CN107008660B - Device for measuring belt length by using single-axis arm of robot and method for screening belt - Google Patents
Device for measuring belt length by using single-axis arm of robot and method for screening belt Download PDFInfo
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- CN107008660B CN107008660B CN201710359462.6A CN201710359462A CN107008660B CN 107008660 B CN107008660 B CN 107008660B CN 201710359462 A CN201710359462 A CN 201710359462A CN 107008660 B CN107008660 B CN 107008660B
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- belt pulley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- A Measuring Device Byusing Mechanical Method (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a device for measuring the length of a belt by utilizing a single-axis arm of a robot, which comprises a working platform, wherein a movable base is arranged on the left side of the working platform, a fixed base is arranged on the right side of the working platform, a groove A is formed in the left and right directions of the working platform, the movable base is positioned in the groove A, the fixed base is fixed on the working platform, the movable base and the fixed base both comprise a base, a rotating shaft, a belt pulley and an introduction mechanism, the base is contacted with the working platform, the rotating shaft is inserted into the base and is matched with the rotating shaft through a thrust bearing, the belt pulley is arranged at the upper end of the rotating shaft, the introduction mechanism is arranged above the belt pulley, a gantry baffle is arranged on the working platform, and the base of the movable base is connected with the single-axis arm of the rectangular robot in the left and right directions through a connecting rod. A method of screening a belt using the apparatus for measuring belt length with a single axis arm of a robot is also disclosed. The beneficial effects of the invention are as follows: simple structure, no need of manual tightening and positioning, and accurate measurement.
Description
Technical Field
The invention relates to the technical field of belt screening, in particular to a device for measuring the length of a belt by using a single-shaft arm of a robot and a method for screening the belt.
Background
The use of the belts is often used in pairs, even if the belts with the same model are produced by the same machine, the lengths of the belts are different, when the lengths of two different belts are different, uneven stress is caused, so that one belt is broken first, the service life of the belt is low, and therefore, the belts are often required to be screened, but a common screening method is often a manual visual inspection method, the screening effect is poor, even if a machine for specially measuring the belts is provided, the belts are manually fastened on a measuring mechanism, and in the fastening process, the belts are repeatedly pressed, so that the deformation of rubber in the belts is caused, and finally, the measuring structure is error. The invention provides a device for measuring the length of a belt by utilizing a single-shaft arm of a robot and a method for screening the belt, which are practical, perfect and convenient to solve the problems.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the device which is convenient for measuring the length of the belt by using the single-axis arm of the robot and has the advantages of simple structure, no need of manual positioning and accurate measurement and the method for screening the belt.
The aim of the invention is achieved by the following technical scheme: utilize device of robot unipolar arm survey belt length, including work platform, work platform's left side is provided with moves the base, work platform's right side is provided with fixed base, it sets up relatively to move base and fixed base, it has groove A to open along left and right directions, it is located groove A to move the base, fixed base fixes on work platform, it all includes the base to move the base, the axis of rotation, belt pulley and leading-in mechanism to move the base, the base contacts with work platform, the axis of rotation inserts in the base and both pass through thrust bearing cooperation, the belt pulley is installed at the upper end of axis of rotation, the top of belt pulley is provided with leading-in mechanism, still the planer baffle on work platform, form the cavity between planer baffle and the work platform and the base sets up in this cavity, it has groove B to open along left and right directions on the planer baffle that corresponds directly over groove A, it has the spout to move on the lateral wall of groove B to open along left and right directions, the axis of rotation on moving the base passes groove B, install the slide bearing with spout looks adaptation on the axis of rotation in the moving the base, the axis of rotation still passes corresponding base, the lower extreme of rotation motor links to each other with the rotating support through the corresponding base on the right-angle coordinate of the base of rotation of the base, the robot arm is continuous with the right-hand base.
The guide-in mechanism comprises a stand column, rollers and a displacement motor, wherein the stand column is fixed on the belt pulley and is positioned above the belt pulley, the upper part of the stand column is small, the lower part of the stand column is large, the diameter of the lower part of the stand column is the same as that of the belt pulley, a plurality of rollers are axially arranged on the side surface of the stand column, the rollers are arranged on the stand column through rotating shafts, the rotating shafts are connected with the displacement motor through driving belts, a pressure sensor is arranged in a groove of the belt pulley, and a laser range finder is arranged on a working platform.
The thrust bearing faces are upwards mounted.
The belt pulley is in interference fit with the rotating shaft.
The right side of work platform be provided with rectangular coordinates robot's operation screen, the operation screen still links to each other in rotating electrical machines and displacement motor, pressure sensor and laser range finder respectively through the cable.
The method for screening the belt by using the device for measuring the length of the belt by using the single-axis arm of the rectangular coordinate robot comprises the following steps:
s1, guiding materials, namely, a belt to be tested is arbitrarily sleeved at the upper end of a stand column, a shifting motor is started, the shifting motor drives a roller to rotate through a transmission belt, the belt to be tested is gradually moved downwards under the action of the roller at the upper part of the stand column, so that the belt to be tested is tensioned, and when the belt to be tested moves to the bottom of the stand column, the belt to be tested is guided between a fixed base belt pulley and a movable base belt pulley under the action of the roller at the lower part of the stand column;
s2, correcting the position, namely after the belt to be detected is led between the fixed base belt pulley and the movable base belt pulley, starting the rotating motor, driving the rotating shaft to rotate by the rotating motor, and driving the belt pulley to rotate by the rotating shaft, wherein in the process, the gantry baffle blocks the belt to be detected, and the belt pulley continuously corrects the position of the belt to be detected when rotating, so that the belt to be detected is positioned in a horizontal plane;
s3, measuring and unloading, namely driving a connecting rod to push a base on a movable base leftwards through a single-axis arm of a direct coordinate robot, so as to thoroughly tighten a belt to be measured, measuring the pressure of the belt to be measured on a belt pulley through a pressure sensor, measuring the length of the belt to be measured through a laser range finder, recording the measured pressure and length, driving the base on the movable base rightwards through the single-axis arm, and taking down the belt to be measured;
s4, screening, namely optionally sleeving the other belt to be tested on the upper part of the upright post, repeating S1-S2, measuring again, stopping moving the single-shaft arm when the pressure value is the same as that of the last belt to be tested during measurement, measuring the length of the belt to be tested at the moment, calculating the floating range of the belt to be tested in S4 and the length of the belt to be tested in S3 according to a formula arranged in the robot, if the range is met, operating a COM lamp on the screen to flash, otherwise, replacing the next belt to be tested, continuously measuring and screening, and finally selecting two belts to be tested in pairs.
The invention has the following advantages: simple structure, no need of manual tightening and positioning, and accurate measurement.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an enlarged view of A-A of FIG. 1;
in the figure, 1-working platform, 2-base, 3-rotation shaft, 4-belt pulley, 5-gantry baffle, 6-chute, 7-sliding bearing, 8-rotating motor, 9-single-shaft arm, 10-upright post, 11-roller, 12-shift motor and 13-operation screen.
Detailed Description
The invention is further described below with reference to the accompanying drawings, the scope of the invention not being limited to the following:
as shown in fig. 1 and 2, the device for measuring the length of the belt by using the single-axis arm of the robot comprises a working platform 1, a movable base is arranged on the left side of the working platform 1, a fixed base is arranged on the right side of the working platform 1, the movable base and the fixed base are oppositely arranged, a groove A is formed in the left and right direction of the working platform 1, the movable base is positioned in the groove A, the fixed base is fixed on the working platform 1, the movable base and the fixed base respectively comprise a base 2, a rotating shaft 3, a belt pulley 4 and a guiding mechanism, the base 2 is contacted with the working platform 1, the rotating shaft 3 is inserted into the base 2 and matched with the base through a thrust bearing, the belt pulley 4 is arranged at the upper end of the rotating shaft 3, the guiding mechanism is arranged above the belt pulley 4, a cavity is formed between the gantry baffle 5 and the working platform 1, the base 2 is arranged in the cavity, a groove B is formed in the right and left and right direction of the gantry baffle 5 corresponding to the groove A, a chute 6 is formed in the left and right direction of the side wall of the groove B, the rotating shaft 3 on the movable base passes through the groove B, the rotating shaft 3 in the rotating base passes through the rotating shaft 3 and the corresponding to the rotating shaft 3 and the rotating shaft 8 through the right direction of the rotating shaft 8, and the rotating shaft 2 is connected with the rotating shaft 2 through the right direction of the rotating shaft 8, and the rotating shaft 8 of the rotating shaft 2 is matched with the rotating shaft 2, and the rotating shaft 2 is arranged on the rotating shaft 2 and the rotating base through the rotating shaft 2.
The guide-in mechanism comprises a stand column 10, rollers 11 and a displacement motor 12, wherein the stand column 10 is fixed on a belt pulley 4 and is positioned above the belt pulley, the upper part of the stand column 10 is small, the lower part of the stand column 10 is large, the diameter of the lower part of the stand column 10 is the same as that of the belt pulley 4, a plurality of rollers 11 are axially arranged on the side surface of the stand column 10, the rollers 11 are arranged on the stand column 10 through rotating shafts, the rotating shafts are connected with the displacement motor 12 through driving belts, a pressure sensor is arranged in a groove of the belt pulley 4, and a laser range finder is arranged on a working platform 1.
The thrust bearing faces are upwards mounted.
The belt pulley 4 and the rotating shaft 3 are in interference fit.
The right side of the working platform 1 is provided with an operation screen 13 of the rectangular robot, and the operation screen 13 is respectively connected with the rotating motor 8, the shifting motor 12, the pressure sensor and the laser distance measuring device through cables.
The method for screening the belt by using the device for measuring the length of the belt by using the single-axis arm of the rectangular coordinate robot comprises the following steps:
s1, guiding materials, namely, a belt to be tested is arbitrarily sleeved at the upper end of a stand column 10, a shifting motor 12 is started, the shifting motor 12 drives a roller 11 to rotate through a transmission belt, the belt to be tested is gradually moved downwards under the action of the roller 11 at the upper part of the stand column 10, so that the belt to be tested is tensioned, and when the belt to be tested moves to the bottom of the stand column 10, the belt to be tested is guided between a fixed base belt pulley 4 and a movable base belt pulley 4 under the action of the roller 11 at the lower part of the stand column 10;
s2, correcting the position, namely after the belt to be detected is led between the fixed base belt pulley 4 and the movable base belt pulley 4, starting the rotating motor 8, driving the rotating shaft 3 to rotate by the rotating motor 8, driving the belt pulley 4 to rotate by the rotating shaft 3, and in the process, blocking the belt to be detected by the gantry baffle 5, and correcting the position of the belt to be detected continuously when the belt pulley 4 rotates, so that the belt to be detected is positioned in a horizontal plane;
s3, measuring and unloading, namely driving a connecting rod to push a base 2 on a movable base leftwards through a single-axis arm 9 of a direct coordinate robot, so as to thoroughly tighten a belt to be measured, measuring the pressure of the belt to be measured on a belt pulley 4 through a pressure sensor, measuring the length of the belt to be measured through a laser range finder, recording the measured pressure and length, and driving the base 2 on the movable base rightwards through the single-axis arm 9 to take down the belt to be measured;
s4, screening, namely optionally sleeving the other belt to be tested on the upper part of the upright post 10, repeating S1-S2, measuring again, stopping moving the single-shaft arm 9 when the pressure value is the same as that of the last belt to be tested during measurement, measuring the length of the belt to be tested at the moment, calculating the floating range of the belt to be tested in S4 and the length of the belt to be tested in S3 according to a formula set in the robot, if the range is met, flashing a COM lamp on the operation screen 13, otherwise, replacing the next belt to be tested, continuously measuring and screening, and finally selecting two belts to be tested in pairs.
In this embodiment, the structure of the belt pulley 4 is changed according to the belt type, when the belt is sleeved on the belt pulley 4, the single-shaft arm 9 drives the movable base center column 10 to move, the rotating motor 8 simultaneously drives the belt pulley 4 to slowly rotate, and under the combined action of the single-shaft arm 9 and the rotating motor 8, the belt position is more accurate, so that the measurement is more accurate.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (5)
1. Utilize rectangular coordinates robot unipolar arm to survey device of belt length, its characterized in that: the laser distance measuring device comprises a working platform (1), wherein a movable base is arranged on the left side of the working platform (1), a fixed base is arranged on the right side of the working platform (1), the movable base and the fixed base are oppositely arranged, the working platform (1) is provided with a groove A along the left and right directions, the movable base is positioned in the groove A, the fixed base is fixed on the working platform (1), the movable base and the fixed base both comprise a base (2), a rotating shaft (3), a belt pulley (4) and an introduction mechanism, the base (2) is contacted with the working platform (1), the rotating shaft (3) is inserted into the base (2) and matched with the base through a thrust bearing, the belt pulley (4) is arranged at the upper end of the rotating shaft (3), an introduction mechanism is arranged above the belt pulley (4), the introduction mechanism comprises a stand column (10), a roller (11) and a displacement motor (12), the stand column (10) is fixed on the belt pulley (4) and is positioned above the guide mechanism, the upper part of the stand column (10) is small, the lower part of the stand column (10) is large in diameter the same as the diameter of the belt pulley (4), the stand column (10) is provided with the diameter of the belt pulley (4), the roller (10) is axially arranged on the side face of the stand column (10) along the side face of the belt pulley (11) through a plurality of the roller (11), the roller (11) is arranged on the belt pulley (11) in the axial direction, the belt heater is arranged on the belt heater (1, and is connected with the pressure sensor (1 through the roller (11, a cavity is formed between the gantry baffle (5) and the working platform (1), the base (2) is arranged in the cavity, a groove B is formed in the gantry baffle (5) corresponding to the position right above the groove A along the left-right direction, a chute (6) is formed in the side wall of the groove B along the left-right direction, a rotating shaft (3) on the moving base penetrates through the groove B, a sliding bearing (7) matched with the chute (6) is mounted on the rotating shaft (3) in the moving base, the rotating shaft (3) in the moving base further penetrates through the corresponding base (2), the lower end of the rotating shaft (3) in the moving base is connected with an output shaft of a rotating motor (8), the rotating motor (8) is fixed on the lower surface of the corresponding base (2) through a bracket, and the base (2) of the moving base is connected with a single-axis arm (9) of the rectangular coordinate robot along the left-right direction through a connecting rod.
2. The apparatus for measuring the length of a belt using a single-axis arm of a rectangular robot according to claim 1, wherein: the thrust bearing faces are upwards mounted.
3. The apparatus for measuring the length of a belt using a single-axis arm of a rectangular robot according to claim 2, wherein: the belt pulley (4) is in interference fit with the rotating shaft (3).
4. The apparatus for measuring the length of a belt using a single-axis arm of a rectangular robot according to claim 3, wherein: the right side of work platform (1) be provided with rectangular coordinates robot's operation screen (13), operation screen (13) are still connected in rotating electrical machines (8) and displacement motor (12), pressure sensor and laser range finder respectively through the cable.
5. The measurement method of the device for measuring the length of the belt by using the single-axis arm of the rectangular robot according to any one of claims 1 to 4, wherein the measurement method is characterized by comprising the following steps: the method comprises the following steps:
s1, guiding materials, namely, a belt to be tested is arbitrarily sleeved at the upper end of a stand column (10), a shifting motor (12) is started, the shifting motor (12) drives a roller (11) to rotate through a transmission belt, the belt to be tested is gradually moved downwards under the action of the roller (11) at the upper part of the stand column (10), so that the belt to be tested is tensioned, and when the belt to be tested moves to the bottom of the stand column (10), the belt to be tested is guided between a fixed base belt pulley (4) and a movable base belt pulley (4) under the action of the roller (11) at the lower part of the stand column (10);
s2, correcting the position, namely after the belt to be detected is led between the fixed base belt pulley (4) and the movable base belt pulley (4), starting a rotating motor (8), driving a rotating shaft (3) to rotate by the rotating motor (8), driving the belt pulley (4) to rotate by the rotating shaft (3), and in the process, blocking the belt to be detected by a gantry baffle plate (5), and correcting the position of the belt to be detected by the belt pulley (4) continuously when the belt pulley (4) rotates, so that the belt to be detected is positioned in a horizontal plane;
s3, measuring and unloading, namely driving a connecting rod to push a base (2) on the movable base leftwards through a single-axis arm (9) of the direct-coordinate robot, so as to thoroughly tighten the belt to be measured, measuring the pressure of the belt to be measured on a belt pulley (4) through a pressure sensor, measuring the length of the belt to be measured through a laser range finder, recording the measured pressure and length, driving the base (2) on the movable base rightwards through the single-axis arm (9), and taking down the belt to be measured;
s4, screening, namely optionally sleeving the other belt to be tested on the upper part of the upright post (10), repeating S1-S2, measuring, stopping moving the single-shaft arm (9) when the pressure value is the same as that of the last belt to be tested during measurement, measuring the length of the belt to be tested at the moment, calculating the floating range of the belt to be tested in S4 and the length of the belt to be tested in S3 according to a formula set in the robot, if the range is met, operating a COM lamp on the screen (13) to flash, otherwise, replacing the next belt to be tested, continuously measuring and screening, and finally selecting two belts to be tested in pairs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359462.6A CN107008660B (en) | 2017-05-19 | 2017-05-19 | Device for measuring belt length by using single-axis arm of robot and method for screening belt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359462.6A CN107008660B (en) | 2017-05-19 | 2017-05-19 | Device for measuring belt length by using single-axis arm of robot and method for screening belt |
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| Publication Number | Publication Date |
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| CN107008660A CN107008660A (en) | 2017-08-04 |
| CN107008660B true CN107008660B (en) | 2023-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710359462.6A Active CN107008660B (en) | 2017-05-19 | 2017-05-19 | Device for measuring belt length by using single-axis arm of robot and method for screening belt |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107931146A (en) * | 2017-12-18 | 2018-04-20 | 山东鲁南机床有限公司 | A kind of device for being used to match more V belt equal lengths |
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| US4347872A (en) * | 1979-08-06 | 1982-09-07 | Leesona Corporation | Air weft insertion system |
| EP0576083A2 (en) * | 1992-06-26 | 1993-12-29 | Koninklijke Philips Electronics N.V. | Magnetic-tape apparatus comprising a pressure-roller device |
| CN101198282A (en) * | 2004-08-06 | 2008-06-11 | 视锐有限公司 | Device for separating the epithelial layer from the surface of the cornea of eye |
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| CN107008660A (en) | 2017-08-04 |
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