Collaborative robot assembly system

Abstract

The utility model provides a collaborative robot assembly system, which belongs to the technical field of machine vision, and comprises an installation assembly and a robot assembly, the installation assembly comprises a support, a deck plate, a protection plate and a touch screen installation frame; the robot assembly comprises a robot body, an electric clamping jaw and a robot demonstrator. The stability of the position of the robot assembly is maintained by additionally arranging the support with the deck plate, the gear can be conveniently recognized and clamped and assembled, the through hole structure is additionally arranged in the middle of the mounting plate and used for being matched with the electric clamping jaw to assemble a gear part, the gear can be precisely in butt joint and kept in a meshed connection state, and the working efficiency is improved. The industrial robot puts different gears into the side wall of the mounting plate for assembly through the visual recognition system, different gear transmission ratios are formed, modular design is adopted, flexible combination can be achieved according to actual requirements, various practical training tasks are easily achieved, students are helped to rapidly master related skills of the robot and the machine visual system, and the training efficiency is improved. And the practical ability and the innovation ability are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of machine vision, and in particular relates to a collaborative robot assembly system. Background Art

[0002] Machine vision is a rapidly developing branch of artificial intelligence. Machine vision uses machines to replace human eyes for measurement and judgment. The machine vision system uses machine vision products to convert the captured target into an image signal, transmits it to a dedicated image processing system, obtains the morphological information of the captured target, and converts it into a digital signal based on pixel distribution, brightness, color and other information; the image system performs various operations on these signals to extract the target's features, and then controls the operation of the on-site equipment based on the judgment results.

[0003] Existing robot teaching equipment is relatively simple and often cannot integrate 2D vision, 3D vision, and machine vision for training. It is also not convenient for industrial robot-related training, especially the teaching of adjusting industrial robot gripping and assembly is more difficult. Utility Model Content

[0004] The purpose of the present invention is to provide a collaborative robot assembly system, aiming to solve the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A collaborative robot assembly system, comprising:

[0007] An installation assembly, the installation assembly comprising a bracket, a table panel installed in the middle of the bracket, a guard plate fixedly connected to the side wall of the bracket, and a touch screen mounting bracket installed on the side wall of the bracket;

[0008] A robot assembly, comprising a robot body, an electric gripper mounted at the output end of the robot body, and a robot teach pendant mounted in the middle of the touch screen mounting frame. The robot body is connected to the middle of the table panel by bolts, a material table is connected to one side of the table panel by bolts, the electric gripper is located above the material table, and the robot teach pendant is electrically connected to the robot body via a wire.

[0009] As a preferred solution of the present invention, a door body is hingedly connected to the front side wall of the bracket, the door body is connected to the guard plate, and the door body is located in front of the material platform.

[0010] As a preferred solution of the present invention, a robot controller is connected to the middle position of the lower end of the table panel through bolts, and the robot controller is electrically connected to the robot body through a wire.

[0011] As a preferred solution of the present invention, a camera module is installed on one side of the upper end of the bracket, and the camera module is located above the material table.

[0012] As a preferred solution of the present invention, a mounting plate is rotatably installed in the middle of the material table, the mounting plate is located below the electric clamp, and a through-hole structure matching the electric clamp is opened at equal intervals on the middle side wall of the mounting plate.

[0013] As a preferred solution of the present invention, the outer wall of the material table is connected to the motor by bolts, the motor output shaft is fixedly connected to the main shaft of the mounting plate through a coupling, and a shift rod is installed on the lower side wall of the mounting plate, and the inner wall of the material table is connected to an angle sensor matching the shift rod by bolts.

[0014] As a preferred solution of the present invention, a pointer is connected to the inner wall of the other end of the mounting plate by bolts, and an angle plate matching the pointer is installed on the inner wall of the other end of the material platform.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] This application adds a bracket with a table panel to cooperate with the installation of robot components, maintain the stability of the position of the robot components, and facilitate the identification and clamping assembly operations of the gears. The guard plate is used to cooperate with the shielding of the robot components to reduce the impact of the external environment on the robot components. At the same time, it can prevent workers from accidentally touching the robot components and affecting the normal operation of the robot components. The touch screen mounting bracket is used to install the operating panel of the control system and can also install the control panel of the robot components to adjust the operation of the robot components to adapt to different usage requirements and is easy to adjust.

[0017] This application installs a rotatable mounting plate in the middle of the material table, and adds a through-hole structure in the middle of the mounting plate for cooperating with the electric gripper to assemble the gear components. The through-hole in the middle of the mounting plate is convenient for inserting the shaft and limiting the gears so that the gears can be accurately docked and maintain an engaged connection state. The industrial robot uses a visual recognition system to place different gears into the side wall of the mounting plate for assembly to form different gear transmission ratios.

[0018] This application drives the installation plate by installing a motor on the side wall of the material table. The motor can accurately control the tilt angle of the material table with the control equipment, and better cooperate with the electric gripper installed at the output end of the robot body. At the same time, a lever is added at the bottom of the installation plate. When the installation plate rotates, it can drive the lever to rotate, and then trigger the angle sensor to detect the tilt angle of the installation plate, which is convenient for equipment identification. It adopts a modular design and can be flexibly combined according to actual needs. Various training tasks can be easily completed to help students quickly master skills related to robots and machine vision systems, and improve their practical and innovative abilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. Among them:

[0020] Figure 1 This is one of the overall structural diagrams of the utility model;

[0021] Figure 2 This is the second schematic diagram of the overall structure of the utility model;

[0022] Figure 3 This is a schematic diagram of the closed state structure of the utility model;

[0023] Figure 4 This is a schematic diagram of the internal component structure of the utility model;

[0024] Figure 5 It is a schematic diagram of the top structure of the utility model.

[0025] In the figure: 100, mounting assembly; 101, bracket; 102, table panel; 103, guard plate; 104, touch screen mounting bracket; 105, material table; 106, door body; 107, camera module; 108, mounting plate; 109, motor; 110, lever; 111, angle sensor; 112, pointer; 113, angle plate; 200, robot assembly; 201, robot body; 202, electric gripper; 203, robot teaching pendant; 204, robot controller. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0028] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments. Example

[0029] Reference Figure 1-5 , is the first embodiment of the present utility model, which provides a collaborative robot assembly system, including,

[0030] The installation assembly 100 includes a bracket 101 , a table panel 102 installed in the middle of the bracket 101 , a guard plate 103 fixedly connected to the side wall of the bracket 101 , and a touch screen mounting bracket 104 installed on the side wall of the bracket 101 .

[0031] Among them, the bracket 101 with the table panel 102 is used to cooperate with the installation of the robot component 200, maintain the stability of the position of the robot component 200, and facilitate the identification and clamping assembly operations of the gears. The guard plate 103 is used to cooperate with the shielding of the robot component 200, reduce the impact of the external environment on the robot component 200, and at the same time prevent the staff from accidentally touching the robot component 200 and affecting the normal operation of the robot component 200. The touch screen mounting bracket 104 is used to install the operating panel of the control system, and can also install the control panel of the robot component 200 to adjust the operation of the robot component 200 to adapt to different usage requirements and is easy to adjust.

[0032] Specifically, a door body 106 is hingedly connected to the front side wall of the bracket 101 , the door body 106 is connected to the guard plate 103 , and the door body 106 is located in front of the material platform 105 .

[0033] Among them, a door body 106 is installed at the front end of the bracket 101. The door body 106 is used to shield and protect the working area of the robot component 200. The door body 106 can also be opened according to needs to perform maintenance and loading and unloading operations on the robot component 200.

[0034] Furthermore, a camera module 107 is installed on one side of the upper end of the bracket 101 , and the camera module 107 is located above the material table 105 .

[0035] Among them, a camera module 107 is installed on the upper end of the bracket 101 for identifying the gears through the control device, which facilitates the robot component 200 to locate and clamp the gears, and clamp the gears to the assembly platform for assembly and adjustment.

[0036] Furthermore, a mounting plate 108 is rotatably mounted in the middle of the material table 105 , the mounting plate 108 is located below the electric clamp 202 , and a through-hole structure matching the electric clamp 202 is opened at equal intervals on the middle side wall of the mounting plate 108 .

[0037] Among them, a rotatable mounting plate 108 is installed in the middle of the material table 105, and a through-hole structure is added in the middle of the mounting plate 108 to cooperate with the electric clamp 202 to assemble the gear components. The through-hole in the middle of the mounting plate 108 is convenient for inserting the shaft and limiting the gears so that the gears can be accurately docked and maintain an engaged connection state. The industrial robot uses the 3D visual recognition system to place different gears into the side wall of the mounting plate 108 for assembly to form different gear transmission ratios.

[0038] Preferably, the outer wall of the material platform 105 is connected to the motor 109 by bolts, the output shaft of the motor 109 is fixedly connected to the main shaft of the mounting plate 108 through a coupling, and a shift rod 110 is installed on the lower side wall of the mounting plate 108, and the inner wall of the material platform 105 is connected to the angle sensor 111 matching the shift rod 110 by bolts.

[0039] Among them, a motor 109 is installed on the side wall of the material table 105 to drive the installation plate 108 to operate. The motor 109 can accurately control the tilt angle of the material table 105 with the control device, and better cooperate with the electric gripper 202 installed at the output end of the robot body 201. At the same time, a lever 110 is added to the bottom of the installation plate 108. When the installation plate 108 rotates, it can drive the lever 110 to rotate, and then trigger the angle sensor 111 to detect the tilt angle of the installation plate 108, which is convenient for equipment identification.

[0040] Preferably, a pointer 112 is connected to the inner wall of the other end of the mounting plate 108 by bolts, and an angle plate 113 matching the pointer 112 is installed on the inner wall of the other end of the material platform 105 .

[0041] Among them, a pointer 112 is added to the side wall of the mounting plate 108 to cooperate with the angle plate 113 on the inner wall of the material table 105. When the mounting plate 108 rotates, the pointer 112 will be driven to rotate along the angle plate 113, which is convenient for observing the current rotation angle of the mounting plate 108 from the outside and for adjusting the mounting plate 108.

[0042] In summary, the present application adds a bracket 101 with a table panel 102 to cooperate with the installation of the robot component 200, maintain the stability of the position of the robot component 200, and facilitate the identification and clamping assembly operations of the gears. The guard plate 103 is used to cooperate with the shielding of the robot component 200, reduce the impact of the external environment on the robot component 200, and at the same time prevent the staff from accidentally touching the robot component 200 and affecting the normal operation of the robot component 200. The touch screen mounting bracket 104 is used to install the operating panel of the control system and the control panel of the robot component 200. It can also adjust the operation of the robot component 200 to adapt to different usage requirements and is easy to adjust. A rotatable mounting plate 108 is installed in the middle of the material table 105, and a through-hole structure is added in the middle of the mounting plate 108 to cooperate with the electric The gripper 202 assembles the gear components, and the through hole in the middle of the mounting plate 108 is convenient for inserting the shaft and limiting the gears so that the gears can be accurately docked and maintain a meshing connection state. The industrial robot uses the 3D visual recognition system to place different gears on the side wall of the mounting plate 108 for assembly to form different gear transmission ratios. A motor 109 is installed on the side wall of the material table 105 to drive the mounting plate 108 to operate. The motor 109 can accurately control the inclination angle of the material table 105 with the control device, and better cooperate with the electric gripper 202 installed at the output end of the robot body 201. At the same time, a lever 110 is added to the bottom of the mounting plate 108. When the mounting plate 108 rotates, it can drive the lever 110 to rotate, thereby triggering the angle sensor 111 to detect the inclination angle of the mounting plate 108, which is convenient for equipment identification. Example

[0043] Reference Figure 1-5 , which is the second embodiment of the present invention. Different from the previous embodiment, this embodiment provides a robot assembly 200 of a collaborative robot assembly system.

[0044] The robot assembly 200 includes a robot body 201, an electric gripper 202 installed at the output end of the robot body 201, and a robot teach pendant 203 installed in the middle position of the touch screen mounting frame 104. The robot body 201 is connected to the middle position of the table panel 102 by bolts, and a material table 105 is connected to one side of the table panel 102 by bolts. The electric gripper 202 is located above the material table 105, and the robot teach pendant 203 is electrically connected to the robot body 201 through a wire.

[0045] Among them, the robot body 201 adopts a conventional industrial robot, such as AUBO-i3, which can run on the table panel 102. By controlling the operating position of the robot body 201, the electric gripper 202 is adjusted to clamp the material from the material box on the table panel 102, and the material is clamped to the material table 105 for assembly. The adjustment is convenient, and a robot teaching pendant 203 is installed in the middle position of the touch screen mounting frame 104, which is convenient for adjusting the operating parameters of the robot body 201 from the outside, adapting to the calibration of the working position of the robot body 201, and can also adapt to the clamping of different materials.

[0046] Specifically, the robot controller 204 is connected to the middle position of the lower end of the table panel 102 through bolts, and the robot controller 204 is electrically connected to the robot body 201 through wires.

[0047] Among them, a robot controller 204 is installed at the lower end of the table panel 102 and connected to the robot body 201. The robot controller 204 is used to perform operations such as power supply and air supply to the robot body 201, maintain the stable operation of the robot body 201, and facilitate the interaction of working parameters between the robot and the control device.

[0048] In summary, the present application adds a robot body 201 to run on the table panel 102. Conventional industrial robot models such as AUBO-i3 control the running position of the robot body 201, adjust the electric gripper 202 to clamp materials from the material box on the table panel 102, and clamp the materials to the material table 105 for assembly. The adjustment is convenient, and a robot teaching pendant 203 is installed in the middle position of the touch screen mounting frame 104 to facilitate external adjustment of the operating parameters of the robot body 201, adapt to the calibration of the working position of the robot body 201, and can also adapt to the clamping of different materials.

[0049] It is important to note that the configuration and arrangement of the present application, as shown in various exemplary embodiments, are illustrative only. Although only a few embodiments are described in detail in this disclosure, those reading this disclosure will readily appreciate that numerous modifications are possible (e.g., variations in the size, dimensions, structure, shape, and proportions of various components, as well as parameter values (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without materially departing from the novel teachings and advantages of the subject matter described herein. For example, components shown as integrally formed may be constructed from multiple parts or components, the positions of components may be inverted or otherwise altered, and the nature, number, or position of discrete components may be modified or changed. Therefore, all such modifications are intended to be encompassed within the scope of this invention. The order or sequence of any process or method steps may be altered or reordered according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover structures described herein that perform the function described, and not only structural equivalence but also equivalent structures. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0050] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0051] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will, for those of ordinary skill having the benefit of this disclosure, be a routine undertaking of design, fabrication, and production without undue experimentation.

[0052] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, and all of these should be included in the scope of the claims of the present invention.

Claims

1. A collaborative robot assembly system, characterized by: include, An installation assembly (100), the installation assembly (100) comprising a bracket (101), a table panel (102) installed in the middle of the bracket (101), a guard plate (103) fixedly connected to the side wall of the bracket (101), and a touch screen mounting frame (104) installed on the side wall of the bracket (101); A robot assembly (200), comprising a robot body (201), an electric gripper (202) mounted at an output end of the robot body (201), and a robot teach pendant (203) mounted at a middle position of the touch screen mounting frame (104), wherein the robot body (201) is connected to a middle position of the table panel (102) via bolts, a material table (105) is connected to one side of the table panel (102) via bolts, the electric gripper (202) is located above the material table (105), and the robot teach pendant (203) is electrically connected to the robot body (201) via a wire.

2. The collaborative robot assembly system according to claim 1, characterized in that: A door body (106) is hingedly connected to the front side wall of the bracket (101), the door body (106) is docked with the guard plate (103), and the door body (106) is located in front of the material platform (105).

3. The collaborative robot assembly system according to claim 2, characterized in that: A robot controller (204) is connected to the middle position of the lower end of the table panel (102) via bolts, and the robot controller (204) is electrically connected to the robot body (201) via a wire.

4. The collaborative robot assembly system according to claim 3, characterized in that: A camera module (107) is installed on one side of the upper end of the bracket (101), and the camera module (107) is located above the material table (105).

5. The collaborative robot assembly system according to claim 4, characterized in that: A mounting plate (108) is rotatably mounted in the middle of the material table (105), the mounting plate (108) is located below the electric clamp (202), and a through-hole structure matching the electric clamp (202) is opened at equal intervals on the middle side wall of the mounting plate (108).

6. The collaborative robot assembly system according to claim 5, characterized in that: The outer side wall of the material platform (105) is connected to a motor (109) via bolts, the output shaft of the motor (109) is fixedly connected to the main shaft of the mounting plate (108) via a coupling, and a shift rod (110) is installed on the lower side wall of the mounting plate (108), and the inner side wall of the material platform (105) is connected to an angle sensor (111) matching the shift rod (110) via bolts.

7. The collaborative robot assembly system according to claim 6, characterized in that: The inner wall of the other end of the mounting plate (108) is connected to a pointer (112) via bolts, and the inner wall of the other end of the material platform (105) is installed with an angle plate (113) that matches the pointer (112).

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