CN108759610A - A kind of adjustable robot axial workpiece circle jitter detection apparatus of mistake proofing - Google Patents
A kind of adjustable robot axial workpiece circle jitter detection apparatus of mistake proofing Download PDFInfo
- Publication number
- CN108759610A CN108759610A CN201810773135.XA CN201810773135A CN108759610A CN 108759610 A CN108759610 A CN 108759610A CN 201810773135 A CN201810773135 A CN 201810773135A CN 108759610 A CN108759610 A CN 108759610A
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- axial workpiece
- linear guide
- mounting plate
- portions
- support construction
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- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 238000010276 construction Methods 0.000 claims abstract description 25
- 238000012360 testing method Methods 0.000 claims abstract description 17
- 229920002635 polyurethane Polymers 0.000 claims description 30
- 239000004814 polyurethane Substances 0.000 claims description 30
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The present invention relates to axial workpiece detection fields, specifically a kind of adjustable robot axial workpiece of mistake proofing justifies jitter detection apparatus, including support construction portion, the upper end in the support construction portion is provided with the positioning clamping section for axial workpiece to be clamped, it is additionally provided with rail plate portion in the support construction portion, the test section for detecting axial workpiece circle bounce is provided in the rail plate portion, judge whether surveyed axial workpiece is required measured piece by high-precision range sensor before measuring, and it is adjusted by compressing positioning clamping section apart from adjustable rail plate portion, it is applicable to the circle glitch detection of the axial workpiece of different length, reduce the probability taken by mistake, improve working efficiency；Using cooperation between the portions the linear guide I, the portions the linear guide II, the linear guide III portion threes so that test section adjusts displacement and is detected, flexibility is strong, is applicable to the detection of different types of axial workpiece circle bounce, versatile.
Description
Technical field
The present invention relates to axial workpiece detection field, specifically a kind of adjustable robot axial workpiece circle bounce inspection of mistake proofing
Survey device.
Background technology
Industrial robot is used more and more widely in all trades and professions, and the basic machine structure of industrial robot is by base portion
Divide, big arm section, motor seating portion, small arm section, wrist and peripheral part form.Have in industrial robot drive mechanism
Many axial workpieces, than the elongated shaft of the more typical small arm section of industrial robot for being exactly part type, robot forearm portion
Inside is divided to be formed by three elongated shafts are bushing, J6 axis elongated shafts are sleeved on inside J5 axis elongated shaft, and J5 axis elongated shaft is sleeved on J4 axis again
Inside elongated shaft, elongated shaft circle bounce is overproof will to lead to robot noise and vibration is big, calorific value is high, the essence of final robot
Degree and service life would become hard to ensure.
Robot product gradually at seriation development trend, slightly change by the elongate shaft portion size of a type at present,
It can be applied to another type, since shape is similar, quality guarantee department is easy to take detection part by mistake when detection, finally
It has detected and finds half a day to have taken part by mistake, the unnecessary time is caused to waste.If measured by capable of judging before testing
Whether axial workpiece is surveyed part, and can adjusting position to adapt to the axial workpiece of different length, it will be greatly improved
The efficiency of measurement.
If China Patent No. provides a kind of round jitter detection apparatus for a kind of outside diameter runout tool of CN204963797U,
But it cannot differentiate similar part, preceding mistake proofing cannot be measured well for the similar easily mixed axial workpiece of shape.
Invention content
To solve the above-mentioned problems, the present invention proposes a kind of adjustable robot axial workpiece circle glitch detection dress of mistake proofing
It sets.
A kind of adjustable robot axial workpiece circle jitter detection apparatus of mistake proofing, includes the support construction portion as support,
The upper end in the support construction portion is provided with the positioning clamping section for axial workpiece to be clamped, and is gone back in the support construction portion
It is provided with rail plate portion, the test section for detecting axial workpiece circle bounce is provided in the rail plate portion.
The positioning clamping section includes two pieces of mounting plates, has setting on two pieces of mounting plates V-block, setting are in office
Axial workpiece positioning plate on one mounting plate, the polyurethane formed idler wheel mounting plate being arranged on V-block, by articulation hole screw
The polyurethane formed idler wheel 3 that is arranged on polyurethane formed idler wheel mounting plate, be arranged in support construction portion and with polyurethane at
The cooperation of shape idler wheel mounting plate is used for the elbow clamp mechanism of clamping and positioning axial workpiece, has on the polyurethane formed idler wheel mounting plate
There is waist-shaped hole.
Several positioning pins one are provided between the support construction portion and mounting plate, be provided on the V-block with
The positioning pin axle sleeve that any positioning pin one coordinates.
It is provided with positioning pin two between the V-block and polyurethane formed idler wheel mounting plate.
The elbow clamp mechanism includes sliding block upper mounting plate, is arranged on sliding block upper mounting plate elbow folder mounting plate, setting
Elbow on elbow folder mounting plate presss from both sides, and the robot elongated shaft with elbow folder cooperation is provided on the axial workpiece positioning plate.
The rail plate portion include be arranged support construction portion the portions the linear guide I, be arranged in support construction portion
And with the portions the linear guide I symmetrical portions the linear guide II, the portions the linear guide III being arranged in the portions the linear guide II,
It is both provided with for locked the linear guide fixture in the portions the linear guide I and the portions the linear guide II.
The test section includes being arranged to install in detection part in the detection part mounting plate in the portions the linear guide II, setting
High-precision range sensor mounting plate on plate, the high-precision Distance-sensing being arranged on high-precision range sensor mounting plate
Device, the portions the linear guide III are arranged on detection part mounting plate, and detection is provided in the portions the linear guide III
Mechanism has on the high-precision range sensor mounting plate waist-shaped hole, the high-precision range sensor mounting plate logical
Positioning pin three is crossed on detection part mounting plate.
The testing agency includes the amesdial mounting plate being arranged in the portions the linear guide III, setting in amesdial peace
Amesdial in loading board is arranged in the portions the linear guide III for locked detection part the linear guide fixture.
The interior hexagonal stop for preventing being moved in the portions the linear guide III measurement process is provided on the amesdial mounting plate
Screw and prevent the holding screw rotated in amesdial measurement process for fixing amesdial.
The beneficial effects of the invention are as follows：Whether surveyed axial workpiece is judged by high-precision range sensor before measuring
It is required measured piece, and is adjusted by compressing positioning clamping section apart from adjustable rail plate portion, is applicable to
The circle glitch detection of the axial workpiece of different length reduces the probability taken by mistake, improves working efficiency；Using the portions the linear guide I, directly
So that test section adjusts displacement and is detected, flexibility is strong, can fit for cooperation between the portions line guide rail II, the linear guide III portion threes
It is versatile for the detection of different types of axial workpiece circle bounce.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram one of the present invention；
Fig. 2 is the dimensional structure diagram two of the present invention；
Fig. 3 is the I partial enlarged views of Fig. 2 of the present invention；
Fig. 4 is the II partial enlarged views of Fig. 2 of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 4, a kind of adjustable robot axial workpiece of mistake proofing justifies jitter detection apparatus, including as branch
The upper end in the support construction portion 105 of support, the support construction portion 105 is provided with the locating clip for axial workpiece 101 to be clamped
Tight portion 104 is additionally provided with rail plate portion 103 in the support construction portion 105, is arranged in the rail plate portion 103
It is useful for the test section 102 of the detection circle bounce of axial workpiece 101.
The positioning clamping section 104 is arranged in the upper end in support construction portion 105, for axial workpiece 101 to be clamped；It is described
Rail plate portion 103 be arranged in support construction portion 105, for so that 102 slide displacement of test section convenient for detection；Described
Test section 102 is arranged in rail plate portion 103, for detecting the circle bounce of axial workpiece 101.
The support construction portion 105 includes bottom plate, the slide plate one for being arranged on bottom plate and being slidably matched with bottom plate and slides
Plate two, the sliding block upper mounting plate 201 are separately positioned on slide plate one and slide plate two.
The positioning clamping section 104 includes two pieces of mounting plates 208, has the V-block of setting on two pieces of mounting plates 208
The polyurethane formed idler wheel that 305, axial workpiece positioning plate 209 on any mounting plate 208 is set, be arranged on V-block 305
The polyurethane formed idler wheel on polyurethane formed idler wheel mounting plate 304 is arranged by articulation hole screw 301 in mounting plate 304
302, it is arranged in support construction portion 105 and is used for clamping and positioning axial workpiece with the cooperation of polyurethane formed idler wheel mounting plate 304
101 elbow clamp mechanism has waist-shaped hole on the polyurethane formed idler wheel mounting plate 304.
Guide groove is designed on the mounting plate 208, the V-block 305 is designed with pin hole, the positioning pin axis
Set 207 is installed in the pin hole in the guide groove designed by mounting plate 208, and V-block 305 is stuck in the guide groove of mounting plate 208,
Pin hole designed on pin hole and mounting plate 208 designed on V-block 305 is aligned by mobile V-block 305, and will be determined
Position pin 1 passes through two pin holes, to realize positioning of the V-block 305 on mounting plate 208.
Due to distributed the pin hole of different location in the guide groove of mounting plate 208, the position that V-block 305 may be implemented can
It adjusts.
Since elbow folder 203 and V-block 305 are mobile adjustable, so as to the robot elongated shaft to different length
206 carry out positioning and clamping, adjustable to realize.
Judge whether surveyed axial workpiece 101 is required be tested by high-precision range sensor 403 before measuring
Part is measured, and is adjusted by compressing positioning clamping section 104 apart from adjustable rail plate portion 103, different length are applicable to
The circle glitch detection of the axial workpiece of degree reduces the probability taken by mistake, improves working efficiency.
It is provided with several positioning pins 1, the V-block between the support construction portion 105 and mounting plate 208
The positioning pin axle sleeve 207 coordinated with any positioning pin 1 is provided on 305.
It is provided with positioning pin 2 303 between the V-block 305 and polyurethane formed idler wheel mounting plate 304.
The elbow folder mounting plate that the elbow clamp mechanism includes sliding block upper mounting plate 201, is arranged on sliding block upper mounting plate 201
202, elbow folder 203 on elbow folder mounting plate 202 is set, be provided on the axial workpiece positioning plate 209 and match with elbow folder 203
The robot elongated shaft 206 of conjunction.
The rail plate portion 103 includes the portions the linear guide I 204 being arranged in support construction portion 105, is arranged and is propping up
The linear guide II portion 210 symmetrical in support structure portion 105 and with the portions 204 the linear guide I is arranged in the portions the linear guide II
Portions the linear guide III 409 on 210 are both provided in the portions the linear guide I 204 and the portions the linear guide II 210 for locked
The linear guide fixture 106.
Robot elongated shaft 206 is installed on V-block 305,206 one end of robot elongated shaft withstands on axial workpiece positioning
It is positioned on plate 209, polyurethane formed idler wheel mounting plate 304 is designed with pin hole and waist-shaped hole, and polyurethane formed idler wheel 302 can
It is carried out in the waist-shaped hole of polyurethane formed idler wheel mounting plate 304 adjustable up and down.
By articulation hole screw 301 and attaching nut, polyurethane formed idler wheel 302 is installed on polyurethane formed idler wheel and is pacified
In loading board 304, it is designed with pin hole on V-block 305, when adjusting polyurethane formed idler wheel 302 on robot elongated shaft 206
Compress it is elastic after, polyurethane formed idler wheel mounting plate 304 and V-block 305 are attached and be can be completed by positioning pin 2 303
Positioning.
Using cooperation between the portions the linear guide I 204, the portions the linear guide II 210,409 three of the portions the linear guide III so that inspection
Survey portion 102 adjusts displacement and is detected, and flexibility is strong, is applicable to the detection of the circle bounce of different types of axial workpiece 101, leads to
It is strong with property.
The portions the linear guide I 204, the portions the linear guide II 210, the portions the linear guide III 409 3 are mechanism of the same race,
The structure is that sliding block and guide rail form.
The test section 102 include be arranged in the portions the linear guide II 210 detection part mounting plate 401, setting exist
High-precision range sensor mounting plate 404, setting on detection part mounting plate 401 is in high-precision range sensor mounting plate
High-precision range sensor 403 on 404, the portions the linear guide III 409 are arranged on detection part mounting plate 401, institute
It is provided with testing agency in the portions the linear guide III 409 stated, there is waist on the high-precision range sensor mounting plate 404
Type hole, the high-precision range sensor mounting plate 404 are mounted on by positioning pin 3 402 on detection part mounting plate 401.
The testing agency includes the amesdial mounting plate 406 being arranged in the portions the linear guide III 409, is arranged thousand
Amesdial 408 on point table mounting plate 406 is arranged in the portions the linear guide III 409 for locked detection part the linear guide
Fixture 410.
The detection part mounting plate 401 is fixed on the sliding block of the parts the linear guide II 210, high-precision range sensor
Mounting plate 404 is mounted on by positioning pin 402 on detection part mounting plate 401, the high-precision range sensor mounting plate
404 are designed with waist-shaped hole, and high-precision range sensor 403 is fixed on the high-precision range sensor mounting plate 404 simultaneously
It can be realized by waist-shaped hole adjustable up and down.
The parts the linear guide III 409 are fixed on the detection part mounting plate 401, amesdial mounting plate 406
It being fixed on 409 sliding block of the parts the linear guide III, amesdial 408 is mounted on the amesdial mounting plate 406,
And clamped amesdial 408 by holding screw 407, interior hexagonal stop screw 405 can be by the parts the linear guide III 409
Sliding block and guide rail are locked, after detection part 102 installs ready, by detection part the linear guide fixture 410 by straight line
The sliding block and guide rail of the parts guide rail II 210 are locked.
Prevent being moved in 409 measurement process of the portions the linear guide III interior six are provided on the amesdial mounting plate 406
Angle stop screw 405 and prevent the holding screw 407 rotated in 408 measurement process of amesdial for fixing amesdial 408.
The application method of the present invention：1, installation and adjustment：
Guide groove is designed on mounting plate 208, V-block 305 is designed with pin hole, and positioning pin axle sleeve 207 is installed on installation
In the pin hole in guide groove designed by plate 208, V-block 305 is stuck in the guide groove of mounting plate 208, passes through mobile V-block
305 are aligned pin hole designed on pin hole and mounting plate 208 designed on V-block 305, and positioning pin 1 is passed through
Two pin holes, to realize positioning of the V-block 305 on mounting plate 208；Due to distributed not in the guide groove of mounting plate 208
With the pin hole of position, the position that V-block 305 may be implemented is adjustable, simultaneously because elbow folder 203 and V-block 305 are mobile adjustable
, it is adjustable to realize so as to carry out positioning and clamping to the robot elongated shaft 206 of different length；
2, it positions：Robot elongated shaft 206 is installed on V-block 305,206 one end of robot elongated shaft withstands on axis class
It is positioned on part positioning plate 209, polyurethane formed idler wheel mounting plate 304 is designed with pin hole and waist-shaped hole, polyurethane formed
Idler wheel 302 can be carried out in the waist-shaped hole of polyurethane formed idler wheel mounting plate 304 up and down it is adjustable, simultaneously by articulation hole screw 301
Polyurethane formed idler wheel 302 is installed on polyurethane formed idler wheel mounting plate 304 by attaching nut, and V-block 305 is designed with pin
Hole, when adjust compression of the polyurethane formed idler wheel 302 on robot elongated shaft 206 it is elastic after, pass through positioning pin 2 303 will
Polyurethane formed idler wheel mounting plate 304 and V-block 305 are attached；
3, it detects：Detection part mounting plate 401 is fixed on the sliding block of the parts the linear guide II 210, and distance passes in high precision
Sensor mounting plate 404 is mounted on by positioning pin 402 on detection part mounting plate 401, high-precision range sensor peace
Loading board 404 is designed with waist-shaped hole, and high-precision range sensor 403 is fixed on the high-precision range sensor mounting plate 404
It can be realized above and by waist-shaped hole adjustable up and down；The detection part mounting plate is fixed in the parts the linear guide III 409
On 401, amesdial mounting plate 406 is fixed on 409 sliding block of the parts the linear guide III, and amesdial 408 is mounted on described
Amesdial mounting plate 406 on, and amesdial 408 is clamped by holding screw 407, interior hexagonal stop screw 405 can will
The sliding block and guide rail of the parts the linear guide III 409 are locked, after detection part 102 installs ready, recycle detection part
The linear guide fixture 410 is locked by the sliding block of the parts the linear guide II 210 and guide rail.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (6)
- Include the support construction portion as support 1. a kind of adjustable robot axial workpiece of mistake proofing justifies jitter detection apparatus (105), it is characterised in that：The upper end in the support construction portion (105) is provided with the positioning for axial workpiece (101) to be clamped Clamping section (104) is additionally provided with rail plate portion (103), the rail plate portion in the support construction portion (105) (103) test section (102) for detecting axial workpiece (101) circle bounce is provided on.
- 2. the adjustable robot axial workpiece of a kind of mistake proofing according to claim 1 justifies jitter detection apparatus, feature exists In：The positioning clamping section (104) includes V-block (305), the polyurethane formed idler wheel being arranged on V-block (305) installation Plate (304), is arranged in support construction the polyurethane formed idler wheel (302) being arranged on polyurethane formed idler wheel mounting plate (304) The elbow clamp mechanism coordinated in portion (105) and with polyurethane formed idler wheel mounting plate (304).
- 3. the adjustable robot axial workpiece of a kind of mistake proofing according to claim 2 justifies jitter detection apparatus, feature exists In：Elbow folder (203) and elbow of the elbow clamp mechanism packet elbow folder mounting plate (202), setting on elbow folder mounting plate (202) press from both sides (203) the robot elongated shaft (206) coordinated.
- 4. the adjustable robot axial workpiece of a kind of mistake proofing according to claim 1 justifies jitter detection apparatus, feature exists In：The rail plate portion (103) includes that the portions the linear guide I (204) on support construction portion (105) of being arranged, setting exist The linear guide II portion (210) symmetrical in support construction portion (105) and with the portions the linear guide I (204), setting are led in straight line Portions the linear guide III (409) in the portions rail II (210) are all provided in the portions the linear guide I (204) in the portions the linear guide II (210) It is equipped with for locked the linear guide fixture (106).
- 5. the adjustable robot axial workpiece of a kind of mistake proofing according to claim 4 justifies jitter detection apparatus, feature exists In：The test section (102) includes high-precision range sensor (403), is arranged in the portions the linear guide III (409) There is testing agency.
- 6. the adjustable robot axial workpiece of a kind of mistake proofing according to claim 5 justifies jitter detection apparatus, feature exists In：The testing agency includes the amesdial mounting plate (406) being arranged in the portions the linear guide III (409), is arranged at thousand points Amesdial (408), setting on table mounting plate (406) are in the portions the linear guide III (409) for locked detection part straight line Rail clamp (410).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810773135.XA CN108759610A (en) | 2018-07-14 | 2018-07-14 | A kind of adjustable robot axial workpiece circle jitter detection apparatus of mistake proofing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810773135.XA CN108759610A (en) | 2018-07-14 | 2018-07-14 | A kind of adjustable robot axial workpiece circle jitter detection apparatus of mistake proofing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108759610A true CN108759610A (en) | 2018-11-06 |
Family
ID=63973620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810773135.XA Pending CN108759610A (en) | 2018-07-14 | 2018-07-14 | A kind of adjustable robot axial workpiece circle jitter detection apparatus of mistake proofing |
Country Status (1)
| Country | Link |
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| CN (1) | CN108759610A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370025A (en) * | 2019-08-16 | 2019-10-25 | 浙江中智鲸工智能装备有限公司 | A kind of long axis turning machine |
| CN112729118A (en) * | 2021-01-12 | 2021-04-30 | 北京长木谷医疗科技有限公司 | Optical positioning probe calibration system |
| CN113446913A (en) * | 2021-06-28 | 2021-09-28 | 北方夜视技术股份有限公司 | Square core material squareness measuring device and measuring method |
| CN113566759A (en) * | 2021-08-31 | 2021-10-29 | 常熟希那基汽车零件有限公司 | Automatic measuring device for excircle runout of motor shaft |
| CN117450882A (en) * | 2023-12-22 | 2024-01-26 | 领航产业技术研究院(山东)有限公司 | Automatic change measuring mechanism that beats |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110370025A (en) * | 2019-08-16 | 2019-10-25 | 浙江中智鲸工智能装备有限公司 | A kind of long axis turning machine |
| CN112729118A (en) * | 2021-01-12 | 2021-04-30 | 北京长木谷医疗科技有限公司 | Optical positioning probe calibration system |
| CN113446913A (en) * | 2021-06-28 | 2021-09-28 | 北方夜视技术股份有限公司 | Square core material squareness measuring device and measuring method |
| CN113566759A (en) * | 2021-08-31 | 2021-10-29 | 常熟希那基汽车零件有限公司 | Automatic measuring device for excircle runout of motor shaft |
| CN117450882A (en) * | 2023-12-22 | 2024-01-26 | 领航产业技术研究院(山东)有限公司 | Automatic change measuring mechanism that beats |
| CN117450882B (en) * | 2023-12-22 | 2024-04-19 | 领航产业技术研究院(山东)有限公司 | Automatic change measuring mechanism that beats |
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