CN204800651U - Monitor control mechanism of robot arm lifting hook - Google Patents
Monitor control mechanism of robot arm lifting hook Download PDFInfo
- Publication number
- CN204800651U CN204800651U CN201520365832.3U CN201520365832U CN204800651U CN 204800651 U CN204800651 U CN 204800651U CN 201520365832 U CN201520365832 U CN 201520365832U CN 204800651 U CN204800651 U CN 204800651U
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- China
- Prior art keywords
- suspension hook
- robot arm
- sensitive device
- workpiece
- monitoring
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Abstract
The utility model discloses a monitor control mechanism of robot arm lifting hook belongs to mechanical automation, but is applicable to the work piece on the support of locating of one end pivot, including base, swinging boom, lifting hook, turn sensitive device and control center, rotatable the locating of one end of swinging boom on the base, the lifting hook with the other end of swinging boom links to each other, the lifting hook cooperation is hoist the other end of work piece, the base is located on the robot arm, turn sensitive device locates on the swinging boom, turn sensitive device detects the rotation angle of swinging boom to with angle information transfer extremely control center. The technical scheme of the utility model can assist the robot to accomplish the work of normally hanging the work piece, can also judge that whether the work piece is hooked, avoid because the work piece breaks off relations and influences robot system's safety in production.
Description
Technical field
The utility model belongs to field of mechanical automation control, relates to a kind of mechanism for monitoring of suspension hook, particularly relates to a kind of Monitoring and Controlling mechanism of robot arm suspension hook.
Background technology
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.Along with the development of process of industrialization, the raising of production automation level, the application of industrial robot is more and more extensive, plays more and more important effect in industrial application such as welding, carrying, assembling, spraying, pilings.
In the auto production line in modern times, mostly can carry out robot automation's water operation completely.In automotive front production operation, usually need front cover for vehicle plate to sling operation.But the robot arm of cover plate of being responsible for slinging there is no any monitoring device, if the robot arm that will directly cause carrying out next procedure of not slinging damages.
Utility model content
In view of this, the utility model provides a kind of Monitoring and Controlling mechanism of robot arm suspension hook.
For achieving the above object, concrete technical scheme is as follows:
A kind of Monitoring and Controlling mechanism of robot arm suspension hook, be applicable to the pivotable workpiece be located on support in one end, comprise base, turning arm, suspension hook, turn-sensitive device and control centre, one end of described turning arm is rotatable to be located on described base, described suspension hook is connected with the other end of described turning arm, described suspension hook coordinates and the other end of described workpiece of slinging, described base is located on robot arm, described turn-sensitive device is located on described turning arm, described turn-sensitive device detects the anglec of rotation of described turning arm, and by angle information transfer to described control centre.
Preferably, also comprise siren, described siren is connected with described control centre.
Preferably, described robot arm controls described suspension hook and to sling up and down described workpiece, when described turn-sensitive device detect the anglec of rotation non-vanishing time, described control centre judges that described suspension hook is sling described workpiece; When to detect the anglec of rotation be zero for described turn-sensitive device, described control centre judges that described suspension hook is not sling described workpiece, and described siren gives the alarm.
Preferably, described turn-sensitive device is angular transducer.
Preferably, described turn-sensitive device comprises the detection lug of the reflected signal being located at turning arm one end and the generator with Received signal strength that sends be located on base.
Preferably, described control centre is robot control cabinet.
Preferably, also comprise the position sensor being located at the described workpiece other end, described position sensor detects the position of the described workpiece other end, and positional information is passed to control centre.
Preferably, described position sensor is proximity switch.
Preferably, described workpiece is be pivoted on front cover for vehicle plate on vehicle frame and back shroud.
Relative to prior art, the technical solution of the utility model pin is compared with traditional mechanical hook, except assist people normal work of hanging workpiece can be completed, can also judge that whether workpiece is hooked, avoid the safety in production affecting robot system because workpiece breaks off relations.
Accompanying drawing explanation
The accompanying drawing forming a part of the present utility model is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation of the utility model embodiment;
Structural representation when Fig. 2 is the rotation of the utility model embodiment;
Fig. 3 is the sensor construction schematic diagram of the utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
It should be noted that, when not conflicting, the embodiment in the utility model and the feature in embodiment can combine mutually.
Below with reference to accompanying drawing, concrete explaination is done to embodiment of the present utility model.
The Monitoring and Controlling mechanism of a kind of robot arm suspension hook of embodiment of the present utility model as shown in Figure 1 to Figure 3, is applicable to the pivotable workpiece be located on support in one end.
It comprises base 1, turning arm 2, suspension hook 3, turn-sensitive device 4 and control centre.One end of turning arm 2 is rotatable to be located on base 1, and suspension hook 3 is connected with the other end of turning arm 2, preferably hinged.Suspension hook 3 coordinates and the other end of workpiece of slinging.Base 3 is located on robot arm.Turn-sensitive device 4 is located on turning arm 2, and is connected with control centre.Turn-sensitive device 4 detects the anglec of rotation of turning arm 2, and by angle information transfer to control centre, is preferably robot control cabinet.
In embodiment of the present utility model, preferably also comprise siren, siren is connected with control centre.The workpiece and preferred robot arm control suspension hook about 3 is sling, so, when the workpiece of one end pivotable of slinging, driven rotary arm 2 rotates by suspension hook 3 at an angle.When turn-sensitive device 4 detect the anglec of rotation non-vanishing time, control centre judges that suspension hook 3 is sling workpiece; When to detect the anglec of rotation be zero to turn-sensitive device 4, control centre judges that suspension hook 3 is not sling workpiece, and siren gives the alarm.
Whether the turn-sensitive device of embodiment of the present utility model rotates a certain angle when slinging for detecting turning arm 2.Preferred turn-sensitive device is angular transducer.The detection lug that turn-sensitive device comprises the reflected signal being located at turning arm one end and the generator with Received signal strength that sends be located on base.
Turn-sensitive device 4 is by detection lug reflected received signal, and detection lug together can rotate with turning arm 2.After suspension hook 3 hooks workpiece, turning arm 2 is stressed to be rotated, sensor detection lug rotates thereupon, now turn-sensitive device 4 cannot pass through detection lug reflected received signal, the signal data finally changed is transferred to robot control cabinet, judge whether test item is hooked by robot control cabinet, then send warning if any abnormal.The utility model embodiment, compared with traditional mechanical hook, except assist people completing normal work of hanging workpiece, and can judge that whether workpiece is hooked, avoid the safety in production affecting robot system because workpiece breaks off relations.
In embodiment of the present utility model, also comprise the position sensor being located at the workpiece other end, position sensor detects the position of the workpiece other end, and positional information is passed to control centre.Position sensor by detecting the change in location of the workpiece other end, thus judges whether workpiece is lifted.Position sensor preferably sends and the generator of acknowledge(ment) signal and the reflector of reflected signal, and its signal is arranged in workpiece and slings stroke, when sling workpiece time, disabling signal, when not slinging, signal is not blocked.
Be described in detail specific embodiment of the utility model above, but it is just as example, the utility model is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the utility model is carried out and substituting also all among category of the present utility model.Therefore, not departing from the equalization conversion and amendment done under spirit and scope of the present utility model, all should be encompassed in scope of the present utility model.
Claims (9)
1. the Monitoring and Controlling mechanism of a robot arm suspension hook, be applicable to the pivotable workpiece be located on support in one end, it is characterized in that, comprise base, turning arm, suspension hook, turn-sensitive device and control centre, one end of described turning arm is rotatable to be located on described base, described suspension hook is connected with the other end of described turning arm, described suspension hook coordinates and the other end of described workpiece of slinging, described base is located on robot arm, described turn-sensitive device is located on described turning arm, described turn-sensitive device detects the anglec of rotation of described turning arm, and by angle information transfer to described control centre.
2. the Monitoring and Controlling mechanism of robot arm suspension hook as claimed in claim 1, it is characterized in that, also comprise siren, described siren is connected with described control centre.
3. the Monitoring and Controlling mechanism of robot arm suspension hook as claimed in claim 2, it is characterized in that, described robot arm controls described suspension hook and to sling up and down described workpiece, when described turn-sensitive device detect the anglec of rotation non-vanishing time, described control centre judges that described suspension hook is sling described workpiece; When to detect the anglec of rotation be zero for described turn-sensitive device, described control centre judges that described suspension hook is not sling described workpiece, and described siren gives the alarm.
4. the Monitoring and Controlling mechanism of robot arm suspension hook as claimed in claim 1, it is characterized in that, described turn-sensitive device is angular transducer.
5. the Monitoring and Controlling mechanism of robot arm suspension hook as claimed in claim 1, is characterized in that, the detection lug that described turn-sensitive device comprises the reflected signal being located at turning arm one end and the generator with Received signal strength that sends be located on base.
6. the Monitoring and Controlling mechanism of robot arm suspension hook as claimed in claim 1, it is characterized in that, described control centre is robot control cabinet.
7. the Monitoring and Controlling mechanism of robot arm suspension hook as claimed in claim 1, it is characterized in that, also comprise the position sensor being located at the described workpiece other end, described position sensor detects the position of the described workpiece other end, and positional information is passed to control centre.
8. the Monitoring and Controlling mechanism of robot arm suspension hook as claimed in claim 7, it is characterized in that, described position sensor is proximity switch.
9. the Monitoring and Controlling mechanism of robot arm suspension hook as claimed in claim 1, is characterized in that, described workpiece is be pivoted on front cover for vehicle plate on vehicle frame and back shroud.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520365832.3U CN204800651U (en) | 2015-05-29 | 2015-05-29 | Monitor control mechanism of robot arm lifting hook |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520365832.3U CN204800651U (en) | 2015-05-29 | 2015-05-29 | Monitor control mechanism of robot arm lifting hook |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204800651U true CN204800651U (en) | 2015-11-25 |
Family
ID=54585541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520365832.3U Withdrawn - After Issue CN204800651U (en) | 2015-05-29 | 2015-05-29 | Monitor control mechanism of robot arm lifting hook |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204800651U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858878A (en) * | 2015-05-29 | 2015-08-26 | 上海发那科机器人有限公司 | Robot arm lifting hook monitoring control mechanism |
-
2015
- 2015-05-29 CN CN201520365832.3U patent/CN204800651U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858878A (en) * | 2015-05-29 | 2015-08-26 | 上海发那科机器人有限公司 | Robot arm lifting hook monitoring control mechanism |
| CN104858878B (en) * | 2015-05-29 | 2016-09-14 | 上海发那科机器人有限公司 | A kind of Monitoring and Controlling mechanism of robot arm suspension hook |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151125 Effective date of abandoning: 20160914 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |