CN205111461U - Revise automatic positioning device of machine people gesture on line - Google Patents
Revise automatic positioning device of machine people gesture on line Download PDFInfo
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- CN205111461U CN205111461U CN201520810010.1U CN201520810010U CN205111461U CN 205111461 U CN205111461 U CN 205111461U CN 201520810010 U CN201520810010 U CN 201520810010U CN 205111461 U CN205111461 U CN 205111461U
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Abstract
The utility model discloses a revise automatic positioning device of machine people gesture on line, including the robot, industrial computer, digit control machine tool, on - line measuring device, work piece, the induction system that targets in place, locking device and installation position, the robot's arm front end is provided with end effector, and the induction system that targets in place is located the right side middle position of installation position, and locking device is located the both sides of installation position, is provided with reset spring between contact thimble and the drive switch, locking device include vertical setting drive on - line measuring device 1 and with " L " shape clamping block. The utility model discloses can obtain the actual position of work piece in the robot centre gripping through on - line measuring device, revise robot gesture according to this value that obtains, guarantee the correct assembling of work piece to can carry out the automated inspection locking after the work piece targets in place, prevent the work piece positional deviation, effectively improve off -the -shelf qualification rate.
Description
Technical field
The utility model relates to control device correlative technology field, specifically a kind of automatic positioning equipment of on-line amending robot pose.
Background technology
Automation process technology has been widely used in the product manufacturing fields such as household electrical appliances, automobile, Aero-Space, particularly creates huge economic benefit at manufacture view in enormous quantities; Automation process technology is widely applied in developed country, has also monopolized the cutting edge technology in this field; Automation machining production line is the representative of manufacturing advanced productivity, and it has high efficiency, high-quality, unmanned, high machine tool utilization rate, the automatic calculation process data of software systems, assigns instruction, realize the features such as the uninterrupted operation of 24h to production equipment.
When part being processed in automation cell; usually there will be the inconsistent phenomenon in the actual installation position of part and theoretical installation site; even cause installing unsuccessfully; directly have influence on the quality of its finished product; this phenomenon is mainly derived from deviation during robot clamping parts, and this deviation is caused by the uncertainty in the initial clamping of workpiece often.
But whether traditional mode only relies on artificial visually examine to detect skeleton and is in place, its Detection accuracy is very low, under these circumstances, can collide during robot material loading to interfere to wait and failed phenomenon is installed, therefore the attitude regulating robot is before the mounting necessary, ensure that workpiece is correctly installed, to guarantee the quality of finished product.
Summary of the invention
The purpose of this utility model is the automatic positioning equipment providing a kind of on-line amending robot pose, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the utility model provides following technical scheme:
A kind of automatic positioning equipment of on-line amending robot pose, comprise robot body, industrial computer, Digit Control Machine Tool, on-line measurement device, workpiece, put in place induction installation, locking device and installation position, described on-line measurement device is integrated in Digit Control Machine Tool, the arm front end of described robot body is provided with end effector, the described induction installation that puts in place is positioned at the middle position, right side of installation position, described locking device is positioned at the both sides of installation position, the described induction installation that puts in place comprises contact thimble and driving switch, described driving switch is positioned at the right side of contact thimble, back-moving spring is provided with between contact thimble and driving switch, described locking device comprises the driving cylinder vertically arranged and " L " shape clamping block be connected with cylinder arm with driving cylinder, put in place induction installation, locking device, driving switch is all connected with industrial computer with driving cylinder.
As further program of the utility model: described piece-holder is in the inside of end effector.
As the utility model further scheme: described " L " shape clamping block is mutually vertical with cylinder arm.
As the utility model further scheme: described industrial computer is connected with Ethernet between robot body switch board, Digit Control Machine Tool.
Compared with prior art, the beneficial effects of the utility model are: the utility model can obtain the physical location of workpiece in robotic gripper by on-line measurement device, according to this value amendment robot pose obtained, ensure the correct installation of workpiece, and automatically locking can be detected after workpiece puts in place, prevent location of workpiece deviation, effectively improve the qualification rate of finished product.End effector holding workpiece in process, when after the assigned address that robot moves to before trade union college position, on-line measurement device works, obtain the real space position of workpiece by the multiple figuratrix of measuring workpieces and be sent in industrial computer, industrial computer compares with theoretical position after receiving data, utilize this position deviation to control amendment mechanical hand attitude, ensure that the installation accuracy before work pieces process.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of automatic positioning equipment of on-line amending robot pose.
In figure: 1-robot body, 2-industrial computer, 3-Digit Control Machine Tool, 4-on-line measurement device, 5-workpiece, 6-end effector, 7-put in place, and induction installation, 8-locking device, 9-installation position, 10-contact thimble, 11-driving switch, 12-back-moving spring, 13-drive cylinder, 14-cylinder arm, 15-" L " shape clamping block.
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.
Refer to Fig. 1, in the utility model embodiment, an automatic positioning equipment for on-line amending robot pose, comprises robot body 1, industrial computer 2, Digit Control Machine Tool 3, on-line measurement device 4, workpiece 5, the induction installation 7 that puts in place, locking device 8 and installation position 9.
Described on-line measurement device 4 is integrated in Digit Control Machine Tool 3, the arm front end of described robot body 1 is provided with end effector 6, workpiece 5 is clamped in the inside of end effector 6, the described induction installation 7 that puts in place is positioned at the middle position, right side of installation position 9, and described locking device 8 is positioned at the both sides of installation position 9; The described induction installation 7 that puts in place comprises contact thimble 10 and driving switch 11, described driving switch 11 is positioned at the right side of contact thimble 10, back-moving spring 12 is provided with between contact thimble 10 and driving switch 11, described locking device 8 comprises the driving cylinder 13 vertically arranged and " L " shape clamping block 15 be connected with cylinder arm 14 with driving cylinder 13, and described " L " shape clamping block 15 is mutually vertical with cylinder arm 14.
Wherein, industrial computer 2 is connected with Ethernet between robot body 1 switch board, Digit Control Machine Tool 3, industrial computer 2 control machine human body 1 clamping carrying workpiece 5, industrial computer 2 calls Digit Control Machine Tool 3 process of measurement makes on-line measurement device 4 perform measurement function, on-line measurement device 4 obtains the locus of workpiece 5 by measuring multiple characteristic plane, the induction installation 7 that puts in place, locking device 8, driving switch 11 are all connected with industrial computer 2 with driving cylinder 13.
Operation principle of the present utility model is: during work, industrial computer 2 first control machine human body 1 arrives specified location holding workpiece 5 by end effector 6, workpiece 5 is moved to the assigned address on Digit Control Machine Tool 3 before installation site by industrial computer 2 control machine human body 1 afterwards, industrial computer 2 calls Digit Control Machine Tool 3 process of measurement makes on-line measurement device 4 perform measurement function, on-line measurement device 4 obtains the real space position of workpiece 5 by multiple figuratrixes of measuring workpieces 5, and on-line measurement device 4 is sent to the data message measuring gained in industrial computer 2; Now, industrial computer 2 calculates position deviation according to the theoretical position information of the actual position information of workpiece 5 and workpiece 5, and industrial computer 2 makes workpiece 5 adjust to theoretical position according to the attitude of this position deviation amendment robot body 1; When workpiece 5 accurately puts in place, workpiece 5 extrudes contact thimble 10, and back-moving spring 12 shrinks, contact thimble 10 right-hand member contact driving switch 11, and driving switch 11 closes, and industrial computer 2 controls to drive cylinder 13 to shrink, and drives " L " shape clamping block 15 to lock workpiece 5; When workpiece 5 leaves installation position, back-moving spring 12 return, promote contact thimble 10 to be moved to the left, contact thimble 10 right-hand member leaves driving switch 11, driving switch 11 disconnects, and industrial computer 2 controls to drive cylinder 13 to extend, and drives " L " shape clamping block 15 to unclamp workpiece 5, whole process prevents the position deviation of workpiece 5, effectively improves the qualification rate of finished product.
To those skilled in the art, obvious the utility model is not limited to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present utility model or essential characteristic, can realize the utility model in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the utility model.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (4)
1. the automatic positioning equipment of an on-line amending robot pose, comprise robot body (1), industrial computer (2), Digit Control Machine Tool (3), on-line measurement device (4), workpiece (5), put in place induction installation (7), locking device (8) and installation position (9), it is characterized in that, described on-line measurement device (4) is integrated in Digit Control Machine Tool (3), the arm front end of described robot body (1) is provided with end effector (6), the described induction installation that puts in place (7) is positioned at the middle position, right side of installation position (9), described locking device (8) is positioned at the both sides of installation position (9), the described induction installation that puts in place (7) comprises contact thimble (10) and driving switch (11), described driving switch (11) is positioned at the right side of contact thimble (10), back-moving spring (12) is provided with between contact thimble (10) and driving switch (11), described locking device (8) comprises the driving cylinder (13) vertically arranged and " L " shape clamping block (15) be connected with cylinder arm (14) with driving cylinder (13), put in place induction installation (7), locking device (8), driving switch (11) is all connected with industrial computer (2) with driving cylinder (13).
2. the automatic positioning equipment of a kind of on-line amending robot pose according to claim 1, is characterized in that, described workpiece (5) is clamped in the inside of end effector (6).
3. the automatic positioning equipment of a kind of on-line amending robot pose according to claim 1, is characterized in that, described " L " shape clamping block (15) are mutually vertical with cylinder arm (14).
4. the automatic positioning equipment of a kind of on-line amending robot pose according to claim 1, is characterized in that, described industrial computer (2) is connected with Ethernet between robot body (1) switch board, Digit Control Machine Tool (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520810010.1U CN205111461U (en) | 2015-10-20 | 2015-10-20 | Revise automatic positioning device of machine people gesture on line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520810010.1U CN205111461U (en) | 2015-10-20 | 2015-10-20 | Revise automatic positioning device of machine people gesture on line |
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| Publication Number | Publication Date |
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| CN205111461U true CN205111461U (en) | 2016-03-30 |
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| CN201520810010.1U Active CN205111461U (en) | 2015-10-20 | 2015-10-20 | Revise automatic positioning device of machine people gesture on line |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848754A (en) * | 2019-02-25 | 2019-06-07 | 江苏大学 | A kind of profile shapes based on displacement sensor detect automatically and attitude updating mechanism |
| CN110883558A (en) * | 2019-12-02 | 2020-03-17 | 井之外智能装备(苏州)有限公司 | Output shaft processing equipment |
-
2015
- 2015-10-20 CN CN201520810010.1U patent/CN205111461U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848754A (en) * | 2019-02-25 | 2019-06-07 | 江苏大学 | A kind of profile shapes based on displacement sensor detect automatically and attitude updating mechanism |
| CN110883558A (en) * | 2019-12-02 | 2020-03-17 | 井之外智能装备(苏州)有限公司 | Output shaft processing equipment |
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Address after: 201111 room A2115, B floor, No. 555 Dongchuan Road, Shanghai, Minhang District Patentee after: Shanghai Tuopu CNC Polytron Technologies Inc Address before: 201111 room A2115, B floor, No. 555 Dongchuan Road, Shanghai, Minhang District Patentee before: Shanghai Putuo Numerical Control Technology Co., Ltd. |