CN205438624U - Industrial robot frock clamp detecting system - Google Patents
Industrial robot frock clamp detecting system Download PDFInfo
- Publication number
- CN205438624U CN205438624U CN201620261546.7U CN201620261546U CN205438624U CN 205438624 U CN205438624 U CN 205438624U CN 201620261546 U CN201620261546 U CN 201620261546U CN 205438624 U CN205438624 U CN 205438624U
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- China
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- industrial robot
- frock clamp
- electromagnetic valve
- detecting system
- module
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Abstract
Industrial robot frock clamp detecting system, its characterized in that: it includes equipment table frame (1), frock clamp subassembly (2), pneumatic drive module (3) and electric drive module (4), frock clamp subassembly (2), pneumatic drive module (3) and electric drive module (4) fixed mounting on equipment table frame (1), the pneumatic element and the pneumatic drive module (3) of frock clamp subassembly (2) are connected, the electric drive module of driver part (4) of pneumatic drive module (3) connects, this system implementation industrial robot frock clamp break away from to be connected with industrial robot and to realize automatic work, on one side the debugging personnel can carry out industrial robot orbit programming debugging, through detecting system, accomplish the debugging of signal one -to -one before the assembly on one side, made things convenient for personnel's debugging operation, the dismouting that need not go on relapseing is tested. Whole frock clamp test system can have been avoided and having done over again and the process of repeated assembly, help designer can foreknow in advance and the time update designs mistake.
Description
Technical field
This utility model belongs to technical field of automation in industry, the most just relates to a kind of Novel industrial robot frock clamp detecting system.
Background technology
Along with the automaticity produced is more and more higher, industrial robot is widely used in commercial production, industrial robot is being often required to the use of substantial amounts of frock clamp for the product of clamping manufacture to be produced in commercial production, industrial robot frock clamp, it is mainly used in industrial robot and workpiece is installed the most rapidly, easily and safely, improve production efficiency and product quality, it is ensured that the machining accuracy of workpiece, stabilized product quality；Raise labour productivity and reduce cost；Expand robot industry range of application, it is achieved " a tractor serves several purposes ".
It is that automatization is carried out owing to industrial robot produces, often need industrial robot frock clamp is carried out the detection of correlated performance, its detection includes generally comprising assembles frock clamp with industrial robot, and whether detection electrical equipment installation, pneumatic element etc. the phenomenons such as Assembly Interference occur；The pneumatic circuit of connecting tooling fixture, the motor process of the pneumatic element of detecting tool fixture, sequence of motion is the most normal；Whether the elements such as detection electrical equipment sensor, electromagnetic valve are all in duty；The contents such as the signal of input and output is the most consistent with modelled signal.
Frock clamp with industrial robot assembling and setting during, because of debugging demand, need repeatedly to assemble frock clamp with industrial robot, constantly revise, affect the project process time, the human cost of increase.
Utility model content
The purpose of this utility model is exactly the technological deficiency that existing industrial robot frock clamp needs repeatedly to debug assembling during assembling and setting, industrial robot frock clamp detecting system is provided, different scenes is built by software, the practical application request of simulation industry spot, by industrial robot being carried out the programming of track, reach the effect of detection.
Technical scheme
In order to realize above-mentioned technical purpose, in order to realize above-mentioned technical purpose, the industrial robot frock clamp detecting system of this utility model design, it is characterized in that: it includes equipment stand, frock clamp assembly, pneumatic actuation module and electrically driven module, frock clamp assembly, pneumatic actuation module and electrically driven module are fixedly mounted on equipment stand, the pneumatic element of described frock clamp assembly is connected with pneumatic actuation module, and the driver part of described pneumatic actuation module is connected with electrically driven module；
Described frock clamp assembly includes industrial robot the 4th axis mechanism, described industrial robot the 4th axis mechanism is provided with industrial robot cable fixed mount, industrial robot the 5th axis mechanism is fitted together with industrial robot the 4th axis mechanism, the lower end of industrial robot the 5th axis mechanism is equipped with industrial robot the 6th axis mechanism, industrial robot the 6th axis mechanism lower end is equipped with frock clamp reciprocating mechanism, equipped with flange between industrial robot the 6th axis mechanism and frock clamp reciprocating mechanism, frock clamp reciprocating mechanism bottom is equipped with frock clamp sucker；
Described pneumatic actuation module includes source of the gas three linked piece, equipped with choke valve on the output pipe of source of the gas three linked piece, the outfan of choke valve connects 3 position-5 way electromagnetic valve, 3 position-5 way electromagnetic valve one end is connected with vacuum generator, the 3 position-5 way electromagnetic valve other end is connected with cylinder, the outfan of vacuum generator connects has sucker, vacuum generator to be connected with the Pneumatic component of frock clamp sucker；
Described electrically driven module includes the first electrical module controller, one end of first electrical module controller is connected with 24 volts of positive sources, the negative pole of 24 volts of power supplys is connected with vacuum generator, the other end of vacuum generator and the first electrical module controller has connected closed-loop path, so far, vacuum generator can work automatically, is started by the first electrical module controller；Second electrical module controller one end is connected with 24 volts of positive sources, and the negative pole of 24 volts of power cathode electromagnetic valves left with 3 position-5 way electromagnetic valve is connected, and positive pole and the second electrical module controller other end of the left electromagnetic valve of 3 position-5 way electromagnetic valve have connected closed-loop path；In like manner, the right electromagnetic valve of 3 position-5 way electromagnetic valve is consistent with left electromagnetic valve have been connected, and uses the 3rd electrical module controller to be attached.
Cylinder needs to be fed back by magnetic switch signal, understands whether cylinder stroke reaches capacity position, and magnetic switch is three-wire system, respectively 24 volts positive-negative power lines and signal feedback line.24 volts of positive-negative power lines of magnetic switch (above putting in place) and the both positive and negative polarity of 24 volts of power supplys are connected, subsequently the positive pole of signal feedback line and the first display lamp is connected, the first display lamp other end and 24 volts of power cathodes are connected, so far by the understanding of secretly going out of the first display lamp after cylinder moves up and down and puts in place, move the most normal.In like manner, another magnetic switch (under put in place) is connected with the second display lamp, it is judged that drawback movement is the most normal.
Beneficial effect
This utility model achieves industrial robot frock clamp and departs to be connected with industrial robot and can realize automatically working, commissioning staff can be while carrying out industrial robot track detail programming, pass through detecting system, before assembly signal one_to_one corresponding is debugged on one side, facilitate the debugging operations of personnel, dismounting test repeatedly need not be carried out.Whole frock clamp test system, can eliminate the process doing over again and repeating assembling, helps designer to predict in advance and the mistake of time update design.
Accompanying drawing explanation
Accompanying drawing 1 is the product figure of this utility model embodiment.
Accompanying drawing 2 is frock clamp subassembly product figure in this utility model embodiment.
Accompanying drawing 3 is pneumatic actuation module product figure in this utility model embodiment.
Accompanying drawing 4 is pneumatic actuation module annexation schematic diagram in this utility model embodiment.
Accompanying drawing 5 is electrically driven module product figure in this utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, this utility model is described further.
Embodiment
As shown in Figure 1, industrial robot frock clamp detecting system, it includes equipment stand 1, frock clamp assembly 2, pneumatic actuation module 3 and electrically driven module 4, frock clamp assembly 2, pneumatic actuation module 3 and electrically driven module 4 are fixedly mounted on equipment stand 1, the pneumatic element of described frock clamp assembly 2 is connected with pneumatic actuation module 3, and the driver part of described pneumatic actuation module 3 is connected with electrically driven module 4；
As shown in Figure 2, described frock clamp assembly 2 includes industrial robot the 4th axis mechanism 201, industrial robot the 4th axis mechanism 201 is provided with industrial robot cable fixed mount 202, industrial robot the 5th axis mechanism 203 is fitted together with industrial robot the 4th axis mechanism 201, the lower end of industrial robot the 5th axis mechanism 203 is equipped with industrial robot the 6th axis mechanism 204, industrial robot the 6th axis mechanism 204 lower end is equipped with frock clamp reciprocating mechanism 205, equipped with flange 206 between industrial robot the 6th axis mechanism 204 and frock clamp reciprocating mechanism 205, frock clamp reciprocating mechanism 205 bottom is equipped with frock clamp sucker 207；
As shown in figures 3 and 4, described pneumatic actuation module 3 includes source of the gas three linked piece 301, equipped with choke valve 302 on the output pipe of source of the gas three linked piece 301, the outfan of choke valve 302 connects 3 position-5 way electromagnetic valve 303,3 position-5 way electromagnetic valve 303 one end is connected with vacuum generator 304, the other end of 3 position-5 way electromagnetic valve 303 is connected with cylinder 305, and the outfan of vacuum generator 304 connects has sucker 306, vacuum generator 304 to be connected with the Pneumatic component of frock clamp sucker 207；Described cylinder 305 controls cylinder 305 stroke by the signal feedback module 407 of 24 volts of magnetic switch, described 24 volts of magnetic switch are three-wire system switches, it includes magnetic switch positive-negative power line and signal feedback line, 24 volts of magnetic switch positive-negative power lines are connected with power positive cathode, the positive pole of signal feedback line and the first display lamp 406 is connected, and first display lamp 406 other end and 24 volts of power supply 402 negative poles are connected.
As shown in Figure 5, described electrically driven module 4 includes the first electrical module controller 401, first electrical module controller 401 one end is connected with the positive pole of 24 volts of power supplys 402, the negative pole of 24 volts of power supplys 402 is connected with vacuum generator 304, and vacuum generator 304 has been connected closed-loop path with the other end of the first electrical module controller 401；
Second electrical module controller 403 one end is connected with the positive pole of 24 volts of power supplys 402, the negative pole of the negative pole of 24 volts of power supplys 402 electromagnetic valve left with 3 position-5 way electromagnetic valve 303 is connected, and the positive pole of the left electromagnetic valve of 3 position-5 way electromagnetic valve 303 and the other end of the second electrical module controller 403 have connected closed-loop path；
3rd electrical module controller 405 one end is connected with the positive pole of 24 volts of power supplys 402, the negative pole of the negative pole of 24 volts of power supplys 402 electromagnetic valve right with 3 position-5 way electromagnetic valve 303 is connected, and the positive pole of the right electromagnetic valve of 3 position-5 way electromagnetic valve 303 and the other end of the 3rd electrical module controller 405 have connected closed-loop path.
Equipped with material laydown platform 5 on described equipment stand 1.
Detection process in the present embodiment is that industrial robot the 4th axle, the 5th axle, the 6th axis mechanism simulate corresponding drive mechanism in actual industrial robot successively, rotates.Industrial robot cable fixed mount signal cable cabling layout at gripper of industrial robot is fixing to be used.Industrial robot the 6th axis mechanism and frock clamp Flange joint, frock clamp reciprocating mechanism is arranged on industrial robot the 6th axle extension, is used for controlling the axial translation of frock sucker.After the industrial robot frock clamp installation on the left side, module is driven to be attached each pneumatic element and middle pneumatic, it is ensured that normally using of the unimpeded and pneumatic components and parts of pneumatic circuit.By the driver part in pneumatic actuation module, it is connected with electrically driven module, by the way of electrical control, it is achieved automatic detection function.After having been connected by pneumatic circuit, being opened by source of the gas, pneumatic actuation module is connected with electrically driven module, and parts can carry out manual test or automatically test, and vacuum generator can work automatically, is started by button.Cylinder needs to be fed back by magnetic switch signal, understands whether cylinder stroke reaches capacity position.Magnetic switch is connected with power module, is connected with display lamp by signal feedback line subsequently, after cylinder moves up and down and puts in place, judges that motion is the most normal by secretly going out of display lamp.Between observation parts in motor process, whether there will be interference, cause motion that stuck and structure Caton phenomenon occurs, whether observation input signal efficiently enters and puts in place subsequently, whether the movement logic of pneumatic element meets design cycle, observes feedback signal the most consistent with design signal.
Structure depicted in the present embodiment institute accompanying drawings, ratio, size etc., the most only in order to coordinate the content disclosed in description, understand for those skilled in the art and read, it is not limited to the enforceable qualifications of this utility model, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, under not affecting effect that this utility model can be generated by and the purpose that can reach, all should still fall in the range of the technology contents disclosed in this utility model obtains and can contain.Simultaneously, in this specification cited as " on ", D score, "left", "right", " middle ", " clockwise ", the term of " counterclockwise " etc., it is merely convenient to understanding of narration, and it is not used to limit the enforceable scope of this utility model, being altered or modified of its relativeness, changing under technology contents without essence, when being also considered as the enforceable category of this utility model.
Claims (6)
1. industrial robot frock clamp detecting system, it is characterized in that: it includes equipment stand (1), frock clamp assembly (2), pneumatic actuation module (3) and electrically driven module (4), frock clamp assembly (2), pneumatic actuation module (3) and electrically driven module (4) are fixedly mounted on equipment stand (1), the pneumatic element of described frock clamp assembly (2) is connected with pneumatic actuation module (3), and the driver part of described pneumatic actuation module (3) is connected with electrically driven module (4)；
Described frock clamp assembly (2) includes industrial robot the 4th axis mechanism (201), industrial robot the 4th axis mechanism (201) is provided with industrial robot cable fixed mount (202), industrial robot the 5th axis mechanism (203) is fitted together with industrial robot the 4th axis mechanism (201), the lower end of industrial robot the 5th axis mechanism (203) is equipped with industrial robot the 6th axis mechanism (204), industrial robot the 6th axis mechanism (204) lower end is equipped with frock clamp reciprocating mechanism (205), equipped with flange (206) between industrial robot the 6th axis mechanism (204) and frock clamp reciprocating mechanism (205), frock clamp reciprocating mechanism (205) bottom is equipped with frock clamp sucker (207)；
Described pneumatic actuation module (3) includes source of the gas three linked piece (301), equipped with choke valve (302) on the output pipe of source of the gas three linked piece (301), the outfan of choke valve (302) connects 3 position-5 way electromagnetic valve (303), 3 position-5 way electromagnetic valve (303) one end is connected with vacuum generator (304), the other end of 3 position-5 way electromagnetic valve (303) is connected with cylinder (305), the outfan of vacuum generator (304) connects sucker (306), vacuum generator (304) is connected with the Pneumatic component of frock clamp sucker (207)；
Described electrically driven module (4) includes the first electrical module controller (401), first electrical module controller (401) one end is connected with the positive pole of power supply (402), the negative pole of power supply (402) is connected with vacuum generator (304), and vacuum generator (304) has been connected closed-loop path with the other end of the first electrical module controller (401)；
Second electrical module controller (403) one end is connected with the positive pole of power supply (402), the negative pole of power supply (402) is connected with the negative pole of 3 position-5 way electromagnetic valve (303) left electromagnetic valve, and the positive pole of 3 position-5 way electromagnetic valve (303) left electromagnetic valve and the other end of the second electrical module controller (403) have connected closed-loop path；
3rd electrical module controller (405) one end is connected with the positive pole of power supply (402), the negative pole of power supply (402) is connected with the negative pole of 3 position-5 way electromagnetic valve (303) right electromagnetic valve, and the positive pole of 3 position-5 way electromagnetic valve (303) right electromagnetic valve and the other end of the 3rd electrical module controller (405) have connected closed-loop path.
2. industrial robot frock clamp detecting system as claimed in claim 1, it is characterised in that: described cylinder (305) controls cylinder (305) stroke by the signal feedback module (407) of magnetic switch.
3. industrial robot frock clamp detecting system as claimed in claim 2, it is characterized in that: described magnetic switch is three-wire system switch, it includes magnetic switch positive-negative power line and signal feedback line, magnetic switch positive-negative power line is connected with power positive cathode, the positive pole of signal feedback line and the first display lamp (406) is connected, and the first display lamp (406) other end is connected with power supply (402) negative pole.
4. the industrial robot frock clamp detecting system as described in claim 1 or 3, it is characterised in that: described power supply (402) is 24 volts of power supplys.
5. industrial robot frock clamp detecting system as claimed in claim 3, it is characterised in that: described magnetic switch positive-negative power line is 24 volts of magnetic switch positive-negative power lines.
6. industrial robot frock clamp detecting system as claimed in claim 1, it is characterised in that: equipped with material laydown platform (5) on described equipment stand (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620261546.7U CN205438624U (en) | 2016-03-31 | 2016-03-31 | Industrial robot frock clamp detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620261546.7U CN205438624U (en) | 2016-03-31 | 2016-03-31 | Industrial robot frock clamp detecting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205438624U true CN205438624U (en) | 2016-08-10 |
Family
ID=56608986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620261546.7U Withdrawn - After Issue CN205438624U (en) | 2016-03-31 | 2016-03-31 | Industrial robot frock clamp detecting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205438624U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666527A (en) * | 2016-03-31 | 2016-06-15 | 上海电气自动化设计研究所有限公司 | Industrial robot work fixture detection system |
-
2016
- 2016-03-31 CN CN201620261546.7U patent/CN205438624U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666527A (en) * | 2016-03-31 | 2016-06-15 | 上海电气自动化设计研究所有限公司 | Industrial robot work fixture detection system |
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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: 20160810 Effective date of abandoning: 20171017 |
|
| AV01 | Patent right actively abandoned |