CN103552091B - Transfer roller on robot device and the checkout gear of track condition - Google Patents
Transfer roller on robot device and the checkout gear of track condition Download PDFInfo
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- CN103552091B CN103552091B CN201310453205.0A CN201310453205A CN103552091B CN 103552091 B CN103552091 B CN 103552091B CN 201310453205 A CN201310453205 A CN 201310453205A CN 103552091 B CN103552091 B CN 103552091B
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Abstract
Transfer roller on robot device and the checkout gear of track condition, rotate in the two sides of track, and the first support for roller selecting one of them to support transfer roller in the middle of a pair that moves horizontally transfer roller is fixedly connected with outer cover, another second support for roller supporting transfer roller adopts rotary joint to be connected with rotatable outer cover; The side of its outer cover possesses measuring unit, and one end of the second support for roller possesses detecting unit; Described measuring unit is made up of displacement transducer.The present invention can according to track and the state transferring roller, the change such as the degree of wear, deformation extent, foreign matter inflow, and by measuring position, changing value simply and promptly can detect the state of transfer roller and track in real time.And adopt the changing value detected, by computer and control unit, the jaw to grip device compensates, and guarantees can accurately transfer workpiece to tram all the time.
Description
Technical field
The present invention relates to robot device, particularly relate to the checkout gear of transfer roller on a kind of robot device and track condition.
Background technology
In order to various industrial Workpiece transfer to assigned address, adopt robot device.Workpiece is transferred to the position of specifying from the position of loading by the grip device installing moveable crawl or place work piece in orbit by this kind of Workpiece transfer robot device.Above-mentioned grip device by be fixedly connected with in orbit can level transfer transfer roller, be installed on ground, and can move horizontally in orbit; But when above-mentioned Workpiece transfer robot device is transferred in orbit, transfer roller produces with the phase mutual friction of track and weares and teares; According to the degree of wearing and tearing, can there is trickle change in location (or angle change) in above-mentioned fixture unit.
This trickle change in location, causes the position of Workpiece transfer accurate not; Traditional Workpiece transfer robot device can not detect (induction) the problems referred to above, that is, according to the degree of wear occurred between transfer roller and track, fixture unit change in location can occur; Therefore now needs can detect transfer roller and track it
Between the checkout gear of the degree of wear that occurs.And, the change in location of fixture unit is not only because the wearing and tearing of transfer roller and track, because temperature or external force impact also can cause distortion, the various problems that foreign matter inflow etc. produce between track and transfer roller cause trickle change in location, the position of impact crawl or place work piece, causes the position of Workpiece transfer accurate not.
Summary of the invention
Object of the present invention is exactly the checkout gear that will provide transfer roller on a kind of robot device and track condition, and it can reflect the state of transfer roller and track in time, and can compensate in time.The object of the present invention is achieved like this, transfer roller on robot device and the checkout gear of track condition, it is characterized in that: rotate on the two sides of track, the first support for roller selecting one of them to support transfer roller in the middle of a pair transfer roller moved horizontally is fixedly connected with outer cover, and another second support for roller supporting transfer roller adopts rotary joint and outer cover to be rotatably connected; The side of its outer cover and one end of the second support for roller possess detecting unit, the change in location value of the detecting unit that measuring unit energy examinations or the state measuring track and transfer roller change.
The detecting unit position of the transfer roller formation of level transfer workpiece of the present invention, according to track and the state transferring roller, the change such as the degree of wear, deformation extent, foreign matter inflow, by measuring position, changing value simply and promptly can detect the state of transfer roller and track in real time.And adopt the changing value detected, by computer and control unit, the jaw to grip device compensates, and guarantees can accurately transfer workpiece to tram all the time.
Accompanying drawing explanation
Fig. 1 is the front view in structure of the detecting device schematic diagram of the present invention;
Fig. 2 is the top view in structure of the detecting device schematic diagram of the present invention;
Fig. 3 is the in-built partial sectional view of checkout gear of the present invention;
Fig. 4 is checkout gear scheme of installation of the present invention;
Fig. 5 is track and the reference diagram of transfer roller under state of wear;
Fig. 6 is the reference diagram flowed between track and transfer roller in foreign matter situation.
10: checkout gear, 11: outer cover, 12: travel beam, 13: track, 20: transfer roller, 21: roller shaft, 22: swing roller, 23: swivel bearing, 31: the second support for roller, 32: rotary joint, 40: detecting unit, 44: fray, 50: measuring unit, 51: fixed support, 53: gauge head, 55: foreign matter, 60: grip device.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described;
Transfer roller on robot device and the checkout gear of track condition, the transfer roller 20 that the track 13 comprising direction parallel to the ground installation can move horizontally; By being connected with transfer roller 20, can moving horizontally along with track 13, and being elevated by the running of servomotor, can capture or the transfer grip device 60 of place work piece to assigned address;
It is characterized in that: the two sides that transfer roller 20 is close to track 13 rotate, form along with the moveable a pair transfer roller of track 13.The various factors detecting transfer roller 20 and occur with transfer roller at track with the state of track 13 are installed, as the checkout gear 10 of deformation extent, foreign matter inflow etc. that the impact of the degree of wear, Yin Wendu or external force produces between described grip device 60 and transfer roller 20.
Described checkout gear 10 is by the outer cover 11 that is connected with grip device 60; A pair transfer roller 20 that roller shaft 21 is installed; The first support for roller be fixedly connected with outer cover 11; The second support for roller 31 be connected with outer cover 11 by rotary joint 32; By being fixedly connected with one end of the second support for roller 31, the rotation along with the second support for roller 31 realizes the detecting unit 40 moved left and right; The measuring unit 50 be fixedly connected with outer cover 11, measuring unit 50 possesses can measure the gauge head 53 that detecting unit 40 moves left and right degree in real time.
Described track 13 is fixedly mounted on ground multiple support, becomes parallel (level) state with ground, is transfer roller 20 moveable guide rail rotating while; In the both sides that track 13 is corresponding, a pair transfer roller 20 moves while being close to rotation.
Described transfer roller 20 is provided with swivel bearing 23 between roller shaft 21 and swing roller 22.Transfer roller 20 and track 13 rubs the wearing and tearing caused, can only replacing swing roller 22, simple and easy when therefore carrying out maintenance activity; The swivel bearing 23 added between swing roller 22 and roller shaft 21, can realize spinning movement flexibly.
Described grip device 60, comprises and realizes the crawl of oscilaltion and the placement unit (or paw) of place work piece by the rotating running of servomotor; And the rack and pinion be usually connected with servomotor or ball-screw and ball-screw nut etc. move horizontally along with horizontal transfer device on above-mentioned track 13.
The first described support for roller, the second support for roller 31, roller 20 is transferred in each installation for a pair, one of them is fixedly connected with outer cover 11, another realizes being rotatably connected by rotary joint 32 and outer cover 11, the side (opposite direction of swing roller) of outer cover 11 possesses measuring unit 50, and one end (the opposite direction end of swing roller) of the second support for roller 31 possesses detecting unit 40.
The slight change value that the degree that moves left and right of the detecting unit that the state that this kind of structure can detect track 13 and transfer roller (swing roller) changes occurs; The rotation of the second support for roller 31 centered by rotary joint 32 causes detecting unit 40 to produce trickle moving left and right, and measures detecting unit 40 move left and right degree in order to measuring unit 50, the interchangeable value that counts.
Embodiment one: as shown in Figure 5, the situation that transfer roller 20 or track 13 wear and tear, transfer roller 20 original position and track 13 before wearing and tearing are close to, therefore the second support for roller 31 supporting transfer roller 20 rotates centered by rotary joint 32, the trickle opposite direction moving to measuring unit 50 of detecting unit 40 of one end.
Embodiment two: as shown in Figure 6, flows into the situation of foreign matter between transfer roller 20 and track 13, transfer roller 20 will original position before wearing and tearing offset (side-play amount is the thickness of foreign matter) to the opposite direction of track 13; Therefore the second support for roller 31 supporting transfer roller 20 rotates centered by rotary joint 32, the trickle opposite direction moving to measuring unit 50 of detecting unit 40 of one end.
As shown in Figure 5, Figure 6, the state of track 13 and transfer roller (swing roller), while being provided with the second support for roller 31 rotation of transfer roller, the detecting unit 40 of the second support for roller 31 that one end possesses produces trickle moving left and right; Now, what the gauge head 53 of measuring unit 50 can measure detecting unit 40 in real time moves left and right degree; What can make gauge head 53 real-time measurement detecting unit 40 moves left and right degree, by displacement transducer, mechanical displacement is transformed to the signal of telecommunication.
Described displacement transducer, it is the movement by magnetic core, the flux change produced, namely mutual inductance is changed, machinery, electric part and the magnetic core displacement that can operate are formed ratio change, thus produce electricity output, along with track moves horizontally, that can measure detecting unit while realizing transfer workpiece in real time moves left and right degree; Form by being wound around the pitch of the laps frame of magnetic core, magnetic core, the support stick of support magnetic core and housing.
Adopt this kind of displacement transducer, can noncontact induction.
The mechanical displacement value that moves left and right of the detecting unit 40 of described displacement sensor is sent to computer, and computer compensates corresponding changing value by control panel again, and the state being applied to track 13 and transfer track 13 accurately and correctly can transfer workpiece.
Described measuring unit 50, by the fixed support 51 be fixedly connected with the side of outer cover 11; Fixing gauge head 53 is supported with fixed support 51; Described gauge head 53 forms the displacement transducer that noncontact induction detecting unit 40 moves left and right degree.
In order to ensure safety, according to the load of the grip device 60 for the purpose of crawl, place work piece, need parallel installation with the track that outer cover 11 is connected.
Most preferably: at traveling beam 12 upper and lower side of installation parallel to the ground, one group of track 13 is respectively installed.At the upper and lower side travelling beam 12, one group of track 13 is respectively housed, the both sides often organizing track 13 are provided with a pair transfer roller 20, and every a pair transfer roller 20 comprises the checkout gears such as outer cover 11, first support for roller, the second support for roller 31, measuring unit 50, detecting unit 40.
And most preferably, each checkout gear that every a pair transfer roller 20 connects is symmetrical, that is, form the first support for roller that checkout gear comprises, the second support for roller 31, measuring unit 50, detecting unit 40 and rotary joint 32 etc. realize symmetrically.
The two sides that the present invention is close to track 13 carry out rotating and a pair that can move horizontally transfer roller 20, one of them first support for roller supporting transfer roller 20 is fixedly connected with outer cover 11, and another second support for roller 31 supporting transfer roller 20 adopts rotary joint 32 and outer cover to be rotatably connected; The side of its outer cover 11 possesses measuring unit 50, and one end of the second support for roller 31 possesses detecting unit 40.In order to transfer workpiece, in the process that transfer roller 20 moves horizontally, the changing value of the position (position according to the detecting unit that the rotation of the second support for roller moves left and right) of the detecting unit 40 changed according to track 13 and the state transferring roller 20 can detect or measure simply and promptly in real time; Adopt the changing value measured or detect, by computer and control unit, the jaw to grip device 60 compensates, and then can accurately transfer workpiece to tram all the time simultaneously.That is, the crawl position of placement unit (or paw) and placement location remain at assigned address.
Claims (4)
1. the transfer roller on robot device and the checkout gear of track condition, comprise the track (13) that direction parallel to the ground is installed, and the transfer roller (20) that can move horizontally; By being connected with transfer roller (20), along with track (13) moves horizontally, and be elevated by the running of servomotor, can to assigned address crawl or the transfer grip device (60) of place work piece; It is characterized in that: the two sides that transfer roller (20) is close to track (13) rotates, form along with the moveable a pair transfer roller of track (13); The checkout gear (10) detecting transfer roller (20) and track (13) state is provided with between described grip device (60) and transfer roller (20); Described checkout gear (10) is by the outer cover (11) that is connected with grip device (60); Upper a pair transfer roller (20) of installing of roller shaft (21); The first support for roller be fixedly connected with outer cover (11); By the second support for roller (31) that rotary joint (32) is connected with outer cover (11); By being fixedly connected with one end of the second support for roller (31), the rotation along with the second support for roller (31) realizes the detecting unit (40) moved left and right; The measuring unit (50) be fixedly connected with outer cover (11), measuring unit (50) possesses can measure the gauge head (53) that detecting unit (40) moves left and right degree in real time.
2. the transfer roller on robot device according to claim 1 and the checkout gear of track condition, it is characterized in that: described gauge head (53) is the displacement transducer being converted to electric quantity signal by mechanical displacement, measure the displacement that detecting unit (40) moves left and right.
3. the transfer roller on robot device according to claim 1 and the checkout gear of track condition, is characterized in that: described transfer roller (20) is provided with swivel bearing (23) between roller shaft (21) and swing roller (22).
4. the transfer roller on the robot device according to claim 1 or 3 and the checkout gear of track condition, it is characterized in that: traveling beam (12) upper and lower side of the parallel installation on ground respectively installs one group of track (13), often organize track (13) and form a pair transfer roller (20); Every a pair transfer roller (20) is provided with checkout gear, and reaches symmetrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310453205.0A CN103552091B (en) | 2013-09-29 | 2013-09-29 | Transfer roller on robot device and the checkout gear of track condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310453205.0A CN103552091B (en) | 2013-09-29 | 2013-09-29 | Transfer roller on robot device and the checkout gear of track condition |
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| Publication Number | Publication Date |
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| CN103552091A CN103552091A (en) | 2014-02-05 |
| CN103552091B true CN103552091B (en) | 2015-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310453205.0A Active CN103552091B (en) | 2013-09-29 | 2013-09-29 | Transfer roller on robot device and the checkout gear of track condition |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2003012456A1 (en) * | 2001-07-30 | 2004-11-18 | 内山工業株式会社 | Rotor for rotation sensor |
| CN1168628C (en) * | 2002-06-10 | 2004-09-29 | 中国科学院声学研究所 | Distance variable condenser type impulse-width modulation output type angular displacement sensor |
| CN1292229C (en) * | 2004-10-14 | 2006-12-27 | 上海交通大学 | Detecting robot for lift rail perpendicularity |
| JP2007316966A (en) * | 2006-05-26 | 2007-12-06 | Fujitsu Ltd | Mobile robot, control method thereof and program |
| CN201364149Y (en) * | 2009-03-20 | 2009-12-16 | 陈炳生 | Precision measuring device with high rigidity and stability |
| CN102666032B (en) * | 2009-10-30 | 2015-01-07 | 悠进机器人股份公司 | Slip detection apparatus and method for a mobile robot |
| JP2011240469A (en) * | 2010-05-21 | 2011-12-01 | Nsk Ltd | Conveyance device |
| CN102506680B (en) * | 2011-11-17 | 2014-03-19 | 中山市盈科轴承制造有限公司 | Tooth profile error detecting device for multi-wedge V-shaped teeth |
| CN102975193B (en) * | 2012-12-06 | 2014-08-27 | 爱马特（江苏）自动化有限公司 | Mechanical hand device capable of realizing horizontal conveyance along running beam for workpiece conveyance |
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Owner name: JIANGSU HENGYI AUTOMOBILE PARTS CO., LTD. Free format text: FORMER OWNER: MRT (JIANGSU) AUTOMATION CO., LTD. Effective date: 20150727 |
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Effective date of registration: 20150727 Address after: 214500 No. 6 West Zhongzhou Road, Jingjiang Development Zone, Jiangsu Applicant after: Jiangsu Hengyi Automobile Parts Co., Ltd. Address before: 214500 No. 6 West Zhongzhou Road, Jingjiang Development Zone, Taizhou, Jiangsu Applicant before: Loves Matt (Jiangsu) Automation Co. Ltd. |
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Address after: 214500 No. 6, Zhongzhou West Road, Jingjiang Development Zone, Jiangsu Province Patentee after: Jiangsu Hengyi Industrial Technology Co.,Ltd. Address before: 214500 No. 6, Zhongzhou West Road, Jingjiang Development Zone, Jiangsu Province Patentee before: JIANGSU HENGYI AUTOMOBILE FITTINGS MANUFACTURING CO.,LTD. |
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