CN114932577B - Material blocking protection mechanism for bending industrial robot and use method thereof - Google Patents
Material blocking protection mechanism for bending industrial robot and use method thereof Download PDFInfo
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- CN114932577B CN114932577B CN202210479032.9A CN202210479032A CN114932577B CN 114932577 B CN114932577 B CN 114932577B CN 202210479032 A CN202210479032 A CN 202210479032A CN 114932577 B CN114932577 B CN 114932577B
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- adjusting device
- distance
- industrial robot
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- 239000000463 material Substances 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000000903 blocking effect Effects 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 238000005452 bending Methods 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 36
- 239000002184 metal Substances 0.000 claims description 21
- 238000001125 extrusion Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000010030 laminating Methods 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 6
- 235000017491 Bambusa tulda Nutrition 0.000 description 6
- 241001330002 Bambuseae Species 0.000 description 6
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 6
- 239000011425 bamboo Substances 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a material blocking protection mechanism for bending an industrial robot and a use method thereof, wherein the material blocking protection mechanism comprises a second installation seat, a first installation seat and a second installation seat, wherein the second installation seat is arranged at the upper end of an electric sliding block at the other side; the distance measuring devices are arranged on one side of the inside of the first mounting seat and one side of the inside of the second mounting seat respectively, and a containing cavity is formed in the inside of each distance measuring device; the recess, its intermediate position department that sets up in the second mount pad is inboard, the internally mounted of recess has protection strutting arrangement, and on the one hand is informed the staff and is adjusted through this kind of method, and on the other hand avoids between the panel and bump between the striker plate and causes the damage, can solve the problem that bumps appear between the panel and between the striker plate, and then effectively realizes the protection between panel and between the striker plate.
Description
Technical Field
The invention relates to the technical field of back blocking of bending equipment, in particular to a blocking protection mechanism for bending of an industrial robot and a use method of the blocking protection mechanism.
Background
In modern panel processing, industrial robot can pass through the manipulator with the panel on the assembly line and accurately snatch, places on buckling equipment afterwards, and the inside of buckling equipment can be extended to its panel's one end, keeps off the material through installing the back in buckling equipment, and the baffle of back fender material front end can be adjusted the position of panel to make the preflex of panel turn over the department and keep on same perpendicular line with equipment extrusion piece.
For example, chinese issued patent CN208373893U, a material blocking induction mechanism for bending robot, includes that one end of the mounting bracket is provided with a limit slot plate, one end of the limit slot plate is provided with an induction bump in a penetrating way, the other end of the limit slot plate is provided with a step screw in a penetrating way, and the inside of the limit slot plate is provided with a limit slot and a reset spring. The middle part of the sensing collision block is provided with a limiting protrusion, and the middle part of the mounting bracket is provided with a sensing switch. The distance between the step screw and the inductive switch is reduced by extruding the inductive collision block, so that the purpose of position detection is achieved. The utility model ensures the consistency of the sensing distance, avoids the damage of the sensing switch, reduces the failure rate, has high sensing precision and is convenient and reliable to use.
In the prior art, though the extrusion of the plate to the striker plate can be detected through the inductive switch, along with the continuous development of modern bending, a plurality of baffles are often adopted to realize the adjustment of the plate-carrying position, but in the moving process of the baffles, the problem that the striker plate collides with the striker plate and the plate on the striker plate collides with each other exists, so that the prior requirements are not met, and the striker protection mechanism for bending the industrial robot and the use method thereof are provided.
Disclosure of Invention
The invention aims to provide a blocking protection mechanism for bending an industrial robot and a use method thereof, which are used for solving the problem of how to solve the problem of collision between a blocking plate and the problem of collision between plates on the blocking plate in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a keep off material protection machanism and application method for industrial robot bends, includes vertical adjusting device, and vertical adjusting device is provided with two, vertical adjusting device's inboard all installs height adjusting device, and height adjusting device's upper end is higher than vertical adjusting device, the bracket is installed to height adjusting device's top, transversely install horizontal adjusting device in the notch of bracket upper end, horizontal adjusting device installs the guide rail in front and back of up end, electric slider is installed respectively to the outside of guide rail, still includes first mount pad, and it sets up the upper end at one side electric slider;
the second mounting seat is arranged at the upper end of the electric sliding block at the other side, the front ends of the first mounting seat and the second mounting seat are respectively provided with a material baffle, and the material baffle is respectively fixed with the first mounting seat and the second mounting seat through bolts;
the distance measuring devices are arranged on one side of the inside of the first mounting seat and one side of the inside of the second mounting seat respectively, and a containing cavity is formed in the inside of each distance measuring device;
And the groove is arranged at the middle position inside the second mounting seat, and a protective supporting device is arranged inside the groove.
In a further embodiment, the internally mounted who accomodates the chamber has a receive and release axle, and receive the lower extreme of receive and release axle and accomodate the chamber and pass through the bearing and be connected, the intermediate position department fixed mounting of distance measuring device up end has first servo motor, and the output shaft of first servo motor passes through the shaft coupling transmission with receive the upper end of release axle and be connected, receive the outside of release axle and twine and have the elastic metal strip, and the one end of elastic metal strip extends to the outside of accomodating the chamber, the one end fixed mounting that the elastic metal strip is located the outside of accomodating the chamber has the detection head, photoelectric sensor is all installed to one side and the front end of detection head, photoelectric sensor's output electric connection to the input of singlechip.
In a further embodiment, the elastic metal strip is in a C-shaped structure, and the protruding portion of the C-shaped structure is a contact portion when the elastic metal strip is wound.
In a further embodiment, a detection head accommodating groove is formed in one side of the accommodating cavity, one side of the detection head accommodating groove is of an opening structure, and the detection head accommodating groove is matched with the detection head.
In a further embodiment, the protection strutting arrangement includes a section of thick bamboo, pressure sensor, elastic pad, supporting spring, movable column and fixed block are constituteed, pressure sensor is located the inside lower extreme of section of thick bamboo, and the elastic pad is located pressure sensor's up end, and the elastic pad is fixed with pressure sensor adhesion, the movable column is located the inside upper end of section of thick bamboo, movable column and section of thick bamboo sliding fit, and the one end of movable column extends to the outside of section of thick bamboo, supporting spring is located between the inside of movable column and section of thick bamboo, and supporting spring parcel is in pressure sensor and elastic pad, pressure sensor's output electric connection to the input of singlechip.
In a further embodiment, a contact area is provided at a middle position inside the first mounting seat, a contact block is mounted on one side of the contact area, and the contact block corresponds to the position of the protection supporting device.
In a further embodiment, the warning lamps are mounted on the upper end faces of the longitudinal adjusting devices, and the input ends of the warning lamps are electrically connected to the output ends of the single chip microcomputer.
In a further embodiment, a screw is mounted in the longitudinal adjusting device, a sliding block is mounted on the outer side of the screw, the sliding block is fixed with the outer side of the height adjusting device through a bolt, a second servo motor is mounted at the front end of the longitudinal adjusting device, and an output shaft of the second servo motor is in transmission connection with one end of the screw through a coupler.
In a further embodiment, an electric push rod is mounted in the height adjusting device, and the upper end of the electric push rod is fixedly connected with the bottom of the bracket.
The application method of the material blocking protection mechanism for bending the industrial robot comprises the following steps:
Measuring the extension distance of the plate on one side of the baffle plate, driving the retraction shaft to rotate by the output shaft of the first servo motor, enabling the elastic metal strip with the detection head to continuously move towards the edge of the plate, and determining the width distance according to the photoelectric sensor when the detection head is finally stopped at the edge of the side surface of the plate;
Step two, after the extension width of one side of the plate is determined by the first mounting seat and the second mounting seat, the plate can be adjusted and processed, the photoelectric sensor on one side of the second mounting seat monitors the distance between the two detection heads on line in the process, the distance information between the plates is obtained, and when the distance between the detection heads reaches a set value, a warning lamp is started and the electric sliding block is suspended at the same time;
Step three, when panel width is less than the width of striker plate, the detection head is located the inside of detecting the head storage tank this moment, do not take place to remove, adjust panel through longitudinal adjusting device, high adjusting device and level adjustment device, if the condition that makes first mount pad and second mount pad be close to each other because of the adjustment demand appears, the laminating takes place for the inboard contact block of fixed block and first mount pad, make the movable column extend to the inside of column casing under the effect of pressure this moment, under supporting spring's effect, avoid the too fast collision between the formation mount pad of speed, if both distances continue to reduce, the other end contact of movable column is to the inside elastic pad of column casing, cooperate supporting spring to form the secondary to the extrusion force and slow down, pressure sensor can detect extrusion numerical signal simultaneously, if pressure reaches the setting value, open the warning light and pause electronic slider simultaneously, realize protection work.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, the distance measuring device is arranged, after the first mounting seat and the second mounting seat are contacted with the plate in the process of working simultaneously, the position of the plate is not preferentially adjusted, but the extending distance of the plate on one side of the plate is measured, at the moment, the first servo motor is started, the output shaft drives the collecting and releasing shaft to rotate, the elastic metal strip is wound outside the collecting and releasing shaft, the elastic metal strip is of an arc-shaped structure, after the elastic metal strip moves out of the collecting and releasing cavity, the elastic metal strip is reset under the elastic structure, the C-shaped structure integrally provides support, so that the plate is kept parallel to the plate in the extending process, the photoelectric sensor is arranged at the front end and one side of the detection head, the photoelectric sensor is used for enabling the detection head to stay at the side edge of the plate, the width distance is determined, after the extending width of one side of the plate is determined, the side of the first mounting seat and the second mounting seat is used for adjusting the side light sensor, the distance between the two detection heads is lost, the electric detection heads can be reset under the action of the second mounting seat, the electric sensor is used for obtaining the distance between the two detection heads, the plate collision between the plates is prevented, on one hand, the problem of the plate is effectively solved, and the plate is prevented from being damaged due to the fact that the collision between the plates is caused by the electric detection heads, on the plate is adjusted, on one side, on the side of the plate is in a collision condition, and the plate is prevented, and the problem is effectively is prevented, and on the plate is caused.
2. According to the invention, the protective supporting device is arranged at the middle position of the inner side of the second mounting seat, when the width of a plate is smaller than that of the striker plate, the detection head is positioned in the detection head accommodating groove and does not move, the plate is conventionally adjusted through the longitudinal adjusting device, the height adjusting device and the horizontal adjusting device, if the condition that the first mounting seat and the second mounting seat are mutually close due to adjustment requirements occurs, the fixed block is attached to the contact block on the inner side of the first mounting seat, the movable column extends to the inner side of the column casing under the action of pressure, under the action of the supporting spring, the collision between the mounting seats is prevented from being formed too quickly, the movement adjustment of the plate is not influenced to the greatest extent, if the distance between the two is continuously reduced, the other end of the movable column is contacted with the elastic pad in the column casing, the second time of the extrusion force is slowed down by matching with the supporting spring, meanwhile, the pressure sensor can detect extrusion numerical signals, and if the pressure reaches a set value, the warning lamp is started, the electric sliding block is simultaneously suspended, on the other hand, the first mounting seat and the second mounting seat is prevented from being damaged due to the fact that the collision occurs, the first mounting seat and the collision is fully reacted with the second mounting seat is prevented, and the movement time is prevented from being caused due to the fact that the elastic pad is not designed.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of a first mounting base and a second mounting base according to the present invention;
FIG. 3 is a schematic view showing the internal structure of the distance measuring device according to the present invention;
FIG. 4 is an enlarged view of a portion of the area A of FIG. 2 in accordance with the present invention;
FIG. 5 is an exploded view of the protective support device of the present invention;
Fig. 6 is a schematic view of the internal structure of the protection support device of the present invention.
In the figure: 1. a longitudinal adjustment device; 2. a height adjusting device; 3. a bracket; 4. a level adjustment device; 5. a guide rail; 6. an electric slide block; 7. a first mount; 8. a striker plate; 9. a distance measuring device; 10. a first servo motor; 11. an elastic metal strip; 12. a detection head; 13. a warning light; 14. a screw rod; 15. a second servo motor; 16. a second mounting base; 17. a groove; 18. a protective support device; 20. a contact region; 21. a touch block; 22. a storage chamber; 23. a winding and unwinding shaft; 25. a detection head accommodating groove; 26. a column casing; 27. a pressure sensor; 28. an elastic pad; 29. a support spring; 30. a movable column; 31. and a fixed block.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-6, an embodiment of the present invention is provided: the utility model provides a keep off material protection machanism and method of use for industrial robot bends, including vertical adjusting device 1, and vertical adjusting device 1 is provided with two, height adjusting device 2 is all installed to vertical adjusting device 1's inboard, height adjusting device 2's upper end is higher than vertical adjusting device 1, bracket 3 is installed to height adjusting device 2's top, transversely install horizontal adjusting device 4 in the notch of bracket 3 upper end, guide rail 5 is all installed to horizontal adjusting device 4 up end around, electric slider 6 is installed respectively to the outside of guide rail 5, still include first mount pad 7, it sets up the upper end of one side electric slider 6;
The second mounting seat 16 is arranged at the upper end of the electric sliding block 6 at the other side, the front ends of the first mounting seat 7 and the second mounting seat 16 are respectively provided with a striker plate 8, and the striker plates 8 are respectively fixed with the first mounting seat 7 and the second mounting seat 16 through bolts;
the distance measuring devices 9, two distance measuring devices 9 are arranged on one side of the inside of the first mounting seat 7 and the second mounting seat 16 respectively, and a containing cavity 22 is arranged in the distance measuring devices 9;
A groove 17 provided at an intermediate position inside the second mount 16, the inside of the groove 17 being fitted with a protective support 18.
Referring to fig. 3, a receiving and releasing shaft 23 is installed in the receiving cavity 22, the lower end of the receiving and releasing shaft 23 is connected with the receiving cavity 22 through a bearing, a first servo motor 10 is fixedly installed at the middle position of the upper end face of the distance measuring device 9, an output shaft of the first servo motor 10 is connected with the upper end of the receiving and releasing shaft 23 through a coupling in a transmission manner, an elastic metal strip 11 is wound on the outer portion of the receiving and releasing shaft 23, one end of the elastic metal strip 11 extends to the outer portion of the receiving cavity 22, a detection head 12 is fixedly installed at one end of the elastic metal strip 11 located at the outer portion of the receiving cavity 22, a photoelectric sensor 24 is installed at one side and the front end of the detection head 12, the output end of the photoelectric sensor 24 is electrically connected to the input end of the singlechip, on one hand, staff is informed to adjust, on the other hand, damage caused by collision between boards is avoided, and in this manner, the problem of collision between boards can be solved, and further protection is effectively achieved between boards.
Referring to fig. 4, the elastic metal strip 11 is in a C-shaped structure, the protruding portion of the C-shaped structure is a contact portion when being wound, the elastic metal strip 11 is wound outside the winding and unwinding shaft 23, and is in an arc-shaped structure, and loses extrusion after moving out of the storage cavity, and resets under the elastic structure, so that the C-shaped structure integrally provides support, and is parallel to the plate in the extending process.
Referring to fig. 2, a detection head accommodating groove 25 is formed on one side of the accommodating cavity 22, one side of the detection head accommodating groove 25 is in an opening structure, and the detection head accommodating groove 25 is adapted to the detection head 12, in this way, collision between the first mounting seat 7 and the second mounting seat 16 can be avoided.
Referring to fig. 5 and 6, the protection support device 18 includes a cylinder 26, a pressure sensor 27, an elastic pad 28, a support spring 29, a movable post 30 and a fixed block 31, wherein the pressure sensor 27 is located at the lowest end of the inside of the cylinder 26, the elastic pad 28 is located at the upper end of the pressure sensor 27, the elastic pad 28 is adhered to the pressure sensor 27, the movable post 30 is located at the upper end of the inside of the cylinder 26, the movable post 30 is in sliding fit with the cylinder 26, one end of the movable post 30 extends to the outside of the cylinder 26, the support spring 29 is located between the movable post 30 and the inside of the cylinder 26, the support spring 29 is wrapped around the pressure sensor 27 and the elastic pad 28, the output end of the pressure sensor 27 is electrically connected to the input end of the single chip microcomputer, and the design of the support spring 29 and the elastic pad 28 gives the pressure sensor 27 sufficient reaction time to avoid damage caused by untimely reaction due to too fast moving speed.
Referring to fig. 2, a contact area 20 is provided at a middle position inside the first mounting seat 7, a contact block 21 is mounted on one side of the contact area 20, and the contact block 21 corresponds to the position of the protection support device 18, so as to ensure that a fixed block 31 at one end of the movable column 30 contacts the contact block 21 when being close to the first mounting seat 7.
Referring to fig. 1, warning lamps 13 are mounted on the upper end surfaces of the longitudinal adjustment devices 1, the input ends of the warning lamps 13 are electrically connected to the output ends of the single chip microcomputer, and the warning lamps 13 are used for reminding workers.
Referring to fig. 1, a screw 14 is installed inside the longitudinal adjustment device 1, a sliding block is installed outside the screw 14, the sliding block is fixed with the outer side of the height adjustment device 2 through a bolt, a second servo motor 15 is installed at the front end of the longitudinal adjustment device 1, an output shaft of the second servo motor 15 is in transmission connection with one end of the screw 14 through a coupling, and rotary motion is converted into linear motion under the cooperation of the screw 14 and the sliding block, so that longitudinal displacement of an installation seat is achieved.
Referring to fig. 1, an electric push rod is installed in the height adjusting device 2, the upper end of the electric push rod is fixedly connected with the bottom of the bracket 3, and the electric push rod can adjust the height of the mounting seat.
The application method of the material blocking protection mechanism for bending the industrial robot comprises the following steps:
step one, measuring the extension distance of a plate on one side of a striker plate 8, wherein an output shaft of a first servo motor 10 drives a retraction shaft 23 to rotate, so that an elastic metal strip 11 provided with a detection head 12 continuously moves towards the edge of the plate, and finally the detection head 12 stays at the edge of the side surface of the plate according to a photoelectric sensor 24 to determine the width distance;
Step two, after the extension width of one side of the plate is determined by the first mounting seat 7 and the second mounting seat 16, the plate can be adjusted, in the process, the distance between the two detection heads 12 is monitored on line by the photoelectric sensor 24 on one side of the second mounting seat 16, the distance information between the plates is obtained, and when the distance between the detection heads 12 reaches a set value, the warning lamp 13 is started and the electric sliding block 6 is stopped at the same time;
Step three, when the panel width is less than the width of striker plate 8, detect head 12 is located the inside of detecting head storage tank 25 this moment, do not take place to remove, adjust the panel through vertical adjusting device 1, height adjusting device 2 and horizontal adjusting device 4, if the condition that makes first mount pad 7 and second mount pad 16 be close to each other because of the adjustment demand appears, the laminating takes place for fixed block 31 and the inboard contact block 21 of first mount pad 7, make movable post 30 extend to the inside of barrel 26 under the effect of pressure this moment, under the effect of supporting spring 29, avoid the too fast collision that forms between the mount pad of speed, if both distances continue to shrink, the other end contact of movable post 30 is to the inside elastic pad 28 of barrel 26, cooperate supporting spring 29 to form the secondary slow down to the extrusion force, simultaneously pressure sensor 27 can detect extrusion numerical signal, if pressure reaches the setting value, open warning light 13 and pause electronic slider simultaneously, realize the protection work.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides an industrial robot is bent and is used fender material protection machanism, includes longitudinal adjustment device (1), and longitudinal adjustment device (1) are provided with two, height adjustment device (2) are all installed to the inboard of longitudinal adjustment device (1), and the upper end of height adjustment device (2) is higher than in longitudinal adjustment device (1), bracket (3) are installed to the top of height adjustment device (2), horizontal adjustment device (4) are transversely installed in the notch of bracket (3) upper end, guide rail (5) are all installed around horizontal adjustment device (4) up end, the externally mounted of guide rail (5) has electronic slider (6), its characterized in that: the first mounting seat (7) is arranged at the upper end of the electric sliding block (6) at one side;
the electric sliding block comprises a first installation seat (6), a second installation seat (16) and a first locking mechanism, wherein the first installation seat (7) is arranged on the upper end of the electric sliding block (6), a material baffle plate (8) is arranged at the front ends of the first installation seat (7) and the second installation seat (16), and the material baffle plate (8) is fixed with the first installation seat (7) and the second installation seat (16) through bolts respectively;
the device comprises a distance measuring device (9), wherein the distance measuring device (9) is provided with two distance measuring devices, the two distance measuring devices are respectively arranged on one side of the inside of a first mounting seat (7) and one side of the inside of a second mounting seat (16), a containing cavity (22) is arranged in the distance measuring device (9), a containing shaft (23) is arranged in the containing cavity (22), the lower end of the containing shaft (23) is connected with the containing cavity (22) through a bearing, a first servo motor (10) is fixedly arranged at the middle position of the upper end face of the distance measuring device (9), an output shaft of the first servo motor (10) is in transmission connection with the upper end of the containing shaft (23) through a coupler, an elastic metal strip (11) is wound on the outside of the containing shaft (23), one end of the elastic metal strip (11) extends to the outside of the containing cavity (22), a measuring head (12) is fixedly arranged at one end of the outside of the containing cavity (22), a photoelectric sensor (24) is arranged at one side of the detecting head (12) and the front end of the photoelectric sensor, and the output end of the photoelectric sensor (24) is connected to the C-shaped metal strip electrical part of the C-shaped contact type structure;
The groove (17) is arranged at the middle position inside the second mounting seat (16), a protective supporting device (18) is arranged inside the groove (17), the protective supporting device (18) comprises a column casing (26), a pressure sensor (27), an elastic pad (28), a supporting spring (29), a movable column (30) and a fixed block (31), the pressure sensor (27) is arranged at the lowest end inside the column casing (26), the elastic pad (28) is arranged at the upper end surface of the pressure sensor (27), the elastic pad (28) is adhered and fixed with the pressure sensor (27), the movable column (30) is arranged at the upper end inside the column casing (26), the movable column (30) is in sliding fit with the column casing (26), one end of the movable column (30) extends to the outside of the column casing (26), the supporting spring (29) is arranged between the movable column (30) and the inside of the column casing (26), the supporting spring (29) is wrapped by the pressure sensor (27) and the elastic pad (28), the output end of the pressure sensor (27) is electrically connected to the input end of the singlechip, the middle contact area (20) is arranged at the first contact area (20) of the first contact area (7), and the contact block (21) corresponds to the position of the protection supporting device (18).
2. The material blocking and protecting mechanism for bending of an industrial robot according to claim 1, wherein: one side of the accommodating cavity (22) is provided with a detecting head accommodating groove (25), one side of the detecting head accommodating groove (25) is of an opening structure, and the detecting head accommodating groove (25) is matched with the detecting head (12).
3. The material blocking and protecting mechanism for bending of industrial robot according to claim 2, wherein: the upper end faces of the longitudinal adjusting devices (1) are provided with warning lamps (13), and the input ends of the warning lamps (13) are electrically connected to the output ends of the single chip microcomputer.
4. A stop guard mechanism for bending an industrial robot according to claim 3, wherein: the inside of vertical adjusting device (1) is installed lead screw (14), and the externally mounted of lead screw (14) has the sliding block, and the outside of sliding block and height adjusting device (2) is fixed through the bolt, second servo motor (15) is installed to the front end of vertical adjusting device (1), and the output shaft of second servo motor (15) passes through the shaft coupling transmission with the one end of lead screw (14) and is connected.
5. The material blocking and protecting mechanism for bending of an industrial robot according to claim 4, wherein: the electric push rod is arranged in the height adjusting device (2), and the upper end of the electric push rod is fixedly connected with the bottom of the bracket (3).
6. The use method of the material blocking protection mechanism for bending of the industrial robot is based on claim 5 and is characterized in that: the method comprises the following steps:
Firstly, measuring the extension distance of a plate on one side of a baffle plate (8), wherein an output shaft of a first servo motor (10) drives a retraction shaft (23) to rotate, so that an elastic metal strip (11) provided with a detection head (12) continuously moves towards the edge of the plate, and finally the detection head (12) stays at the edge of the side surface of the plate according to a photoelectric sensor (24) to determine the width distance;
step two, after the extension width of one side of the plate is determined by the first mounting seat (7) and the second mounting seat (16), the plate can be adjusted and processed, in the process, the distance between the two detection heads (12) is monitored on line by the photoelectric sensor (24) on one side of the second mounting seat (16), the distance information between the plates is obtained, and when the distance between the detection heads (12) reaches a set value, the warning lamp (13) is started and the electric sliding block (6) is stopped at the same time;
Step three, when panel width is less than the width of striker plate (8), detect head (12) this moment and be located the inside of detecting head storage tank (25), do not take place to remove, adjust panel through vertical adjusting device (1), high adjusting device (2) and horizontal adjusting device (4), if the condition that makes first mount pad (7) and second mount pad (16) be close to each other because of the adjustment demand appears, laminating takes place for fixed block (31) and first mount pad (7) inboard contact block (21), make movable column (30) extend to the inside of barrel (26) under the effect of pressure at this moment, under the effect of supporting spring (29), avoid the too fast collision between the forming mount pad of speed, if both distance continues to shrink, the other end contact of movable column (30) is to the inside elastic pad (28) of barrel (26), cooperate supporting spring (29) to form the secondary slow down to the extrusion force, simultaneously pressure sensor (27) can detect extrusion numerical value signal, if when pressure reaches the setting value, open electronic suspension slider of warning lamp (13), realize protection work simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210479032.9A CN114932577B (en) | 2022-05-05 | 2022-05-05 | Material blocking protection mechanism for bending industrial robot and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07214173A (en) * | 1994-01-28 | 1995-08-15 | Nisshinbo Ind Inc | Method for controlling plate material treating robot hand of plate material bending machine |
| CN109079011A (en) * | 2018-10-29 | 2018-12-25 | 安徽大族机械设备制造有限公司 | A kind of integral type rear material stopping device for bending machine |
| CN110216172A (en) * | 2019-05-30 | 2019-09-10 | 黄石华强数控机床有限公司 | A kind of bending robot sliding induction catch pawl |
| CN209407129U (en) * | 2018-11-30 | 2019-09-20 | 南京埃斯顿机器人工程有限公司 | Locator after a kind of plate bending for robot bending |
| CN214813801U (en) * | 2021-06-08 | 2021-11-23 | 安徽威亚机械制造有限公司 | Adjustable stop device of numerical control bending machine |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07214173A (en) * | 1994-01-28 | 1995-08-15 | Nisshinbo Ind Inc | Method for controlling plate material treating robot hand of plate material bending machine |
| CN109079011A (en) * | 2018-10-29 | 2018-12-25 | 安徽大族机械设备制造有限公司 | A kind of integral type rear material stopping device for bending machine |
| CN209407129U (en) * | 2018-11-30 | 2019-09-20 | 南京埃斯顿机器人工程有限公司 | Locator after a kind of plate bending for robot bending |
| CN110216172A (en) * | 2019-05-30 | 2019-09-10 | 黄石华强数控机床有限公司 | A kind of bending robot sliding induction catch pawl |
| CN214813801U (en) * | 2021-06-08 | 2021-11-23 | 安徽威亚机械制造有限公司 | Adjustable stop device of numerical control bending machine |
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| CN114932577A (en) | 2022-08-23 |
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