CN207789007U - A kind of testing agency of robot work position offset - Google Patents
A kind of testing agency of robot work position offset Download PDFInfo
- Publication number
- CN207789007U CN207789007U CN201721495577.XU CN201721495577U CN207789007U CN 207789007 U CN207789007 U CN 207789007U CN 201721495577 U CN201721495577 U CN 201721495577U CN 207789007 U CN207789007 U CN 207789007U
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- CN
- China
- Prior art keywords
- column
- pointed cone
- cone bar
- tapered end
- guide sleeve
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of testing agencies of robot work position offset, including the mounting plate being set to above manipulator, it is connected to longitudinal guide sleeve of mounting plate, it is set in guide sleeve and extends downwardly the pointed cone bar of the guide sleeve, the displacement sensor and flush end column and tapered end tack column in manipulator tooling upper end is mounted side by side that mounting plate is arranged in the top of pointed cone bar, support the top of the pointed cone bar in the test side of displacement sensor, limit edge is provided in guide sleeve, pointed cone bar is provided with limit end in the upper end on limit edge, pointed cone bar is located at flush end column, the top of tapered end tack column, the top surface of flush end column and the top surface of tapered end tack column are in the same plane.The utility model can detect the relative position of the top surface of pointed cone bar and flush end column, the top surface of tapered end tack column by displacement sensor, judge offset direction and the distance of manipulator tooling.The utility model can realize automation mistake proofing inspection, and cost is lower, working efficiency higher.
Description
Technical field
The utility model is related to detection device and method and technology fields, and in particular to one kind being used for inspecting manipuator working position
Set the mechanism of offset.
Background technology
In the prior art, the courses of work such as dispensing, oiling, soldering, assembly, carrying are usually by articulated robot or XYZ
Triaxial coordinate robot completes.Articulated robot or XYZ triaxial coordinates robot replace machine tooling on hand, replace machinery
The reasons such as hand or work head, mechanical hand maintenance usually make the operating position of manipulator shift, and machine man-hour is made to occur
Interference.At this moment, it needs to carry out quick online automatic detection to the operating position origin of manipulator, to judge that operating position origin is
The no range for deviating from permission.
It is useful for the automatic detection device and method of robot work position offset in the prior art, however the prior art
Automatic detection device and method usually have as a drawback that：
1, using video camera apparatus from motion tracking, video camera analysis system hardware and software cost is expensive, occupies production section
It claps, influences working efficiency；
2, match hardware plug, manual calibration, inefficiency has artificial erroneous judgement possible, can not achieve automation mistake proofing inspection；
3, measurer, manual calibration are configured, inefficiency can not achieve automation mistake proofing inspection.
Therefore, it can realize that automation mistake proofing inspection, cost be lower, the higher machine of working efficiency there is an urgent need for a kind of in the prior art
Tool makees the testing agency of position offset by hand.
Invention content
The purpose of this utility model is to overcome the shortcomings of the prior art, provide a kind of can realize and automate mistake proofing
It checks, cost is lower, the higher robot work position offset of working efficiency testing agency.
The purpose of this utility model is achieved through the following technical solutions：A kind of detection of robot work position offset
Mechanism, including be set to mounting plate above manipulator, the longitudinal guide sleeve for being connected to mounting plate, be set in guide sleeve simultaneously
And it extends downwardly the pointed cone bar of the guide sleeve, the displacement sensor that mounting plate is arranged in the top of pointed cone bar and is mounted side by side in machine
Tool loads onto the flush end column and tapered end tack column at end by hand, and the top of the pointed cone bar is supported in the test side of institute's displacement sensors,
Limit edge is provided in the guide sleeve, the pointed cone bar is provided with limit end, pointed cone bar position in the upper end on limit edge
In the top of the flush end column, the tapered end tack column, the top surface of the flush end column and the top surface of the tapered end tack column are in
On same plane.
The tapered end taper of the tapered end tack column and the tapered end taper of the pointed cone bar are 45 degree.
The utility model has the beneficial effects that：The utility model can realize automation mistake proofing inspection, and cost is lower, work effect
Rate higher.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the structural schematic diagram of the calibration process of the parts M of Fig. 1；
Fig. 3 is first detecting state structural schematic diagram of the parts M in automatic detection process of Fig. 1；
Fig. 4 is structural schematic diagram of the parts M in the second detecting state of automatic detection process of Fig. 1；
Fig. 5 is structural schematic diagram of the parts M in the third detecting state of automatic detection process of Fig. 1；
Fig. 6 is structural schematic diagram of the parts M in the 4th detecting state of automatic detection process of Fig. 1.
In figure：1- toolings；2- pawls；3- workpiece；4- flush end columns；5- tapered end tack columns；The operating points 6-；7- mounting plates；8-
Displacement sensor；9- guide sleeves；10- pointed cone bars；11- manipulators.
Specific implementation mode
The utility model is described in detail below in conjunction with attached drawing.
As shown in Figure 1, a kind of testing agency of robot work position offset, including it is set to the peace of 11 top of manipulator
Loading board 7, the longitudinal guide sleeve 9 for being connected to mounting plate 7, the pointed cone for being set in guide sleeve 9 and extending downwardly the guide sleeve 9
The displacement sensor 8 and be mounted side by side in 11 tooling of manipulator, 1 upper end that bar 10, mounting plate 7 are arranged in the top of pointed cone bar 10
The top of pointed cone bar 10 is supported in flush end column 4 and tapered end tack column 5, the test side of displacement sensor 8, and setting is limited in guide sleeve 9
Position edge, pointed cone bar 10 in limit edge upper end be provided with limit end, pointed cone bar 10 be located at flush end column 4, tapered end tack column 5 it is upper
Side, the top surface and the top surface of tapered end tack column 5 of flush end column 4 are in the same plane.
Wherein, for guide sleeve 9 in order to ensure the measurement accuracy of pointed cone bar 10, the key position of pointed cone bar 10 and operating point 6 must
It must ensure precision positioning.Manipulator 11 installs automatically replaceable tooling 1, and 1 upper mounting jaw 2 of tooling facilitates locating clip clamping of workpieces
3, workpiece 3 is moved to operating point 6 by rear mobile manipulator 11, completes detection, dispensing, Laser Welding etc. work on demand.
The detection process of the utility model, includes the following steps：
1）First calibration：As shown in Fig. 2, by the center of the center of circle alignment pointed cone bar 10 of the round top surface of tapered end tack column 5
The distance of position, the center of circle to the round top edge of round top surface is tolerable injury level offset ф B, reads and stores displacement sensing
8 numerical value of device, is set as master reference numerical value；
2）Automatic detection：So that flush end column 4 is moved horizontally with tapered end tack column 5, first survey the top surface of flush end column 4, then surveys tapered end
The top surface of tack column 5 obtains following four testing result according to the variation of 8 measured value of displacement sensor：
a）As shown in figure 3, if the vertex of pointed cone bar 10 is fallen on the top surface of tapered end tack column 5, displacement sensor 8 measures
Value is consistent with original position value, then surveys flush end column 4, if the vertex of pointed cone bar 10 is fallen in the top surface of newel post, displacement sensor 8 measures
Value is consistent with original position value, can determine whether that the operation positioning of tooling 1 of manipulator 11 is correct, deviation is in tolerable injury level deviation ф B ranges
Interior, equipment can be with normal operation.
b）As shown in figure 4, first at the top surface with the top surface of tapered end tack column 5 of verification flush end column 4 and in same level, machine
Tool hand is run to calibrating position, if measured value of the displacement sensor 8 at tapered end tack column 5 is than the measured value at flush end column 4
It is small, it can determine whether to need horizontal direction to adjust position beyond the ф B ranges allowed for horizontal departure（I.e. displacement sensor 8 measures cone
Bar has stretched out C numerical value more）.When the tapered end taper of tapered end tack column 5 and the tapered end taper of pointed cone bar 10 are 45 degree, tapered end tack
Column 5 and the taper angle of pointed cone bar 10 take 90 degree, facilitate actual displacement amount to convert, make horizontal displacement numerical value and vertical displacement numerical value
Unanimously, at this moment when the height value of flush end column 4 is constant, the height value of tapered end tack column 5 has changed C values, needs on manipulator 11
Tooling 1 adjusts position C values in the horizontal direction.
c）As shown in figure 5, first at the top surface with the top surface of tapered end tack column 5 of verification flush end column 4 and in same level, then
Manipulator is run to calibrating position, if measured value of the displacement sensor 8 at tapered end tack column 5 at flush end column 4
Measured value has changed always C numerical value than master reference numerical value（I.e. displacement sensor 8 measures cone bar and has been retracted C numerical value）, can sentence
Break and offset up C numerical value in vertical direction for 1 position of tooling on manipulator 11, equipment cannot be run, and need manipulator
Tooling 1 on 11 adjusts downwards C numerical value in vertical direction.
d）As shown in fig. 6, first at the top surface with the top surface of tapered end tack column 5 of verification flush end column 4 in same level again
Robot is run to calibrating position, if measured value of the displacement sensor 8 at tapered end tack column 5 at flush end column 4
Measured value C numerical value smaller than master reference numerical value（That is the measurement of displacement sensor 8 cone bar has stretched out C numerical value more）, can determine whether for
Position has offset downward C numerical value in vertical direction for 1 position of tooling on manipulator 11, and equipment cannot be run, and need machinery
Tooling 1 on hand 11 adjusts upward C numerical value in vertical direction.
Finally it should be noted that the above content is only to illustrate the technical solution of the utility model, rather than to this practicality
The limitation of novel protected range, those skilled in the art to the technical solution of the utility model carry out it is simple modification or
Person's equivalent replacement, all without departing from the spirit and scope of technical solutions of the utility model.
Claims (2)
1. a kind of testing agency of robot work position offset, it is characterised in that：The inspection of the robot work position offset
It includes being set to mounting plate above manipulator, the longitudinal guide sleeve for being connected to mounting plate, being set in guide sleeve to survey mechanism
And extend downwardly the pointed cone bar of the guide sleeve, mounting plate in pointed cone bar top be arranged displacement sensor and be mounted side by side in
The top of the pointed cone bar is supported in the flush end column and tapered end tack column of manipulator tooling upper end, the test side of institute's displacement sensors
It holds, limit edge is provided in the guide sleeve, the pointed cone bar is provided with limit end, the pointed cone bar in the upper end on limit edge
Positioned at the top of the flush end column, the tapered end tack column, at the top surface of the top surface of the flush end column and the tapered end tack column
In on same plane.
2. the testing agency of robot work position offset according to claim 1, it is characterised in that：The tapered end tack
The tapered end taper of column and the tapered end taper of the pointed cone bar are 45 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721495577.XU CN207789007U (en) | 2017-11-10 | 2017-11-10 | A kind of testing agency of robot work position offset |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721495577.XU CN207789007U (en) | 2017-11-10 | 2017-11-10 | A kind of testing agency of robot work position offset |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207789007U true CN207789007U (en) | 2018-08-31 |
Family
ID=63285311
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721495577.XU Expired - Fee Related CN207789007U (en) | 2017-11-10 | 2017-11-10 | A kind of testing agency of robot work position offset |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207789007U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718049A (en) * | 2017-11-10 | 2018-02-23 | 尊道（上海）自动化设备有限公司 | A kind of testing agency of robot work position skew and detection method |
| CN109746927A (en) * | 2019-01-29 | 2019-05-14 | 合肥中控智科机器人有限公司 | A kind of robot dead-center position caliberating device and scaling method |
| CN111957785A (en) * | 2020-06-24 | 2020-11-20 | 东风汽车底盘系统有限公司 | Bending and twisting composite forming method for guide arm |
-
2017
- 2017-11-10 CN CN201721495577.XU patent/CN207789007U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718049A (en) * | 2017-11-10 | 2018-02-23 | 尊道（上海）自动化设备有限公司 | A kind of testing agency of robot work position skew and detection method |
| CN107718049B (en) * | 2017-11-10 | 2022-02-15 | 尊道（上海）自动化设备有限公司 | Detection mechanism and detection method for deviation of working position of manipulator |
| CN109746927A (en) * | 2019-01-29 | 2019-05-14 | 合肥中控智科机器人有限公司 | A kind of robot dead-center position caliberating device and scaling method |
| CN109746927B (en) * | 2019-01-29 | 2022-07-22 | 合肥中控智科机器人有限公司 | Robot zero point position calibration device and calibration method |
| CN111957785A (en) * | 2020-06-24 | 2020-11-20 | 东风汽车底盘系统有限公司 | Bending and twisting composite forming method for guide arm |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180831 Termination date: 20201110 |
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| CF01 | Termination of patent right due to non-payment of annual fee |