on
The production line unit 10 of robot；In one embodiment, each production line unit based on robot can also include at least
One other production line unit based on robot.
By the way that second conveyer is arranged, facilitate multiple production line units based on robot form one it is unified based on
The production line of robot, saves process, reduces the cost of time and hardware, improves efficiency.
Continue as shown in Figure 10, in one embodiment, the production line based on robot includes described in above example
Identification (RFID) tag 161 described in above example is arranged on that is, each carrying disk 13 for RFID system, passes through reader 162 and mark
Communication between label 161 judges the type etc. for the content placed on each carrying disk, to judge which each carrying disk belongs to
A production line unit based on robot, is placed into corresponding working cell for the carrying disk to facilitate.By RFID system,
It can be convenient and the carrying disk is placed into corresponding working cell, improve work efficiency, reduce the cost of time and hardware,
Save process.
By taking computer and industrial control computer as an example, industrial control computer has important computer attribute and spy
Sign, therefore they all have computer central processing unit (Central Processing Unit, CPU), hard disk, memory etc.
Internal storage also has plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, the external memories such as flash card (Flash Card), and have operating system, control network and agreement, calculating
Ability, friendly man-machine interface, be provided for other each structure/equipment/systems reliable, embedded, intelligentized computer and
Industrial control computer.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory, and is executed by the processor, to complete the present invention.It is one or more
A module/unit can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing institute
State implementation procedure of the computer program in the control device.
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory can be the storage equipment of the terminal built-in, such as hard disk or memory.The memory can also
To be the External memory equipment of described control unit, for example, the plug-in type hard disk being equipped in described control unit, intelligent memory card
(Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..Into
One step, it also includes External memory equipment that the memory, which can also both include the internal storage unit of described control unit,.Institute
Memory is stated for other programs and data needed for storing the computer program and the terminal.The memory may be used also
For temporarily storing the data that has exported or will export.
When element is expressed the similar word of " being fixed on ", " being fixed on ", " being fixedly connected " another element etc., it can
To be directly prefabricated on the other element or therebetween there may be one or more elements placed in the middle, with another element
One.When an element is expressed " connection " another element, it can be directly to another element or therebetween may be used
There are one or more elements placed in the middle.Term "vertical", "horizontal", "left" and "right" that this specification uses,
"inner", "outside" and similar statement are for illustrative purposes only.
Unless otherwise defined, technical and scientific term all used in this specification and the skill for belonging to the utility model
The normally understood meaning of the technical staff in art field is identical.Category used in the description of the utility model in this specification
In being only for the purpose of describing specific embodiments, it is not intended to limitation the utility model.
"and/or" in this paper term, only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, such as: A and/or B can indicate individualism A, exist simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Claims and specification of the utility model and term " first " in above-mentioned attached drawing, " second ", " third ",
" S101 ", " S102 " " S103 " etc. (if present) are for distinguishing similar object, without specific suitable for describing
Sequence or precedence.It should be understood that the data used in this way are interchangeable under appropriate circumstances, so as to the embodiments described herein
It can be implemented with the sequence other than the content for illustrating or describing herein.In addition, term " includes " " having " and they
Any deformation, it is intended that cover and non-exclusive include.Such as: include series of steps or module process, method,
System, product or robot those of are not necessarily limited to be clearly listed step or module, but including being not clearly listed
Or other steps or module intrinsic for these process, methods, system, product or robot.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in some embodiment
Portion, may refer to the associated description of other embodiments.
It should be noted that those skilled in the art should also know that, embodiment described in this description belongs to excellent
Embodiment is selected, related structure and module are not necessarily required by the utility model.
Above to the production line unit provided by the utility model embodiment based on robot and based on the life of robot
Producing line is described in detail, but the method and its core of the above embodiments are only used to help understand the utility model
Thought should not be construed as a limitation of the present invention.Those skilled in the art, based on the idea of the present invention,
Within the technical scope disclosed by the utility model, any changes or substitutions that can be easily thought of, should all cover the guarantor in the utility model
Within the scope of shield.
Claims (15)
1. a kind of production line unit based on robot, which is characterized in that the production line unit based on robot includes machine
Device people, objective table and control unit；
Multiple carrying disks can be placed on the objective table；The carrying disk is used for placed content object；
Described control unit lotus root meets the robot, with the robot communication；
The objective table is arranged on the robot periphery.
2. the production line unit according to claim 1 based on robot, which is characterized in that the life based on robot
Producing line unit further includes the first imaging sensor；
The first image sensor is sent to the control list for shooting the image of the carrying disk, and by described image
Member；
The first image sensor lotus root connects described control unit；
Described control unit, the described image for being obtained by parsing determine the position of the carrying disk, on the carrying disk
The type for the content placed and/or the process for judging the content.
3. the production line unit according to claim 1 or 2 based on robot, which is characterized in that each carrying disk
On also set up corresponding identification (RFID) tag, by parsing the identification (RFID) tag, obtain the knowledge of the content in the carrying disk
Other information.
4. the production line unit according to claim 3 based on robot, which is characterized in that the identification (RFID) tag includes electricity
Subtab or image tag.
5. the production line unit according to claim 4 based on robot, which is characterized in that when the identification (RFID) tag includes
The electronic tag；The production line unit based on robot further includes reader；
The reader lotus root connects described control unit；
The reader is based on RFID technique with the electronic tag and communicates, and parses the identification that the electronic tag represents
Information, and the identification information is sent to described control unit.
6. the production line unit according to claim 4 based on robot, which is characterized in that when the identification (RFID) tag includes
Described image label；The production line unit based on robot further includes image tag resolver；
Described image tag resolution device lotus root connects described control unit；
Described image tag resolution device scans and parses described image label, obtains the identification of described image label representative
Information, and the identification information is sent to described control unit；Or
The production line unit based on robot further includes the second imaging sensor；
The second elementary area lotus root connects described control unit；
Second imaging sensor shoots the label image of described image label, and the label image is sent to described
Control unit；
Described control unit parses the label image of acquisition, obtains the identification information.
7. the production line unit according to claim 1 or 2 based on robot, which is characterized in that on the objective table also
Position sensor is set；
The position sensor, for obtaining the location information of the carrying disk；
The position sensor lotus root connects described control unit, and the location information is sent to described control unit.
8. the production line unit according to claim 1 or 2 based on robot, which is characterized in that the objective table setting
Include: on the robot periphery
The objective table partially surrounds the robot setting or the objective table around robot setting, the objective table
It is arranged in the robot side.
9. the production line unit according to claim 1 or 2 based on robot, which is characterized in that the objective table includes
Second conveyer or fixed bracket；
When the objective table includes the second conveyer, the second conveyer lotus root connects described control unit；According to institute
The control of control unit is stated, the second conveyer works and/or stops working.
10. the production line unit according to claim 1 or 2 based on robot, which is characterized in that the objective table also wraps
Include carrying disk feeding port and/or carrying disk feed opening.
11. the production line unit according to claim 1 or 2 based on robot, which is characterized in that the content includes
Material and/or to operating parts.
12. the production line unit according to claim 1 or 2 based on robot, which is characterized in that described to be based on robot
Production line unit further include workbench；
The carrying disk is moved to the workbench from the objective table for controlling the robot by described control unit；
And/or
The robot is controlled by the carrying disk from the movable workbench to the objective table or other structures unit.
13. the production line unit according to claim 1 or 2 based on robot, which is characterized in that the objective table is also set
Set the accommodating position of the carrying disk；
The accommodating position, for placement position of the specification carrying disk on the objective table.
14. a kind of production line based on robot, which is characterized in that the production line based on robot includes at least one power
Benefit requires the production line unit described in 1-13 any one based on robot.
15. the production line according to claim 14 based on robot, which is characterized in that the production based on robot
Line further includes second conveyer；The second conveyer, for being passed between each production line unit based on robot
Send carrying disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822046222.3U CN209668183U (en) | 2018-12-07 | 2018-12-07 | A kind of production line unit based on robot and the production line based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822046222.3U CN209668183U (en) | 2018-12-07 | 2018-12-07 | A kind of production line unit based on robot and the production line based on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209668183U true CN209668183U (en) | 2019-11-22 |
Family
ID=68562087
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822046222.3U Expired - Fee Related CN209668183U (en) | 2018-12-07 | 2018-12-07 | A kind of production line unit based on robot and the production line based on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209668183U (en) |
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2018
- 2018-12-07 CN CN201822046222.3U patent/CN209668183U/en not_active Expired - Fee Related
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