CN214643755U - Intelligent robot feeding and discharging workstation - Google Patents
Intelligent robot feeding and discharging workstation Download PDFInfo
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- CN214643755U CN214643755U CN202120776351.7U CN202120776351U CN214643755U CN 214643755 U CN214643755 U CN 214643755U CN 202120776351 U CN202120776351 U CN 202120776351U CN 214643755 U CN214643755 U CN 214643755U
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- 238000007599 discharging Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 238000000034 method Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model discloses an intelligent feeding and discharging workstation of a robot, which comprises a feeding and discharging robot, wherein an electromagnetic clamp is arranged at the end part of an operating arm of the feeding and discharging robot, a 3D visual recognition device is arranged at one side of the electromagnetic clamp, and a plurality of goods storage racks are arranged at the two sides of the feeding and discharging robot; the device also comprises a computer connected with the signal output end of the 3D visual recognition device, the signal output end of the computer is connected with a PLC (programmable logic controller), and the signal output end of the PLC is connected with a memory of the loading and unloading robot; the image acquired by the 3D visual recognition device in real time is transmitted to a computer, the image is compared with a standard image, and a size deviation value is accurately calculated; and the computer sends the deviation value to a memory of the PLC, the deviation value is converted into a correction value which can be identified by the feeding and discharging robot through the PLC, the correction value is transmitted to the memory of the feeding and discharging robot, and the feeding and discharging robot carries out automatic feeding and discharging on the workpiece after compensating and correcting the original assembly point according to the correction value.
Description
Technical Field
The utility model relates to an automatic go up mechanical equipment of unloading especially relates to a unloading workstation on robot intelligence.
Background
At present, the loading and unloading modes in the mechanical industry mainly comprise manual loading and unloading and vibration disc loading and unloading. The manual feeding and discharging mode is the most common feeding and discharging mode before automation is not popularized, certain advantages are achieved under the condition that labor waste does not occur and labor cost is low, the traditional vibration disc can only be applied to electronic part processing equipment, electronic components and hardware small parts are automatically fed, reusability is poor, and noise is large.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a unloading workstation is gone up to robot intelligence that intermediate link is few, go up unloading and is accomplished by the robot completely is provided.
In order to solve the technical problem, the technical scheme of the utility model is that: the intelligent robot loading and unloading workstation comprises an loading and unloading robot located outside an loading and unloading port of a workpiece conveying line body, wherein an electromagnetic clamp is mounted at the end part of an operating arm of the loading and unloading robot, a 3D visual recognition device is mounted on one side of the electromagnetic clamp, and a plurality of goods storage racks are arranged in the operating ranges of two sides of the loading and unloading robot;
the automatic feeding and discharging robot is characterized by further comprising a computer connected with a signal output end of the 3D vision recognition device, wherein the signal output end of the computer is connected with a PLC (programmable logic controller), and the signal output end of the PLC is connected with a storage of the feeding and discharging robot.
As a preferred technical scheme, the feeding and discharging robot comprises a six-axis industrial robot.
As a preferred technical scheme, the 3D vision recognition device comprises a vision recognition seat arranged on one side of the electromagnetic clamp, and a high-definition camera is arranged on the vision recognition seat.
As a preferred technical solution, the signal output terminal of the computer is connected to the PLC controller through an ethernet.
As a preferred technical scheme, a three-side safety barrier enclosing the loading and unloading robot and the goods storage rack is arranged on one side of the workpiece conveying line body, and at least one safety door is arranged on the safety barrier.
Due to the adoption of the technical scheme, the intelligent robot loading and unloading workstation comprises an loading and unloading robot positioned outside an loading and unloading port of a workpiece conveying line body, wherein an electromagnetic clamp is installed at the end part of an operating arm of the loading and unloading robot, a 3D visual recognition device is installed on one side of the electromagnetic clamp, and a plurality of goods storage racks are arranged in the operation ranges on the two sides of the loading and unloading robot; the device also comprises a computer connected with a signal output end of the 3D visual recognition device, wherein the signal output end of the computer is connected with a PLC (programmable logic controller), and the signal output end of the PLC is connected with a memory of the loading and unloading robot; the method comprises the following steps that a 3D visual recognition device is used for collecting a standard image of a product and pre-storing the standard image in a computer, when the method works, the image collected by the 3D visual recognition device in real time is transmitted to the computer, an image analysis tool of visual software is used for comparing the image obtained by a target product with the standard image, and a size deviation value is accurately calculated; and the computer sends the deviation value to a memory of the PLC, the deviation value is converted into a correction value which can be identified by the feeding and discharging robot through the PLC, the correction value is transmitted to the memory of the feeding and discharging robot, and the feeding and discharging robot carries out automatic feeding and discharging on the workpiece after compensating and correcting the original assembly point according to the correction value.
Drawings
The drawings are only intended to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:
fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a top view of an embodiment of the invention;
in the figure: 11-a workpiece conveyor line body; 12-a loading and unloading robot; 13-an electromagnetic clamp; a 2-3D visual recognition device; 3-a goods storage rack; 41-safety guardrails; 42-safety door.
Detailed Description
The invention is further explained below with reference to the drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention have been described by way of illustration only. Needless to say, a person skilled in the art will recognize that the described embodiments can be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.
As shown in fig. 1 and 2, the robot intelligent loading and unloading workstation includes an loading and unloading robot 12 located outside an loading and unloading port of a workpiece conveyor line body 11, an electromagnetic clamp 13 is installed at an end of an operating arm of the loading and unloading robot 12, a 3D visual recognition device 2 is installed at one side of the electromagnetic clamp 13, and a plurality of goods storage racks 3 are arranged in an operating range on two sides of the loading and unloading robot 12; the automatic feeding and discharging robot is characterized by further comprising a computer (not shown in the figure) connected with a signal output end of the 3D visual recognition device 2, wherein the signal output end of the computer is connected with a PLC (programmable logic controller) (not shown in the figure), and the signal output end of the PLC is connected with a memory of the feeding and discharging robot 12.
The loading and unloading robot 12 comprises a six-axis industrial robot. 3D visual identification device 2 is including installing the visual identification seat of electromagnetic clamp 13 one side, install high definition digtal camera on the visual identification seat.
And the signal output end of the computer is connected with the PLC through an Ethernet. A three-side safety fence 41 which surrounds the loading and unloading robot 12 and the goods storage rack 3 is arranged on one side of the workpiece conveying line body 11, and at least one safety door 42 is arranged on the safety fence 41.
The method comprises the following steps that a high-definition camera of a 3D visual recognition device 2 is used for obtaining a standard image of a product and pre-storing the standard image in a computer, when the method works, the high-definition camera of the 3D visual recognition device 2 continuously adopts image data to ensure the accurate positioning of the position of the product, the high-definition camera transmits the collected image to the computer, an image analysis tool of visual software is used for comparing the image obtained by a target product with the standard image, and the size deviation value is accurately calculated; the computer puts the size deviation value into a memory of the computer, sends the deviation value into a memory of a PLC (programmable logic controller) through Ethernet, converts the deviation value into a correction value which can be identified by the feeding and discharging robot 12 through the PLC, transmits the correction value into the memory of the feeding and discharging robot 12, and carries out automatic feeding and discharging on workpieces after the feeding and discharging robot 12 carries out compensation correction on an original assembly point according to the correction value.
Utilize this device to go up the unloading in-process to machining center, the distinguishable work piece position of 3D vision recognition device 2, go up unloading robot 12 operation procedure, this device is accomplished by the robot from material loading, clamping, unloading completely, has reduced intermediate link, and the part quality improves greatly, and especially the work piece surface is more pleasing to the eye, and the stability of while quality has obtained the guarantee.
The basic principles, main features and advantages of the present invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. Unloading workstation in robot intelligence, its characterized in that: the automatic loading and unloading robot comprises an loading and unloading robot positioned outside a loading and unloading port of a workpiece conveying line body, wherein an electromagnetic clamp is mounted at the end part of an operating arm of the loading and unloading robot, a 3D visual recognition device is mounted on one side of the electromagnetic clamp, and a plurality of goods storage racks are arranged in an operating range on two sides of the loading and unloading robot;
the automatic feeding and discharging robot is characterized by further comprising a computer connected with a signal output end of the 3D vision recognition device, wherein the signal output end of the computer is connected with a PLC (programmable logic controller), and the signal output end of the PLC is connected with a storage of the feeding and discharging robot.
2. The intelligent robot loading and unloading workstation of claim 1, wherein: the feeding and discharging robot comprises a six-axis industrial robot.
3. The intelligent robot loading and unloading workstation of claim 1, wherein: the 3D visual recognition device comprises a visual recognition seat arranged on one side of the electromagnetic clamp, and a high-definition camera is arranged on the visual recognition seat.
4. The intelligent robot loading and unloading workstation of claim 1, wherein: and the signal output end of the computer is connected with the PLC through an Ethernet.
5. The intelligent robot loading and unloading workstation as claimed in any one of claims 1 to 4, wherein: and a three-surface safety guardrail which surrounds the feeding and discharging robot and the goods storage rack is arranged on one side of the workpiece conveying line body, and at least one safety door is arranged on the safety guardrail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120776351.7U CN214643755U (en) | 2021-04-15 | 2021-04-15 | Intelligent robot feeding and discharging workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120776351.7U CN214643755U (en) | 2021-04-15 | 2021-04-15 | Intelligent robot feeding and discharging workstation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214643755U true CN214643755U (en) | 2021-11-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120776351.7U Active CN214643755U (en) | 2021-04-15 | 2021-04-15 | Intelligent robot feeding and discharging workstation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214643755U (en) |
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2021
- 2021-04-15 CN CN202120776351.7U patent/CN214643755U/en active Active
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