CN108081312A - A kind of robot mechanical arm centering calibration system for being used to capture miniature parts - Google Patents
A kind of robot mechanical arm centering calibration system for being used to capture miniature parts Download PDFInfo
- Publication number
- CN108081312A CN108081312A CN201711070855.1A CN201711070855A CN108081312A CN 108081312 A CN108081312 A CN 108081312A CN 201711070855 A CN201711070855 A CN 201711070855A CN 108081312 A CN108081312 A CN 108081312A
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- CN
- China
- Prior art keywords
- mechanical arm
- manipulator
- robot
- laser
- lamp
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- 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.)
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Classifications
-
- 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
-
- 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
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of for capturing the robot mechanical arm centering calibration system of miniature parts, including：Feed table which is provided with multiple parts and place position, and each part is placed and alignment is equipped at position, and lamp is equipped at alignment；Manipulator has parallel clamping jaw, is arranged on the end of robot, and position is placed for the part of crawl to be placed into the part of feed table；A pair of of laser alignment instrument, the both sides of parallel clamping jaw, and are oppositely arranged, each laser alignment instrument is equipped with laser emitter and photelectric receiver on manipulator of living apart；Display is controlled, is connected respectively with robot and each laser alignment instrument.Compared with prior art, the present invention can occur part to avoid the prior art and place the production discrepancy that dislocation occurs, after manipulator places part, it places and misplaces in the event of part, the system can respond at once, stop the next crawl work of manipulator, move control by human hand or the part of dislocation is placed on correct part automatically and place at position.
Description
Technical field
The present invention relates to industrial robot field, more particularly, to a kind of robot mechanical arm for being used to capture miniature parts
Centering calibration system.
Background technology
In traditional industry production, manipulator plays irreplaceable role, such as small-sized the zero of industrial robot crawl
Component, manipulator can by hand be placed instead of worker, and workpiece to be added to designated position realizes the automatic of workpiece conveying process to be added
Change, so as to reduce production cost, improve production efficiency.With the rise of the industrial revolution twice, the production and living of the mankind are imitated
Rate is greatly improved, and is also thereupon development with rapid changepl. never-ending changes and improvements for the innovation of robotic device.
But while manipulator is increasingly widely used accreditation with the public, and occurs one and new ask
Topic, anything have its dual character, and manipulator is no exception.Manipulator facilitates people and manufactures processing really, accelerates
Speed, but during manipulator is placed an object into belt or pallet, inevitably it is present with what is misplaced and shift
Phenomenon once there is offset, will more or less influence to process, the disconnection of production development.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind is small-sized for capturing
The robot mechanical arm centering calibration system of part.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of robot mechanical arm centering calibration system for being used to capture miniature parts, including：
Feed table which is provided with multiple parts and place position, and each part is placed and is equipped with alignment at position, is equipped at alignment
Lamp,
Manipulator has parallel clamping jaw, the end of robot is arranged on, for the part of crawl to be placed into feed table
Part is placed on position,
A pair of of laser alignment instrument, the both sides of parallel clamping jaw, and are oppositely arranged, each laser alignment instrument is all provided on manipulator of living apart
There are laser emitter and photelectric receiver,
Display is controlled, is connected respectively with robot and each laser alignment instrument.
Preferably, the parallel clamping jaw is equipped with the hollow-out parts to match with laser emitter and laser pickoff.
Preferably, the robot includes pedestal, the fuselage being arranged on pedestal and the supporting being flexibly connected successively
Bar, first mechanical arm, second mechanical arm and three-mechanical arm, support rod are arranged on fuselage, and manipulator is arranged on the 3rd machinery
On arm.
Preferably, the light that the lamp is sent is scatter-type light.
When part is handed down by machinery, and part is located at part placement position, the light that lamp is sent is covered by part, nothing
Method can not be sensed that then part is placed correct, and manipulator continues to capture next part by any photoelectric sensor；
When part is handed down by machinery, and part places dislocation position with part, the light that lamp is sent is by any laser pair
The photelectric receiver of middle instrument senses that then part misplaces, and manipulator stops crawl.
Preferably,
When part is captured by manipulator, the light that the laser emitter of two laser alignment instruments is sent is blocked by part,
Photelectric receiver does not make a response to the light that lamp is sent；
After part is handed down by machinery, the light that the laser emitter of any one laser alignment instrument is sent is by another
The photelectric receiver of laser alignment instrument receives, and photelectric receiver makes a response to the light that lamp is sent.
Preferably, in the system work process, multiple parts are placed in position, and only the part with manipulator crawl matches
Part place position lamp work.
Compared with prior art, the production that part places dislocation generation can occur to avoid the prior art in system of the invention
Discrepancy after manipulator places part, is placed in the event of part and misplaced, which can respond at once, stop manipulator
Next crawl work moves control or the part of dislocation is placed on correct part automatically and places at position by human hand.
Description of the drawings
Fig. 1 is the front schematic view of the present invention；
Fig. 2 is the side schematic view of the present invention.
In figure, 1 is pedestal, and 2 be fuselage, and 3 be support rod, and 4 be first mechanical arm, and 5 be second mechanical arm, and 6 be the 3rd machine
Tool arm, 7 be laser alignment instrument, and 8 be parallel clamping jaw, and 9 be feed table, and 10 place position for part, and 11 be lamp.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of robot mechanical arm centering calibration system for being used to capture miniature parts, as shown in Fig. 1~2, including：
Feed table 9 which is provided with multiple parts and place position 10, and each part is placed and alignment is equipped at position, at alignment
Equipped with lamp 11,
Manipulator has parallel clamping jaw 8, the end of robot is arranged on, for the part of crawl to be placed into feed table 9
Part place position 10 on,
A pair of of laser alignment instrument 7, the both sides of parallel clamping jaw 8, and are oppositely arranged, each laser alignment instrument 7 on manipulator of living apart
Laser emitter and photelectric receiver are equipped with,
Display is controlled, is connected respectively with robot and each laser alignment instrument 7.
In the present embodiment, as shown in Figure 1, a laser alignment instrument 7 is arranged on the left side of parallel clamping jaw 8, another laser
Centering instrument is arranged on the right side of parallel clamping jaw 8, in order to avoid parallel clamping jaw 8 interferes laser alignment instrument, the present embodiment
Parallel clamping jaw 8 be equipped with the hollow-out parts that match with laser emitter and laser pickoff, two laser alignment instruments 7 can be real
Now to penetrating.
Robot in the present embodiment includes pedestal 1, the fuselage 2 being arranged on pedestal 1 and the branch being flexibly connected successively
Bar 3, first mechanical arm 4, second mechanical arm 5 and three-mechanical arm 6 are held, support rod is arranged on fuselage 2, and manipulator is arranged on
On three-mechanical arm 6.
In order to which the light that lamp 11 is sent is made to be easier to be sensed by the photelectric receiver of laser alignment instrument, the light that lamp 11 is sent
Line is scatter-type light.When part is handed down by machinery, and when part is located at part and places at position 10, light quilt that lamp 11 is sent
Part covers, and can not can not be sensed by any photoelectric sensor, then part is placed correct, and manipulator continues to capture next zero
Part；When part is handed down by machinery, and part places the dislocation of position 10 with part, the light that lamp 11 is sent is by any laser alignment
The photelectric receiver of instrument 7 senses that then part misplaces, and manipulator stops crawl.
In order to increase the reliability of system work, it can be provided, when part is captured by manipulator, two laser alignments
The light that the laser emitter of instrument 7 is sent is blocked by the part in parallel clamping jaw 8, what photelectric receiver did not sent lamp 11
Light is made a response；After part is handed down by machinery, light quilt that the laser emitter of any one laser alignment instrument 7 is sent
The photelectric receiver of another laser alignment instrument 7 receives, and photelectric receiver makes a response to the light that lamp is sent.
System erroneous judgement in order to prevent can also be arranged to, and in the system work process, multiple parts are placed in position, only
There is the lamp that the part that the part with manipulator crawl matches places position to work.Remaining parts is avoided to place the light that the lamp of position is sent
Line interferes system, judges system by accident.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously can easily make these embodiments various modifications, and described herein general
Principle is applied in other embodiment without having to go through creative labor.Therefore, the invention is not restricted to above-described embodiment, abilities
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be the present invention's
Within protection domain.
Claims (5)
1. a kind of robot mechanical arm centering calibration system for being used to capture miniature parts, which is characterized in that including：
Feed table (9) which is provided with multiple parts and place position (10), and each part is placed and alignment is equipped at position, at alignment
Equipped with lamp (11),
Manipulator has parallel clamping jaw (8), the end of robot is arranged on, for the part of crawl to be placed into feed table (9)
Part place position (10) on,
A pair of of laser alignment instrument (7), the both sides of parallel clamping jaw (8), and are oppositely arranged, each laser alignment instrument on manipulator of living apart
(7) laser emitter and photelectric receiver are equipped with,
Display is controlled, is connected respectively with robot and each laser alignment instrument (7).
2. it is according to claim 1 a kind of for capturing the robot mechanical arm centering calibration system of miniature parts, it is special
Sign is that the parallel clamping jaw (8) is equipped with the hollow-out parts to match with laser emitter and laser pickoff.
3. it is according to claim 1 a kind of for capturing the robot mechanical arm centering calibration system of miniature parts, it is special
Sign is that the robot includes pedestal (1), the fuselage (2) being arranged on pedestal (1) and the supporting being flexibly connected successively
Bar (3), first mechanical arm (4), second mechanical arm (5) and three-mechanical arm (6), support rod are arranged on fuselage (2), manipulator
It is arranged on three-mechanical arm (6).
4. it is according to claim 1 a kind of for capturing the robot mechanical arm centering calibration system of miniature parts, it is special
Sign is that the light that the lamp (11) is sent is scatter-type light.
5. according to a kind of any robot mechanical arm for being used to capture miniature parts of Claims 1 to 5 to alignment system
System, which is characterized in that
When part is handed down by machinery, and part is located at part placement position (10), the light that lamp (11) is sent is hidden by part
It covers, can not can not be sensed by any photoelectric sensor, then part is placed correct, and manipulator continues to capture next part；
When part is handed down by machinery, and part places position (10) dislocation with part, the light that lamp (11) is sent is swashed by any
The photelectric receiver of light centering instrument (7) senses that then part misplaces, and manipulator stops crawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711070855.1A CN108081312A (en) | 2017-11-03 | 2017-11-03 | A kind of robot mechanical arm centering calibration system for being used to capture miniature parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711070855.1A CN108081312A (en) | 2017-11-03 | 2017-11-03 | A kind of robot mechanical arm centering calibration system for being used to capture miniature parts |
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| Publication Number | Publication Date |
|---|---|
| CN108081312A true CN108081312A (en) | 2018-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711070855.1A Pending CN108081312A (en) | 2017-11-03 | 2017-11-03 | A kind of robot mechanical arm centering calibration system for being used to capture miniature parts |
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| CN (1) | CN108081312A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590538A (en) * | 2020-05-26 | 2020-08-28 | 安徽省怀宁县顶雪食品有限公司 | Food packing is with snatching arm |
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| WO2000008700A1 (en) * | 1998-08-06 | 2000-02-17 | Tredi | Automatic sorting of battery power packs |
| CN102386117A (en) * | 2010-09-01 | 2012-03-21 | 中芯国际集成电路制造(上海)有限公司 | Device for detecting position of wafer |
| CA2832229A1 (en) * | 2011-06-22 | 2012-12-27 | The Boeing Company | Automated ply layup system |
| US20130126489A1 (en) * | 2011-11-23 | 2013-05-23 | Highcon Systems Ltd | Cardboard-handling system and method |
| CN105097592A (en) * | 2015-06-17 | 2015-11-25 | 北京七星华创电子股份有限公司 | Photoelectric scanning method and device for silicon wafer distribution state in semiconductor device bearing area |
| CN204976166U (en) * | 2015-07-08 | 2016-01-20 | 柴马根 | Intelligent machine hand device |
| CN205362014U (en) * | 2016-01-26 | 2016-07-06 | 河源职业技术学院 | Infrared matrix position discernment sorting device |
| CN105880967A (en) * | 2016-05-16 | 2016-08-24 | 华中科技大学 | Multi-station intelligent foot pad grabbing and installing device |
| CN206154316U (en) * | 2016-08-31 | 2017-05-10 | 苏州元谋智能机器人系统有限公司 | A manipulator for reliable high -efficient transport of wafer case |
-
2017
- 2017-11-03 CN CN201711070855.1A patent/CN108081312A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000008700A1 (en) * | 1998-08-06 | 2000-02-17 | Tredi | Automatic sorting of battery power packs |
| CN102386117A (en) * | 2010-09-01 | 2012-03-21 | 中芯国际集成电路制造(上海)有限公司 | Device for detecting position of wafer |
| CA2832229A1 (en) * | 2011-06-22 | 2012-12-27 | The Boeing Company | Automated ply layup system |
| US20130126489A1 (en) * | 2011-11-23 | 2013-05-23 | Highcon Systems Ltd | Cardboard-handling system and method |
| CN105097592A (en) * | 2015-06-17 | 2015-11-25 | 北京七星华创电子股份有限公司 | Photoelectric scanning method and device for silicon wafer distribution state in semiconductor device bearing area |
| CN204976166U (en) * | 2015-07-08 | 2016-01-20 | 柴马根 | Intelligent machine hand device |
| CN205362014U (en) * | 2016-01-26 | 2016-07-06 | 河源职业技术学院 | Infrared matrix position discernment sorting device |
| CN105880967A (en) * | 2016-05-16 | 2016-08-24 | 华中科技大学 | Multi-station intelligent foot pad grabbing and installing device |
| CN206154316U (en) * | 2016-08-31 | 2017-05-10 | 苏州元谋智能机器人系统有限公司 | A manipulator for reliable high -efficient transport of wafer case |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590538A (en) * | 2020-05-26 | 2020-08-28 | 安徽省怀宁县顶雪食品有限公司 | Food packing is with snatching arm |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180529 |