CN215471136U - Visual grabbing workstation without positioning robot - Google Patents
Visual grabbing workstation without positioning robot Download PDFInfo
- Publication number
- CN215471136U CN215471136U CN202120473570.8U CN202120473570U CN215471136U CN 215471136 U CN215471136 U CN 215471136U CN 202120473570 U CN202120473570 U CN 202120473570U CN 215471136 U CN215471136 U CN 215471136U
- Authority
- CN
- China
- Prior art keywords
- positioning
- adjusting bracket
- robot
- workstation
- workpiece
- 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.)
- Active
Links
- 230000000007 visual effect Effects 0.000 title claims description 29
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 239000012780 transparent material Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000000034 method Methods 0.000 description 7
- 238000011179 visual inspection Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a non-positioning robot vision grabbing workstation which comprises six robots, an operation control system, a vision detection device, an upright post and a non-positioning workbench, wherein the six robots and the vision detection device are respectively connected with the operation control system; the working end of the six-axis robot is provided with a gripper for gripping the workpiece on the non-positioning workbench, and the gripper is connected with the operation control system. According to the utility model, the workpiece does not need to be positioned and placed firstly, so that the problem that the workpiece needs to be repeatedly installed and positioned in a production line or a workstation is solved, the working time is saved, and the working efficiency and the intelligent degree are improved.
Description
Technical Field
The utility model belongs to the technical field of intelligent manufacturing, and relates to a visual grabbing workstation without a positioning robot.
Background
Along with the development of present intelligent manufacturing technique, in the manufacturing industry fields such as car, boats and ships, aerospace, large-scale machinery, automation and intelligent level are more and more high, and the production line constantly upgrades the transformation, and work efficiency also obtains constantly promoting, to the industrial robot of work in automated production line or workstation, accomplishes a kind of work that work is more and snatchs and place work, for example: workpiece carrying, feeding and discharging, station transferring and the like on the assembly line, in the process of grabbing by the industrial robot, workpiece identification and positioning are one of key links, and how to quickly realize workpiece identification and positioning affects design of a gripper structure of the industrial robot and beat control of automatic production. The existing industrial grabbing method mainly grabs a workpiece from a last fixed station with positioning to a next fixed station for assembly, welding and other operations, and in the whole production flow of products, the positioning times are more, the equipment is complex, and the consumed time is longer.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a positioning-free robot vision grabbing workstation to solve the problems that workpieces in an automatic production line or a workstation need to be repeatedly positioned and the working efficiency is low.
To achieve the above object, an embodiment of the present invention provides a robot vision grabbing station without positioning, including: the robot comprises a six-axis robot, an operation control system, a visual detection device, an upright post and a non-positioning workbench, wherein the six-axis robot and the visual detection device are respectively connected with the operation control system, and the visual detection device is arranged on the upright post; the vision detection device is provided with a camera, a camera support and a camera controller, wherein the camera and the camera controller are mechanically connected with the camera support, the camera is electrically connected with the camera controller, and the camera controller is electrically connected with the operation control system for transmitting vision information; and the working end of the six-axis robot is provided with a gripper to realize the gripping of the workpiece on the positioning-free workbench, and the gripper is connected with the operation control system to realize the gripping action of the gripper.
Furthermore, a vertical adjusting bracket, a horizontal adjusting bracket and a fastening bracket are arranged on the upright post, the vertical adjusting bracket can adjust the vertical position along the upright post in the vertical direction, and the horizontal adjusting bracket is connected with the vertical adjusting bracket and can move up and down along with the vertical adjusting bracket; the camera controller is connected with the horizontal adjusting bracket and can realize that the visual detection device horizontally moves on the horizontal adjusting bracket; the vertical adjusting bracket and the horizontal adjusting bracket are mechanically and fixedly connected through a fastening bracket.
Optionally, the number of the cameras 31 provided by the visual inspection device 3 is one of 2, 3, and 4.
Further, the workpiece positioning device further comprises a positioning workbench 7, the workpiece is placed on the positioning workbench 7 by the gripper 4, and the positioning workbench 7 is used for positioning and placing the workpiece.
Preferably, the safety light grating device further comprises a safety light grating 8, wherein the safety light grating 8 is provided with a transparent material baffle.
The utility model relates to a visual grabbing workstation without a positioning robot, which has the beneficial effects that: the robot has the advantages that the workpiece is positioned by using a visual detection technology, the workpiece position signal is obtained by resolving and is sent to the robot, the workpiece is accurately grabbed by the gripper, the workpiece is not required to be positioned and placed firstly, and only the workpiece is required to be placed in a designated area, so that the problem that the workpiece needs to be repeatedly positioned in an automatic production line or a workstation is solved, the working time is saved, the working process is simplified, and the working efficiency and the intelligent degree are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.
Fig. 1 is a schematic perspective view of a positioning-free robot vision grasping workstation according to an embodiment of the present invention.
In the figure:
1. a six-axis robot; 2. an arithmetic control system; 3. a visual inspection device; 31. a camera; 32. a camera support; 33. a camera controller; 4. a gripper; 5. a column; 51. a vertical adjustment bracket; 52. a horizontal adjustment bracket; 53. fastening a bracket; 6. no positioning workbench; 7. positioning a workbench; 8. and (4) a safety grating.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the utility model without any inventive step, are within the scope of protection of the utility model.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," 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 invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the utility model can be understood in specific cases to those of ordinary skill in the art.
A positioning-free robot vision gripping workstation according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 shows a three-dimensional structure diagram of a robot vision grabbing workstation without positioning according to an embodiment of the present invention. The embodiment of the utility model provides a visual grabbing workstation of a robot without positioning, which comprises: the six-axis robot comprises a six-axis robot 1, an operation control system 2, a visual detection device 3, an upright post 5 and a non-positioning workbench 6, wherein the six-axis robot 1 and the visual detection device 3 are respectively connected with the operation control system 2 and are electrically connected, the visual detection device 3 sends the position information of the shot workpiece to the operation control system 2, the attitude and the position information of the workpiece are obtained through analysis and calculation of the operation control system 2 and are sent to the six-axis robot 1, and the six-axis robot 1 performs workpiece grabbing. The visual detection device 3 is arranged on the upright post 5, so that the visual detection device 3 can be fixed conveniently and a better shooting position can be provided; the visual detection device 3 is provided with a camera 31, a camera support 32 and a camera controller 33, wherein the camera 31 and the camera controller 33 are mechanically connected with the camera support 32, the camera 31 is electrically connected with the camera controller 33 and sends the acquired workpiece image information to the camera controller 33 for processing, and the camera controller 33 is electrically connected with the operation control system 2 for visual information transmission and simultaneously receives control parameter information of the operation control system 2; the working end of the six-axis robot 1 is provided with the gripper 4 to grip a workpiece on the non-positioning workbench 6, the gripping posture of the gripper 4 is adjusted, the gripper 4 is connected with the operation control system 2 to grip the gripper 4, and generally the non-positioning workbench 6 is arranged below the visual detection device 3.
In the positioning-free robot vision grabbing workstation provided by the embodiment of the utility model, an upright post 5 is vertically arranged, a vertical adjusting bracket 51, a horizontal adjusting bracket 52 and a fastening bracket 53 are arranged on the upright post 5, the vertical adjusting bracket 51 can be vertically adjusted, the horizontal adjusting bracket 52 is connected with the vertical adjusting bracket 51 and can move up and down along with the vertical adjusting bracket 51; the camera controller 33 is connected with the horizontal adjusting bracket 52 and can realize that the visual detection device 3 moves on the horizontal adjusting bracket 52 in the horizontal direction; the vertical adjusting bracket 51 and the horizontal adjusting bracket 52 are mechanically and fixedly connected through the fastening bracket 53, so that the deformation of the vertical adjusting bracket is reduced, the strength and the rigidity are improved, the visual detection device 3 is accurately positioned, and a better workpiece shooting position is obtained through adjustment.
In the positioning-free robot vision grasping workstation provided by the embodiment of the utility model, the number of the cameras 31 arranged on the vision detection device 3 is one of 2, 3 and 4. Preferably, the number of the cameras 31 arranged in the visual inspection device 3 is 4, and the accuracy is higher by adopting 4-mesh cameras to shoot 4 different angle positions of the workpiece.
The positioning-free robot vision gripping workstation provided by the embodiment of the utility model further comprises a positioning workbench 7, the workpiece is placed on the positioning workbench 7 by the gripper 4, and the positioning workbench 7 is used for positioning and placing the workpiece, so that the workpiece can be gripped in the next procedure conveniently.
The positioning-free robot vision grabbing workstation further comprises a safety grating 8, wherein a transparent material baffle is arranged on the safety grating 8, so that production line personnel are protected, the phenomena of collision and the like are avoided, and the operation condition of the workstation can be observed.
The working process of the vision grabbing workstation without the positioning robot provided by the embodiment of the utility model is as follows: the workpiece is placed on a non-positioning workbench 6, the multiple cameras shoot the workpiece at multiple angles to obtain image information of the workpiece, the visual detection device 3 sends the shot image information of the workpiece to the operation control system 2, the image information is analyzed and resolved by the operation control system 2 to obtain the posture and position information of the workpiece and send the posture and position information to the six-axis robot 1, the six-axis robot 1 carries out workpiece grabbing, and the workpiece is placed on a positioning workbench 7 so as to be further processed subsequently.
Compared with the prior art, the positioning-free robot vision grabbing workstation provided by the embodiment of the utility model has reasonable design, positions the workpiece by using a vision detection technology, obtains a workpiece position signal by resolving, sends the workpiece position signal to the robot, accurately grabs the workpiece by the gripper, does not need to position the workpiece first, and only needs to place the workpiece in a designated area, thereby avoiding the problem that the workpiece in an automatic production line or the workstation needs to be repeatedly positioned, saving the working time, simplifying the working process and improving the working efficiency and the intelligent degree.
The following points need to be explained:
(1) in the embodiments of the present invention and the drawings, the same reference numerals refer to the same meanings unless otherwise defined.
(2) The drawings of the embodiments of the utility model only relate to the structures related to the embodiments of the utility model, and other structures can refer to common designs.
(3) In the drawings, which are used to describe embodiments of the utility model for purposes of clarity, certain features may be exaggerated or minimized in size, i.e., the drawings are not drawn to scale.
(4) Without conflict, embodiments of the present invention and features of the embodiments may be combined with each other to arrive at new embodiments.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (5)
1. A non-positional robot vision grasping workstation, comprising: the robot comprises a six-axis robot (1), an operation control system (2), a visual detection device (3), an upright post (5) and a non-positioning workbench (6), wherein the six-axis robot (1) and the visual detection device (3) are respectively connected with the operation control system (2), and the visual detection device (3) is arranged on the upright post (5); the visual detection device (3) is provided with a camera (31), a camera support (32) and a camera controller (33), the camera (31) and the camera controller (33) are both mechanically connected with the camera support (32), the camera (31) is electrically connected with the camera controller (33), and the camera controller (33) is electrically connected with the operation control system (2) for visual information transmission; the six-axis robot is characterized in that a gripper (4) is installed at the working end of the six-axis robot (1) to realize gripping of workpieces on the positioning-free workbench (6), and the gripper (4) is connected with the operation control system (2) to realize gripping of the gripper (4).
2. The robot vision gripping workstation without positioning according to claim 1, characterized in that a vertical adjusting bracket (51), a horizontal adjusting bracket (52) and a fastening bracket (53) are arranged on the upright post (5), the vertical adjusting bracket (51) can perform vertical up-and-down position adjustment along the upright post (5), the horizontal adjusting bracket (52) is connected with the vertical adjusting bracket (51) and can move up and down along with the vertical adjusting bracket (51); the camera controller (33) is connected with the horizontal adjusting bracket (52) and can realize the horizontal movement of the visual detection device (3) on the horizontal adjusting bracket (52); the vertical adjusting bracket (51) and the horizontal adjusting bracket (52) are mechanically and fixedly connected through the fastening bracket (53).
3. The positionless robot visual grasping workstation of claim 1, wherein the visual detection means (3) is provided with one of 2, 3, 4 number of said cameras (31).
4. The robot vision gripping workstation without positioning according to claim 1, characterized by further comprising a positioning table (7), wherein the gripper (4) places the workpiece on the positioning table (7), and the positioning table (7) is used for positioning and placing the workpiece.
5. The robot vision gripping workstation without positioning according to any claim 1 to 4, characterized by further comprising a safety grating (8), wherein the safety grating (8) is provided with a transparent material baffle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120473570.8U CN215471136U (en) | 2021-02-28 | 2021-02-28 | Visual grabbing workstation without positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120473570.8U CN215471136U (en) | 2021-02-28 | 2021-02-28 | Visual grabbing workstation without positioning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215471136U true CN215471136U (en) | 2022-01-11 |
Family
ID=79771686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120473570.8U Active CN215471136U (en) | 2021-02-28 | 2021-02-28 | Visual grabbing workstation without positioning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215471136U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114769141A (en) * | 2022-03-31 | 2022-07-22 | 潍坊华光光电子有限公司 | Semiconductor laser tube core power and light spot detection system |
-
2021
- 2021-02-28 CN CN202120473570.8U patent/CN215471136U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114769141A (en) * | 2022-03-31 | 2022-07-22 | 潍坊华光光电子有限公司 | Semiconductor laser tube core power and light spot detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108621120A (en) | A kind of conveying machinery arm of Multifunctional rotary displacement that capableing of branch's feeding | |
| CN106956263B (en) | Automobile part vision guiding gripper | |
| CN106965180A (en) | The mechanical arm grabbing device and method of bottle on streamline | |
| US10384258B2 (en) | Method and device for construction of a workpiece-related workpiece gripping device for press automation | |
| CN109341532B (en) | Automatic-assembly-oriented part coordinate calibration method based on structural features | |
| CN106737688B (en) | Multi-sensor-based automatic assembly system and method for header tube seats by robot | |
| JP2014176922A (en) | Robot system and method for manufacturing workpiece | |
| CN110605740A (en) | Vision guide feeding system suitable for automatic automobile roof carrying process | |
| CN110740841B (en) | Operating system | |
| CN215471136U (en) | Visual grabbing workstation without positioning robot | |
| CN114227691B (en) | Intelligent paint spraying track safety detection method for automobile sheet metal robot | |
| CN109415175B (en) | Intelligent loading and unloading system and working method thereof | |
| US20200290108A1 (en) | Pendular handling system for a press line | |
| CN114043298A (en) | Robot carrying brake disc workstation and machining method thereof | |
| CN211192502U (en) | Vision-guided engine cylinder unstacking detection robot equipment | |
| CN205363936U (en) | Reinforcing bar and pipe fitting sharing type machinery tongs | |
| CN114074331A (en) | Disordered grabbing method based on vision and robot | |
| CN112620908A (en) | Automatic projection welding system and method based on robot and vision matching | |
| CN113275476B (en) | Automatic material taking robot system for sheet metal machining | |
| CN211553801U (en) | Welding spot quality detection device | |
| CN112809713A (en) | Clamp, clamping mechanism and clamping method | |
| CN211945279U (en) | Multifunctional blanking gripper for engine cylinder cover | |
| CN213011948U (en) | Jade mattress positioning device | |
| CN211225434U (en) | Feeding and discharging device for pipe bending process | |
| CN210968968U (en) | Vision guide feeding system suitable for automatic automobile roof carrying process |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231016 Address after: Room 2955, Building A2, Changchun Jingyue Mingyu Square, No. 3777 Ecological Street, Jingyue District, Changchun City, Jilin Province, 130033 Patentee after: Changchun Qige Technology Co.,Ltd. Address before: 300402 assembly plant, No. 15, Jingli Road, Beichen Science and Technology Park, Beichen District, Tianjin Patentee before: TIANJIN MATE DETECTION EQUIPMENT CO.,LTD. |
|
| TR01 | Transfer of patent right |