CN107655435A - A kind of high method of survey of robot to supplied materials workpiece - Google Patents
A kind of high method of survey of robot to supplied materials workpiece Download PDFInfo
- Publication number
- CN107655435A CN107655435A CN201710833627.9A CN201710833627A CN107655435A CN 107655435 A CN107655435 A CN 107655435A CN 201710833627 A CN201710833627 A CN 201710833627A CN 107655435 A CN107655435 A CN 107655435A
- Authority
- CN
- China
- Prior art keywords
- robot
- workpiece
- fixture
- survey
- surveying
- 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
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
Abstract
A kind of high method of survey of robot to supplied materials workpiece, the haulage equipment being related to include performing the robot for carrying instruction, are provided with robot with the fixture for surveying high sensor；High method is surveyed to comprise the following steps：1) the home position D1 of system recorder people upper fixture；2) robotically-driven fixture slowly down moves touches workpiece until surveying the probe on high sensor；3) periods of robot operation stop, and record the vertical displacement D2 of fixture；4) system be calculated the total height D of workpiece, and calculation is：D=D1 D2.The present invention is entirely surveying high process without artificial interference, reduces the amount of labour, improves automation degree of equipment, improves operating efficiency, and add measurement accuracy.
Description
Technical field
The present invention relates to a kind of haulage equipment, survey high method of more particularly to a kind of robot to supplied materials workpiece.
Background technology
The high method of survey at present for machine man-hour typically manually measures, and is then manually entered interface
Realize the switching of height, this mode can have the error of abrasion etc for later longtime running, and measurement accuracy is not yet
It is enough accurate；Therefore, it is necessary to it is further improved.
The content of the invention
The purpose of the present invention aims to provide a kind of energy automatic measurement height, and without artificial interference, rate of precision is high, improves automatic
Change degree, survey high method of the robot of operating efficiency to supplied materials workpiece is improved, to overcome weak point of the prior art.
By a kind of survey high method of the robot of this purpose design to supplied materials workpiece, the haulage equipment being related to is removed including execution
The robot of instruction is transported, is provided with robot with the fixture for surveying high sensor；It is characterized in that：Surveying high method includes following step
Suddenly：
1) the home position D1 of system recorder people upper fixture；
2) robotically-driven fixture slowly down moves touches workpiece until surveying the probe on high sensor；
3) periods of robot operation stop, and record the vertical displacement D2 of fixture；
4) system be calculated the total height D of workpiece, and calculation is：D=D1-D2.
The home position D1 is distance of the fixture to the plane for placing workpiece.
The haulage equipment also includes being used for the charging tray for loading workpiece, and charging tray inner chamber bottom surface is for placing the flat of workpiece
Face.
The present invention is set on fixture surveys high sensor, records the home position D1 of fixture during operation first, then drives
Fixture is fallen until touching workpiece and records vertical displacement D2, and the total height D of workpiece is drawn finally by system-computed, whole to survey
High process reduces the amount of labour, improves automation degree of equipment, improve operating efficiency, and add without artificial interference
Measurement accuracy.
Brief description of the drawings
Fig. 1 is the workflow wire figure of one embodiment of the invention.
Fig. 2 is the overall structure diagram for the haulage equipment being related in one embodiment of the invention.
Fig. 3 is state diagram of the fixture during height is surveyed in one embodiment of the invention.
Fig. 4 is the high schematic diagram of survey of one embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
Referring to Fig. 1-Fig. 4, the haulage equipment that the present embodiment is related to carries the robot 3 instructed including performing, in robot 3
It is provided with the fixture 4 for surveying high sensor 5；
The high method of the survey to supplied materials workpiece 2 of robot 3 comprises the following steps in this haulage equipment：
1) the home position D1 of the upper fixture 4 of system recorder people 3；
2) robot 3 drives fixture to 4 and slowly down moved until surveying the touching of the probe on high sensor 5
To workpiece 2；
3) robot 3 is stopped, and records the vertical displacement D2 of fixture 4；
4) system be calculated the total height D of workpiece 2, and calculation is：D=D1-D2.
Furtherly, home position D1 is distance of the fixture 4 to the plane 1.1 for placing workpiece 2.
Furtherly, haulage equipment also includes being used for the charging tray 1 for loading workpiece 2, and charging tray inner chamber bottom surface is for placing work
The plane 1.1 of part 2.
The above-mentioned preferred scheme for the present invention, general principle, principal character and the present invention of the present invention has been shown and described
The advantages of.Those skilled in the art should be recognized that the present invention is not limited to the above embodiments, above-described embodiment and specification
Described in merely illustrate the principles of the invention, without departing from the spirit and scope of the present invention the present invention also have it is various
Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute
Attached claims and its equivalent define.
Claims (3)
1. a kind of high method of survey of robot to supplied materials workpiece, the haulage equipment being related to includes performing the robot for carrying instruction
(3), it is provided with robot (3) with the fixture (4) for surveying high sensor (5)；It is characterized in that：Surveying high method includes following step
Suddenly：
1) the home position D1 of system recorder people (3) upper fixture (4)；
2) robot (3) drives fixture to (4) slow down move and touches workpiece (2) until surveying the probe on high sensor (5)；
3) robot (3) is stopped, and records the vertical displacement D2 of fixture (4)；
4) system be calculated the total height D of workpiece (2), and calculation is：D=D1-D2.
2. the high method of survey of the robot to supplied materials workpiece according to claim 1, it is characterised in that：The home position D1 is
Distance of the fixture (4) to the plane (1.1) for placing workpiece (2).
3. the high method of survey of the robot to supplied materials workpiece according to claim 2, it is characterised in that：The haulage equipment also wraps
The charging tray (1) for loading workpiece (2) is included, charging tray inner chamber bottom surface is the plane (1.1) for placing workpiece (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710833627.9A CN107655435A (en) | 2017-09-15 | 2017-09-15 | A kind of high method of survey of robot to supplied materials workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710833627.9A CN107655435A (en) | 2017-09-15 | 2017-09-15 | A kind of high method of survey of robot to supplied materials workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107655435A true CN107655435A (en) | 2018-02-02 |
Family
ID=61129496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710833627.9A Pending CN107655435A (en) | 2017-09-15 | 2017-09-15 | A kind of high method of survey of robot to supplied materials workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107655435A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103090797A (en) * | 2011-11-01 | 2013-05-08 | 竑腾科技股份有限公司 | Automatic height measuring device and method of splitting machine |
| CN104457658A (en) * | 2014-12-16 | 2015-03-25 | 江苏天宏自动化科技有限公司 | Automatic wheel hub cover opening height detection mechanism |
| CN106733690A (en) * | 2016-12-12 | 2017-05-31 | 佛山市恒力泰机械有限公司 | A kind of on-line thickness measurement method and device |
| CN106853953A (en) * | 2017-01-18 | 2017-06-16 | 江苏新美星液体包装工程技术研究中心有限公司 | The lifting drive of shifting carrying platform in stacking machine |
| CN206311090U (en) * | 2016-12-16 | 2017-07-07 | 田川 | Multi-point thickness automatic tester |
-
2017
- 2017-09-15 CN CN201710833627.9A patent/CN107655435A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103090797A (en) * | 2011-11-01 | 2013-05-08 | 竑腾科技股份有限公司 | Automatic height measuring device and method of splitting machine |
| CN104457658A (en) * | 2014-12-16 | 2015-03-25 | 江苏天宏自动化科技有限公司 | Automatic wheel hub cover opening height detection mechanism |
| CN106733690A (en) * | 2016-12-12 | 2017-05-31 | 佛山市恒力泰机械有限公司 | A kind of on-line thickness measurement method and device |
| CN206311090U (en) * | 2016-12-16 | 2017-07-07 | 田川 | Multi-point thickness automatic tester |
| CN106853953A (en) * | 2017-01-18 | 2017-06-16 | 江苏新美星液体包装工程技术研究中心有限公司 | The lifting drive of shifting carrying platform in stacking machine |
Non-Patent Citations (1)
| Title |
|---|
| 黄攀峰: "《空间绳系机器人技术》", 31 August 2014, 中国宇航出版社 * |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180202 |