CN103552092A - State detection device for conveying wheels and rails of manipulator device - Google Patents
State detection device for conveying wheels and rails of manipulator device Download PDFInfo
- Publication number
- CN103552092A CN103552092A CN201310453442.7A CN201310453442A CN103552092A CN 103552092 A CN103552092 A CN 103552092A CN 201310453442 A CN201310453442 A CN 201310453442A CN 103552092 A CN103552092 A CN 103552092A
- Authority
- CN
- China
- Prior art keywords
- roller
- track
- handover
- detecting unit
- checkout gear
- 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.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
Disclosed is a state detection device for conveying wheels and rails of a manipulator device. The state detection device for the conveying wheels and the rails of the manipulator device comprises that a first wheel support for supporting one of a pair of conveying wheels which rotate on both sides of the rails and move horizontally is fixedly connected with a housing, and a second wheel support for supporting the other conveying support is connected with the housing through a rotating joint; one side of the housing is provided with a measuring unit, one end of the second wheel support is provided with a detecting unit, and the measuring unit is composed of a pressure sensor. According to the state detection device for the conveying wheels and the rails of the manipulator device, the state of the rails and the conveying wheels can be detected simply and rapidly in real time through measuring positions and change values according to the state of the rails and the conveying wheels and the changes such as wearing degree, deforming degree and impurity inflow. According to the detected change value, clamping jaws of a clamp device can be compensated through a computer and a control unit, so that workpieces can be precisely conveyed to an accurate position all the time.
Description
Technical field
The present invention relates to a kind of along with track is transferred the robot device of industrial workpiece, particularly, adopt Workpiece transfer, with robot device, industrial workpiece is accurately transferred to tram, in order to detect the handover roller of robot device and the state of track, level is transferred and the slight change value that changes in orbit, and adopt for the handover roller on robot device and the checkout gear of track condition.
Background technology
For various industrial Workpiece transfers to assigned address, adopt robot device.This kind of Workpiece transfer is transferred to workpiece the position of appointment with robot device by the movably grip device of crawl or place work piece is installed in orbit from the position of loading.
Above-mentioned grip device, by being fixedly connected with in orbit the handover roller of can level transferring, is installed on ground or industrial structure thing, and can moves horizontally in orbit; But in the situation that above-mentioned Workpiece transfer is transferred in orbit with robot device, transfer roller and produce wearing and tearing with the phase mutual friction of track; According to the degree of wearing and tearing, can there is trickle change in location (or angle variation) in above-mentioned fixture unit.This trickle change in location, causes the position of Workpiece transfer accurate not; Particularly, because the change in location of placement unit may affect, capture or the position of place work piece, cause the position of Workpiece transfer accurate not.
Traditional Workpiece transfer can not detect the problems referred to above with robot device, that is, according to transferring the degree of wear occurring between roller and track, fixture unit can change by occurrence positions; And the change in location of fixture unit is not only because transfer the wearing and tearing of roller and track, Yin Wendu or external force impact also can cause distortion, and foreign matter inflow etc. are at track and transfer the various problems that produce between roller.Therefore need to detect the checkout gear of transferring any trickle change in location between roller and track.
Summary of the invention
Object of the present invention is exactly to provide a kind of for the handover roller on robot device and the checkout gear of track condition, and it can detect the state of change in location between handover roller on existing machinery arm device and track.The object of the present invention is achieved like this, for the handover roller on robot device and the checkout gear of track condition, comprise the beam that travels, track, transfer roller, it is characterized in that: in track both sides, be rotated, the first support for roller of selecting one of them to support handover roller in the middle of a pair of handover roller moving horizontally is fixedly connected with outer cover, the second support for roller that roller is transferred in another support adopts rotary joint and outer cover to be rotatably connected; In a side of outer cover and one end of the second support for roller, be provided with detecting unit; The change in location value that the state of described measuring unit examinations or measurement track and handover roller changes.
The detecting unit that the present invention arranges, can be according to the state of track and handover roller, the variation of the degree of wear, deformation extent, foreign matter inflow etc., and by measuring position, changing value can simply and promptly detect the state of transferring roller and track in real time.
And adopt detected changing value, by computer and control module, the jaw of grip device is compensated, so can accurately transfer workpiece to tram all the time.
Accompanying drawing explanation:
Fig. 1 is the structural representation of checkout gear of the present invention;
Fig. 2 is the in-built profile of checkout gear of the present invention;
Fig. 3 is checkout gear mounting structure schematic diagram of the present invention;
Fig. 4 is track and transfers the profile of roller under state of wear;
Fig. 5 is track and transfers the reference diagram in the situation that flows into foreign matter between roller;
10. checkout gear, 11. outer covers, 12. beams that travel, 13. tracks, 20. transfer roller, 21. roller shafts, 22. swing rollers, 23. swivel bearings, 30. first support for roller, 31. second support for roller, 32. rotary joints, 40. detecting units, 44. frays, 50. measuring units, 51. axle supporters, 52. measure axle, 53. gauge heads, 54. elastomers, 55. foreign matters, 60. grip devices.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described;
As shown in the figure, for the handover roller on robot device and the checkout gear of track condition, comprise the handover roller 20 that the track 13 installed with ground or structure parallel direction can move horizontally; By being connected with handover roller 20, can move horizontally along with track 13, and carry out lifting by the running of servomotor, can be to the handover grip device 60 of assigned address crawl or place work piece; It is characterized in that: transfer the both sides that roller 20 is close to track 13 and be rotated, form along with track 13 a pair of handover roller movably.The state that between grip device 60 and handover roller 20, roller 20 and track 13 are transferred in installation and measuring is in track and the various factors of transferring roller generation, as the checkout gear 10 of the deformation extent of the degree of wear, Yin Wendu or external force impact generation, foreign matter inflow etc.
By being fixedly connected with one end of above-mentioned the second support for roller 31, form the trickle rotation along with the second support for roller 31, realize the detecting unit 40 moving left and right; Be fixedly connected with above-mentioned outer cover 11, possess the measuring unit 50 that above-mentioned detecting unit 40 gauge heads 53 of induction move left and right degree.
Above-mentioned track 13 is fixedly mounted on ground a plurality of support or is arranged on industrial structure thing, becomes parallel (level) state with ground; A pair of handover roller 20 is separately positioned on the both sides of track 13, when being close to track 13 rotation, moves.
Described handover roller 20 is to be provided with swivel bearing 23 between roller shaft 21 and swing roller 22, and its outside is rotatable state.Wearing and tearing with track 13 frictions cause, only need to change swing roller 22, simple and easy while therefore carrying out maintenance activity; Because added swivel bearing 23 between swing roller 22 and roller shaft 21, so can realize spinning movement flexibly.
Above-mentioned grip device 60 comprises: the rotating running by servomotor realizes the crawl of oscilaltion and the placement unit of place work piece (or paw); And the rack and pinion being conventionally connected with servomotor or ball-screw and ball-screw nut etc. are along with horizontal transfer device moves horizontally on above-mentioned track 13.
Above-mentioned the first support for roller 30, the second support for roller 31, each is installed one group and transfers roller 20, the first support for roller 30 is fixedly connected with outer cover 11, the second support for roller 31 is realized and being rotatably connected with outer cover 11 by rotary joint 32, one end that one side of outer cover 11 possesses measuring unit 50, the second support for roller 31 possesses detecting unit 40.
The state that the present invention can detect track 13 and handover roller swing roller changes, and shows the slight change value of the degree that the moves left and right generation of detecting unit; The trickle rotation of the second support for roller 31 centered by above-mentioned rotary joint 32 causes detecting unit 40 to produce trickle moving left and right, and measures detecting unit 40 move left and right degree, the interchangeable value of counting in order to measuring unit 50.
Embodiment mono-: as shown in Figure 4, transfer the situation of roller 20 or track 13 wearing and tearing, transferring roller 20 original position and track 13 before wearing and tearing is close to, therefore the second support for roller 31 that supports handover roller 20 rotates centered by rotary joint 32, the trickle opposite direction that moves to measuring unit 50 of detecting unit 40 of one end.
Embodiment bis-: as shown in Figure 5, transfer the situation that flows into foreign matter between roller 20 and track 13, transfer original position that roller 20 will be before wearing and tearing and be offset (thickness that side-play amount is foreign matter) to the opposite direction of track 13; Therefore the second support for roller 31 that supports handover roller 20 rotates centered by rotary joint 32, the trickle opposite direction that moves to measuring unit 50 of detecting unit 40 of one end.
Shown in observing by way of example, according to the state of track 13 and handover roller (swing roller), when the second support for roller 31 trickle rotation of transferring roller is installed, the detecting unit 40 of the second support for roller 31 that one end possesses produces trickle moving left and right; Now, the gauge head 53 of measuring unit 50 can be measured the degree that moves left and right of detecting unit 40 in real time, under the state that gauge head 53 is connected with detecting unit 40, by detecting unit 40, move left and right, can measure the increase and decrease of physics strength (pressure or heavy burden), the degree that moves left and right of above-mentioned detecting unit 40 is transformed to the value of changing by pressure sensor.The measurement of physics strength increase and decrease, can measure for compression stress or the pulling force of load (load moving left and right according to detecting unit).
And the detection numerical value of above-mentioned detecting unit 40 is by processing out result with above-mentioned pressure sensor, and ledge is reached more intuitive measurement.
Changing value for the physics strength increase and decrease in above-mentioned pressure sensor induction (measurement) is sent to computer, and computer compensates corresponding changing value by control panel again, is applied to the state of track 13 and handover roller 20; Can realize accurate handover workpiece.
Above-mentioned measuring unit 50 is by the axle supporter 51 that is fixedly connected with above-mentioned outer cover 11; One end possesses gauge head 53, the measurement axle 52 of the other end and above-mentioned axle supporter 51 combinations; The central authorities of above-mentioned measurement axle 52 are provided with elastomer 54 and form, and it is ideal that described elastomer 54 forms spiral helical spring.
On the other hand: in order to ensure safety, according to take the load of the grip device 60 that crawl, place work piece be object, the track being connected with outer cover 11 needs parallel installation.Most preferably: with beam 12 upper and lower sides that travel of ground or the parallel installation of industrial structure thing, one group of track 13 is respectively being installed.
In the situation that travel, the upper and lower side of beam 12 is respectively equipped with the robot device for handover of one group of track 13 structure, every group of track 13 forms one group and transfers roller 20, and each group is transferred roller 20 and comprised the checkout gears such as outer cover 11, the first support for roller 30, the second support for roller 31, measuring unit 50, detecting unit 40.
And it is symmetrical that each group that optimum is is transferred each checkout gear that roller 20 connects, that is the first support for roller 30, the second support for roller 31, measuring unit 50, detecting unit 40 and rotary joint 32 etc. that, formation checkout gear comprises are realized symmetrically.
Now, on above-mentioned rotary joint 32 and track 13 imaginary vertical line perpendicular to the ground, level is installed, and according to track 13 and transfer under the state of roller 20, the second support for roller 31 that can trickle rotation reaches and operates as flexibly the best.
The both sides that employing is close to above-mentioned track 13 are rotated a pair of handover roller 20 that also can move horizontally, one of them first support for roller 30 that supports handover roller 20 is fixedly connected with outer cover 11, and another second support for roller 31 that supports handover roller 20 adopts rotary joints 32 and outer cover to be rotatably connected; One end that one side of its outer cover 11 possesses measuring unit 50, the second support for roller 31 possesses detecting unit 40.
In order to transfer workpiece, in the process that handover roller 20 moves horizontally, the changing value of the position (position of the detecting unit moving left and right according to the trickle rotation of the second support for roller) of the detecting unit 40 changing according to track 13 and the state of transferring roller 20 can detect or measurement simply and promptly in real time; Adopt and measure or detected changing value simultaneously, by computer and control module, the jaw of grip device 60 is compensated, and then can accurately transfer workpiece to tram all the time.That is, crawl position and the placement location of placement unit (or paw) remain at assigned address.
Claims (7)
1. for the handover roller on robot device and the checkout gear of track condition, comprise the handover roller (20) that the track (13) installed with ground or structure parallel direction can move horizontally; By being connected with handover roller (20), can move horizontally along with track (13), and carry out lifting by the running of servomotor, can be to the handover grip device (60) of assigned address crawl or place work piece; It is characterized in that: the both sides that a pair of handover roller (20) is close to track (13) are rotated, form along with track (13) is mobile;
Checkout gear (10) by: grip device (60) is connected with outer cover (11); A pair of handover roller (20) is contained in respectively on roller shaft (21); Wherein the first support for roller (30) is fixedly connected with outer cover (11); The second support for roller (31) is connected with outer cover (11) by rotary joint (32); One end of described the second support for roller (31) is fixedly connected with detecting unit (40); Described detecting unit (40) is along with the trickle rotation of the second support for roller (31), and realization moves left and right; Measuring unit (50) is fixedly connected with outer cover (11), possesses the degree that induction detecting unit (40) gauge head (53) moves left and right.
2. according to claim 1 for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: measuring unit (50) is by the axle supporter (51) being fixedly connected with outer cover (11); One end is provided with gauge head (53), the measurement axle (52) of the other end and axle supporter (51) combination; The central authorities of measuring axle (52) are provided with elastomer (54) and form; It is ideal that described elastomer (54) forms spiral helical spring.
3. according to claim 1 for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: the gauge head (53) of described measuring unit (50) can be measured the degree that moves left and right of detecting unit (40) in real time; Under the state that gauge head (53) is connected with detecting unit (40), by detecting unit (40), move left and right, can measure physics strength, the increase and decrease of pressure or heavy burden, the degree that moves left and right of detecting unit (40) is transformed to the value of changing by pressure sensor.
According to described in claim 1 or 3 for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: the detection numerical value of described detecting unit (40) is by processing out result with pressure sensor, and ledge is reached more intuitive measurement.
5. according to claim 1 for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: described handover roller (20) is to be provided with swivel bearing (23) between roller shaft (21) and swing roller (22), and its outside is rotatable state.
6. according to claim 1 for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: on ground or the beam that travels (12) upper and lower side of the parallel installation of industrial structure thing one group of track (13) is respectively installed, every group of track (13) both sides arrange a pair of handover roller (20); Every a pair of handover roller (20) is separately installed with checkout gear, and reaches symmetrical.
7. according to claim 1, described in 6 for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: on described track (13) and rotary joint (32) and ground and vertical line, level is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310453442.7A CN103552092A (en) | 2013-09-29 | 2013-09-29 | State detection device for conveying wheels and rails of manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310453442.7A CN103552092A (en) | 2013-09-29 | 2013-09-29 | State detection device for conveying wheels and rails of manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103552092A true CN103552092A (en) | 2014-02-05 |
Family
ID=50006530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310453442.7A Pending CN103552092A (en) | 2013-09-29 | 2013-09-29 | State detection device for conveying wheels and rails of manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103552092A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586875A (en) * | 2013-10-18 | 2014-02-19 | 爱马特（江苏）自动化有限公司 | System for measuring conditions of roller and track of mechanical arm moving device |
| CN105058375A (en) * | 2015-08-11 | 2015-11-18 | 苏州鸿普精密模具有限公司 | Testing mechanical arm of automobile window rising guide rail testing machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003012456A1 (en) * | 2001-07-30 | 2003-02-13 | Uchiyama Manufacturing Corp. | Rotor for rotation sensor |
| CN201364149Y (en) * | 2009-03-20 | 2009-12-16 | 陈炳生 | Precision measuring device with high rigidity and stability |
| JP2011240469A (en) * | 2010-05-21 | 2011-12-01 | Nsk Ltd | Conveyance device |
| CN102975193A (en) * | 2012-12-06 | 2013-03-20 | 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 |
| CN203579686U (en) * | 2013-09-29 | 2014-05-07 | 爱马特（江苏）自动化有限公司 | Device for detecting states of conveying rollers and track on manipulator device |
-
2013
- 2013-09-29 CN CN201310453442.7A patent/CN103552092A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003012456A1 (en) * | 2001-07-30 | 2003-02-13 | Uchiyama Manufacturing Corp. | Rotor for rotation sensor |
| CN201364149Y (en) * | 2009-03-20 | 2009-12-16 | 陈炳生 | Precision measuring device with high rigidity and stability |
| JP2011240469A (en) * | 2010-05-21 | 2011-12-01 | Nsk Ltd | Conveyance device |
| CN102975193A (en) * | 2012-12-06 | 2013-03-20 | 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 |
| CN203579686U (en) * | 2013-09-29 | 2014-05-07 | 爱马特（江苏）自动化有限公司 | Device for detecting states of conveying rollers and track on manipulator device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586875A (en) * | 2013-10-18 | 2014-02-19 | 爱马特（江苏）自动化有限公司 | System for measuring conditions of roller and track of mechanical arm moving device |
| CN105058375A (en) * | 2015-08-11 | 2015-11-18 | 苏州鸿普精密模具有限公司 | Testing mechanical arm of automobile window rising guide rail testing machine |
| CN105058375B (en) * | 2015-08-11 | 2016-10-05 | 苏州鸿普精密模具有限公司 | Automobile rises the inspecting manipuator of window guide rail test machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100532026C (en) | Glass substrate transferring robot | |
| CN101954558B (en) | Five-axis steel pipe intersecting line cutter | |
| CN104308859B (en) | Based on the heavy-loaded precision redundancy three arm manipulator of driving | |
| CN103341530B (en) | Slewing bearing ferrule circular degree error automatic detection and correction device | |
| CN203579686U (en) | Device for detecting states of conveying rollers and track on manipulator device | |
| CN204076281U (en) | Based on the heavy-loaded precision redundancy three arm manipulator of driving | |
| CN207357833U (en) | Beneficial to the three rolls plate bending machine precisely adjusted | |
| CN106064728A (en) | A kind of for yarn group automatic transferring equipment | |
| CN205169692U (en) | Pipe belt conveyor off tracking twists reverse monitoring devices | |
| CN103552092A (en) | State detection device for conveying wheels and rails of manipulator device | |
| CN104197802A (en) | Ring cold machine revolved body deflection measuring device and measuring method thereof | |
| CN103940315A (en) | Bearing circle run-out detecting device | |
| CN209116961U (en) | A kind of linear displacement transducer | |
| CN204085752U (en) | A kind of moment of friction aided measurement device | |
| CN202346627U (en) | Crane correcting device | |
| KR101410205B1 (en) | The Abnormality detection system of Material feed device for gantry to Feed roller and rail status | |
| CN103398579B (en) | Rotary kiln wheel belt position online monitoring device | |
| CN106311767B (en) | A kind of mill roll-gap measurement apparatus and method | |
| CN202032254U (en) | Rotary bearing unit with measurement and control device | |
| CN206969608U (en) | A kind of mechanical contact belt deviation amount detecting device | |
| CN206832176U (en) | Portable inner bore axiality detection device | |
| CN103552091B (en) | Transfer roller on robot device and the checkout gear of track condition | |
| CN205501551U (en) | Full -automatic transport of drawing -in machine reed and detection device | |
| CN204769890U (en) | Rolling mill clearning between rolls measuring device | |
| US9186825B2 (en) | Method for producing a pellet from powdered material |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20160803 |
|
| C20 | Patent right or utility model deemed to be abandoned or is abandoned |