CN112945498A - Industrial robot end effector for impact sample detection and use method - Google Patents
Industrial robot end effector for impact sample detection and use method Download PDFInfo
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- CN112945498A CN112945498A CN202110121846.0A CN202110121846A CN112945498A CN 112945498 A CN112945498 A CN 112945498A CN 202110121846 A CN202110121846 A CN 202110121846A CN 112945498 A CN112945498 A CN 112945498A
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- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 239000012636 effector Substances 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 12
- 210000000078 claw Anatomy 0.000 claims abstract description 85
- 238000009863 impact test Methods 0.000 claims abstract description 22
- 210000000707 wrist Anatomy 0.000 claims abstract description 4
- 238000010276 construction Methods 0.000 claims 1
- 238000005070 sampling Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 description 11
- 239000000463 material Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000004080 punching Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention relates to an industrial robot end effector for impact sample detection and a using method thereof, the industrial robot end effector comprises a fixed mounting frame, a sliding reset cylinder and a hand grasping mechanism, the fixed mounting frame is fixedly connected with a wrist of an industrial robot, the sliding reset cylinder is arranged at the front end of the fixed mounting frame, the sliding reset cylinder comprises a cylinder main body, a left claw piece stretching leftwards and a right claw piece stretching rightwards, the left claw piece and the right claw piece are controlled by the cylinder main body to simultaneously extend or retract, the hand grasping mechanism comprises a left hand grasping part and a right hand grasping part which are controlled by the sliding reset cylinder, the top end of the left hand grasping part is detachably connected with the left claw piece, the top end of the right hand grasping part is detachably connected with the right claw piece, and the left hand grasping part and the right hand grasping part are matched to clamp an impact. The invention is suitable for a pendulum impact testing machine, realizes full-automatic operation of sampling and lofting of an impact sample, and can accurately and quickly align the V-shaped notch of the impact sample to the center line of the impact blade.
Description
Technical Field
The invention relates to an execution device for a metal material impact test, in particular to an industrial robot end effector for impact sample detection and a using method.
Background
The impact test of metal material is a dynamic mechanical property test for measuring the work consumed by punching out a sample with a certain shape, and is also called as an impact toughness test. According to the shape and the breaking mode of the test sample, the impact test is divided into a bending impact test, a torsion impact test and a tensile impact test. The crossbeam type bending impact test method is simple to operate and is most widely applied. China's relevant standards stipulate that a cross beam type test method is adopted, and in recent years, for important structural materials, a V-shaped notch sample which can reflect notch effect better tends to be used for an impact test. At present, the tests need manual clamping of the test sample by operators, but the tests need repeated operation for many times, so that the test sample needs to be repeatedly clamped by the operators, the labor intensity is high, the labor efficiency is low, and meanwhile, in the process of placing the test sample, the test sample is easy to slide and fall off, the test sample V-shaped notch cannot be accurately placed at the central line of the impact cutting edge in a quick alignment manner, and the problems of inaccurate detection data and the like are caused. And operating personnel have the potential safety hazard of object striking and mechanical injury with the manual centre gripping of sample on the chopping block of testing machine.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an industrial robot end effector for impact sample detection and a using method thereof, which are suitable for a pendulum impact tester, realize full-automatic operation of sampling and lofting of an impact sample and can accurately and quickly align a V-shaped notch of the impact sample to the center line of an impact blade.
The technical purpose of the invention is realized by the following technical scheme:
an industrial robot end effector for impact sample detection comprises a fixed mounting frame, a sliding reset cylinder and a hand grasping mechanism, wherein the fixed mounting frame is fixedly connected with a wrist of an industrial robot, the sliding reset cylinder is arranged at the front end of the fixed mounting frame, a connecting rod is arranged between the sliding reset cylinder and the fixed mounting frame, one end of the connecting rod is fixedly connected with the sliding reset cylinder, the other end of the connecting rod is fixedly connected with the fixed mounting frame, the sliding reset cylinder comprises a cylinder main body, a left claw piece which stretches leftwards and a right claw piece which stretch rightwards and are arranged on two sides of the cylinder main body, the left claw piece and the right claw piece are controlled by the cylinder main body to stretch out or retract simultaneously, the hand grasping mechanism comprises a left hand grasping part and a right hand grasping part which are controlled by the sliding reset cylinder, and the top end of the left hand grasping part is detachably connected with, the top and the right claw piece detachably of portion are grabbed to the right hand are connected, and the portion is grabbed to the left hand and the portion cooperation centre gripping impact specimen is grabbed to the right hand.
In one embodiment, the center of the bottom end of the left-hand grasping part is provided with a V-shaped boss matched with the V-shaped notch of the impact specimen. When centre gripping impact specimen, the V type boss embedding impact specimen's of portion is grabbed to the left hand V type breach plays the positioning action, makes the left hand grab the portion and impact specimen's positional relationship unchangeable all the time, simultaneously, also can increase the friction between portion and the impact specimen is grabbed to the left hand, makes the left hand grab portion and the cooperation of the portion of grabbing of the right hand centre gripping impact specimen more firmly.
In one embodiment, the left-hand grip is in the shape of an inverted T, the top of the left-hand grip is detachably connected with the left claw sheet, and the bottom length of the left-hand grip is the same as the span of the anvil of the pendulum impact tester.
In one embodiment, the right-hand grip is in an inverted T shape, the top of the right-hand grip is detachably connected with the right claw piece, and the length of the bottom of the right-hand grip is the same as the span of the anvil of the pendulum impact tester.
In one embodiment, a non-contact stroke detection switch is arranged between the cylinder main body and the left claw piece, and a non-contact stroke detection switch is also arranged between the cylinder main body and the right claw piece and used for detecting whether the left claw piece and the right claw piece extend to a limited position or retract to the limited position.
In one embodiment, the cylinder body is fixedly arranged on the cylinder mounting plate, and the cylinder mounting plate is fixedly connected with the fixed mounting frame through a connecting rod, so that the cylinder body is convenient to detach and replace.
In one embodiment, a camera for positioning the sample is arranged on the outer side of the cylinder body, so that the left-hand gripping part and the right-hand gripping part can be used for accurately gripping the sample.
In one embodiment, the camera is fixedly connected with the cylinder mounting plate through the camera mounting plate, one end of the camera mounting plate is detachably connected with the cylinder mounting plate, the other end of the camera mounting plate is detachably connected with the camera, and the length of the camera mounting plate is the same as the thickness of the cylinder body.
In one embodiment, the connecting rod is of a telescopic rod structure, so that the position of the sliding reset cylinder can be conveniently adjusted.
The method for using the industrial robot end effector for impact sample detection comprises the following steps,
the end effector of the industrial robot is fixedly connected with the arm of the industrial robot through the fixed mounting frame, the arm of the industrial robot moves to the position above the storage position of the impact sample from the initial working position, and the camera detects and positions the position of the impact sample to be taken;
when the non-contact stroke detection switch detects that the left claw piece and the right claw piece reach the extended limit positions, the cylinder main body stops working to enable the left claw piece and the right claw piece to be in the state of extending the limit positions;
the arm of the industrial robot moves downwards to an impact sample to be taken, then the cylinder body is started, the left claw piece and the right claw piece both retract inwards to the limit positions, when the non-contact type stroke detection switch detects that the left claw piece and the right claw piece both reach the retracted limit positions, the left claw piece and the right claw piece are matched to clamp the impact sample, and at the moment, the V-shaped boss of the left claw piece is embedded into the V-shaped notch of the impact sample, so that the position relation between the impact sample and the left claw piece is determined;
the arm of the industrial robot moves to move the clamped impact sample to the position above the anvil block of the pendulum impact testing machine, the camera positions the position where the impact sample needs to be placed, the arm of the industrial robot drives the impact sample to vertically move downwards, the impact sample is placed at the center of the anvil block, and the V-shaped notch of the impact sample is aligned to the center line of the impact blade placed on the anvil block.
The invention has the following beneficial effects:
the cylinder main body of the industrial robot end effector controls the left hand gripping part and the right hand gripping part to be matched for use, the use method is that the left hand gripping part and the right hand gripping part are fixedly connected with an arm of the industrial robot through a fixed mounting frame, the arm of the industrial robot drives a sliding reset cylinder to move to an impact sample storage position to clamp an impact sample, then the impact sample is placed at an anvil block of a pendulum impact testing machine, a V-shaped notch of the taken impact sample is aligned to the center line of an impact blade of the anvil block, and after the arm of the industrial robot drives the sliding reset cylinder to leave the pendulum impact testing machine, impact testing can be started. The impact sample sampling and lofting device is matched with an industrial robot, full-automatic operation of impact sample sampling and lofting is realized, the V-shaped notch of an impact sample can be accurately and quickly aligned to the center line of the impact blade, and the problems of high labor intensity, low labor efficiency, unsafety and inaccurate alignment of operators in the prior art are solved.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a side schematic view of the present invention;
FIG. 3 is a top view of an impact specimen;
fig. 4 is a front view of an impact specimen.
In the figure: 1-fixed mounting frame, 2-cylinder mounting plate, 3-connecting rod, 4-cylinder main body, 5-left-hand grip part, 6-V-shaped boss, 7-left claw piece, 8-non-contact travel detection switch, 9-camera, 10-camera mounting plate, 11-right claw piece, 12-right-hand grip part, 13-impact sample and 14-V-shaped notch.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
It should be noted that all the directional terms such as "upper" and "lower" referred to herein are used with respect to the view of the drawings, and are only for convenience of description, and should not be construed as limiting the technical solution.
The invention is suitable for the pendulum impact tester, the impact test samples of the invention all accord with the national standard, and the V-shaped notch of the impact test sample accords with the national standard, as shown in figures 3 and 4.
As shown in fig. 1-4, the invention provides an industrial robot end effector for impact sample 13 detection, comprising a fixed mounting frame 1, a sliding reset cylinder and a hand grasping mechanism, wherein the fixed mounting frame 1 is fixedly connected with a wrist of an industrial robot, the sliding reset cylinder is arranged at the front end of the fixed mounting frame 1, a connecting rod 3 is arranged between the sliding reset cylinder and the fixed mounting frame 1, one end of the connecting rod 3 is fixedly connected with the sliding reset cylinder, the other end of the connecting rod 3 is fixedly connected with the fixed mounting frame 1, the sliding reset cylinder comprises a cylinder main body 4, a left claw sheet 7 stretching leftwards and a right claw sheet 11 stretching rightwards which are arranged at two sides of the cylinder main body 4, the left claw sheet 7 and the right claw sheet 11 are controlled by the cylinder main body 4 to simultaneously extend or retract, the hand grasping mechanism comprises a left hand grasping portion 5 and a right hand grasping portion 12 both controlled by the sliding reset cylinder, the top and the left claw piece 7 detachably of portion 5 are grabbed to the left hand, the top and the right claw piece 11 detachably of portion 12 are grabbed to the right hand and are grabbed the portion 5 and the cooperation centre gripping impact specimen 13 of portion 12 are grabbed to the left hand.
The fixed mounting frame 1 is in a flange shape and is provided with a plurality of fixing screw holes, and the fixed mounting frame 1 is fixedly connected with the arm end of the industrial robot through bolts; the cylinder body 4 is provided with an air inlet and an air outlet to realize the double action type action of the left claw piece 7 and the right claw piece 11; the left hand grasping portion 5 and the right hand grasping portion 12 are both made of steel materials, connecting holes are formed in the top ends of the left hand grasping portion 5 and the right hand grasping portion 12 and are fixedly connected with the left claw piece 7 and the right claw piece 11 through bolts.
The left hand gripping part 5 and the right hand gripping part 12 are matched for use, the cylinder body 4 is started, the left hand gripping part 5 and the right hand gripping part 12 are enabled to be close to each other, so that an impact sample 13 can be clamped, the industrial robot end effector is fixedly connected with an arm of an industrial robot through the fixed mounting frame 1, the arm of the industrial robot moves the sliding reset cylinder to the position above the storage position of the impact sample 13, then the cylinder body 4 is started, the left hand gripping part and the right hand gripping part extend outwards to the extreme position, then the cylinder body 4 stops working, then the arm of the industrial robot drives the sliding reset cylinder to descend to the position of the impact sample 13 to be taken, the cylinder body 4 is started again, the left hand gripping part and the right hand gripping part retract and clamp the impact sample 13, the arm of the industrial robot drives the sliding reset cylinder to move, so that the impact sample 13 is placed at an anvil block of the pendulum impact testing machine, and the V-notch 14 of the impact specimen 13 is aligned with the centerline of the impact blade of the anvil, then the cylinder body 4 is actuated and the left hand grip 5 and the right hand grip 12 are simultaneously moved away from the impact specimen 13 so that the impact specimen 13 is placed on the anvil. After the arm of the industrial robot drives the sliding reset cylinder to leave the pendulum impact testing machine, the impact test can be started.
In the embodiment, the center of the bottom end of the left-hand grasping part 5 is provided with a V-shaped boss 6 matched with a V-shaped notch 14 of an impact test piece 13. V type boss 6 sets up in one side of portion 5 is grabbed to the left hand, and is close to right hand and grabs portion 12, and when centre gripping impact specimen 13, V type boss 6 embedding impact specimen 13's V type breach 14 of portion 5 is grabbed to the left hand plays the positioning action, makes the left hand grab portion 5 and impact specimen 13's position relation unchangeable all the time, simultaneously, also can increase the friction between portion 5 and the impact specimen 13 is grabbed to the left hand, makes left hand grab portion 5 and right hand grab portion 12 cooperation more firmly centre gripping impact specimen 13. Since the positional relationship between the left-hand grip 5 and the impact specimen 13 is determined, the V-shaped notch 14 of the impact specimen 13 can be quickly aligned with the center line of the impact blade of the anvil by controlling the alignment of the V-shaped boss 6 of the left-hand grip 5 with the center line of the impact blade of the anvil.
In this embodiment, the left-hand grip 5 is in an inverted T shape, the top of the left-hand grip 5 is detachably connected to the left claw piece 7, the bottom of the left-hand grip 5 is rectangular, and the length of the bottom of the left-hand grip 5 is the same as the span of the pendulum impact tester anvil. It is convenient to observe whether the left hand grip 5 is aligned with both sides of the anvil during placement of the impact specimen 13. Since the bottom length of the left hand grip 5 is the same as the span of the pendulum impact tester anvil and the V-shaped boss 6 is located in the middle of the left hand grip 5, it is only necessary to align the left hand grip 5 with the two sides of the anvil to determine that the V-shaped boss 6 of the left hand grip 5 is aligned with the impact blade centerline of the anvil.
In this embodiment, the right-hand grip 12 is an inverted T-shape, the top of the right-hand grip 12 is detachably connected to the right claw piece 11, the bottom of the right-hand grip 12 is rectangular, and the length of the bottom of the right-hand grip 12 is the same as the span of the anvil of the pendulum impact tester.
In this embodiment, a non-contact stroke detection switch 8 is disposed between the cylinder body 4 and the left claw piece 7, and a non-contact stroke detection switch 8 is also disposed between the cylinder body 4 and the right claw piece 11 for detecting whether the left claw piece 7 and the right claw piece 11 extend to or retract to the limit positions. The non-contact type travel detection switches commonly used in the market are all suitable for the invention, such as the WEF-SQ-1001 Hangzhou non-contact type travel switch.
In this embodiment, cylinder main body 4 is fixed to be set up on cylinder mounting panel 2, cylinder mounting panel 2 passes through connecting rod 3 and 1 fixed connection of fixed mounting frame, and convenient to detach changes cylinder main body 4.
In the present embodiment, a camera 9 for positioning the sample is provided on the outer side of the cylinder body 4, and the left-hand grip 5 and the right-hand grip 12 are ensured to accurately grip the sample. In the process of taking the impact sample 13, the camera 9 is used for determining the position of the impact sample 13 to be taken, so that an arm of the industrial robot can accurately move the sliding reset cylinder to the position right above the impact sample 13 to be taken, in the process of placing the impact sample 13 on an anvil of the pendulum impact testing machine, the camera 9 is used for determining the position of the center line of an impact blade of the anvil, and the auxiliary industrial robot is used for accurately placing the impact sample 13 on the anvil.
In this embodiment, camera 9 passes through camera mounting panel 10 and cylinder mounting panel 2 fixed connection, and camera mounting panel 10 is the type of falling L, and camera mounting panel 10 is made for steel material, the one end and the cylinder mounting panel 2 detachably of camera mounting panel 10 are connected, the other end and the camera 9 detachably of camera mounting panel 10 are connected, the length of camera mounting panel 10 is the same with the thickness of cylinder main part 4.
In this embodiment, the connecting rod 3 is a telescopic rod structure, so that the position of the sliding reset cylinder can be conveniently adjusted.
The method for using an industrial robot end effector for impact specimen 13 detection according to the present invention will be described in conjunction with the above-mentioned embodiments, and includes the following steps,
the end effector of the industrial robot is fixedly connected with the arm of the industrial robot through the fixed mounting frame 1, the arm of the industrial robot moves from an initial working position to a position above a storage position of the impact sample 13, and the camera 9 detects and positions the position of the impact sample 13 to be taken;
when the cylinder body 4 is started, the left claw piece 7 and the right claw piece 11 both extend outwards to the limit positions, and the non-contact type stroke detection switch 8 detects that the left claw piece 7 and the right claw piece 11 both reach the extended limit positions, the cylinder body 4 stops working to enable the left claw piece 7 and the right claw piece 11 to be in the state of the extended limit positions;
the arm of the industrial robot moves downwards to an impact sample 13 to be taken, then the cylinder body 4 is started, the left claw piece 7 and the right claw piece 11 both retract inwards to the limit positions, when the non-contact type stroke detection switch 8 detects that the left claw piece 7 and the right claw piece 11 both reach the retracted limit positions, the left claw piece 7 and the right claw piece 11 are matched to clamp the impact sample 13, and at the moment, the V-shaped boss 6 of the left claw piece 7 is embedded into the V-shaped notch 14 of the impact sample 13, so that the position relation between the impact sample 13 and the left claw piece 7 is determined;
the arm of the industrial robot moves to move the clamped impact sample 13 to the position above the anvil block of the pendulum impact testing machine, the camera 9 positions the position where the impact sample 13 needs to be placed, the arm of the industrial robot drives the impact sample 13 to vertically move downwards, the impact sample 13 is placed at the center of the anvil block, and the V-shaped notch 14 of the impact sample 13 is aligned to the center line of the impact blade of the anvil block.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. A industrial robot end effector for assault sample detection, its characterized in that, including fixed mounting bracket (1), slip reset cylinder and grabbing mechanism, fixed mounting bracket (1) and industrial robot's wrist fixed connection, the slip reset cylinder sets up in the front end of fixed mounting bracket (1), be provided with connecting rod (3) between slip reset cylinder and fixed mounting bracket (1), the one end and the slip reset cylinder fixed connection of connecting rod (3), the other end and the fixed mounting bracket (1) fixed connection of connecting rod (3), the slip reset cylinder includes cylinder main part (4) and sets up in cylinder main part (4) both sides left claw piece (7) that stretch out left and right claw piece (11) that stretch out right, left claw piece (7) and right claw piece (11) are stretched out simultaneously or retract simultaneously by cylinder main part (4) control, the mechanism is grabbed to hand includes portion (5) and the portion (12) are grabbed to the right hand by the left hand that slides the cylinder control that resets, the top and the left claw piece (7) detachably of portion (5) are grabbed to the left hand are connected, the top and the right claw piece (11) detachably of the portion (12) are grabbed to the right hand are connected, and portion (5) are grabbed to the left hand and portion (12) cooperation centre gripping impact specimen (13) are grabbed to the right hand.
2. An industrial robot end effector for impact specimen detection according to claim 1, characterized in that the bottom center of the left hand grip (5) is provided with a V-shaped boss (6) adapted to the V-shaped notch (14) of the impact specimen (13).
3. An industrial robot end effector for impact specimen detection according to claim 2, characterized in that the left hand grip (5) is of inverted T shape, the top of the left hand grip (5) is detachably connected to the left jaw piece (7), and the bottom length of the left hand grip (5) is the same as the span of the pendulum impact tester anvil.
4. An industrial robot end effector for impact specimen detection according to claim 3, characterized in that the right hand grip (12) is inverted T-shaped, the top of the right hand grip (12) is detachably connected to the right jaw piece (11), and the bottom length of the right hand grip (12) is the same as the span of the pendulum impact tester anvil.
5. An industrial robot end effector for impact specimen detection according to claim 4, characterized in that a non-contact stroke detection switch (8) is provided between the cylinder body (4) and the left claw piece (7), and a non-contact stroke detection switch (8) is also provided between the cylinder body (4) and the right claw piece (11) for detecting whether the left claw piece (7) and the right claw piece (11) are extended to or retracted to the limit positions.
6. An industrial robot end effector for impact specimen detection according to claim 5, characterized in that the cylinder body (4) is fixedly arranged on a cylinder mounting plate (2), the cylinder mounting plate (2) being fixedly connected with the fixed mounting frame (1) by means of a connecting rod (3).
7. An industrial robot end effector for impact specimen detection according to claim 6, characterized in that the outside of the cylinder body (4) is provided with a camera (9) for specimen positioning, ensuring that the left hand grip (5) and the right hand grip (12) grip the specimen accurately.
8. An industrial robot end effector for impact specimen detection according to claim 7, characterized in that the camera (9) is fixedly connected to the cylinder mounting plate (2) by a camera mounting plate (10), one end of the camera mounting plate (10) is detachably connected to the cylinder mounting plate (2), the other end of the camera mounting plate (10) is detachably connected to the camera (9), and the length of the camera mounting plate (10) is the same as the thickness of the cylinder body (4).
9. An industrial robot end effector for impact specimen detection according to claim 1, characterized in that the connecting rod (3) is of telescopic rod construction facilitating adjustment of the position of the sliding reset cylinder.
10. Method of use of an industrial robot end effector for impact specimen detection, suitable for use in an industrial robot end effector according to claim 8, characterized in that: the specific steps are as follows,
the end effector of the industrial robot is fixedly connected with the arm of the industrial robot through the fixed mounting frame (1), the arm of the industrial robot is moved to the position above the storage position of the impact sample (13) from the initial working position, and the camera (9) detects and positions the position of the impact sample (13) to be taken;
when the cylinder main body (4) is started, the left claw piece (7) and the right claw piece (11) both extend outwards to the limit positions, and the non-contact type stroke detection switch (8) detects that the left claw piece (7) and the right claw piece (11) both reach the extended limit positions, the cylinder main body (4) stops working to enable the left claw piece (7) and the right claw piece (11) to be in the state of extending the limit positions;
the arm of the industrial robot moves downwards to an impact sample (13) to be taken, then the cylinder body (4) is started, the left claw piece (7) and the right claw piece (11) both retract inwards to the limit positions, when the non-contact stroke detection switch (8) detects that the left claw piece (7) and the right claw piece (11) both reach the retracted limit positions, the left claw piece (7) and the right claw piece (11) are matched to clamp the impact sample (13), at the moment, the V-shaped boss (6) of the left claw piece (7) is embedded into the V-shaped notch (14) of the impact sample (13), and the position relation between the impact sample (13) and the left claw piece (7) is determined;
the arm of the industrial robot moves, the clamped impact sample (13) is moved to the position above an anvil block of the pendulum impact testing machine, the camera (9) positions the position where the impact sample (13) needs to be placed, the arm of the industrial robot drives the impact sample (13) to vertically move downwards, the impact sample (13) is placed at the center of the anvil block, and a V-shaped notch (14) of the impact sample (13) is aligned to the center line of an impact cutting edge of the anvil block.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114577493A (en) * | 2022-03-24 | 2022-06-03 | 中汽研汽车检验中心（天津）有限公司 | Dummy hand structure and collision response method thereof |
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| CN114577493A (en) * | 2022-03-24 | 2022-06-03 | 中汽研汽车检验中心（天津）有限公司 | Dummy hand structure and collision response method thereof |
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