CN106493608B - A kind of automation cell self-adapting detecting device - Google Patents
A kind of automation cell self-adapting detecting device Download PDFInfo
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- CN106493608B CN106493608B CN201610898614.5A CN201610898614A CN106493608B CN 106493608 B CN106493608 B CN 106493608B CN 201610898614 A CN201610898614 A CN 201610898614A CN 106493608 B CN106493608 B CN 106493608B
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- base plate
- installation base
- measuring mechanism
- workpiece
- detecting device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
- B23Q17/2208—Detection or prevention of collisions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automation cell detection technique fields, more particularly to a kind of automation cell self-adapting detecting device, including installation base plate, adaptive mechanism, measuring mechanism, lock-screw and guide draw bar, installation base plate of the invention with robot for being connected, adaptive mechanism is connected with installation base plate, and the angle that very little can be rotated relative to installation base plate, fits closely measuring mechanism bottom datum level and fixture table top, to carry out high-precision detection.The distance that measuring mechanism passes through the measurement point of workpiece top surface 3 to fixture table top, judge whether workpiece top surface is parallel with fixture table top, it is parallel then processed, it is not parallel, workpiece is removed, fixture table top is purged, it reapposes, the present invention can eliminate the error of industrial robot repetitive positioning accuracy, fit closely the bottom datum level of measuring mechanism and chucking surface, to carry out Precision measurement, judge whether workpiece is accurately in place, there is very strong practicability.
Description
Technical field
The present invention relates to automation cell detection technique fields, and in particular to a kind of automation cell self-adapting detecting dress
It sets.
Background technique
As microelectric technique, information technology, computer technology, material technology rapidly develop, the application of industrial robot
Increasingly mature, machining industry is started high-volume and is manually produced using industrial robot substitution.In process, it can generate
A large amount of clast is fallen on fixture, although being cleared up using modes such as air blowings fixture, is not also ensured that every time
Fixture is purged completely clean.Once there is clast to be retained in the position for placing workpiece on fixture, next robot is on to lathe
When material, workpiece can not be accurately in place, at this time if hastily processed, the product processed is useless certainly
Product, it is serious also to damage cutter and lathe.
In order to ensure workpiece is accurately in place, robot will detect after putting down workpiece, to sentence
Whether disconnected workpiece is placed in place.If workpiece is placed in place, lathe starts to process, if workpiece is not placed to
Position, then robot takes workpiece away, is put on lathe after fixture and workpiece are cleared up, then by workpiece, is then examined again
It surveys, judges whether workpiece is accurately in place.If continuous 3 times can not be in place workpiece, workpiece is made
For waste disposal.
Whether detection workpiece is placed in place, is to be measured after clamp using high-precision tangent displacement sensor
The point of workpiece top surface 3 judges to the distance of fixture upper surface.Due to machining (0.05mm) very high to required precision, because
This requirement to detection is just higher (0.01mm), and detection is measured using high-precision tangent displacement sensor, detection
Precision is 0.01mm, but the repetitive positioning accuracy of robot is ± .08mm, this detection device is mounted on the axis of robot,
The error of robot resetting must be eliminated, the requirement of detection accuracy is otherwise unable to satisfy.
Summary of the invention
In view of the deficiencies of the prior art, the invention discloses a kind of automation cell self-adapting detecting devices, for eliminating
The error of industrial robot repetitive positioning accuracy fits closely the bottom datum level of measuring mechanism and chucking surface, so as into
Row Precision measurement, judges whether workpiece is accurately in place.
The present invention is achieved by the following technical programs:
A kind of automation cell self-adapting detecting device, installation base plate, adaptive mechanism, measuring mechanism, lock-screw and
Guide draw bar, the installation base plate are connected with robot, and the measuring mechanism is mounted on the adaptive mechanism, described adaptive
Answer mechanism to be connected with the installation base plate, the adaptive mechanism include can floating mount plate, buffer gear, self-aligning ball bearing,
Bearing fixing axle and connecting shaft, it is described can floating mount plate be connected with the installation base plate by the guide draw bar, the axis
Hold fixing axle pass through it is described can the centre bore of floating mount plate be fixed on installation base plate by lock-screw, the buffer gear
Be mounted on can in floating mount plate, the connecting shaft top with it is described can floating mount plate be connected, the connecting shaft lower part and institute
Measuring mechanism is stated to be connected.
Preferably, the adaptive mechanism can be rotated around installation base plate, measuring mechanism bottom datum level and clamping fixture table
Face fits closely.
Preferably, the top of the buffer gear is contacted with the installation base plate.
Preferably, the measuring mechanism includes tripping sleeve and high-precision tangent displacement sensor, and the high-precision connects
Touch displacement sensor is fixed on the tripping sleeve.
Preferably, the measuring mechanism is mounted in the linking axes of the adaptive mechanism.
The invention has the benefit that
For being connected with robot, adaptive mechanism is connected installation base plate of the invention with installation base plate, and being capable of phase
For the angle of installation base plate rotation very little, fit closely measuring mechanism bottom datum level and fixture table top, to carry out height
Accuracy detection.Measuring mechanism, to the distance of fixture table top, judges workpiece top surface and fixture table top by the measurement point of workpiece top surface 3
It is whether parallel, it is then processed in parallel, it is not parallel, workpiece is removed, fixture table top is purged, reapposes, the present invention can disappear
Except the error of industrial robot repetitive positioning accuracy, fit closely the bottom datum level of measuring mechanism and chucking surface, so as to
Precision measurement is carried out, judges whether workpiece is accurately in place, there is very strong practicability.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1: being structural schematic diagram of the invention；
Fig. 2: being structural blast schematic diagram of the invention；
Fig. 3: the schematic diagram of adaptive mechanism of the invention；
Fig. 4: being the schematic diagram of measuring mechanism of the invention；
Label in figure respectively represents:
1, installation base plate；It 2, can floating mount plate；3, self-aligning ball bearing；4, connecting shaft；5, tripping sleeve；6, workpiece；7,
Lock-screw；8, guide draw bar；9, bearing fixing axle；10, buffer gear；11, high-precision tangent displacement sensor；12, it presss from both sides
Tool.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
As shown in Figure 1, Figure 2, a kind of automation cell self-adapting detecting device described in Fig. 3 and Fig. 4, it is installation base plate, adaptive
Mechanism, measuring mechanism, lock-screw and guide draw bar, the installation base plate are connected with robot, and the measuring mechanism is mounted on
On the adaptive mechanism, the adaptive mechanism is connected with the installation base plate, and the adaptive mechanism includes the peace that can float
Loading board, buffer gear, self-aligning ball bearing, bearing fixing axle and connecting shaft, it is described can floating mount plate pass through the guide draw bar
Be connected with the installation base plate, the bearing fixing axle pass through it is described can the centre bore of floating mount plate fixed by lock-screw
On installation base plate, the buffer gear be mounted on can in floating mount plate, the connecting shaft top and it is described can floating mount
Plate is connected, and the connecting shaft lower part is connected with the measuring mechanism.
Specifically, adaptive mechanism can be rotated around installation base plate, measuring mechanism bottom datum level and fixture table top are tight
Closely connected conjunction, the top of buffer gear are contacted with the installation base plate, and measuring mechanism includes tripping sleeve and high-precision contact position
Displacement sensor, the high-precision tangent displacement sensor are fixed on the tripping sleeve, measuring mechanism be mounted on it is described from
In the linking axes for adapting to mechanism.
For being connected with robot, adaptive mechanism is connected installation base plate of the present invention with installation base plate, and can be opposite
In the angle of installation base plate rotation very little, fit closely measuring mechanism bottom datum level and fixture table top, to carry out high-precision
Degree detection, measuring mechanism are mounted on adaptive mechanism, detection accuracy 0.01mm, pass through the measurement point of workpiece top surface 3 to folder
Have the distance of table top, judges whether workpiece top surface is parallel with fixture table top.
Working principle of the present invention is achieved through the following technical solutions: this measuring mechanism is as industrial machine human hand tool
A part, be mounted on the 6th axis of robot by installation base plate.Robot is when doing other movements, the top of buffer gear
Portion's ejection, can floating mount plate top to lower limit.Conical bore on three circumferential guide draw bars and installation base plate closely connects
Touching, can floating mount plate have good positioning completely.
After workpiece is put into designated position by robot, robot moves to this detection device right above workpiece, makes bottom
Portion's datum level is substantially parallel with fixture upper surface, since robot repetitive positioning accuracy is unable to satisfy the required precision of detection, surveys
There may be small angles relative to fixture upper surface for the bottom datum level of measuring mechanism.
When starting detection, the lower movement of robot contacts on the datum level of bottom point with fixture upper surface, then
Robot continues to move downward, and since bottom datum level is resisted by fixture, can not continue to lead to intermediate buffer gear quilt downwards
Compression, when the downward power of robot is greater than the power that buffer gear pushes up upwards, buffer gear is compressed, when installation base plate moves to
When designated position, conical bore thereon and guide draw bar are detached from, cause can floating mount plate be rotated about its center axis, in weight
Under power and robot under the action of pressure, can floating mount plate rotate minute angle, make the bottom datum level and folder of measuring mechanism
Tool upper surface is bonded completely, guarantees that high-precision detection can be gone on smoothly.
High-precision tangent displacement sensor is contacted with workpiece surface at this time, and be will test result and be sent to control
Whether parallel with chucking surface system, the difference of control system according to testing result, judge workpiece surface, and thus judge work
Whether part is accurately in place.
Can floating mount plate be connected with installation base plate by guide draw bar, bearing fixing axle is transmitted through can be in floating mount plate
Heart hole is fixed on installation base plate by lock-screw, can be rotated relative to self-aligning ball bearing.Buffer gear is mounted on the peace that can float
In loading board, top is contacted with installation base plate, usually top ejection, can floating mount plate top to lower position.Linking axes top
With can floating mount plate be connected, and play the role of fixed self-aligning ball bearing, lower part is connected with measuring mechanism.
Measuring mechanism is mounted in the linking axes of adaptive mechanism, can be driven by adaptive mechanism, and opposite installation base plate revolves
Turn the angle of very little.High-precision tangent displacement sensor is fixed on tripping sleeve, and detection accuracy is 10 microns.
For being connected with robot, adaptive mechanism is connected installation base plate of the invention with installation base plate, and being capable of phase
For the angle of installation base plate rotation very little, fit closely measuring mechanism bottom datum level and fixture table top, to carry out height
Accuracy detection.Measuring mechanism, to the distance of fixture table top, judges workpiece top surface and fixture table top by the measurement point of workpiece top surface 3
It is whether parallel, it is then processed in parallel, it is not parallel, workpiece is removed, fixture table top is purged, reapposes, the present invention can disappear
Except the error of industrial robot repetitive positioning accuracy, fit closely the bottom datum level of measuring mechanism and chucking surface, so as to
Precision measurement is carried out, judges whether workpiece is accurately in place, there is very strong practicability.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (5)
1. a kind of automation cell self-adapting detecting device, it is characterised in that: including installation base plate, adaptive mechanism, measuring machine
Structure, lock-screw and guide draw bar, the installation base plate are connected with robot, and the measuring mechanism is mounted on the adaptive machine
On structure, the adaptive mechanism is connected with the installation base plate, and the adaptive mechanism includes can floating mount plate, buffer
Structure, self-aligning ball bearing, bearing fixing axle and connecting shaft, it is described can floating mount plate pass through the guide draw bar and the installation base
Plate is connected, the bearing fixing axle pass through it is described can the centre bore of floating mount plate installation base plate is fixed on by lock-screw
On, the buffer gear be mounted on can in floating mount plate, the connecting shaft top with it is described can floating mount plate be connected, it is described
Connecting shaft lower part is connected with the measuring mechanism.
2. automation cell self-adapting detecting device according to claim 1, it is characterised in that: the adaptive mechanism can
It is rotated around installation base plate, measuring mechanism bottom datum level and fixture table top fit closely.
3. automation cell self-adapting detecting device according to claim 1, it is characterised in that: the top of the buffer gear
Portion is contacted with the installation base plate.
4. automation cell self-adapting detecting device according to claim 1, it is characterised in that: the measuring mechanism includes
Tripping sleeve and high-precision tangent displacement sensor, the high-precision tangent displacement sensor are fixed on the tripping sleeve
On.
5. automation cell self-adapting detecting device according to claim 1, it is characterised in that: the measuring mechanism installation
In the linking axes of the adaptive mechanism.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621105230 | 2016-10-08 | ||
| CN2016211052305 | 2016-10-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106493608A CN106493608A (en) | 2017-03-15 |
| CN106493608B true CN106493608B (en) | 2019-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610898614.5A Active CN106493608B (en) | 2016-10-08 | 2016-10-14 | A kind of automation cell self-adapting detecting device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115338588B (en) * | 2022-10-14 | 2023-04-14 | 苏州佳祺仕信息科技有限公司 | Welding positioning device and welding positioning system |
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|---|---|---|---|---|
| CN201318937Y (en) * | 2008-12-09 | 2009-09-30 | 天津力神电池股份有限公司 | High-precision article size measuring device |
| CN202470959U (en) * | 2012-03-05 | 2012-10-03 | 瑞智(青岛)精密机电有限公司 | Screw height detecting machine |
| CN202630936U (en) * | 2012-07-11 | 2012-12-26 | 重庆工商大学 | Horizontal detection device of shaft parts |
| CN203083555U (en) * | 2013-01-15 | 2013-07-24 | 东莞信丰五金机械塑胶工业有限公司 | Flatness automatic measurement instrument |
| CN204128527U (en) * | 2014-11-11 | 2015-01-28 | 昆山康斯特精密机械有限公司 | Bearing height testing agency |
| CN205593502U (en) * | 2016-04-28 | 2016-09-21 | 郑州市军明农机销售有限公司 | High measuring device constructs |
-
2016
- 2016-10-14 CN CN201610898614.5A patent/CN106493608B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201318937Y (en) * | 2008-12-09 | 2009-09-30 | 天津力神电池股份有限公司 | High-precision article size measuring device |
| CN202470959U (en) * | 2012-03-05 | 2012-10-03 | 瑞智(青岛)精密机电有限公司 | Screw height detecting machine |
| CN202630936U (en) * | 2012-07-11 | 2012-12-26 | 重庆工商大学 | Horizontal detection device of shaft parts |
| CN203083555U (en) * | 2013-01-15 | 2013-07-24 | 东莞信丰五金机械塑胶工业有限公司 | Flatness automatic measurement instrument |
| CN204128527U (en) * | 2014-11-11 | 2015-01-28 | 昆山康斯特精密机械有限公司 | Bearing height testing agency |
| CN205593502U (en) * | 2016-04-28 | 2016-09-21 | 郑州市军明农机销售有限公司 | High measuring device constructs |
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| CN106493608A (en) | 2017-03-15 |
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