CN209868619U - Positioning adjusting device - Google Patents
Positioning adjusting device Download PDFInfo
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- CN209868619U CN209868619U CN201920700270.1U CN201920700270U CN209868619U CN 209868619 U CN209868619 U CN 209868619U CN 201920700270 U CN201920700270 U CN 201920700270U CN 209868619 U CN209868619 U CN 209868619U
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Abstract
The utility model provides a positioning adjusting device, which comprises a mechanical arm, a positioning mechanism and a controller; the positioning mechanism is fixed at the front end of the mechanical arm; the positioning mechanism comprises two fixing plates and at least two groups of positioning probes, the two fixing plates are mutually parallel and are respectively fixed at the upper end and the lower end of the front end of the mechanical arm, two positioning probes are arranged on each group of the positioning probes, the two positioning probes are correspondingly arranged on the fixing plates up and down, and the number of the positioning probe groups is even and is symmetrically arranged relative to a straight line passing through the center of the front end of the mechanical arm and vertical to the fixing plates; the controller is respectively in signal connection with the mechanical arm and the positioning probe; the positioning adjustment method comprises the following steps: (a) object surface contact; (b) judging the inclination direction; (c) and (6) positioning and adjusting. The utility model discloses a mechanical type's contact cooperation location has simplified the calculation operation and the adjustment operation of location, and mechanical type's contact cooperation receives high temperature to influence lessly, has practiced thrift the time cost and the equipment cost of location, has improved location work efficiency.
Description
Technical Field
The utility model belongs to the technical field of the location, especially, relate to a positioning adjustment device.
Background
The transmission positioning method is manual positioning or fixed point detection positioning, the former has low working efficiency, the latter needs positioning communication and adjustment path planning between a fixed point and a positioning device, the calculation process is complex, the adjustment process is slow, the positioning of a high-temperature object cannot be realized, the positioning communication between the high-temperature object and the positioning device cannot be realized, and the positioning detection of the positioning device is greatly influenced by high temperature.
Disclosure of Invention
In view of this, the utility model aims at providing a location adjusting device, through the contact cooperation location of mechanical type, simplified the calculation operation and the adjustment operation of location, and the contact cooperation of mechanical type receives high temperature to influence lessly, has practiced thrift the time cost and the equipment cost of location, has improved location work efficiency.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
a positioning adjusting device comprises a mechanical arm, a positioning mechanism and a controller;
the positioning mechanism is fixed at the front end of the mechanical arm and is driven by the mechanical arm to perform position positioning adjustment;
the positioning mechanism comprises two fixing plates and positioning probes, the two fixing plates are mutually parallel and are respectively fixed at the upper end and the lower end of the front end of the mechanical arm, the number of the positioning probes is even, two positioning probes are arranged in each group, are correspondingly arranged on the fixing plates from top to bottom and are symmetrically arranged relative to a perpendicular bisector at the front end of the fixing plates;
the controller is respectively in signal connection with the mechanical arm and the positioning probe.
Further, the fixing plate is horizontally arranged.
Furthermore, the positioning probe comprises a positioning column, a compression spring and an inductor;
the front end of the positioning column extends out of the front end of the fixing plate, and the positioning column is freely telescopically limited and installed on the fixing plate in the front-back direction;
one end of the compression spring is fixedly connected with the positioning column, and the other end of the compression spring is fixedly connected with the fixing plate to provide elastic support towards the front end for the positioning column;
the inductor is fixed at the rear end of the positioning column and is in signal connection with the controller, and when the positioning column contracts towards the rear end, namely the spring is compressed to the maximum compression distance, the inductor generates an induction signal and transmits the induction signal to the controller.
Further, the inductor is a contact switch.
Further, the sensor is a pressure sensor.
Furthermore, positioning mechanism still includes the shell, the shell is the rectangle passageway of both ends open-ended around, two fixed plates correspond and fix on two upper and lower inner walls of rectangle passageway.
Furthermore, the positioning mechanism further comprises a shell, the shell comprises two supporting plates, the two supporting plates are mutually fixed on two sides of the two fixing plates in parallel, and the two supporting plates and the two fixing plates form a rectangular channel with a front opening and a rear opening.
Furthermore, the reference column is limited on the fixed plate in a front-back telescopic manner through the limiting ring, a limiting bulge is arranged at the front end and the middle part of the reference column, when the reference column retreats to the inductor, the limiting bulge at the front end contacts with the limiting ring for clamping, and when the reference column extends forwards under the action of the compression spring, the limiting bulge at the middle part contacts with the limiting ring for clamping.
Furthermore, the mechanical arm is provided by ABB company and has the model number of 6700-150/3.2, and the position adjustment operation such as front-back expansion, left-right rotation and the like of the laser coding machine can be accurately realized.
Compared with the prior art, the positioning adjusting device has the following advantages:
location adjusting device pass through the contact cooperation location of mechanical type, simplified the calculation operation and the adjustment operation of location, and the contact cooperation of mechanical type receives high temperature to influence lessly, has practiced thrift the time cost and the equipment cost of location, has improved location work efficiency.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is a schematic structural view of a positioning adjustment device according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a positioning mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a positioning probe with a limiting protrusion according to an embodiment of the present invention.
Description of reference numerals:
1-a mechanical arm; 2-a positioning mechanism; 21-fixing the plate; 22-positioning the probe; 221-positioning columns; 222-a compression spring; 223-an inductor; 224-a stop protrusion; 225-a spacing collar; and 3, a controller.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The utility model discloses use the coil of strip location as the example, can outwards be transported by the conveyer belt after coil of strip production is accomplished, because the coil of strip temperature is higher this moment, consequently the staff should not be too close, takes place the scald easily.
As shown in fig. 1 to 3, the present invention provides a positioning adjustment device, which includes a mechanical arm 1, a positioning mechanism 2 and a controller 3;
the positioning mechanism 2 is fixed at the front end of the mechanical arm 1 and is driven by the mechanical arm 1 to perform position positioning adjustment;
the positioning mechanism 2 comprises two fixing plates 21 and positioning probes 22, the two fixing plates 21 are mutually parallel and are respectively fixed at the upper end and the lower end of the front end of the mechanical arm 1, the positioning probes 22 are provided with even groups, two positioning probes are arranged in each group, are correspondingly arranged on the fixing plates 21 up and down and are symmetrically arranged relative to a perpendicular bisector at the front end of the fixing plates 21;
the controller 3 is respectively in signal connection with the mechanical arm 1 and the positioning probe 22.
Further, the fixing plate 21 is horizontally disposed.
Further, the positioning probe 22 comprises a positioning column 221, a compression spring 222 and an inductor 223;
the front ends of the positioning columns 221 extend out of the front end of the fixing plate 21, and the positioning columns 221 are telescopically limited and mounted on the fixing plate 21 in the front-back direction;
one end of the compression spring 222 is fixedly connected with the positioning column 221, and the other end is fixedly connected with the fixing plate 21, so as to provide an elastic support towards the front end for the positioning column 221;
the sensor 223 is fixed at the rear end of the positioning post 221 and is in signal connection with the controller 3, and when the positioning post 221 contracts towards the rear end, i.e. compresses the spring 222 to the maximum compression distance, the sensor 223 generates a sensing signal and transmits the sensing signal to the controller 3.
Further, the sensor 223 is a contact switch.
Further, the sensor 223 is a pressure sensor.
Further, the positioning mechanism 2 further comprises a housing, the housing is a rectangular channel with openings at the front end and the rear end, and the two fixing plates 21 are correspondingly fixed on the upper inner wall and the lower inner wall of the rectangular channel.
Further, the positioning mechanism 2 further comprises a housing, the housing comprises two support plates, the two support plates are mutually fixed on two sides of the two fixing plates 21 in parallel, and form a rectangular channel with a front opening and a rear opening together with the two fixing plates 21.
Furthermore, the positioning column 221 is limited on the fixing plate 21 by a limiting ring 225 in a front-back telescopic manner, a limiting protrusion 224 is disposed at the front end and the middle part of the positioning column 221, when the positioning column 221 moves back to the inductor 223, the limiting protrusion 224 at the front end contacts the limiting ring 225 for blocking, and when the positioning column 221 extends forwards under the action of the compression spring 222, the limiting protrusion 224 at the middle part contacts the limiting ring 225 for blocking.
Further, the mechanical arm 1 is a mechanical arm provided by ABB corporation with model number 6700-150/3.2, and can accurately realize the position adjustment operations of the laser coding machine such as front-back expansion, left-right rotation and the like.
A positioning method based on the positioning adjusting device comprises the following steps:
(a) the object surface is contacted, the mechanical arm 1 horizontally extends out until the mechanical arm is contacted with the object surface to be positioned in front of the mechanical arm, and at the moment, the sensor 223 of the positioning probe 22 feeds back information to the controller 3;
(b) judging the inclination direction, wherein the controller 3 judges the inclination direction of the front end of the mechanical arm 1 relative to the vertical plane of the side surface of the object to be positioned according to the feedback information of the reactor;
(c) and (3) positioning adjustment is carried out, the controller 3 controls the mechanical arm 1 to horizontally rotate according to the inclined direction of the front end of the mechanical arm 1, the side face of an object to be positioned at the front end of the mechanical arm 1 is realized, and the positioning adjustment is completed.
Further, the information fed back to the controller 3 by the sensor 223 of the positioning probe 22 includes three conditions:
(a1) the number of the positioning probes 22 with information feedback on the left side is more than that on the right side;
(a2) the number of the positioning probes 22 with information feedback on the left side is equal to that on the right side;
(a3) the number of positioning probes 22 with information feedback on the left side is less than that on the right side.
For the circular side face, when the general controller receives the feedback information of one positioning probe, the mechanical arm does not advance any more, and if the positioning mechanism just faces the side face of the object to be positioned, the controller simultaneously receives the feedback information of at least one positioning probe on the left side and the right side.
Further, the feedback information corresponding to the sensor 223 in the step (b) has determination results in three tilt directions:
(b1) when the number of the positioning probes 22 with information feedback on the left side is more than that on the right side, the front end of the mechanical arm 1 inclines rightwards relative to the vertical plane of the side surface of the object to be positioned;
(b2) when the number of the positioning probes 22 with information feedback on the left side is equal to that on the right side, the front end of the mechanical arm 1 is just at the side of the object to be positioned;
(b3) when the number of the positioning probes 22 with information feedback on the left side is less than that on the right side, the front end of the mechanical arm 1 inclines leftwards relative to the vertical plane of the side surface of the object to be positioned.
Further, the step (c) has three adjustment modes corresponding to the three tilt directions of the front end of the robot arm 1:
(c1) when the front end of the mechanical arm 1 inclines rightwards relative to the vertical plane of the side surface of the object to be positioned, the mechanical arm 1 drives the positioning mechanism 2 to rotate rightwards and horizontally by taking the vertical line of the front end of the positioning probe 22 with information feedback on the left side of the positioning mechanism 2 as an axis until the number of the positioning probes 22 with information feedback on the left side is equal to that on the right side;
(c2) when the front end of the mechanical arm 1 is facing the side of the object to be positioned, no adjustment is needed;
(c3) when the front end of the mechanical arm 1 inclines to the left relative to the vertical plane of the side surface of the object to be positioned, the mechanical arm 1 drives the positioning mechanism 2 to horizontally rotate to the left by taking the vertical line of the front end of the positioning probe 22 with information feedback on the right side of the positioning mechanism 2 as an axis until the number of the positioning probes 22 with information feedback on the left side is equal to that on the right side.
The general cooperation laser coding machine of positioning adjustment device use.
When the steel coil is conveyed outwards to the tail end of the conveying belt from the conveying belt, the conveying belt can place the steel coil on the steel coil placing table at the tail end of the conveying belt, the position cannot be completely the same in each conveying, but the position error is very small, so that the steel coil placing table is arranged on one side of the steel coil placing table; positioning adjustment device during, positioning adjustment device's arm level stretches out forward, can touch the coil of strip side certainly, and the less displacement when the coil of strip is placed is poor, just caused the arm front end and no longer just to locating object side, control the arm according to positioning probe's feedback information this moment and carry out the small-angle rotation, can accomplish the output that makes the laser coding machine just to the positioning adjustment of coil of strip side, this positioning mechanism is more applicable to the circular arc side and possesses the positioning adjustment of the vertical side of certain width.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A positioning adjustment device is characterized in that: comprises a mechanical arm (1), a positioning mechanism (2) and a controller (3);
the positioning mechanism (2) is fixed at the front end of the mechanical arm (1), and is driven by the mechanical arm (1) to perform position positioning adjustment;
the positioning mechanism (2) comprises two fixing plates (21) and positioning probes (22), the two fixing plates (21) are mutually parallel and are respectively fixed at the upper end and the lower end of the front end of the mechanical arm (1), the positioning probes (22) are provided with even groups, two positioning probes are arranged in each group, are correspondingly arranged on the fixing plates (21) up and down and are symmetrically arranged relative to a perpendicular bisector of the front end of the fixing plates (21);
the controller (3) is in signal connection with the mechanical arm (1) and the positioning probe (22) respectively.
2. The positioning adjustment device according to claim 1, characterized in that: the positioning probe (22) comprises a positioning column (221), a compression spring (222) and an inductor (223);
the front ends of the positioning columns (221) extend out of the front end of the fixing plate (21), and the positioning columns (221) are telescopically limited and mounted on the fixing plate (21) in the front-back direction;
one end of the compression spring (222) is fixedly connected with the positioning column (221), and the other end of the compression spring is fixedly connected with the fixing plate (21) to provide elastic support towards the front end for the positioning column (221);
the sensor (223) is fixed at the rear end of the positioning column (221) and is in signal connection with the controller (3), and when the positioning column (221) contracts towards the rear end, namely the spring (222) is compressed to the maximum compression distance, the sensor (223) generates a sensing signal and transmits the sensing signal to the controller (3).
3. The positioning adjustment device according to claim 2, characterized in that: the inductor (223) is a contact switch.
4. The positioning adjustment device according to claim 2, characterized in that: the positioning column (221) is limited on the fixing plate (21) in a front-back telescopic mode through a limiting ring (225), a limiting protrusion (224) is arranged at the front end and the middle of the positioning column (221), when the positioning column (221) retreats to the position of the inductor (223), the limiting protrusion (224) at the front end contacts with the limiting ring (225) for clamping, and when the positioning column (221) stretches out forwards under the action of the compression spring (222), the limiting protrusion (224) at the middle part contacts with the limiting ring (225) for clamping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920700270.1U CN209868619U (en) | 2019-05-15 | 2019-05-15 | Positioning adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920700270.1U CN209868619U (en) | 2019-05-15 | 2019-05-15 | Positioning adjusting device |
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| CN209868619U true CN209868619U (en) | 2019-12-31 |
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| CN201920700270.1U Active CN209868619U (en) | 2019-05-15 | 2019-05-15 | Positioning adjusting device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940643A (en) * | 2019-05-15 | 2019-06-28 | 天津达亿自动化科技有限公司 | A kind of positioning adjustment device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940643A (en) * | 2019-05-15 | 2019-06-28 | 天津达亿自动化科技有限公司 | A kind of positioning adjustment device and method |
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