CN207874220U - A kind of position of manipulator precision regulator - Google Patents

Abstract

The utility model is related to a kind of position of manipulator precision regulators, the upper and lower alignment device of part and installation on a robotic arm is aligned including what is be arranged on the supporting table of glass to be processed, upper and lower alignment device is provided with laser generator relative to each other respectively, and the light that the two laser generator is sent out passes through the cavity of supporting table to reach each other.Pre-set laser generator is staggered on upper and lower alignment device position and align the placement location of part, manipulator accurately in place then the light of two laser generators just nuzzle up contraposition part predeterminated position edge after be mapped to the receiver of other side.If the position of manipulator slightly offset from, then there are one or the light that sends out of two laser generators cannot be received by other side, at this time, the controller of manipulator obtains the inadequate information of aligning accuracy accordingly, and then adjust automatically or prompt user adjust position of manipulator, to using the position of manipulator precision regulator high efficiency, accurately realize adjustment to position of manipulator precision.

Description

A kind of position of manipulator precision regulator

Technical field

The utility model is related to a kind of position of manipulator precision regulators.

Background technology

Tempered glass, laminated glass etc. before carrying out technique processing, original sheet glass is ground polishing, cutting, The processing such as edging, drilling, washing drying, then become final products.In the past frequently with manual feeding, be positioned manually, by hand take There is low production efficiency in the mode of material, and in production process, and operating personnel's manual operation is very dangerous.For this purpose, having A little producing lines begin to use mechanical manual task, allow manipulator automatic in-position by preset track, are using mechanical manual task When, since preset track may have deviation slightly, therefore, to assure that manipulator has been moved to accurate position, existing method It is that whether in place manipulator is then confirmed by processing sample by manually observing, due to can only manually observe by the naked eye, And sample can increase process time and cost, the problem that still efficiency is low and precision is not high.

Invention content

The utility model is to improve deficiency in the prior art, and provide a kind of position of manipulator efficient, with high accuracy Precision regulator.

In order to achieve the above objectives, the utility model is achieved through the following technical solutions：

A kind of position of manipulator precision regulator is provided, includes the supporting table for placing glass to be processed, it is described to hold Saddle is equipped with the cavity through the supporting table, and the cavity is fixedly arranged above contraposition part, further includes installing on a robotic arm Upper and lower alignment device, upper and lower alignment device is separately positioned on the upper and lower both sides of the supporting table, and the upper and lower alignment device distinguishes phase To being provided with laser generator each other, the light that the laser generator of the upper and lower alignment device is sent out passes through the cavity to quilt It identifies each other, the light quilt that the laser generator of manipulator dislocation then one or two of described upper and lower alignment device is sent out The contraposition part blocks.

Wherein, the position of the upper and lower alignment device be staggered so that the light that sends out of the laser generator of the two formed two it is right Site.

Wherein, it is equipped on the upper alignment device and/or the lower alignment device and is staggered between upper and lower alignment device for adjusting The vernier knob of distance, to adapt to different contraposition parts.

Wherein, the convex block that the contraposition part is integrally fixed on the supporting table and extends to cavity top.

Wherein, the distance that the upper and lower alignment device is staggered is consistent with the width of the relatively narrow one end of the convex block.

Wherein, the supporting table is equipped with the limited post for limiting the glass placement location to be processed.

Wherein, the limited post includes two side limited posts and a upper limit column.

Advantageous effect：The position of manipulator precision regulator includes the contraposition being arranged on the supporting table of glass to be processed Part, and the upper and lower alignment device of installation on a robotic arm, upper and lower alignment device are provided with laser generator, hold relative to each other respectively Saddle is equipped with cavity, and the light that the two laser generator is sent out reaches across cavity each other to be identified each other, by advance The position and the placement location for aligning part that laser generator is staggered on upper and lower alignment device are set, can so that manipulator is accurate The light that two laser generators are sent out when in place just nuzzle up contraposition part predeterminated position edge after be mapped to the receiver of other side.If The position of manipulator slightly offset from, then there are one or the light that sends out of two laser generators cannot be received by other side, at this point, machine The controller of tool hand obtains the inadequate information of aligning accuracy accordingly, and then adjust automatically or prompt user adjust manipulator position It sets, to using the position of manipulator precision regulator high efficiency, accurately realize adjustment to position of manipulator precision.

Description of the drawings

Fig. 1 is the structural schematic diagram of the position of manipulator precision regulator of the utility model.

Fig. 2 is the structural schematic diagram of the supporting table of the position of manipulator precision regulator of the utility model.

Fig. 3 is the structural schematic diagram of the contraposition part of the position of manipulator precision regulator of the utility model.

Reference numeral is in figure：

1. supporting table, 11. limited posts, 12. contraposition parts, 121. contraposition salient points, 13. cavitys, alignment device, 21. laser on 2. Generator, 22. mounting bases, 23. push plates, 24. vernier knobs, 3. times alignment devices.

Specific implementation mode

The technical issues of in order to keep the utility model solved, technical solution and advantageous effect are more clearly understood, below In conjunction with the embodiments and attached drawing, the present invention will be further described in detail.It should be appreciated that specific implementation described herein Example is only used to explain the utility model, is not used to limit the utility model.

As shown in Figures 1 to 3, the position of manipulator precision regulator of the present embodiment includes for placing glass to be processed Supporting table 1, supporting table 1 are equipped with the cavity 13 through supporting table 1, and cavity 13 is fixedly arranged above contraposition part 12.It further include difference By the installation of mounting base 22 upper and lower alignment device 2,3 on a robotic arm, upper and lower alignment device 2,3 is separately positioned on supporting table 1, Lower both sides, upper and lower alignment device 2,3 are provided with laser generator 21 relative to each other respectively, and the laser of upper and lower alignment device 2,3 occurs The light that device 21 is sent out passes through cavity 13 to being identified each other, manipulator dislocation then upper and lower alignment device 2, one or two of 3 The light that sends out of laser generator 21 blocked by contraposition part 12.

As illustrated in fig. 1 and 2, contraposition part 12 is integrally fixed on supporting table 1 and to the convex block that 13 top of cavity is extended, convex The outside of the relatively narrow one end of type block is two contraposition salient points 121, the distance that upper and lower alignment device 2,3 is staggered and two contraposition salient points 121 The distance between it is consistent, manipulator contraposition accuracy it is higher, then the laser generator 21 of upper and lower alignment device 2,3 is sent out Light just nuzzle up the two contraposition salient points 121 position.As shown in figure 3, being installed on upper alignment device 2 and/or lower alignment device 3 useful The vernier knob 24 for the distance that is staggered between adjusting upper and lower alignment device 2,3, push plate can then be pushed by twisting the vernier knob 24 23, the distance being staggered between two laser generators 21 is adjusted to drive laser generator 21 to move left and right, so that described To adapt to different 12 sizes of contraposition part.

As illustrated in fig. 1 and 2, supporting table 1 is equipped with the limited post 11 for limiting glass placement location to be processed, limited post 11 include two side limited posts 11 and a upper limit column 11, wherein upper limit column 11 is located at supporting table 1 and extend into sky Position in chamber 13, so that glass position to be processed and the position of the contraposition part 12 are relatively fixed.

The position of the upper and lower alignment device 2,3 of the position of manipulator precision regulator is staggered so that the laser of the two occurs Light that device 21 is sent out forms two locis, the light of the two locis pass through cavity 13 to reach other side's laser generator 21 thus It identifies each other, by pre-setting the position and the placement for aligning part 12 that laser generator 21 is staggered on upper and lower alignment device 2,3 Position, the light that two laser generators 21 are sent out when can make manipulator accurately in place, which just nuzzles up, aligns 12 predeterminated position of part Edge after be mapped to the receiver of other side.If the position of manipulator is slightly offset from just there are one the light that laser generator 21 is sent out It cannot be received by other side's laser generator 21 or two laser generators 21 all not receive.The controller of manipulator is just The inadequate information of aligning accuracy can be clearly received, and then adjust automatically or prompt user adjust position of manipulator, to Using the position of manipulator precision regulator high efficiency, accurately realize adjustment to position of manipulator precision.

Finally it should be noted that above example is merely to illustrate the technical solution of the utility model rather than to this practicality The limitation of novel protected range, although being explained in detail to the utility model with reference to preferred embodiment, the common skill of this field Art personnel, which should be appreciated that, to be modified or replaced equivalently the technical solution of the utility model, without departing from this practicality The spirit and scope of new technique scheme.

Claims (7)

1. a kind of position of manipulator precision regulator, it is characterised in that：Include the supporting table for placing glass to be processed, institute It states supporting table and is equipped with the cavity for running through the supporting table, the cavity is fixedly arranged above contraposition part, further includes being mounted on machinery Upper and lower alignment device on hand, upper and lower alignment device are separately positioned on the upper and lower both sides of the supporting table, the upper and lower alignment device point Be not provided with laser generator relative to each other, the light that the laser generator of the upper and lower alignment device is sent out pass through the cavity from And identified each other, what the laser generator of manipulator dislocation then one or two of described upper and lower alignment device was sent out Light is blocked by the contraposition part.

2. a kind of position of manipulator precision regulator according to claim 1, it is characterised in that：The upper and lower contraposition The position of device is staggered so that the light that the laser generator of the two is sent out forms two locis.

3. a kind of position of manipulator precision regulator according to claim 2, it is characterised in that：The upper alignment device And/or the vernier knob for adjusting the distance that is staggered between upper and lower alignment device is installed on the lower alignment device, to adapt to not Same contraposition part.

4. a kind of position of manipulator precision regulator according to claim 2, it is characterised in that：The contraposition part is solid The convex block for being scheduled on the supporting table and extending to cavity top.

5. a kind of position of manipulator precision regulator according to claim 4, it is characterised in that：The upper and lower contraposition The distance that device is staggered is consistent with the width of the relatively narrow one end of the convex block.

6. a kind of position of manipulator precision regulator according to claim 1, it is characterised in that：It is set on the supporting table It is useful for limiting the limited post of the glass placement location to be processed.

7. a kind of position of manipulator precision regulator according to claim 6, it is characterised in that：The limited post includes Two side limited posts and a upper limit column.