CN102735149B - Detector and robot system provided with same - Google Patents
Detector and robot system provided with same Download PDFInfo
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- CN102735149B CN102735149B CN201210022284.5A CN201210022284A CN102735149B CN 102735149 B CN102735149 B CN 102735149B CN 201210022284 A CN201210022284 A CN 201210022284A CN 102735149 B CN102735149 B CN 102735149B
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- fixed
- sniffer
- positive pole
- sleeve
- probe
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- 238000001514 detection method Methods 0.000 claims abstract description 37
- 230000000694 effects Effects 0.000 claims description 6
- 239000011810 insulating material Substances 0.000 claims description 3
- 230000001737 promoting effect Effects 0.000 abstract 1
- 239000003292 glue Substances 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000004020 conductor Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 101100179594 Caenorhabditis elegans ins-4 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
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Abstract
The invention provides a detector and a robot system provided with the same. The detector comprises a fixed mechanism, an anode probe, an elastic element, and a cathode bar, wherein the anode probe is movably positioned on the fixed mechanism, the elastic element is fixed between the anode probe and the fixed mechanism, and the cathode bar is fixed on the fixed mechanism, and pushes against the anode probe after the anode probe detects out a workpiece and the fixed mechanism continuously moves to extrude the elastic element; the robot system comprises a control device, a manipulator arm electrically connected with the control device, and the detector, wherein the detector is fixed on the manipulator arm and electrically connected with the control device. The detector and the robot system can avoid troubles as the workpiece to be detected in the prior art needs a conductive design, and are applicable to detection on various conductive or non-conductive workpieces, thus further promoting the development of automation line industry.
Description
Technical field
The present invention relates to Detection Techniques field, particularly relate to and a kind ofly carry out the sniffer of location of workpiece detection and be provided with the robot system of this sniffer.
Background technology
Along with the increase gradually of labor cost, automation equipment becomes the important tool of carrying out production manufacture of every profession and trade production firm gradually.Such as in the installation process of some product, usually can utilize the automation dispensing equipment that fixed point is arranged, or can be called that glue dispensing machine robot system carries out a glue fixed installation to the product spare part of having good positioning.Because the location of product spare part is difficult to accomplish very accurate, thus this kind of glue dispensing machine robot system usually can arrange the particular location for detecting product spare part sniffer, carry out the control device that a glue position calculation controls and the some glue rifle carrying out a glue according to detection data.The detection method that this kind of automation dispensing equipment carries out the detection of product particular location is generally: connect positive wire to the product spare part of having good positioning, and sniffer connects cathode conductor; After product spare part is had good positioning, sniffer can be found along the Grid Track preset, then and between product spare part primary Ioops can be formed immediately after the probe of this sniffer touches product spare part, now, control device can receive the position signalling of product spare part, and carries out calculating according to the positional information of this product spare part and need a distance of glue rifle movement to carry out a glue.
But complete gradually along with each manufacturers produce line, the spare part of most of product is all sent to fixed position by travelling belt, is resent to that other are local, to enhance productivity after a glue completes.But the product spare part of this kind of movement is difficult to carry out conduction and arranges; In addition, also have the spare part of a lot of product to arrange by conduction can not be carried out after paint, or spare part is inherently non-conductive, thus causes detection method recited above and sniffer to use, and then often cause the puzzlement of production firm, and be unfavorable for the development of Automation Industry.
Therefore, be necessary that the robot system providing a kind of sniffer of improvement and be provided with this sniffer is to overcome the problems referred to above.
Summary of the invention
The object of the present invention is to provide a kind of sniffer easy to use and be provided with the robot system of this sniffer.
Correspondingly, sniffer of the present invention, comprise fixed mechanism, the activity orientation positive pole probe on fixed mechanism, be fixed on flexible member between positive pole probe and fixed mechanism, and to be fixed on fixed mechanism and at positive pole probe detection to workpiece and fixed mechanism continues movement and the cathode rod contacted of popping one's head in positive pole after extruding flexible member.
As a further improvement on the present invention, described positive pole probe is overall to be arranged in parallel with cathode rod, and described cathode rod and positive pole are popped one's head in, one end of abutting against does not extend beyond positive pole along the axial direction of cathode rod and pops one's head in.
As a further improvement on the present invention, the sleeve that described fixed mechanism comprises a fixed block and is fixed on fixed block, described positive pole probe comprise be contained in sleeve and along the movement of sleeve axial direction location division and stretch out the probe portion of sleeve, flexible member to be contained in sleeve and to support the rear side of location division away from probe portion, and described cathode rod is positioned at the dead astern of probe portion along the axial direction of cathode rod.
As a further improvement on the present invention, described positive pole probe comprises the slide bar of activity orientation on sleeve and is fixed on the detection block that slide bar stretches out one end of sleeve, described slide bar comprises described location division and self-align portion and stretches out sleeve with the connecting link of fixing detection block towards the direction away from fixed block, described probe portion is positioned at the side that detection block deviates from mutually with slide bar, and described cathode rod contacts with side detection block deviating from probe portion after flexible member is compressed.
As a further improvement on the present invention, described detection block is a flat right cylinder or hemisphere, and described probe portion correspondence is set to plane or sphere.
As a further improvement on the present invention, described flexible member is a stage clip, and described fixed block is provided with the locating slot of fixing flexible member away from one end of probe portion.
As a further improvement on the present invention, described sleeve is provided with the fixed head be fixed on fixed block, described fixed block is made up of insulating material, and be provided with the first fixed area of fixing fixed head and be positioned at the first fixed area side with the pilot hole of fixing cathode rod, described locating slot is positioned at the first fixed area.
As a further improvement on the present invention, described sniffer is also provided with some bolts fixed head and cathode rod and fixed block are fixed together.
For achieving the above object, present invention also offers a kind of robot system being provided with above-mentioned sniffer, the mechanical arm comprising control device and be electrically connected with control device, described sniffer to be fixed on mechanical arm and to be electrically connected with control device.
As a further improvement on the present invention, described mechanical arm comprises the contiguous block of operation finger and the fixing operation finger being positioned at its free end, and described sniffer also comprises the web joint being fixedly connected with fixed mechanism and contiguous block.
The invention has the beneficial effects as follows: sniffer of the present invention and robot system directly arrange positive pole probe, and positive pole probe detection to workpiece and fixed mechanism continue mobile and pop one's head in positive pole after extruding flexible member and contact and form the cathode rod in loop, make the detection of workpiece particular location can complete by means of only sniffer of the present invention thus, easy to use, and efficient solution can remove the puzzlement that must cause needing the workpiece that detect to carry out conduction design in prior art; In addition, sniffer of the present invention and robot system are suitable for various conduction or the detection of not conductive workpiece, and then effectively can promote setting and the development of automatic assembly line in each production industry.
Accompanying drawing explanation
Fig. 1 is the stereographic map of sniffer one embodiment of the present invention;
Fig. 2 is the three-dimensional exploded view of sniffer in Fig. 1;
Fig. 3 is the three-dimensional exploded view of another angle of sniffer in Fig. 1;
Fig. 4 is the stereographic map of robot system one embodiment of the present invention;
Fig. 5 is the enlarged drawing that Fig. 4 centre circle shows part.
Embodiment
Describe the present invention below with reference to each embodiment shown in the drawings.But these embodiments do not limit the present invention, the structure that those of ordinary skill in the art makes according to these embodiments, method or conversion functionally are all included in protection scope of the present invention.
Please refer to the embodiment that Figure 1 shows that sniffer 100 of the present invention.Sniffer 100 described in the present invention is applied on glue dispensing machine robot system 800 as shown in Figure 4.The mechanical arm 82 that this kind of robot system 800 comprises control device 81 and be electrically connected with control device 81.Described control device 100 to be fixed on mechanical arm 82 and to be electrically connected with control device 81.Please refer to shown in Fig. 1 to Fig. 5, this sniffer 100 comprise web joint 1 on the mechanical arm 82 that is connected in robot system 800, the fixed block 2 fixed with web joint 1, the sleeve 3 be fixed on fixed block 2, the positive pole of activity orientation on sleeve 3 pop one's head ins 4, be contained in sleeve 3 and be fixed on positive pole pop one's head in 4 rears flexible member 5 and be fixed on fixed block 2 and 4 touch workpiece 900 compression elastic element 5 and then to pop one's head in 4 cathode rods abutted against 6 with positive pole afterwards to pop one's head at positive pole.Described fixed block 2 and sleeve 3 form fixed mechanism.Described positive pole probe 4 is overall to be arranged in parallel with cathode rod 6, and described cathode rod 6 and positive pole are popped one's head in, 4 one end abutted against do not extend beyond positive pole along the axial direction of cathode rod 6 and pop one's head in 4.Described flexible member 5 is a stage clip extended along sleeve 3 axial direction.
Incorporated by reference to shown in Fig. 1 to Fig. 4, described web joint 1 and all T-shaped block of fixed block 2 are arranged, and are respectively arranged with mutual correspondence and for bolt (not shown) through with by web joint 1 and fixed block 2 perforation 11 fixed with each other.Described web joint 1 extends beyond fixed block 2, and arranges through hole 12 sniffer 100 entirety to be fixed on mechanical arm 82 in the part that it exceeds.
Described fixed block 2 is made up of insulating material, and to be provided with between perforation 11 with the first fixed area 21 of fixed muffle 3 and to be positioned at the first fixed area 21 side with the pilot hole 22 of fixing cathode rod 6.Described first fixed area 21 be provided with four fixed muffles 3 the first fixed orifice 211 and between the first fixed orifice 211 with the locating slot 212 of one end of positioning elastic element 5 away from positive pole probe 4.
Described sleeve 3 be arranged in parallel with cathode rod 6, and is provided with the fixed head 31 and the vertically extending guide pin bushing 32 of self-retaining plate 2 that are fixed on the first fixed area 21 on fixed block 2.Described guide pin bushing 32 is formed with the accepting hole 321 of connection corresponding with locating slot 212 and is positioned at the baffle plate 322 of guide pin bushing 32 away from one end of fixed head 31.Described baffle plate 322 is provided with the circular hole 323 that internal diameter is less than accepting hole 321 internal diameter.Described flexible member 5 is contained in accepting hole 321.Described fixed head 31 is provided with some second fixed orifices 311 corresponding with the first fixed orifice 211.Described sniffer 100 is also provided with some first and second fixed orifices 211,311 that passes with the bolt 71 fixed head 31 and fixed block 2 are fixed together.
Described positive pole probe 4 comprises the slide bar 41 of activity orientation on sleeve 3 and is fixed on the detection block 42 that slide bar 41 stretches out one end of sleeve 3.Described slide bar 41 comprises and is contained in location division 411 in accepting hole 321 and self-align portion 411 and stretches out sleeve 3 with the connecting link 412 of fixing detection block 42 along sleeve 3 axial direction towards the direction away from fixed block 2.Described location division 411 and connecting link 412 are all in cylindrical design, the external diameter of described location division 411 is less than the internal diameter of accepting hole 321 and is greater than the external diameter of connecting link 412 and the internal diameter of circular hole 323, the external diameter of connecting link 412 is less than the external diameter of circular hole 323, thus location division 411 can be moved along sleeve 3 axial direction in accepting hole 321, connecting link 412 passes to connect detection block 42 from circular hole 323.Rear end, described location division 411 is provided with the guiding face 4111 tilting to extend, and described flexible member 5 is held on guiding face 4111 near one end of detection block 42, thus is positioned at location division 411 between the baffle plate 322 on flexible member 5 and guide pin bushing 32.Described detection block 42 is a flat right cylinder or hemisphere, and is provided with the probe portion 421 being positioned at the side that detection block 42 deviates from mutually with slide bar 41.The shape of described probe portion 421 correspondence detection block 42 is set to plane or sphere.Described connecting link 412 free end forms a fixed pin 4121, and the side that described detection block 42 deviates from probe portion 421 is provided with the lockhole 422 fixed with fixed pin 4121.
Described cathode rod 6 is provided with the fixed part 61 be fixed in pilot hole 22 and the feeler 62 be connected with fixed part 61.Described sniffer 100 is also provided with through pilot hole 22 with the bolt 72 cathode rod 6 and fixed block 2 are fixed together.Described cathode rod 6 and positive pole 4 entirety of popping one's head in be arranged in parallel.Described cathode rod 6 and positive pole 4 one end abutted against of popping one's head in do not extend beyond positive pole along the axial direction of cathode rod 6 and pop one's head in 4, and the detection block 42 be positioned on positive pole probe 4 deviates from the dead astern of the side of probe portion 421, thus after making flexible member 5 be compressed, cathode rod 6 contacts with side detection block 42 deviating from probe portion 421.
Refer to Fig. 4 and Figure 5 shows that an embodiment of robot system 800 described in the present invention, this robot system 800 is mainly used in carrying out a glue operation.The circuit board (not shown) connecting some electrode cables (not shown) is provided with in described control device 81.Positive pole probe 4 in described sniffer 100 connects positive wire, cathode rod 6 connects cathode conductor, and form loop after positive pole probe 4 contacts with cathode rod 6, and then make control device 81 can calculate the particular location of workpiece 900 to carry out Accurate Points glue according to the displacement of sniffer 100.Described mechanical arm 82 comprises the contiguous block 822 of operation the finger 821 and fixing operation finger 821 being positioned at its free end.Described sniffer 100 is fixedly connected with fixed mechanism and contiguous block 822 by web joint 1, thus is fixed on mechanical arm 82 by sniffer 100.Described contiguous block 822 can carry out rotating to facilitate change to operate direction and the position of finger 821.Described operation finger 821 is for carrying out a some glue sebific duct for glue operation in the present invention, and really, in other embodiments, described operation finger 821 also can be the welding gun etc. carrying out welding operation.
During use, overall first the searching according to pre-set track of described sniffer 100 will carry out installing fixing workpiece 900, because the detection block 42 of positive pole probe 4 is positioned at the front side of cathode rod 6 along its axial direction, thus make positive pole probe 4 first touch workpiece 900, then when continuing movement detector 100, because positive pole probe 4 can not continue mobile, fixed block 2 to be popped one's head in 4 directions extruding flexible members 5 to positive pole, and it is mobile to drive cathode rod 6 to continue, finally touch the detection block 42 of positive pole probe 4 and form loop, thus realize the detection of workpiece 900 particular location.
In sum, sniffer 100 of the present invention and robot system 800 are directly provided with positive pole probe 4, and detect workpiece 900 and fixed mechanism continues mobile and pops one's head in positive pole after extruding flexible member 5 and 4 contact and form the cathode rod 6 in loop at positive pole probe 4, make the detection of workpiece 900 particular location can complete by means of only sniffer 100 of the present invention thus, easy to use, and the puzzlement workpiece 900 that must detect needs in prior art effectively can avoided to carry out conduction design and cause; In addition, sniffer 100 of the present invention and robot system 800 are suitable for various conduction or the detection of not conductive workpiece, and then promote setting and the development of each production industry automatic assembly line.
Be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
A series of detailed description listed is above only illustrating for feasibility embodiment of the present invention; they are also not used to limit the scope of the invention, all do not depart from the skill of the present invention equivalent implementations done of spirit or change all should be included within protection scope of the present invention.
Claims (10)
1. a sniffer, it is characterized in that, described sniffer comprises fixed mechanism, the activity orientation positive pole probe on fixed mechanism, be fixed on flexible member between positive pole probe and fixed mechanism, and to be fixed on fixed mechanism and at positive pole probe detection to workpiece and fixed mechanism continues movement and the cathode rod contacted of popping one's head in positive pole after extruding flexible member.
2. sniffer according to claim 1, is characterized in that, described positive pole probe is overall to be arranged in parallel with cathode rod, and described cathode rod and positive pole are popped one's head in, one end of abutting against does not extend beyond positive pole along the axial direction of cathode rod and pops one's head in.
3. sniffer according to claim 1, it is characterized in that, the sleeve that described fixed mechanism comprises a fixed block and is fixed on fixed block, described positive pole probe comprise be contained in sleeve and along the movement of sleeve axial direction location division and stretch out the probe portion of sleeve, flexible member to be contained in sleeve and to support the rear side of location division away from probe portion, and described cathode rod is positioned at the dead astern of probe portion along the axial direction of cathode rod.
4. sniffer according to claim 3, it is characterized in that, described positive pole probe comprises the slide bar of activity orientation on sleeve and is fixed on the detection block that slide bar stretches out one end of sleeve, described slide bar comprises described location division and self-align portion and stretches out sleeve with the connecting link of fixing detection block towards the direction away from fixed block, described probe portion is positioned at the side that detection block deviates from mutually with slide bar, and described cathode rod contacts with side detection block deviating from probe portion after flexible member is compressed.
5. sniffer according to claim 4, is characterized in that, described detection block is a flat right cylinder or hemisphere, and described probe portion correspondence is set to plane or sphere.
6. sniffer according to claim 3, is characterized in that, described flexible member is a stage clip, and described fixed block is provided with the locating slot of fixing flexible member away from one end of probe portion.
7. sniffer according to claim 6, it is characterized in that, described sleeve is provided with the fixed head be fixed on fixed block, described fixed block is made up of insulating material, and be provided with the first fixed area of fixing fixed head and be positioned at the first fixed area side with the pilot hole of fixing cathode rod, described locating slot is positioned at the first fixed area.
8. sniffer according to claim 7, is characterized in that, described sniffer is also provided with some bolts fixed head and cathode rod and fixed block are fixed together.
9. be provided with a robot system for the sniffer in claim 1-8 described in any one, the mechanical arm comprising control device and be electrically connected with control device, described sniffer to be fixed on mechanical arm and to be electrically connected with control device.
10. robot system according to claim 9, is characterized in that, described mechanical arm comprises the contiguous block of operation finger and the fixing operation finger being positioned at its free end, and described sniffer also comprises the web joint being fixedly connected with fixed mechanism and contiguous block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210022284.5A CN102735149B (en) | 2012-02-01 | 2012-02-01 | Detector and robot system provided with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210022284.5A CN102735149B (en) | 2012-02-01 | 2012-02-01 | Detector and robot system provided with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102735149A CN102735149A (en) | 2012-10-17 |
| CN102735149B true CN102735149B (en) | 2014-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210022284.5A Expired - Fee Related CN102735149B (en) | 2012-02-01 | 2012-02-01 | Detector and robot system provided with same |
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| CN (1) | CN102735149B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108906482A (en) * | 2018-03-30 | 2018-11-30 | 鸿利智汇集团股份有限公司 | A kind of LED dispensing method and point glue equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0445945A1 (en) * | 1990-02-23 | 1991-09-11 | Renishaw plc | Touch probe |
| CN201514490U (en) * | 2009-09-17 | 2010-06-23 | 施耐德电气低压(天津)有限公司 | Rivet detection device |
| CN202032996U (en) * | 2011-02-28 | 2011-11-09 | 深圳市大族光电设备有限公司 | Detection device |
| CN202599324U (en) * | 2012-02-01 | 2012-12-12 | 昆山华恒焊接股份有限公司 | Detection apparatus and robot system provided with same |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1194509A (en) * | 1997-09-12 | 1999-04-09 | Nisshin Sangyo Kk | Device for detecting work position in machine tool |
-
2012
- 2012-02-01 CN CN201210022284.5A patent/CN102735149B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0445945A1 (en) * | 1990-02-23 | 1991-09-11 | Renishaw plc | Touch probe |
| CN201514490U (en) * | 2009-09-17 | 2010-06-23 | 施耐德电气低压(天津)有限公司 | Rivet detection device |
| CN202032996U (en) * | 2011-02-28 | 2011-11-09 | 深圳市大族光电设备有限公司 | Detection device |
| CN202599324U (en) * | 2012-02-01 | 2012-12-12 | 昆山华恒焊接股份有限公司 | Detection apparatus and robot system provided with same |
Non-Patent Citations (2)
| Title |
|---|
| JP特开平11-94509A 1999.04.09 * |
| SMD 石英晶体全自动点胶机的研制;班定平等;《机械工程师》;20090331(第3期);第138-140页 * |
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| CN102735149A (en) | 2012-10-17 |
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Granted publication date: 20141231 |