CN114216390A - Size measuring device for part detection of stacking robot - Google Patents
Size measuring device for part detection of stacking robot Download PDFInfo
- Publication number
- CN114216390A CN114216390A CN202210164136.0A CN202210164136A CN114216390A CN 114216390 A CN114216390 A CN 114216390A CN 202210164136 A CN202210164136 A CN 202210164136A CN 114216390 A CN114216390 A CN 114216390A
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- base
- measuring
- seat
- contact
- measuring device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
Abstract
The invention relates to a size measuring device, in particular to a size measuring device for detecting parts of a palletizing robot, which comprises a base, a control box and a material guide pipe, wherein the control box and the material guide pipe are both arranged on the base, an installation platform is movably arranged on the base and is positioned at one side of the material guide pipe, a lifting platform is arranged between the installation platform and the material guide pipe, a slide rod is movably arranged on the base and is elastically connected with the base, the slide rod is connected with the lifting platform, a driving shaft is arranged in the installation platform, and balls are slidably embedded in the lifting platform, and the size measuring device also comprises: the length measuring module is arranged between the material guide pipe and the base; the contour measuring module is arranged on the mounting table and is electrically connected with the control box; the whole process is high in automation degree, the traditional manual method that a vernier caliper is adopted to measure the size parameters of all positions of the tubular part is eliminated, the complex part can be measured, and the measurement work on the tubular part is accelerated.
Description
Technical Field
The invention relates to a size measuring device, in particular to a size measuring device for detecting parts of a palletizing robot.
Background
Along with the gradual improvement of degree of automation, the intelligent logistics field is developed rapidly, and the goods handling work in many places such as warehouse, factory workshop, harbour, pier is more and more, because traditional manual work is broken a jam, pile up neatly operating efficiency is low excessively, and pile up neatly machine people can develop fast.
Palletizing robots comprise a wide variety of components, of which tubular parts are one of the most commonly used parts, and therefore require a dimensional checking operation after the tubular parts have been produced.
The traditional measurement work for tubular parts is mostly to adopt the handheld slide caliper of staff to measure, exists protruding or reducing condition in the part surface, and the staff need carry out many places to same part and measure, and very inconvenient and the time that consumes is longer.
Disclosure of Invention
The invention aims to provide a size measuring device for detecting parts of a palletizing robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a size measurement device that pile up neatly machine people part detected, includes base, control box and passage all set up on the base, the activity is provided with the mount table on the base, and the mount table is located one side of passage, is equipped with the elevating platform between mount table and the passage, and the activity is provided with slide bar and both elastic connection on the base, and slide bar and elevating platform are connected, are equipped with the drive shaft in the mount table, and the slip inlays on the elevating platform and is equipped with the ball, be equipped with the helicla flute with ball sliding fit in the drive shaft, size measurement device still includes:
the length measuring module is arranged between the material guide pipe and the base and is used for measuring the length of the tubular part; and
the contour measuring module is arranged on the mounting table, electrically connected with the control box and used for controlling the size of the outer contour of the tubular part; wherein
The profile measurement module includes:
one end of the measuring seat is movably connected with the mounting table;
the resistance reducing ball is embedded at the other end of the measuring seat in a sliding manner;
the sliding seat is movably arranged in a guide groove formed in the measuring seat and is movably connected with the mounting table through a pull rod; and
the clockwork spring, the clockwork spring includes clockwork spring shell and spring strip, and the spring strip is convoluteed in the clockwork spring shell, and the clockwork spring shell sets up on measuring the seat, and the free end and the sliding seat of spring strip are connected, are equipped with the resistance strip on the spring strip, be equipped with the conducting ring on the removal route that lies in the resistance strip on measuring the seat.
The application further adopts the technical scheme that: the length measuring module includes:
the number of the rollers is a plurality of rollers which are movably arranged in the material guide pipe in a ring cloth mode, and the movable connection part of the rollers is provided with a torsion spring;
the measuring scale is arranged on the base;
the pointer seat is movably arranged on the measuring scale; and
and the winding disc is coaxially connected with one of the rollers and is connected with the pointer seat through a belt.
The application further adopts the technical scheme that: a plurality of wheel seats are distributed on the material guide pipe, the wheel seats are in sliding fit with the material guide pipe and are elastically connected with the material guide pipe, and the roller is movably arranged at one end of the wheel seat and a torsion spring is arranged between the wheel seats and the material guide pipe.
The application further adopts the technical scheme that: size measuring device still includes spraying protection module, sets up on the base for do the protection processing that sprays paint to the surface of part, spraying protection module includes:
the material storage box is arranged on the base;
the discharge holes are distributed on the resistance reducing balls in a surrounding manner, and the measuring seat is provided with a cavity communicated with the discharge holes; and
and the driving unit is arranged between the cavity and the storage box and is used for inputting the protective paint in the storage box into the cavity.
This application still further technical scheme: the driving unit comprises a driving box, a piston, a pushing arm and a power element;
the driving box is arranged on the base, one end of the driving box is sleeved on the outer wall of the mounting table in a sliding mode, the driving box is communicated with the cavity, the piston is movably arranged in the driving box, the pushing arm is movably arranged on the driving box and is elastically connected with the driving box, the pushing arm is connected with the piston, and the power element is arranged between the pushing arm and the driving box and can adjust the position of the piston in the driving box.
This application still further technical scheme: the spraying protection module further comprises a trigger unit arranged between the mounting table and the base and used for controlling the power element to be opened and closed.
This application still further technical scheme: the trigger unit comprises a first contact and a second contact, the first contact and the second contact are respectively arranged on the base and the mounting table, the first contact is located on a moving path of the second contact, and the control box, the first contact, the second contact and the power element are electrically connected.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following beneficial effects:
according to the embodiment of the invention, the mounting table and the contour measuring module can be driven to rotate by utilizing the self gravity action of the part to be measured, the resistance value is converted into the diameter parameter of the part by utilizing the controller, the contour of each position on the surface of the part can be measured, the automation degree of the whole process is high, the traditional manual method that a vernier caliper is adopted to measure the size parameter of each position of the tubular part is eliminated, the measurement work of the complex part can be carried out, and the measurement work of the tubular part is accelerated.
Drawings
Fig. 1 is a schematic structural diagram of a size measuring device for detecting parts of a palletizing robot in the embodiment of the invention;
fig. 2 is a schematic structural diagram of a length measuring module in a size measuring device for detecting robot palletizer parts in the embodiment of the invention;
fig. 3 is a schematic structural diagram of a contour measuring module in a dimension measuring device for part detection of a palletizing robot in the embodiment of the invention;
fig. 4 is an enlarged structural schematic diagram of a position A in the size measuring device for detecting the parts of the palletizing robot in the embodiment of the invention;
fig. 5 is an assembly view of a drive box and a push arm in the dimension measuring device for detecting the components of the palletizing robot in the embodiment of the invention.
The reference numerals in the schematic drawings illustrate:
1-base, 2-control box, 3-guide pipe, 4-length measuring module, 41-roller, 42-winding disc, 43-wheel seat, 44-measuring scale, 45-pointer seat, 46-guide wheel, 5-lifting platform, 6-outline measuring module, 61-measuring seat, 62-spring shell, 63-resistance-reducing ball, 64-hair band, 65-resistance band, 66-conductive ring, 67-sliding seat, 68-pull rod, 7-mounting platform, 8-driving shaft, 9-ball, 10-sliding rod, 11-spraying protection module, 111-first contact, 112-second contact, 113-driving box, 114-piston, 115-electromagnetic ring, 116-push arm, 117-storage box, 118-discharge hole, 119-cavity.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments of the present invention, belong to the protection scope of the present invention, and the present invention is further described with reference to the embodiments below.
Referring to fig. 1 to 5, in an embodiment of the present application, a size measuring device for detecting components of a palletizing robot includes a base 1, a control box 2 and a material guiding pipe 3, the control box 2 and the material guiding pipe 3 are both disposed on the base 1, an installation table 7 is movably disposed on the base 1, the installation table 7 is located on one side of the material guiding pipe 3, a lifting table 5 is disposed between the installation table 7 and the material guiding pipe 3, a sliding rod 10 is movably disposed on the base 1 and elastically connected to the sliding rod 10, the sliding rod 10 is connected to the lifting table 5, a driving shaft 8 is disposed in the installation table 7, a ball 9 is slidably embedded in the lifting table 5, a spiral groove slidably fitted with the ball 9 is disposed in the driving shaft 8, and the size measuring device further includes:
the length measuring module 4 is arranged between the material guide pipe 3 and the base 1 and is used for measuring the length of the tubular part; and
the contour measuring module 6 is arranged on the mounting table 7, electrically connected with the control box 2 and used for controlling the outer contour size of the tubular part; wherein
The profile measuring module 6 comprises:
one end of the measuring seat 61 is movably connected with the mounting table 7;
the resistance reducing ball 63 is embedded at the other end of the measuring seat 61 in a sliding manner;
the sliding seat 67 is movably arranged in a guide groove formed in the measuring seat 61, and the sliding seat 67 is movably connected with the mounting table 7 through a pull rod 68; and
the clockwork spring, the clockwork spring includes clockwork spring shell 62 and clockwork spring area 64, and clockwork spring area 64 convolutes in clockwork spring shell 62, and clockwork spring shell 62 sets up on measuring seat 61, and the free end and the sliding seat 67 of clockwork spring area 64 are connected, are equipped with resistance strip 65 on the clockwork spring area 64, be equipped with conducting ring 66 on the removal route that lies in resistance strip 65 on measuring seat 61.
It should be noted that the manner of driving the mounting table 7 to move in this embodiment is not limited to the manner of matching the ball 9 with the spiral groove, and may also be directly driven by a stepping motor or a servo motor, which is not listed here.
In practical application, a tubular part to be measured is placed into the material guide pipe 3, the part freely falls under the action of gravity, in the process, the length of the tubular part can be measured through the length measuring module 4, when the part falls on the lifting table 5, the resistance reducing ball 63 is tightly attached to the outer surface of the part, the measuring seat 61 rotates along the hinged part according to the diameter of the tubular part, at the moment, the sliding seat 67 is driven to move downwards in the direction shown in figure 3 under the action of the pull rod 68, so that the corresponding position on the resistance strip 65 is contacted with the conductive ring 66, at the moment, a resistance value signal can be converted into a diameter value through the control box 2, at the moment, the lifting table 5 moves downwards relative to the base 1, under the sliding fit action between the ball 9 and the spiral groove, the mounting table 7 and the measuring seat 61 are driven to rotate, and the resistance reducing ball 63 can be contacted with each position on the surface of the part, thereby realize carrying out measurement to the profile of part surface different positions, for example the part appears the reducing or there is bellied condition, finally feed back the final measured dimensional parameter of part to the staff through control box 2, compare with the parts machining standard for the staff, whole process automation degree is high, the dimensional parameter of traditional artifical manual adoption slide caliper measurement each position of tubulose part has been broken away from, and can also carry out measurement to complicated part, the measurement to tubulose part has been accelerated.
Referring to fig. 1 and 2, as a preferred embodiment of the present application, the length measuring module 4 includes:
a plurality of rollers 41 are movably arranged in the material guide pipe 3 in a ring cloth manner, and torsional springs are arranged at the movable connection positions of the rollers 41;
a measuring scale 44 arranged on the base 1;
the pointer seat 45 is movably arranged on the measuring scale 44; and
and the winding disc 42 is coaxially connected with one of the rollers 41, and the winding disc 42 is connected with the pointer seat 45 through a belt.
In this embodiment, for example, a plurality of wheel seats 43 are disposed on the material guiding pipe 3, the wheel seats 43 are in sliding fit with the material guiding pipe 3 and are elastically connected to each other, the roller 41 is movably disposed at one end of the wheel seat 43, and a torsion spring is disposed between the two.
It should be noted that, in this embodiment, the length of the part to be measured is not limited to be measured by matching the measuring scale 44 with the pointer seat 45, and the moving distance of the pointer seat 45 may be directly measured by using an infrared distance measuring sensor or a laser distance measuring sensor, which is not illustrated here.
It should be added that the base 1 is provided with a guide wheel 46, and the guide wheel 46 is in sliding fit with the belt, as shown in fig. 2.
When putting into the passage 3 with tubular part, through the mode that adopts elastic connection between wheel seat 43 and the passage 3, thereby can realize the centre gripping location work to the tubular part of different diameters, under the action of gravity of tubular part, tubular part moves down and drives gyro wheel 41 and rotate, thereby make rolling disc 42 rotate, make the belt release, under the action of gravity of pointer seat 45, pointer seat 45 moves down along dipperstick 44, break away from until part and gyro wheel 41, at this moment under the elasticity recovery effect of torsional spring, pointer seat 45 resets, the staff is through the position that pointer seat 45 begins to reset this moment of record, thereby learn the length of measuring the part.
Referring to fig. 1, 3, 4 and 5, as another preferred embodiment of the present application, the dimension measuring apparatus further includes a spray protection module 11 disposed on the base 1 for performing a spray protection process on a surface of a part, where the spray protection module 11 includes:
the material storage box 117 is arranged on the base 1;
a plurality of discharge holes 118 are annularly distributed on the resistance reducing balls 63, and a cavity 119 communicated with the discharge holes 118 is arranged on the measuring seat 61; and
and the driving unit is arranged between the cavity 119 and the storage tank 117 and is used for conveying the protective paint in the storage tank 117 into the cavity 119.
In a particular case of the present embodiment, the driving unit includes a driving case 113, a piston 114, a push arm 116, and a power element;
the driving box 113 is arranged on the base 1, one end of the driving box is slidably sleeved on the outer wall of the mounting table 7, the driving box 113 is communicated with the cavity 119, the piston 114 is movably arranged in the driving box 113, the pushing arm 116 is movably arranged on the driving box 113 and is elastically connected with the driving box 113, the pushing arm 116 is connected with the piston 114, and the power element is arranged between the pushing arm 116 and the driving box 113 and can adjust the position of the piston 114 in the driving box 113.
It should be noted that the power element may be a linear motor or an electric cylinder as long as the position of the piston 114 can be adjusted, in this embodiment, the power element is preferably a set of electromagnetic rings 115 that are electrified and attracted, and the opposing surfaces of the push arm 116 and the driving box 113 are both provided with electromagnetic rings 115, and as for the specific type of the electromagnetic rings 115, an optimal choice may be made according to actual situations, and no specific limitation is made here.
In another specific case of this embodiment, the spraying protection module 11 further includes a trigger unit disposed between the mounting platform 7 and the base 1 for controlling the on/off of the power element.
Specifically, the trigger unit includes a first contact 111 and a second contact 112, the first contact 111 and the second contact 112 are respectively disposed on the base 1 and the mounting table 7, the first contact 111 is located on a moving path of the second contact 112, and the control box 2, the first contact 111, the second contact 112, and the power element are electrically connected.
When the mounting table 7 rotates, the first contact 111 and the second contact 112 can be driven to intermittently contact, when the first contact 111 and the second contact 112 contact each other, the control box 2 controls the electromagnetic ring 115 to be powered on for a period of time and automatically powered off, the electromagnetic ring 115 is powered on and attracted, so that the piston 114 is driven to reciprocate along the driving box 113, the protective paint in the storage box 117 is injected into the cavity 119 and finally sprayed to the surface of the part from the discharge hole 118, the part rotates continuously in the downward moving process, the resistance reducing ball 63 can be driven to randomly move under the action of frictional resistance between the tubular part and the resistance reducing ball 63, the protective paint is sprayed to the surface of the tubular part in multiple angles, the spraying work of the tubular part is realized, and the protection treatment of the part is realized.
The working principle of the application is as follows:
when a tubular part is placed in the material guide pipe 3, the wheel seat 43 is elastically connected with the material guide pipe 3, so that the clamping and positioning work of the tubular part with different diameters can be realized, the tubular part moves downwards to drive the roller 41 to rotate under the action of gravity of the tubular part, so that the winding disc 42 rotates to release a belt, the pointer seat 45 moves downwards along the measuring scale 44 under the action of gravity of the pointer seat 45 until the part is separated from the roller 41, at the moment, the pointer seat 45 resets under the elastic recovery action of a torsion spring, a worker records the position where the pointer seat 45 starts to reset at the moment, so that the length of the part to be measured is known, when the part falls on the lifting table 5, the resistance reducing ball 63 is tightly attached to the outer surface of the part, the measuring seat 61 rotates along the hinged part according to the diameter of the tubular part, at the moment, under the action of the pull rod 68, the sliding seat 67 is driven to move downwards as shown in fig. 3, so that the corresponding position on the resistor strip 65 is contacted with the conductive ring 66, at this time, the resistance value signal can be converted into a diameter value through the control box 2, at this time, the lifting platform 5 moves downwards relative to the base 1, under the sliding fit action between the ball 9 and the spiral groove, the mounting platform 7 and the measuring seat 61 are driven to rotate, the resistance reducing ball 63 can be contacted with each position on the surface of the part, so that the measurement work of the contour of different positions on the surface of the part is realized, for example, the part has the condition of reducing or bulge, finally, the finally measured dimension parameter of the part is fed back to the operator through the control box 2, so that the operator can compare with the part processing standard, when the mounting platform 7 rotates, the first contact 111 and the second contact 112 can be driven to intermittently contact, and when the first contact 111 and the second contact 112 contact each time, the control box 2 controls the electromagnetic ring 115 to be powered on for a period of time and automatically powered off, the electromagnetic ring 115 is powered on and attracted, so that the piston 114 is driven to reciprocate along the driving box 113, protective paint in the storage box 117 is injected into the cavity 119 and is finally sprayed to the surface of the part from the discharge hole 118, the part continuously rotates in the process of moving downwards, the resistance reducing balls 63 can be driven to randomly move under the action of friction group force between the tubular part and the resistance reducing balls 63, so that protective paint is sprayed to the surface of the tubular part in multiple angles, spraying work on the tubular part is realized, protective treatment on the part is realized, the automation degree of the whole process is high, the traditional manual work of measuring the size parameters of each position of the tubular part by using a vernier caliper is avoided, the measurement work on complex parts can be also realized, and the measurement work on the tubular part is accelerated.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a size measurement device that pile up neatly machine people part detected, includes base, control box and passage all set up on the base, the activity is provided with the mount table on the base, and the mount table is located one side of passage, and its characterized in that is equipped with the elevating platform between mount table and the passage, and the activity is provided with slide bar and both elastic connection on the base, and slide bar and elevating platform are connected, are equipped with the drive shaft in the mount table, and the slip inlays on the elevating platform and is equipped with the ball, be equipped with the helicla flute with ball sliding fit in the drive shaft, size measurement device still includes:
the length measuring module is arranged between the material guide pipe and the base and is used for measuring the length of the tubular part; and
the contour measuring module is arranged on the mounting table, electrically connected with the control box and used for detecting the size of the outer contour of the tubular part; wherein
The profile measurement module includes:
one end of the measuring seat is movably connected with the mounting table;
the resistance reducing ball is embedded at the other end of the measuring seat in a sliding manner;
the sliding seat is movably arranged in a guide groove formed in the measuring seat and is movably connected with the mounting table through a pull rod; and
the clockwork spring, the clockwork spring includes clockwork spring shell and spring strip, and the spring strip is convoluteed in the clockwork spring shell, and the clockwork spring shell sets up on measuring the seat, and the free end and the sliding seat of spring strip are connected, are equipped with the resistance strip on the spring strip, be equipped with the conducting ring on the removal route that lies in the resistance strip on measuring the seat.
2. A palletiser part sensing dimensional measurement device according to claim 1, wherein the length measurement module comprises:
the number of the rollers is a plurality of rollers which are movably arranged in the material guide pipe in a ring cloth mode, and the movable connection part of the rollers is provided with a torsion spring;
the measuring scale is arranged on the base;
the pointer seat is movably arranged on the measuring scale; and
and the winding disc is coaxially connected with one of the rollers and is connected with the pointer seat through a belt.
3. The robot palletizer part detecting size measuring device according to claim 2, wherein a plurality of wheel seats are distributed on the material guiding pipe, the wheel seats and the material guiding pipe are in sliding fit and are elastically connected, the roller is movably arranged at one end of the wheel seat, and a torsion spring is arranged between the wheel seats and the material guiding pipe.
4. The robotic palletizer part detecting dimension measuring device as claimed in claim 1, further comprising a spray protection module disposed on the base for performing spray protection treatment on a surface of the part, the spray protection module comprising:
the material storage box is arranged on the base;
the discharge holes are distributed on the resistance reducing balls in a surrounding manner, and the measuring seat is provided with a cavity communicated with the discharge holes; and
and the driving unit is arranged between the cavity and the storage box and is used for inputting the protective paint in the storage box into the cavity.
5. A robotic pallet element detecting dimension measuring device according to claim 4, wherein the drive unit comprises a drive housing, a piston, a push arm and a power element;
the driving box is arranged on the base, one end of the driving box is sleeved on the outer wall of the mounting table in a sliding mode, the driving box is communicated with the cavity, the piston is movably arranged in the driving box, the pushing arm is movably arranged on the driving box and is elastically connected with the driving box, the pushing arm is connected with the piston, and the power element is arranged between the pushing arm and the driving box and can adjust the position of the piston in the driving box.
6. The robotic pallet part detecting dimension measuring device of claim 5, wherein the spray protection module further comprises a trigger unit disposed between the mounting platform and the base for controlling the opening and closing of the power element.
7. The robotic pallet part detecting dimension measuring device of claim 6, wherein the trigger unit comprises a first contact and a second contact, the first contact and the second contact are respectively arranged on the base and the mounting table, the first contact is located on a moving path of the second contact, and the control box, the first contact, the second contact and the power element are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210164136.0A CN114216390B (en) | 2022-02-23 | 2022-02-23 | Size measuring device for part detection of stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210164136.0A CN114216390B (en) | 2022-02-23 | 2022-02-23 | Size measuring device for part detection of stacking robot |
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| CN114216390A true CN114216390A (en) | 2022-03-22 |
| CN114216390B CN114216390B (en) | 2022-05-13 |
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| CN202210164136.0A Active CN114216390B (en) | 2022-02-23 | 2022-02-23 | Size measuring device for part detection of stacking robot |
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| ATSUSHI KAKOGAWA AL.: "Development of a screw drive in-pipe robot for passing through bent and branch pipes", 《IEEE ISR 2013》 * |
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| CN114216390B (en) | 2022-05-13 |
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