CN105666527B - Industrial robot frock clamp detecting system - Google Patents
Industrial robot frock clamp detecting system Download PDFInfo
- Publication number
- CN105666527B CN105666527B CN201610196004.0A CN201610196004A CN105666527B CN 105666527 B CN105666527 B CN 105666527B CN 201610196004 A CN201610196004 A CN 201610196004A CN 105666527 B CN105666527 B CN 105666527B
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- CN
- China
- Prior art keywords
- frock clamp
- industrial robot
- module
- magnetic valve
- detecting system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
Industrial robot frock clamp detecting system, it is characterised in that:It includes equipment stand (1), frock clamp component (2), pneumatic actuation module (3) and electrically driven module (4), frock clamp component (2), pneumatic actuation module (3) and electrically driven module (4) are fixedly mounted on equipment stand (1), the pneumatic element of the frock clamp component (2) is connected with pneumatic actuation module (3), the electrically driven module of driving part (4) connection of the pneumatic actuation module (3)；The system realizes the disengaging of industrial robot frock clamp and i.e. achievable automatic work is connected with industrial robot, commissioning staff can be while carry out industrial robot track detail programming, pass through detecting system, signal is corresponded into debugging before assembly on one side to complete, the debugging operations of personnel are facilitated, are tested without the dismounting carried out repeatedly.Whole frock clamp test system, can eliminate the process done over again and repeat assembling, help designer to predict the mistake of simultaneously time update design in advance.
Description
Technical field
It is exactly specifically to be related to a kind of Novel industrial robot frock clamp the invention belongs to technical field of automation in industry
Detecting system.
Background technology
With the automaticity more and more higher of production, industrial robot is widely used in industrial production, industrial machine
People is often required to be used for the product of clamping manufacture to be produced, industrial machine with the use of substantial amounts of frock clamp in for industrial production
Device people's frock clamp, is mainly used in that industrial robot is rapid in production, easily and safely install workpiece, improves production efficiency
And product quality, it is ensured that the machining accuracy of workpiece, stabilized product quality；Raise labour productivity and reduce cost；Expand machine
People's industrial applicability, is realized " a tractor serves several purposes ".
Because industrial robot production is that automation is carried out, often need to carry out correlated performance to industrial robot frock clamp
Detection, it, which is detected, includes generally comprising and being assembled frock clamp with industrial robot, detects electrical equipment installation, pneumatic
Whether element etc. there are the phenomenons such as Assembly Interference；The pneumatic circuit of connecting tooling fixture, the pneumatic element of detecting tool fixture
Whether motion process, sequence of motion is normal；Detect the elements such as electrical equipment sensor, magnetic valve whether all in working condition；
The content the such as whether signal of input and output consistent with modelled signal.
Frock clamp is during with industrial robot assembling and setting, because of debugging demand, it is necessary to by frock clamp and work
Industry robot is assembled repeatedly, constantly amendment, influences project process time, increased human cost.
The content of the invention
The purpose of the present invention is exactly that existing industrial robot frock clamp needs to debug repeatedly during assembling and setting
The technological deficiency of assembling builds different scenes, simulation industry by software there is provided industrial robot frock clamp detecting system
The practical application request at scene, by carrying out the programming of track to industrial robot, reaches the effect of detection.
Technical scheme
In order to realize above-mentioned technical purpose, in order to realize above-mentioned technical purpose, the industrial robot frock that the present invention is designed
Fixture detecting system, it is characterised in that:It includes equipment stand, frock clamp component, pneumatic actuation module and electrically driven mould
Block, frock clamp component, pneumatic actuation module and electrically driven module are fixedly mounted on equipment stand, the frock clamp group
The pneumatic element of part is connected with pneumatic actuation module, and the driving part of the pneumatic actuation module is connected with electrically driven module；
The frock clamp component includes setting on the axis mechanism of industrial robot the 4th, the axis mechanism of industrial robot the 4th
There is industrial robot cable fixed mount, the axis mechanism of industrial robot the 5th is fitted together with the axis mechanism of industrial robot the 4th, work
The lower end of the axis mechanism of industry robot the 5th is equipped with the axis mechanism of industrial robot the 6th, and the axis mechanism lower end of industrial robot the 6th is equipped with
Frock clamp reciprocating mechanism, is equipped with flange between the axis mechanism of industrial robot the 6th and frock clamp reciprocating mechanism,
Frock clamp reciprocating mechanism bottom is equipped with frock clamp sucker；
The pneumatic actuation module includes choke valve is housed on source of the gas three linked piece, the output pipe of source of the gas three linked piece, throttling
The output end of valve is connected with 3 position-5 way magnetic valve, and 3 position-5 way magnetic valve one end is connected with vacuum generator, 3 position-5 way electricity
The magnet valve other end is connected with cylinder, and the output end of vacuum generator is connected with sucker, vacuum generator and frock clamp sucker
Pneumatic component is connected；
The electrically driven module include the first electrical module controller, one end of the first electrical module controller with 24 volts
Positive source is connected, and the negative pole of 24 volts of power supplys is connected with vacuum generator, vacuum generator and the first electrical module controller
Other end connection completes closed-loop path, and so far, vacuum generator can be worked automatically, be entered by the first electrical module controller
Row starts；Second electrical module controller one end is connected with 24 volts of positive sources, 24 volts of power cathodes and 3 position-5 way magnetic valve
The negative pole connection of left magnetic valve, the positive pole of the left magnetic valve of 3 position-5 way magnetic valve is connected with the second electrical module controller other end
Complete closed-loop path；Similarly, the right magnetic valve of 3 position-5 way magnetic valve is consistent with left magnetic valve connects completion, uses the 3rd electric mould
Block controller is attached.
Cylinder needs to feed back by magnetic switch signal, understands whether cylinder stroke reaches capacity position, and magnetic switch is three
Line system, respectively 24 volts positive-negative power lines and signal feedback line.By 24 volts of positive-negative power lines of magnetic switch (in place) with
The both positive and negative polarity of 24 volts of power supplys is connected, and then signal feedback line is connected with the positive pole of the first indicator lamp, and the first indicator lamp is another
One end is connected with 24 volts of power cathodes, so far passes through the understanding of secretly going out of the first indicator lamp, fortune after cylinder is moved up and down in place
It is dynamic whether normal.Similarly, another magnetic switch (under in place) is connected with the second indicator lamp, judges drawback movement whether just
Often.
Beneficial effect
The present invention realizes the disengaging of industrial robot frock clamp and i.e. achievable automatic work is connected with industrial robot, adjusts
Examination personnel can while carry out industrial robot track detail programming, by detecting system, on one side before assembly by signal one by one
Correspondence debugging is completed, and facilitates the debugging operations of personnel, is tested without the dismounting carried out repeatedly.Whole frock clamp test system
System, can eliminate the process done over again and repeat assembling, help designer to predict simultaneously time update design in advance
Mistake.
Brief description of the drawings
Accompanying drawing 1 is the product figure of the embodiment of the present invention.
Accompanying drawing 2 is frock clamp subassembly product figure in the embodiment of the present invention.
Accompanying drawing 3 is pneumatic actuation module product figure in the embodiment of the present invention.
Accompanying drawing 4 is pneumatic actuation module annexation schematic diagram in the embodiment of the present invention.
Accompanying drawing 5 is electrically driven module product figure in the embodiment of the present invention.
Embodiment
With reference to the accompanying drawings and examples, the present invention will be further described.
Embodiment
As shown in Figure 1, industrial robot frock clamp detecting system, it include equipment stand 1, frock clamp component 2,
Pneumatic actuation module 3 and electrically driven module 4, frock clamp component 2, pneumatic actuation module 3 and electrically driven module 4 fix peace
On equipment stand 1, the pneumatic element of the frock clamp component 2 is connected with pneumatic actuation module 3, the pneumatic driving dynamic model
The driving part of block 3 is connected with electrically driven module 4；
As shown in Figure 2, the frock clamp component 2 includes the axis mechanism 201 of industrial robot the 4th, industrial robot the
Four axis mechanisms 201 are provided with industrial robot cable fixed mount 202, the axis mechanism 203 of industrial robot the 5th and industrial robot
4th axis mechanism 201 is fitted together, and the lower end of the axis mechanism 203 of industrial robot the 5th is equipped with the axis mechanism of industrial robot the 6th
204, the lower end of the 6th axis mechanism of industrial robot 204 is equipped with frock clamp reciprocating mechanism 205, the axle machine of industrial robot the 6th
Flange 206 is housed, the bottom of frock clamp reciprocating mechanism 205 is equipped between structure 204 and frock clamp reciprocating mechanism 205
Frock clamp sucker 207；
As shown in figures 3 and 4, the pneumatic actuation module 3 includes source of the gas three linked piece 301, the output of source of the gas three linked piece 301
Choke valve 302 is housed, the output end of choke valve 302 is connected with 3 position-5 way magnetic valve 303,3 position-5 way magnetic valve on pipeline
303 one end are connected with vacuum generator 304, and the other end of 3 position-5 way magnetic valve 303 is connected with cylinder 305, vacuum generator
304 output end is connected with sucker 306, and vacuum generator 304 is connected with the Pneumatic component of frock clamp sucker 207；The gas
Cylinder 305 controls the stroke of cylinder 305 by the signal feedback module 407 of 24 volts of magnetic switch, and 24 volts of magnetic switch are three lines
System switch, it includes magnetic switch positive-negative power line and signal feedback line, and 24 volts of magnetic switch positive-negative power lines and power supply are positive and negative
Pole is connected, and signal feedback line is connected with the positive pole of the first indicator lamp 406, the other end of the first indicator lamp 406 and 24 volts of power supplys
402 negative poles are connected.
As shown in Figure 5, the electrically driven module 4 includes the first electrical module controller 401, the first electrical module control
One end of device 401 processed is connected with the positive pole of 24 volts of power supplys 402, and the negative pole of 24 volts of power supplys 402 is connected with vacuum generator 304, vacuum
Generator 304 is connected completion closed-loop path with the other end of the first electrical module controller 401；
The one end of second electrical module controller 403 is connected with the positive pole of 24 volts of power supplys 402, the negative pole of 24 volts of power supplys 402 with
The negative pole connection of the left magnetic valve of 3 position-5 way magnetic valve 303, the positive pole of the left magnetic valve of 3 position-5 way magnetic valve 303 and second electric
The other end connection of module controller 403 completes closed-loop path；
The one end of 3rd electrical module controller 405 is connected with the positive pole of 24 volts of power supplys 402, the negative pole of 24 volts of power supplys 402 with
The negative pole connection of the right magnetic valve of 3 position-5 way magnetic valve 303, the positive pole of the right magnetic valve of 3 position-5 way magnetic valve 303 and the 3rd electric
The other end connection of module controller 405 completes closed-loop path.
Material laydown platform 5 is housed on the equipment stand 1.
Detection process in the present embodiment is that the axle of industrial robot the 4th, the 5th axle, the 6th axis mechanism simulate correspondence successively
Drive mechanism in actual industrial robot, rotates.Industrial robot cable fixed mount is grabbed for industrial robot
The fixation of signal cable cabling layout is used at hand.The axis mechanism of industrial robot the 6th is connected with frock clamp with flange, frock folder
Have reciprocating mechanism and be arranged on the axle extension of industrial robot the 6th, for controlling the axial translation of frock sucker.Pass through
After the industrial robot frock clamp installation on the left side, each pneumatic element is attached with middle pneumatic drive module, really
The normal of unimpeded and pneumatic component for protecting pneumatic circuit is used.By the driving part in pneumatic actuation module, with electrically drive
Dynamic model block is connected, and by way of electrical control, realizes automatic detection function.After the completion of pneumatic circuit is connected, source of the gas is beaten
Open, pneumatic actuation module is connected with electrically driven module, part can carry out manual test or automatic test, vacuum generator
It can automatically be worked, be started by button.Cylinder needs to feed back by magnetic switch signal, understands whether cylinder stroke reaches
To limit position.Magnetic switch is connected with power module, and then signal feedback line is connected with indicator lamp, when being moved down on cylinder
After moving in place, judge whether motion is normal by secretly going out for indicator lamp.Between observation part in motion process, if occur dry
Phenomenon is related to, causes motion stuck and structure Caton phenomenon occur, then whether observation input signal efficiently enters in place, gas
Whether the movement logic of dynamic element meets design cycle, and whether observation feedback signal is consistent with design signal.
Structure, ratio, size depicted in the present embodiment institute accompanying drawings etc., only to coordinate in disclosed in specification
Hold, so that those skilled in the art is understood with reading, be not limited to enforceable qualifications of the invention, therefore do not have skill
Essential meaning in art, the modification of any structure, the change of proportionate relationship or the adjustment of size can be produced not influenceing the present invention
Under raw effect and the purpose that can reach, all should still it fall in the range of disclosed technology contents are obtained and can covered.
Meanwhile, cited such as " on ", " under ", "left", "right", " centre ", " clockwise ", the use of " counterclockwise " in this specification
Language, is merely convenient to understanding for narration, and is not used to limit enforceable scope of the invention, the change of its relativeness or tune
It is whole, under without essence change technology contents, when being also considered as enforceable category of the invention.
Claims (6)
1. industrial robot frock clamp detecting system, it is characterised in that:It includes equipment stand (1), frock clamp component
(2), pneumatic actuation module (3) and electrically driven module (4), frock clamp component (2), electrically pneumatic actuation module (3) and drive
Dynamic model block (4) is fixedly mounted on equipment stand (1), pneumatic element and the pneumatic actuation module of the frock clamp component (2)
(3) connect, the driving part of the pneumatic actuation module (3) is connected with electrically driven module (4)；
The frock clamp component (2) includes the axis mechanism (201) of industrial robot the 4th, the axis mechanism of industrial robot the 4th
(201) it is provided with industrial robot cable fixed mount (202), the axis mechanism (203) of industrial robot the 5th and industrial robot the
Four axis mechanisms (201) are fitted together, and the lower end of the axis mechanism (203) of industrial robot the 5th is equipped with the axis mechanism of industrial robot the 6th
(204), industrial robot the 6th axis mechanism (204) lower end is equipped with frock clamp reciprocating mechanism (205), industrial robot the
Flange (206) is housed, frock clamp moves up and down machine between six axis mechanisms (204) and frock clamp reciprocating mechanism (205)
Structure (205) bottom is equipped with frock clamp sucker (207)；
The pneumatic actuation module (3) is included on source of the gas three linked piece (301), the output pipe of source of the gas three linked piece (301) equipped with section
Valve (302) is flowed, the output end of choke valve (302) is connected with 3 position-5 way magnetic valve (303), 3 position-5 way magnetic valve (303) one
End is connected with vacuum generator (304), and the other end of 3 position-5 way magnetic valve (303) is connected with cylinder (305), vacuum generator
(304) output end is connected with sucker (306), and the Pneumatic component of vacuum generator (304) and frock clamp sucker (207) connects
Connect；
The electrically driven module (4) includes the first electrical module controller (401), the first electrical module controller (401) one
End is connected with the positive pole of power supply (402), and the negative pole of power supply (402) is connected with vacuum generator (304), vacuum generator (304)
Completion closed-loop path is connected with the other end of the first electrical module controller (401)；
Second electrical module controller (403) one end is connected with the positive pole of power supply (402), the negative pole of power supply (402) and three five
The negative pole connection of three-way electromagnetic valve (303) left magnetic valve, the positive pole and the second electric mould of 3 position-5 way magnetic valve (303) left magnetic valve
The other end connection of block controller (403) completes closed-loop path；
3rd electrical module controller (405) one end is connected with the positive pole of power supply (402), the negative pole of power supply (402) and three five
The negative pole connection of three-way electromagnetic valve (303) right magnetic valve, the positive pole and the 3rd electric mould of 3 position-5 way magnetic valve (303) right magnetic valve
The other end connection of block controller (405) completes closed-loop path.
2. industrial robot frock clamp detecting system as claimed in claim 1, it is characterised in that:The cylinder (305) is led to
Cross signal feedback module (407) control cylinder (305) stroke of magnetic switch.
3. industrial robot frock clamp detecting system as claimed in claim 2, it is characterised in that:The magnetic switch is three
Line system is switched, and it includes magnetic switch positive-negative power line and signal feedback line, magnetic switch positive-negative power line and power positive cathode
It is connected, signal feedback line is connected with the positive pole of the first indicator lamp (406), the first indicator lamp (406) other end and power supply
(402) negative pole is connected.
4. the industrial robot frock clamp detecting system as described in claim 1 or 3, it is characterised in that:The power supply (402)
For 24 volts of power supplys.
5. industrial robot frock clamp detecting system as claimed in claim 3, it is characterised in that:The magnetic switch is positive and negative
Power line is 24 volts of magnetic switch positive-negative power lines.
6. industrial robot frock clamp detecting system as claimed in claim 1, it is characterised in that:The equipment stand (1)
It is upper that material laydown platform (5) is housed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610196004.0A CN105666527B (en) | 2016-03-31 | 2016-03-31 | Industrial robot frock clamp detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610196004.0A CN105666527B (en) | 2016-03-31 | 2016-03-31 | Industrial robot frock clamp detecting system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666527A CN105666527A (en) | 2016-06-15 |
| CN105666527B true CN105666527B (en) | 2017-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610196004.0A Active CN105666527B (en) | 2016-03-31 | 2016-03-31 | Industrial robot frock clamp detecting system |
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| CN (1) | CN105666527B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109420931A (en) * | 2017-08-22 | 2019-03-05 | 天津精创科技有限公司 | A kind of artificial clamping tool detection system |
| CN110456961B (en) * | 2019-06-17 | 2023-08-25 | 宁波敏实汽车零部件技术研发有限公司 | Quick adjustment system and method for clamp |
| CN110405807B (en) * | 2019-08-13 | 2021-02-05 | 福建省特种设备检验研究院 | Detection method based on special robot end effector performance comprehensive test system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8482412B2 (en) * | 2008-10-16 | 2013-07-09 | The Boeing Company | Data interface process with RFID data reader glove |
| CN201859591U (en) * | 2010-11-18 | 2011-06-08 | 广东轻工职业技术学院 | Two station type modularized electromagnetic integrated production line training device |
| CN103198747B (en) * | 2013-04-28 | 2015-04-22 | 苏州博实机器人技术有限公司 | Electromechanical and pneumatic integrated production training system |
| CN203305213U (en) * | 2013-05-20 | 2013-11-27 | 苏州大学 | Single-shaft motion control practical training device |
| CN103487087B (en) * | 2013-09-11 | 2015-12-09 | 北京工业大学 | Pneumatic actuator test platform for comprehensive performance |
| CN205438624U (en) * | 2016-03-31 | 2016-08-10 | 上海电气自动化设计研究所有限公司 | Industrial robot frock clamp detecting system |
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| CN105666527A (en) | 2016-06-15 |
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