CN209512770U

CN209512770U - It is a kind of to look for normal test device automatically

Info

Publication number: CN209512770U
Application number: CN201920287228.1U
Authority: CN
Inventors: 王斌
Original assignee: WUHAN INSTAC ROBOT TECHNOLOGY Co Ltd
Current assignee: WUHAN INSTAC ROBOT TECHNOLOGY Co Ltd
Priority date: 2019-03-07
Filing date: 2019-03-07
Publication date: 2019-10-18
Anticipated expiration: 2029-03-07

Abstract

Normal test device is looked for automatically the utility model discloses a kind of, it is related to robot hand tool and uses field of tool, the side of main body frame is equipped with laser sensor substrate, it is equipped with that vision seeks point module and laser looks for method wire module on laser sensor substrate, it is by laser sensor that wherein laser, which looks for method wire module, laser fixed plate, laser calibration bar, laser calibration head composition, three pieces of laser sensors are separately mounted in three laser fixed plates, laser calibration bar is provided in the middle part of three groups of laser sensors, one end of laser calibration bar is equipped with laser calibration head, the other side of main body frame is equipped with finger pressure test module, robot connecting flange module is installed at the top of main body frame, the bottom of main body frame is equipped with TCP sealing plate, TCP header is installed on TCP sealing plate.It solves the problem of the technical bottleneck that manually range estimation looks for normal to be not allowed data testing accuracy inadequate, and the processing is simple and at low cost, is suitable for big cambered surface components point rigidity test.

Description

It is a kind of to look for normal test device automatically

Technical field:

The utility model relates to one kind to look for normal test device automatically, belong to robot hand tool and use tool technique Field.

Background technique:

In finger pressure measurement process in the test of part finger pressure is tested with deflection relation test, traditional test side Formula measures the rigidity and deformation relationship of cambered surface part point using range estimation, the method for playing table, repeatedly testing, averaging；It builds Platform complex, normal direction data are inaccurate, and testing time is excessive, great work intensity when needing manual intervention measurement position more, equal nothing Method reaches the final test request of enterprise.

Utility model content:

In view of the above-mentioned problems, looking for normal test device automatically the technical problem to be solved by the present invention is to provide a kind of.

One kind of the utility model looks for normal test device automatically, it includes main body frame, laser sensor substrate, vision Seek point module, laser looks for method wire module, finger pressure test module, robot connecting flange module, TCP sealing plate, TCP header, main body The side of frame is equipped with laser sensor substrate, is equipped with that vision seeks point module and laser looks for normal on laser sensor substrate Module, wherein laser looks for method wire module to be made of laser sensor, laser fixed plate, laser calibration bar, laser calibration head, and three Block laser sensor is separately mounted in three laser fixed plates, is provided with laser calibration bar in the middle part of three groups of laser sensors, One end of laser calibration bar is equipped with laser calibration head, and the other side of main body frame is equipped with finger pressure test module, body frame Robot connecting flange module is installed, the bottom of main body frame is equipped with TCP sealing plate, is equipped on TCP sealing plate at the top of frame TCP header.

It is made of preferably, the vision seeks point module camera and vision fixed plate, it is solid that camera is fixed on vision On fixed board, vision seeks point module and adds light-source structure using vision, seeks point normal direction using three laser ranging modules and software Algorithm.

Preferably, the vision seeks point module and laser looks for the outside of method wire module to be provided with outside protective covers.

Preferably, the finger pressure test module is by force snesor fixed block, force snesor, connecting rod, finger pressure Head forms, and installs force sensor on force snesor fixed block, and connecting rod, one end installation of connecting rod are equipped on force snesor There is finger pressure head.

Preferably, the robot connecting flange module and main body frame are handled using welding manner.

The utility model has the beneficial effects that it can overcome the disadvantages of the prior art, and it is reasonable in design, solve artificial range estimation Look for normal inaccurate, the problem of data testing accuracy inadequate technical bottleneck, solve original cambered surface detail rigidity test, build it is flat The problem that platform is complicated, test data is inaccurate, testing time is excessive, the shadow that test data is interfered in manual intervention when solving test It rings, realizes automatic measurement, the processing is simple and at low cost, is suitable for big cambered surface components point rigidity test.

Detailed description of the invention:

The present invention is described in detail by the following detailed description and drawings for ease of explanation,.

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the main view of the utility model；

Fig. 3 is the right view of the utility model；

Fig. 4 is the top view of the utility model.

1- main body frame；2- laser sensor substrate；3- vision seeks point module；3-1- camera；3-2- vision fixed plate；4- Laser looks for method wire module；4-1- laser sensor；4-2- laser fixed plate；4-3- laser calibration bar；4-4- laser calibration head；5- Finger pressure test module；5-1- force snesor fixed block；5-2- force snesor；5-3- connecting rod；5-4- finger pressure head；6- robot Connecting flange module；7-TCP sealing plate；8-TCP head；9- outside protective covers.

Specific embodiment:

As Figure 1-Figure 4, present embodiment uses following technical scheme: it includes main body frame 1, laser sensing Device substrate 2, vision seek point module 3, laser looks for normal module 4, finger pressure test module 5, robot connecting flange module 6, TCP Sealing plate 7, TCP header 8, the side of main body frame 1 are equipped with laser sensor substrate 2, are equipped with vision on laser sensor substrate 2 It seeks point module 3 and laser looks for normal module 4, it is by laser sensor 4-1, laser fixed plate 4- that wherein laser, which looks for normal module 4, 2, laser calibration bar 4-3, laser calibration head 4-4 are formed, and three pieces of laser sensor 4-1 are separately mounted to three laser fixed plate 4- On 2, laser calibration bar 4-3 is provided in the middle part of three groups of laser sensor 4-1, one end of laser calibration bar 4-3 is equipped with laser Alignment heads 4-4, the other side of main body frame 1 are equipped with finger pressure test module 5, and the top of main body frame 1 is equipped with robot Connecting flange module 6, the bottom of main body frame 1 are equipped with TCP sealing plate 7, TCP header 8 are equipped on TCP sealing plate 7.

Wherein, the vision is sought point module 3 and is made of camera 3-1 and vision fixed plate 3-2, and camera 3-1 is fixed on On vision fixed plate 3-2, vision seeks point module 3 and adds light-source structure using vision, seeks point normal direction using three laser rangings Module and software algorithm；The vision seeks point module 3 and laser looks for the outside of normal module 4 to be provided with outside protective covers 9；It is described Finger pressure test module 5 be made of force snesor fixed block 5-1, force snesor 5-2, connecting rod 5-3, finger pressure head 5-4, power Force sensor 5-2 is installed on sensor fixed block 5-1, connecting rod 5-3 is installed on force snesor 5-2, the one of connecting rod 5-3 End is equipped with finger pressure head 5-4；The robot connecting flange module 6 and main body frame 1 is handled using welding manner.

The working principle of this specific embodiment:: robot drives hand tool vision to seek point module 3, to being placed on fixation Recognizable point is preset on the workpiece surface of position and carries out coordinate identification, and after identification, the coordinate of each point is transmitted to by vision Robot, robot look for 4 measurement point position of normal module to integrate small cambered surface, guarantee three pieces of laser sensor 4-1 spacing one with laser Sample, the center position of laser ranging module at this time are the normal direction of point thus, and robot successively records each point Normal direction data are switched to pressure test module 5, and according to normal direction data before, robot is carried out according to certain sequence Finger pressure test.

Present embodiment can overcome the drawbacks of prior art, reasonable in design, solve artificial range estimation and look for normal not The problem of standard, data testing accuracy inadequate technical bottleneck, solve original cambered surface detail rigidity test, build platform complex, The problem that test data is inaccurate, testing time is excessive, the influence that test data is interfered in manual intervention when solving test are realized Automatic measurement, the processing is simple and at low cost, is suitable for big cambered surface components point rigidity test.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model Claimed range is defined by the appending claims and its equivalent thereof.

Claims

1. a kind of look for normal test device automatically, it is characterised in that: it include main body frame (1), laser sensor substrate (2), Vision seeks point module (3), laser looks for method wire module (4), finger pressure test module (5), robot connecting flange module (6), TCP Sealing plate (7), TCP header (8), the side of main body frame (1) are equipped with laser sensor substrate (2), on laser sensor substrate (2) It is equipped with that vision seeks point module (3) and laser looks for method wire module (4), it is by laser sensor that wherein laser, which looks for method wire module (4), (4-1), laser fixed plate (4-2), laser calibration bar (4-3), laser calibration head (4-4) composition, three pieces of laser sensors (4-1) It is separately mounted on three laser fixed plates (4-2), is provided with laser calibration bar (4- in the middle part of three groups of laser sensors (4-1) 3), one end of laser calibration bar (4-3) is equipped with laser calibration head (4-4), and the other side of main body frame (1) is equipped with finger pressure Test module (5) is equipped with robot connecting flange module (6), the bottom peace of main body frame (1) at the top of main body frame (1) Equipped with TCP sealing plate (7), TCP header (8) are installed on TCP sealing plate (7).

2. one kind according to claim 1 looks for normal test device automatically, it is characterised in that: the vision seeks point module (3) it is made of camera (3-1) and vision fixed plate (3-2), camera (3-1) is fixed on vision fixed plate (3-2), and vision is sought Point module (3) adds light-source structure using vision, seeks point normal direction using three laser ranging modules and software algorithm.

3. one kind according to claim 1 looks for normal test device automatically, it is characterised in that: the vision seeks point module (3) and laser looks for the outside of method wire module (4) to be provided with outside protective covers (9).

4. one kind according to claim 1 looks for normal test device automatically, it is characterised in that: the finger pressure tests mould Block (5) is made of force snesor fixed block (5-1), force snesor (5-2), connecting rod (5-3), finger pressure head (5-4), power sensing Force sensor (5-2) is installed on device fixed block (5-1), connecting rod (5-3), connecting rod (5- are installed on force snesor (5-2) 3) one end is equipped with finger pressure head (5-4).

5. one kind according to claim 1 looks for normal test device automatically, it is characterised in that: the robot connection method Blue module (6) and main body frame (1) are handled using welding manner.