CN207223995U - A kind of window inspecting manipuator and detecting system - Google Patents
A kind of window inspecting manipuator and detecting system Download PDFInfo
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- CN207223995U CN207223995U CN201721070184.4U CN201721070184U CN207223995U CN 207223995 U CN207223995 U CN 207223995U CN 201721070184 U CN201721070184 U CN 201721070184U CN 207223995 U CN207223995 U CN 207223995U
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Abstract
The utility model belongs to manipulator technical field,More particularly to a kind of window inspecting manipuator and detecting system,Inspecting manipuator is used for folding repeatedly and hangs window,It includes manipulator and driving mould bases,The manipulator includes pedestal and multiple pivoted arms on the pedestal,The multiple pivoted arm is sequentially connected,Two adjacent pivoted arms can relatively rotate,The driving mould bases is arranged on manipulator head end pivoted arm,And from manipulator be moved at the handle of outstanding window with handle with,The driving mould bases is selectively rotated by manipulator,Promotion or pull handle,Realize the folding of outstanding window,Detecting system includes above-mentioned inspecting manipuator and detection device,Driving mould bases provided by the utility model can realize the activity in the different frees degree by manipulator,Its is simple in structure,Simplify the structure of existing testing machine,And driving mould bases simulation capacity is stronger,The simulation of forms folding can preferably be carried out,Improve the precision of testing result.
Description
Technical field
The utility model belongs to manipulator technical field, and in particular to a kind of window inspecting manipuator and detecting system.
Background technology
Inner flat opening bottom-hung window is that one kind both can be good, safe with performance of ventilating to inward opening, the forms that also can inwardly topple over
The advantages that performance is high, easy to clean, therefore it is widely used in the fields such as factory, hotel, house.
People are in order to detect the quality of inner flat opening bottom-hung window and handware, in the prior art using testing machine come mould repeatedly
Intend user to open, close the action of forms, so that the performance detection of forms is carried out, using the number of the normal folding of forms as measurement
One important indicator of the forms and its hanging inward opening mechanism quality, so that it is guaranteed that the quality of the inner flat opening bottom-hung window of production.
Generally, traditional testing machine includes rack, pendulous device, tumbler and pushing meanss, wherein, pendulous device
A root long swing arm and swing arm seat are generally included, long arm swing laterally sets and is installed on across inner flat opening bottom-hung window, its one end
In rack, the other end extends at the handle of forms and connects tumbler to realize transmission agency, although this kind of structure
The experiment that function carries out forms folding repeatedly is tested, but the testing machine structure of this kind of structure is complicated, troublesome in poeration, and volume
It is huge, occupied space is more, influences the normal activity of worker, be unfavorable for transporting and manufacture, in addition above-mentioned testing machine there is also
The shortcomings that transmission is not accurate, therefore research and develop a kind of simple in structure, small, testing result accurately window with inspecting manipuator is ten
Divide necessary.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, there is provided a kind of simple in structure, small, detection knot
Fruit accurately window inspecting manipuator.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme：
A kind of window inspecting manipuator, hangs window for folding repeatedly, and the outstanding window being related to includes Xuan Chuan mechanisms, and for driving
The handle of the Xuan Chuan mechanisms is moved, window inspecting manipuator includes manipulator and driving mould bases.
The manipulator includes pedestal and multiple pivoted arms on the pedestal, the multiple pivoted arm are sequentially connected,
Two adjacent pivoted arms can relatively rotate.
It is described driving mould bases be arranged on manipulator head end pivoted arm, and from manipulator be moved at handle with handle with,
The driving mould bases is selectively rotated by manipulator, is promoted or pull handle, realizes the folding of outstanding window.
Compared with prior art, window provided by the utility model inspecting manipuator includes manipulator and driving mould bases, institute
State driving mould bases to be arranged on manipulator and by robot drives to realize the activity in the different frees degree, which is used to turn
Move, push or pull on handle, the inspecting manipuator of above-mentioned set-up mode, compared with existing testing machine, which simplify existing examination
The structure of machine is tested, reduces its volume, and using the type of drive of manipulator, make driving mould bases activity more flexible, emulate energy
Power is stronger, can really realize the simulation to forms folding, improves the precision of testing result.
Further, driving mould bases bag mounting platform, penetrating mechanism, pulling mechanism and two rotating mechanisms, institute
The front side that pulling mechanism is located at penetrating mechanism is stated, two rotating mechanisms are relatively arranged on the both sides of pulling mechanism and penetrating mechanism,
The installation opening for being arranged handle is surrounded between the penetrating mechanism, pulling mechanism and two rotating mechanisms, the penetrating mechanism is used
In promoting handle, the pulling mechanism is used for pull handle, and the rotating mechanism is used for swing handle；The driving mould bases passes through
Mounting platform is connected with pivoted arm；The penetrating mechanism is connected with mounting platform, and one end of described two rotating mechanisms and installation are flat
Platform connects, and the both ends of the other end and pulling mechanism connect.The set-up mode of the driving mould bases is simple in structure, in the drive of manipulator
Under action is used, handle can with penetrating mechanism, pulling mechanism or rotating mechanism are detachable contacts, and under the drive of manipulator,
The function of promotion handle, pull handle or swing handle can be achieved, so as to open forms or close forms.
Further, the penetrating mechanism can be with respect to opposite direction activity of the mounting platform along ejection handle, the ejection machine
The first dynamic clamping head and quiet clamping head is equipped between structure and mounting platform, first dynamic clamping head and quiet clamping head makes penetrating mechanism to the side of ejection handle
To reset.The penetrating mechanism includes ejection part and ejection part connector, and the mounting platform is equipped with to be connected with the ejection part
The first connecting hole that fitting is adapted, ejection part connector one end are connected with ejection part, and the other end can phase through the first connecting hole
To mounting platform activity, the end of the ejection part connector, which is equipped with, prevents it from departing from the first block piece of mounting platform, institute
State mounting platform and be located at the side of the first block piece and be equipped with outwardly extending first lead, first block piece, which is equipped with, to be supplied
The first via that first lead passes through, the penetrating mechanism can be past along first lead by first via
Bring back to life and move, the end of first lead is equipped with the first fixed seat, and first dynamic clamping head and quiet clamping head is set in the first lead
Go up and be located between the first fixed seat and the first block piece.The set-up mode of the penetrating mechanism is simple in structure, compact, and first
Dynamic clamping head and quiet clamping head effectively can provide reset function and damping, the mode of above-mentioned penetrating mechanism flexible setting to penetrating mechanism
Driving mould bases is set to produce buffering effect in ejection handle, so as to reduce impact force.
Further, described two rotating mechanisms can with respect to opposite direction activity of the mounting platform along pull handle, described two
Be equipped with the second dynamic clamping head and quiet clamping head between a rotating mechanism and mounting platform, second dynamic clamping head and quiet clamping head make two rotating mechanisms to
The direction of pull handle resets.The rotating mechanism includes rotation section and rotation section connector, rotation section are connected by rotation section
Part is connected with mounting platform；The mounting platform is equipped with the second connecting hole, and the rotation section connector passes through the second connecting hole
Can be with respect to mounting platform activity；The driving mould bases further includes the second block piece, the end point of described two rotation section connectors
Both ends not with the second block piece are connected, and the side that the mounting platform is located at the second block piece is led equipped with outwardly extending second
Xiang Zhu, second block piece are equipped with the second via passed through for second lead, and the rotating mechanism passes through described
Second via can be along the second lead reciprocating movement, and the end of second lead is equipped with the second fixed seat, and described
Two dynamic clamping head and quiet clamping heads are set on the second lead and are located between the second fixed seat and the second block piece.The rotating mechanism
Set-up mode it is simple in structure, compact, the second dynamic clamping head and quiet clamping head can effectively to rotating mechanism provide reset function and damping imitate
Fruit, the mode of above-mentioned rotating mechanism flexible setting makes driving mould bases produce buffering effect in pull handle, so as to reduce impact
Power.
Further, the window further includes torque sensing device with inspecting manipuator, and the torque sensing device includes setting
The torque induction machine for putting on the pivoted arm being connected with driving mould bases and driving the driving mould bases to rotate；Alternatively, the power
Square sensing device includes torque sensor, and the torque sensor is arranged on the driving driving rotating motor of mould bases.Institute
It is simple in structure to state the set-up mode of torque sensing device, during forms are tested, can detect swing handle when torque, one
Aspect collects more test datas, on the other hand can prevent manipulator from being burnt out because of overload.
The utility model also provides a kind of detecting system using above-mentioned window inspecting manipuator, it includes the detection machine
Tool hand and detection device, the detection device include being used for the installation mould bases and data statistics module for installing forms, the installation
Mould bases is equipped with the folding sensor for being used for detecting forms folding situation, and the folding sensor is electrically connected with data statistics module
Connect, data statistics module includes position according to the number of the data statistics forms folding of folding sensor transmissions, the installation mould bases
It is fenestrate in detachably being installed on the support base of bottom and the forms installation frame on support base, the forms installation frame
Body, the support base include two guide rails being oppositely arranged, and the forms installation frame is installed on guide rail and can be along guide rail
Activity, the installation mould bases further include connection guide rail and the support arm of forms installation frame side, the forms installation frame position
Sliding slot is equipped with the side of the support arm, the support arm connects sliding slot and guide rail and can be along sliding slot and guide rail activity.By
Above-mentioned inspecting manipuator is employed in the detecting system, the inspecting manipuator is simple in structure, is conducive to detecting system reduction
Its occupied space, and the inspecting manipuator is driven using six axis robot, and its simulation effect is good, can put forward testing result
Accuracy.
Brief description of the drawings
Fig. 1 is detecting system structure diagram
Fig. 2 is the enlarged drawing of the a-quadrant of Fig. 1
Fig. 3 is the structure diagram of window inspecting manipuator
Fig. 4 is the enlarged drawing of the B area of Fig. 3
Fig. 5 is the structure diagram of driving mould bases
Fig. 6 is the enlarged drawing in the C regions of Fig. 5
Embodiment
Below in conjunction with brief description of the drawings specific embodiment of the present utility model.
Embodiment one：
Referring to Fig. 1 and Fig. 2, the present embodiment provides a kind of window inspecting manipuator, it is used for folding repeatedly and hangs window, described outstanding
Window is opened flat projecting top-hung window, outer flat-opened bottom-hung window, inward opening projecting top-hung window or inner flat opening bottom-hung window outside referring to.In the present embodiment, with
For inner flat opening bottom-hung window as the object for illustrating this inspecting manipuator, the inner flat opening bottom-hung window being related to includes hanging inward opening mechanism,
And for driving the handle 511 of the hanging inward opening mechanism, by rotating the handle 511, changeable hanging inward opening machine
The operating mode of structure so that forms 51 unlock, lock, switch to inward opening pattern or switch to the mould inwardly toppled over
Formula, window inspecting manipuator includes manipulator and driving mould bases 2, specifically, the manipulator is six axis robot 1.
Referring to Fig. 1 to Fig. 4, the six axis robot 1 includes pedestal 10 and multiple pivoted arms on pedestal 10, described
Multiple pivoted arms are sequentially connected, and adjacent two pivoted arms can relatively rotate.Specifically, the six axis robot 1 includes sequentially connected
Seven pivoted arms and the first to the 6th driving motor (not showing in the described first to the 6th driving motor figure), seven pivoted arms difference
For the first pivoted arm 11, the second pivoted arm 12, the 3rd pivoted arm 13, the 4th pivoted arm 14, the 5th pivoted arm 15, the 6th pivoted arm 16 and the 7th pivoted arm
17, a driving motor is equipped between adjacent two pivoted arms；First pivoted arm 11 is fixedly mounted on the pedestal 11, the
Two pivoted arms 12 are flexibly connected by the way that the first driving motor is opposite with the first pivoted arm 11, the 3rd pivoted arm 13 by second drive motor and
Second pivoted arm, 12 opposite flexible connection, the 4th pivoted arm 14 are flexibly connected relatively by the 3rd driving motor with the 3rd pivoted arm 13, the
Five pivoted arms 15 are flexibly connected by the way that the 4th driving motor is opposite with the 4th pivoted arm 14, the 6th pivoted arm 16 by the 5th drive motor and
5th pivoted arm, 15 opposite flexible connection, the 7th pivoted arm 17 is by the 6th driving motor with the 6th pivoted arm 16 to being flexibly connected；Institute
State driving mould bases 2 to be installed on the 7th pivoted arm 17, the driving mould bases 2 is moved to inner flat opening bottom-hung window by six axis robot 1
Coordinate at handle 511 with handle 511, and be selectively rotated, promoted or pull handle 511 by six axis robot 1, realize
The folding of outstanding window；The side that six axis robot 1 is located at the 7th pivoted arm 17 by the utility model is defined as head end, positioned at the first pivoted arm
11 side is defined as end.
The window further includes torque sensing device (not showing in the torque sensing device figure), the torque with inspecting manipuator
The set-up mode of sensing device includes following two.
As the first set-up mode of torque sensing device, the torque sensing device includes being arranged on and driving mould bases
The torque induction machine for (being originally embodied as the 7th pivoted arm 17) on the pivoted arms of 2 connections and driving driving mould bases 2 to rotate, i.e., described the
Six driving motors are the torque induction machine.
As second of set-up mode of torque sensing device, the torque sensing device includes torque sensor, described
Torque sensor is arranged on the driving driving rotating motor of mould bases, that is, is arranged on 17 turns of the 7th pivoted arm of driving the present embodiment
On the 6th dynamic driving motor.
The set-up mode of the torque sensing device is simple in structure, during forms 51 are tested, can detect turning handle
Torque during hand 511, on the one hand collects more test datas, on the other hand can prevent six axis robot 1 from being burnt because of overload
It is bad.
Referring to Fig. 2, the driving mould bases 2 includes mounting platform 3, penetrating mechanism 21, pulling mechanism 22 and two rotations
Mechanism 23, the driving mould bases 2 are connected by mounting platform 3 with pivoted arm.
Referring to Fig. 2 to Fig. 5, the mounting platform 3 is preferably installing plate, it includes fixing end 301 and free end 302, institute
Fixing end 301 to be stated to be fixedly connected with the 7th pivoted arm 17, the penetrating mechanism 21 is connected connection with the free end 302 of mounting platform 3,
One end of described two rotating mechanisms 23 is connected connection, the other end and the two of pulling mechanism 22 with the free end 302 of mounting platform 3
End connection.The pulling mechanism 22 is located at the front side of penetrating mechanism 21, and two rotating mechanisms 23 are relatively arranged on pulling mechanism 22
With the both sides of penetrating mechanism 21, installation opening is surrounded between the penetrating mechanism 21, pulling mechanism 22 and two rotating mechanisms 23
20, the installation opening 20 is used to pass through for the grip part 511a of handle 511, and the driving mould bases 2 has six axis robot 1 to drive simultaneously
The periphery of handle 511 is set in by installation opening 20, so that the grip part 511a of handle 511 is movable to be arranged on penetrating mechanism
21st, between pulling mechanism 22 and rotating mechanism 23, the penetrating mechanism 21 is used to promote handle 511, and the pulling mechanism 22 is used
In pull handle 511, the rotating mechanism 23 is used for swing handle 511.The set-up mode of the driving mould bases 2 is simple in structure,
Under the driving effect of six axis robot 1, the grip part 511a of handle 511 can be with penetrating mechanism 21, pulling mechanism 22 or rotation
23 detachable contact of mechanism, and, it can be achieved that promoting handle 511, pull handle 511 or turning under the drive of six axis robot 1
The function of dynamic handle 511, so as to fulfill the operating mode of hanging inward opening mechanism is changed, and opens forms 51 and closes forms
51 function, the operating mode include inward opening pattern or lower outstanding pattern.
Referring to Fig. 2, Fig. 4 and Fig. 5, the penetrating mechanism 21 can be reciprocal along the direction of ejection handle 511 with respect to mounting platform 3
Activity, is equipped with the first dynamic clamping head and quiet clamping head 4 between the penetrating mechanism 21 and mounting platform 3, first dynamic clamping head and quiet clamping head 4 makes to push away
Mechanism 21 is pushed up to reset to the direction of ejection handle 511.
Referring to Fig. 5 and Fig. 6, the penetrating mechanism 21 includes ejection part 211 and ejection part connector 212, and the installation is flat
Platform 3 is equipped with the first connecting hole 31 being adapted with the ejection part connector 212, it is preferred that the ejection part connector 212
Opposite to be equipped with two, first connecting hole 31 corresponds to ejection connecting portion 212 and is equipped with two, and the ejection part connector 212 is set
Count into cylindric, first connecting hole 31 is designed to circular hole；Described two 212 one end of ejection part connector respectively with ejection part
211 both ends connection, the other end are inserted into the rear side of corresponding first connecting hole 31 and protruding mounting platform 3, the ejection
Portion's connector 212 can be movable with respect to mounting platform 3 by the first connecting hole 31, is set on the end of the ejection part connector 212
Having prevents it from departing from the first block piece 213 of mounting platform 3, and the side that the mounting platform 3 is located at the first block piece 213 is equipped with
Outwardly extending first lead 33, first block piece 213 are equipped with the first mistake passed through for first lead 33
Hole (does not show) that the penetrating mechanism 21 can be past along first lead 33 by first via in the first mistake hole pattern
Bring back to life and move, the end of first lead 33 is equipped with the first fixed seat 34, and first dynamic clamping head and quiet clamping head 4 is set in first and leads
On to column 33 and it is located between the first fixed seat 34 and the first block piece 213.The set-up mode structure of the penetrating mechanism 21
Simply, compact, the first dynamic clamping head and quiet clamping head 4 effectively can provide reset function and damping, above-mentioned ejection to penetrating mechanism 21
The mode of 21 flexible setting of mechanism makes driving mould bases 2 produce buffering effect in ejection handle 511, so as to reduce impact force.It is excellent
Choosing, the ejection part 211 is the first roller bearing being rotatably connected with 212 head end of ejection part connector.Above-mentioned setting side
Formula is simple in structure, and cooperation is compact, and manufacturing process is simple, and the first dynamic clamping head and quiet clamping head 4 can effectively connect to ejection part 211 and ejection part
Fitting 212 provides reset function and damping.Above-mentioned driving mould bases 2 is defined as head end close to one end of forms 51, it is remote
One end of forms 51 is defined as end.The mode of above-mentioned 21 flexible setting of penetrating mechanism makes driving mould bases 2 in ejection handle 511
Buffering effect is produced, so as to reduce impact force.
Referring to figure, 5, the rotating mechanism 23 includes rotation section 231 and rotation section connector 232, and the rotation section 231 is logical
Cross rotation section connector 232 to be connected with mounting platform 3, the mounting platform 3 is equipped with and fits with 232 phase of rotation section connector
The second connecting hole 32 matched somebody with somebody, it is preferred that the rotation section connector 232 is designed to cylindric, and second connecting hole 32 designs
Into circular hole；The head end of the rotation section connector 232 is connected with the end of rotation section 231, and the end of rotation section connector 232 is inserted
Enter the installation that corresponding second connecting hole 32 realizes rotation section connector 232, it is preferred that the rotation section 231 is the 3rd roller bearing.
The mode that above-mentioned rotating mechanism 23 is rigidly set is simple in structure, easy to assembly.
Referring to Fig. 5, the pulling mechanism 22 includes pulling department 221 and pulling department mounting base 222, and the pulling department 221 is logical
Cross the pulling department mounting base 222 to be connected with rotating mechanism 23, the pulling department mounting base 222 and the head end of rotation section 231 connect
Connect, the pulling department 221 is installed in pulling department mounting base 222, it is preferred that the pulling department 221 is the second roller bearing.
Referring to Fig. 2 and Fig. 5, the ejection part 211, pulling department 221, rotation section 231 respectively with 511 movable contact of handle,
Ejection part 211, pulling department 221 and rotation section 231 are arranged to the structure of roller bearing can be reduced between driving mould bases 2 and handle 511
Friction.
As an improvement scheme (not showing in this programme figure), described two rotating mechanisms can with respect to mounting platform along draw
The opposite direction activity of dynamic handle, is equipped with the second dynamic clamping head and quiet clamping head between described two rotating mechanisms and mounting platform, and described second
Dynamic clamping head and quiet clamping head makes two rotating mechanisms be resetted to the direction of pull handle.The end insertion of the rotation section connector is corresponding
The rear side of second connecting hole and protruding mounting platform, the rotation section connector opposite can be installed flat by the second connecting hole
Platform activity；The driving mould bases further includes the second block piece for departing from mounting platform for placing rotation section connector, and described two
Both ends of the end of a rotation section connector respectively with the second block piece are connected, and the mounting platform is located at the one of the second block piece
Side is equipped with outwardly extending second lead, and second block piece is equipped with the second mistake passed through for second lead
Hole, the rotating mechanism can be along the second lead reciprocating movement, the ends of second lead by second via
End is equipped with the second fixed seat, and second dynamic clamping head and quiet clamping head is set on the second lead and is located in the second fixed seat and second
Between block piece.Rigid connection between rotating mechanism and mounting platform is substituted for flexible connection by above-mentioned set-up mode, so that
Pulling mechanism is set to produce buffering effect in pull handle, to reduce impact force.
Compared with prior art, window provided by the utility model inspecting manipuator includes six axis robot 1 and driving mould
Frame 2, the driving mould bases 2 are arranged on six axis robot 1 and are driven by six axis robot 1 to realize the work in the different frees degree
Dynamic, which is used to rotate, push or pull on handle 511, the inspecting manipuator of above-mentioned set-up mode, with existing examination
The machine of testing is compared, and which simplify the structure of existing testing machine, reduces its volume, and uses the type of drive of six axis robot 1,
Make driving mould bases 2 movable more flexible, simulation capacity is stronger, can really realize the simulation to 51 folding of forms, improves testing result
Precision.
Referring to Fig. 1 to Fig. 6, the operation principle of above-mentioned window inspecting manipuator is as follows：Before work starts, according to actual need
Ask to 1 typing operation procedure of six axis robot, the coded program which can know for those skilled in the art, this reality
It is not construed as limiting with new；During work, the driving driving mould bases 2 of six axis robot 1 is moved at handle 511, at this time, at handle 511
In initial position, grip part 511a when handle 511 is located at initial position downward, six axis robot 1 drive will driving mould bases 2 by
Under be up sleeved on handle 511 grip part 511a periphery；Then, six axis robot 1 drives driving mould bases 2 to turn in one direction
It is dynamic, with swing handle 511, hanging inward opening mechanism switching working mode can be triggered during being somebody's turn to do, when handle 511 continues along the party
To when going to horizontal level, forms 51 unlock；Then, six axis robot 1 drives driving mould bases 2 to be moved rearwards, pull handle
511, forms 51 are opened in a manner of inward opening；Then, six axis robot 1 drives driving mould bases 2 to move forward, and promotes handle
511, forms 51 are closed, so as to complete the folding of a forms 51；Then, six axis robot 1 drives driving mould bases 2 to continue along same
One direction rotates, to switch the operating mode of hanging inward opening mechanism, when handle 511 goes to the positions of its grip part 511a upward
When, forms 51 unlock；Then, six axis robot 1 drives driving mould bases 2 to be moved rearwards, pull handle 511, with what is inwardly toppled over
Mode opens forms 51；Then, six axis robot 1 drives driving mould bases 2 to move forward, and promotes handle 511, closes forms 51,
So as to complete the folding of another secondary forms 51；Finally, six axis robot 1 drives driving mould bases 2 to rotate in reverse direction, drives handle
511 go to initial position, are circulated with this, repeatedly folding inner flat opening bottom-hung window.
Embodiment two：
(not showing in the present embodiment figure) is the difference between this embodiment and the first embodiment lies in the set-up mode of the driving mould bases
Difference, the penetrating mechanism of the present embodiment, rotating mechanism and pulling mechanism combination form frame-type structure, and the frame-type structure can be with
Cyclic structure or trapezoidal cyclic structure for rectangle, the head end of the frame-type structure is the pulling mechanism, end is institute
The sidepiece for stating penetrating mechanism, the connection pulling mechanism and penetrating mechanism is rotating mechanism, within frame-type structure inner ring
Space forms the installation opening, and the set-up mode of above-mentioned frame-type structure is simple in structure, easily manufactured, and assembling is easy.
The other technical characteristics of the present embodiment are identical with embodiment one, no longer describe in detail herein.
Embodiment three：
Referring to Fig. 1 and Fig. 2, the present embodiment provides the window inspecting manipuator of a kind of Application Example one and embodiment two
100 detecting system, it includes the inspecting manipuator 100 and detection device 50, and the detection device 50 includes being used to install
The installation mould bases 52 and data statistics module 53 of forms 51, the installation mould bases 52, which is equipped with, to be used to detect 51 folding situation of forms
Folding sensor (not showing in the folding sensor map), the folding sensor is electrically connected with data statistics module 53, window
Body 51 often completes a folding and just triggers folding sensor so that signal is fed back to data statistics module 53 by folding sensor, number
Module 53 is according to the number of 51 folding of data statistics forms of folding sensor transmissions according to statistics.
The data statistics module 53 includes the display module 531 and and display module being arranged on installation mould bases 52
531 processing modules (not showing in the processing module figure) being electrically connected.The installation mould bases 52 includes the support base positioned at bottom
521 and the forms installation frame 522 on support base 521, forms are detachably installed on the forms installation frame 522
51, the support base 521 includes two guide rail 521a being oppositely arranged, and the forms installation frame 522 is installed on guide rail 521a
Above and connection guide rail 521a and 522 side of forms installation frame can be further included along guide rail 521a activities, the installation mould bases 52
Support arm 521b, the side that the forms installation frame 522 is located at the support arm 521b is equipped with sliding slot (in the sliding slot figure
Do not show), the support arm 521b connection sliding slots and guide rail 521a and can along sliding slot and guide rail 521a activity.Due to the detection system
System employs above-mentioned inspecting manipuator 100, and the inspecting manipuator 100 is simple in structure, is conducive to detecting system and reduces it to account for
With space, and the inspecting manipuator 100 is driven using six axis robot, and it is good that it simulates effect, can put forward testing result
Accuracy.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
Apply mode make a change and modification.Therefore, the utility model is not limited to embodiment disclosed and described above, right
Some modifications and changes of the utility model should also be as falling into the scope of the claims of the utility model.In addition, to the greatest extent
Some specific terms have been used in pipe this specification, but these terms are merely for convenience of description, not to the utility model
Form any restrictions.
Claims (10)
1. a kind of window inspecting manipuator, hangs window for folding repeatedly, the outstanding window being related to includes Xuan Chuan mechanisms, and for driving
The handle of the Xuan Chuan mechanisms, it is characterised in that the window is included with inspecting manipuator：
Manipulator, it includes pedestal and multiple pivoted arms on the pedestal, and the multiple pivoted arm is sequentially connected, adjacent
Two pivoted arms can relatively rotate；
The driving mould bases being arranged on manipulator head end pivoted arm, is moved at handle with handle, passing through from the manipulator
The manipulator is selectively rotated, promotes or pull handle, realizes the folding of outstanding window.
A kind of 2. window inspecting manipuator according to claim 1, it is characterised in that：The driving mould bases includes ejection machine
Structure, pulling mechanism and two rotating mechanisms, the pulling mechanism are located at the front side of penetrating mechanism, and two rotating mechanisms are relatively
Arranged on the both sides of pulling mechanism and penetrating mechanism, set is surrounded between the penetrating mechanism, pulling mechanism and two rotating mechanisms
If the installation opening of handle, the penetrating mechanism is used to promote handle, and the pulling mechanism is used for pull handle, the rotating mechanism
For swing handle.
A kind of 3. window inspecting manipuator according to claim 2, it is characterised in that：The driving mould bases further includes installation
Platform, the driving mould bases are connected by mounting platform with pivoted arm；The penetrating mechanism is connected with mounting platform, described two turns
One end of motivation structure is connected with mounting platform, the both ends connection of the other end and pulling mechanism.
A kind of 4. window inspecting manipuator according to claim 3, it is characterised in that：The penetrating mechanism can opposite installation
Opposite direction activity of the platform along ejection handle, is equipped with the first dynamic clamping head and quiet clamping head between the penetrating mechanism and mounting platform, described
First dynamic clamping head and quiet clamping head makes penetrating mechanism be resetted to the direction of ejection handle.
A kind of 5. window inspecting manipuator according to claim 4, it is characterised in that：The penetrating mechanism includes ejection part
With ejection part connector, the mounting platform is equipped with the first connecting hole being adapted with the ejection part connector, ejection part
Connector one end is connected with ejection part, and the other end can be with respect to mounting platform activity, the ejection part connection through the first connecting hole
The end of part, which is equipped with, prevents it from departing from the first block piece of mounting platform, and the mounting platform is located at the side of the first block piece
Equipped with outwardly extending first lead, first block piece is equipped with the first via passed through for first lead,
The penetrating mechanism can be set by first via along the first lead reciprocating movement, the end of first lead
There is the first fixed seat, first dynamic clamping head and quiet clamping head is set on the first lead and is located in the first fixed seat to be stopped with first
Between part.
A kind of 6. window inspecting manipuator according to claim 3 or 4, it is characterised in that：Described two rotating mechanisms can
With respect to opposite direction activity of the mounting platform along pull handle, the second elasticity is equipped between described two rotating mechanisms and mounting platform
Return unit, second dynamic clamping head and quiet clamping head make two rotating mechanisms be resetted to the direction of pull handle.
A kind of 7. window inspecting manipuator according to claim 6, it is characterised in that：The rotating mechanism includes rotation section
With rotation section connector, rotation section is connected by rotation section connector with mounting platform；The mounting platform is equipped with second and connects
Hole is connect, the rotation section connector can be with respect to mounting platform activity through the second connecting hole；
Further include the second block piece, the both ends of the ends of described two rotation section connectors respectively with the second block piece are connected, institute
State mounting platform and be located at the side of the second block piece and be equipped with outwardly extending second lead, second block piece, which is equipped with, to be supplied
The second via that second lead passes through, the rotating mechanism can be past along second lead by second via
Bring back to life and move, the end of second lead is equipped with the second fixed seat, and second dynamic clamping head and quiet clamping head is set in the second lead
Go up and be located between the second fixed seat and the second block piece.
A kind of 8. window inspecting manipuator according to claim 1, it is characterised in that：Further include torque sensing device, institute
State the torque that torque sensing device includes being arranged on the pivoted arm being connected and drive the driving mould bases to rotate with driving mould bases
Induction machine；Alternatively, the torque sensing device includes being arranged on torque sensor, the torque sensor is arranged on driving institute
State on the driving rotating motor of mould bases.
9. a kind of detecting system using any one of them window inspecting manipuator of the claims 1 to 8, its feature exists
In：Including the inspecting manipuator and detection device, the detection device includes being used for the installation mould bases and data for installing forms
Statistical module, the installation mould bases, which is equipped with, is used to detecting the folding sensor of forms folding situation, the folding sensor with
Data statistics module is electrically connected, and data statistics module is according to the number of the data statistics forms folding of folding sensor transmissions.
A kind of 10. detecting system according to claim 9, it is characterised in that：The installation mould bases is included positioned at bottom
Support base and the forms installation frame on support base, are detachably provided with forms on the forms installation frame, described
Support base includes two guide rails being oppositely arranged, and the forms installation frame is installed on guide rail and can be along guide rail activity, institute
State installation mould bases and further include connection guide rail and the support arm of forms installation frame side, the forms installation frame is located at the branch
The side of brace is equipped with sliding slot, and the support arm connects sliding slot and guide rail and can be along sliding slot and guide rail activity.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322611A (en) * | 2017-08-24 | 2017-11-07 | 广东顺德三扬科技股份有限公司 | A kind of window inspecting manipuator and detecting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322611A (en) * | 2017-08-24 | 2017-11-07 | 广东顺德三扬科技股份有限公司 | A kind of window inspecting manipuator and detecting system |
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