CN209140699U - A kind of industrial robot program self-checking device - Google Patents
A kind of industrial robot program self-checking device Download PDFInfo
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- CN209140699U CN209140699U CN201821906228.7U CN201821906228U CN209140699U CN 209140699 U CN209140699 U CN 209140699U CN 201821906228 U CN201821906228 U CN 201821906228U CN 209140699 U CN209140699 U CN 209140699U
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- industrial robot
- contact plate
- sliding shoe
- checking device
- robot program
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Abstract
The utility model relates to be ground testing agency, especially a kind of industrial robot program self-checking device.It includes mechanical arm, displacement detecting component and analysis module, displacement detecting component includes fixed pedestal, the sliding shoe being slidably connected on pedestal, the contact plate being placed on sliding shoe, the spring for sliding block reset and the displacement sensor for detecting sliding shoe or contact plate moving distance, displacement sensor is electrically connected to analysis module, and contact plate includes that one section of straight straight panel and the length direction from straight panel one end along straight panel make the one end formed after extending and the tangent arc section of straight panel.Using the shift length of displacement sensor contact plate and the Distance Transmission to analysis module is detected, judge whether the surplus of workpiece grinding meets the requirements, to show whether the motion profile of mechanical arm is correct, it avoids since defective products occurs in the incorrect caused grinding of the motion profile of mechanical arm, loss caused by grinding is reduced, production efficiency is improved.
Description
Technical field
The utility model relates to be ground testing agency, especially a kind of industrial robot program self-checking device.
Background technique
In the industrial production, some generally require further to be ground so that work by the workpiece that processing or casting come out
Part reaches standard.Grinding is to be carried out with grinding wheel, abrasive band or other grinding tools (such as oilstone, grinding segment, bistrique and abrasive pastes) to workpiece
The process of processing.In the prior art for the grinding of irregular workpiece (such as golf club head), generally it is ground using artificial,
But there is certain errors for artificial grinding, it is difficult to guarantee the yield rate of workpiece, and efficiency is lower；There is also utilizations in the prior art
Industrial machinery arm (such as CN105563517A- mechanical arm) will input certain value after piece-holder, after allowing by workpiece directly with
Grinding wheel or abrasive band contact are ground, and workpiece only just knows whether grinding is qualified after grinding, because that cannot know mill in advance
Whether the surplus cut is correct, and bad rate is higher caused by causing because of grinding, not only wastes the time, wastes a large amount of money
Source.
Utility model content
In view of the deficiency of the prior art, the purpose of this utility model is to provide a kind of industrial robot programs
Self-checking device.
To achieve the goals above, the utility model adopts the following technical solution:
A kind of industrial robot program self-checking device, it includes for clamping workpiece and adjustable workpiece is in space
The mechanical arm of interior position and angle, the displacement detecting group for detecting the distance that workpiece moves in one direction on the robotic arm
The moving distance of part and moving condition and displacement detecting component for recording mechanical arm simultaneously analyzes and determines displacement detecting component
Moving distance whether He Ge analysis module, the displacement detecting component includes for the base that displacement detecting component is fixed
Seat, the contact plate being placed on sliding shoe, the spring for sliding block reset and is used for the sliding shoe being slidably connected on pedestal
The displacement sensor of sliding shoe or contact plate moving distance is detected, institute's displacement sensors are electrically connected to analysis module, described to connect
Touch panel includes that one section of straight straight panel and the length direction from straight panel one end along straight panel make the one end formed after extending and straight panel
Tangent arc section.
Preferably, also horizontally disposed on the pedestal to have guide rail, the sliding shoe is slidably connected on guide rail.
Preferably, the sliding shoe is provided with baffle away from one end of contact plate, is provided on the pedestal for limiting
The block of baffle shift position.
Preferably, the spring clamping is between block and contact plate.
Preferably, the spring clamping is between sliding shoe and pedestal.
Preferably, institute's displacement sensors are laser displacement sensor.
Preferably, the analysis module is the program module being built in computer.
Preferably, the mechanical arm is industrial robot in the prior art.
As the above scheme is adopted, the utility model using displacement sensor contact plate shift length and should
Distance Transmission is detected to analysis module, judges whether the surplus of workpiece grinding meets the requirements, to obtain the movement rail of mechanical arm
Whether mark is correct, avoids since defective products occurs in the incorrect caused grinding of the motion profile of mechanical arm, reduces grinding and make
At loss, improve production efficiency.
Detailed description of the invention
Fig. 1 is the functional block diagram of the utility model embodiment；
Fig. 2 is the structural schematic diagram (one) of the utility model embodiment；
Fig. 3 is the structural schematic diagram (two) of the utility model embodiment；
Fig. 4 is the structural schematic diagram of the utility model embodiment contact plate.
Specific embodiment
The embodiments of the present invention are described in detail below in conjunction with attached drawing, but the utility model can be by right
It is required that the multitude of different ways for limiting and covering is implemented.
As shown in Figures 1 to 4, a kind of industrial robot program self-checking device of the present embodiment, it includes for clamping
The mechanical arm 1 of the position and angle of workpiece and adjustable workpiece in space, for detect workpiece on mechanical arm 1 along one
The mobile displacement detecting component 2 of distance in a direction and the moving condition for recording mechanical arm 1 and displacement detecting component 2
Moving distance and analyze and determine displacement detecting component 2 moving distance whether He Ge analysis module 3, displacement detecting component 2 wrap
It includes the pedestal 21 for fixing displacement detecting component 2, the sliding shoe 22 being slidably connected on pedestal 21, be placed in sliding shoe 22
On contact plate 23, for sliding shoe 22 reset spring 24 and for detecting 23 moving distance of sliding shoe 22 or contact plate
Displacement sensor 25, displacement sensor 25 is electrically connected to analysis module 3, contact plate 23 include one section of straight straight panel 231 with
And the length direction from straight panel one end along straight panel 231 makees the one end formed after extending and the tangent arc section 232 of straight panel 231.
When mechanical arm 1 is moved to different positions, workpiece and contact plate 23 abut against and drive contact plate workpiece as a result,
It is mobile, because the grinding wheel or abrasive band, the i.e. distance of the movement of contact plate 23 that contact plate is simulation are the surplus that workpiece is ground, utilize position
Displacement sensor 25 measures the shift length of contact plate 23 and detects the Distance Transmission to analysis module 3, judges workpiece grinding
Whether surplus meets the requirements, to show whether the motion profile of mechanical arm 1 is correct, avoids the movement rail due to mechanical arm 1
There is defective products in grinding caused by mark is incorrect, reduces loss caused by grinding, improves production efficiency.And due to equipment
Automation, ensure that the efficiency of grinding, can effectively improve production efficiency；By recording mechanical arm 1 and displacement sensing simultaneously
The shift position of device 25, the synchronous variation for realizing workpiece corresponding position in space；And since contact plate 23 includes 231 He of straight panel
Arc section 232 may cause certain error due to abrasive band stress deformation, workpiece can also when being ground on the abrasive band of abrasive machine
With being contacted with abrasive band at the rotating disc for driving abrasive band to rotate in abrasive band, can effectively cause because abrasive band becomes to make
At error, the straight panel 231 of the contact plate 23 in the present embodiment is the straight bar shape for simulating abrasive band, and arc section 232 be to simulate
The turning point in abrasive band or the shape of abrasive disc, so that the simulation grinding of the device is more accurate.
In order to guarantee the steady movement of sliding shoe 22, being also horizontally disposed on the pedestal 21 of the present embodiment has guide rail 26, slides
Block 22 is slidably connected on guide rail 26.
In order to avoid sliding shoe 22 removes under guide rail 26 under the action of elastic force, the sliding shoe 22 of the present embodiment, which deviates from, to be connect
One end of touch panel 23 is provided with baffle 28, is provided on pedestal 21 and between baffle 28 and contact plate 23 for limiting baffle
The block 27 of 28 shift positions.
After guaranteeing that workpiece is mobile, contact plate 23 has enough power mobile to realize contact towards the direction of workpiece
The spring 24 of the reset of plate 23, the present embodiment is held between block 27 and contact plate 23.
One preferred embodiment, spring 24 are held on (not shown) between sliding shoe 22 and pedestal 21.
In order to guarantee measurement contact plate 23 moving distance accuracy, the displacement sensor 25 of the present embodiment is sharp
Optical displacement sensor.
Further, analysis module 3 is the program module being built in computer.
Further, mechanical arm 1 is industrial robot in the prior art.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
Equivalent structure or equivalent flow shift made by using the description of the utility model and the drawings, is directly or indirectly transported
Used in other related technical areas, it is also included in the patent protection scope of the utility model.
Claims (8)
1. a kind of industrial robot program self-checking device, it is characterised in that: it includes for clamping workpiece and adjustable
The mechanical arm of position and angle of the workpiece in space, for detecting distance that workpiece moves in one direction on the robotic arm
The moving distance of displacement detecting component and moving condition and displacement detecting component for recording mechanical arm simultaneously analyzes and determines position
Move detection components moving distance whether He Ge analysis module, the displacement detecting component includes for by displacement detecting component
Fixed pedestal, the sliding shoe being slidably connected on pedestal, contact plate, the spring for sliding block reset being placed on sliding shoe
And the displacement sensor for detecting sliding shoe or contact plate moving distance, institute's displacement sensors are electrically connected to analysis mould
Block, the contact plate include that one section of straight straight panel and the length direction from straight panel one end along straight panel make formed after extending one
End and the tangent arc section of straight panel.
2. a kind of industrial robot program self-checking device as described in claim 1, it is characterised in that: on the pedestal also
Horizontally disposed to have guide rail, the sliding shoe is slidably connected on guide rail.
3. a kind of industrial robot program self-checking device as described in claim 1, it is characterised in that: the sliding shoe back
One end from contact plate is provided with baffle, and the block for limiting baffle shift position is provided on the pedestal.
4. a kind of industrial robot program self-checking device as claimed in claim 3, it is characterised in that: the spring clamping
Between block and contact plate.
5. a kind of industrial robot program self-checking device as described in claim 1, it is characterised in that: the spring clamping
Between sliding shoe and pedestal.
6. a kind of industrial robot program self-checking device as described in claim 1, it is characterised in that: the displacement sensing
Device is laser displacement sensor.
7. a kind of industrial robot program self-checking device as described in claim 1, it is characterised in that: the analysis module
To be built in the program module in computer.
8. a kind of industrial robot program self-checking device as described in claim 1, it is characterised in that: the mechanical arm is
Industrial robot in the prior art.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821906228.7U CN209140699U (en) | 2018-11-19 | 2018-11-19 | A kind of industrial robot program self-checking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821906228.7U CN209140699U (en) | 2018-11-19 | 2018-11-19 | A kind of industrial robot program self-checking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209140699U true CN209140699U (en) | 2019-07-23 |
Family
ID=67286428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821906228.7U Active CN209140699U (en) | 2018-11-19 | 2018-11-19 | A kind of industrial robot program self-checking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209140699U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114289315A (en) * | 2022-01-19 | 2022-04-08 | 因特威流体技术(嘉兴)有限公司 | Production equipment and production method of high-pressure hydraulic quick connector |
| CN114633182A (en) * | 2022-04-13 | 2022-06-17 | 中国石油大学(华东) | Portable semi-automatic grinding machine |
-
2018
- 2018-11-19 CN CN201821906228.7U patent/CN209140699U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114289315A (en) * | 2022-01-19 | 2022-04-08 | 因特威流体技术(嘉兴)有限公司 | Production equipment and production method of high-pressure hydraulic quick connector |
| CN114633182A (en) * | 2022-04-13 | 2022-06-17 | 中国石油大学(华东) | Portable semi-automatic grinding machine |
| CN114633182B (en) * | 2022-04-13 | 2023-04-18 | 中国石油大学(华东) | Portable semi-automatic grinding machine |
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