CN212109932U - Device for realizing clamping and positioning of CMM detection system - Google Patents
Device for realizing clamping and positioning of CMM detection system Download PDFInfo
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- CN212109932U CN212109932U CN202021080100.7U CN202021080100U CN212109932U CN 212109932 U CN212109932 U CN 212109932U CN 202021080100 U CN202021080100 U CN 202021080100U CN 212109932 U CN212109932 U CN 212109932U
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Abstract
The utility model discloses a device that is used for CMM detecting system to realize clamping and location automation. The safety guardrail shell is internally provided with a precision detection device and a mechanical arm, a detection area to be detected is arranged in front of the safety guardrail shell, a manual code scanning gun is arranged beside the detection area, a feeding turnover vehicle is arranged in front of the detection area, and a PLC control cabinet and a robot control cabinet are arranged outside the safety guardrail shell; the feeding turnover vehicle comprises a shell, a transverse plate, a cross sliding table mechanism, a top plate, a camera, a support and a mechanical clamping hand, wherein wheel assemblies at four corners of the bottom of the support are composed of wheels and motors, and the motors are coaxially connected with the wheels; the cross sliding table mechanism is arranged in the middle of the support, a mechanical clamping hand is arranged on the cross sliding table mechanism, and a camera is arranged on a horizontal plate on the lower side of the transverse plate. The utility model discloses a material loading snatchs the clamping structure that transports, combine arm and detecting system to realize with current CMM measurement system's integration and optimization, reach the mechanical part's automation such as censorship transmission, measurement, reposition of redundant personnel, the cost is reduced improves production efficiency.
Description
Technical Field
The utility model relates to a device of mechanical clamping and location has especially related to a device that is used for CMM detecting system to realize clamping and location.
Background
The three-coordinate measuring machines are produced by many manufacturers in developed countries, and famous foreign manufacturers include Zeiss (Zeiss) and retz (Leitz) in germany, DEA in italy, brunaja (Bmwn & sharp) in usa, Mitutoyo in japan, and the like. The three-coordinate measuring machine is connected with a computer workstation and a numerical control machine tool in a network; the technology of the three-coordinate measuring machine is developed rapidly and rapidly in nearly more than ten years, and particularly, a numerical control system and measuring software are updated for one generation every two years and three years; the variety is complete, and the degree of "three-transformation" (namely standardization, generalization and serialization) is high. Is widely applied in different production fields.
The integrated measurement and processing of China is more and more integrated and applied to the manufacturing field, the clamping requirement matched with the integrated measurement and processing is higher and higher, automatic components are lacked in the prior art, and more small and medium-sized enterprises still adopt the mode of manual clamping and positioning and manual loading and unloading. The labor cost is greatly increased, and the irrationality of the clamping mode is easy to occur.
SUMMERY OF THE UTILITY MODEL
In the manufacturing field, in order to realize detecting and the integrated problem of processing integration, an object of the utility model is to provide a device that is used for CMM detecting system to realize clamping and location automation.
The utility model adopts the technical proposal that:
the utility model comprises a safety guardrail shell, a precision detection device, an mechanical arm, a detection area to be detected, a manual code scanning gun, a feeding turnover vehicle, a PLC control cabinet and a robot control cabinet; a precision detection device and an mechanical arm are arranged in the safety guardrail shell, a detection area to be detected is arranged in front of the safety guardrail shell, a manual code sweeping gun is arranged beside the detection area, a feeding turnover vehicle is arranged in front of the detection area, and a PLC control cabinet and a robot control cabinet are arranged outside the safety guardrail shell; the feeding turnover vehicle comprises a shell, and a transverse plate, a cross sliding table mechanism, a top plate, a camera, a support and a mechanical gripper which are arranged in the shell, wherein four corners of the bottom of the support are respectively provided with a wheel assembly, each wheel assembly consists of a wheel and a motor, and the output end of the motor is coaxially connected with the wheel to drive the wheel to rotate; the middle part of the bracket is provided with a vertically arranged cross sliding table mechanism, a transverse plate of the cross sliding table mechanism is provided with a mechanical clamping hand, the lower side of the transverse plate extends and is fixed with a horizontal plate, and the bottom surface of the horizontal plate is provided with a camera.
Mechanical tong include mechanical finger link mechanism, mechanical palm, the gear, the belt, band pulley and step motor, step motor fixes on the diaphragm of cross slip table mechanism, a mechanical palm is all installed to both sides on the horizontal plate of diaphragm downside, mechanical finger link mechanism is installed in the front end connection of mechanical palm, the equal fixed mounting in top of every mechanical palm has the gear, the gear of two mechanical palms meshes mutually and connects, the gear coaxial coupling at one of them mechanical palm top has the band pulley axle, the band pulley axle is connected through band pulley and belt and step motor's output transmission.
The mechanical finger connecting rod mechanism comprises a steering engine, a root finger connecting rod, a crank, a sliding block, a sliding rail, a triangular plate, a first section lower finger rod piece, a second section lower finger rod piece, a fingertip component, a second section upper finger connecting rod and a first section upper finger connecting rod; the steering engine is fixed on the side face of a palm of the manipulator, the output end of the steering engine drives the sliding block to move horizontally through a crank, the sliding block is embedded on a sliding rail, a triangular plate and a fingertip member are sequentially arranged in front of the sliding block, the rear end of a root finger connecting rod is hinged to the sliding block, the front end of the root finger connecting rod is hinged to a corner of the triangular plate located at the front end, the rear end of a first section finger upper connecting rod is hinged to a corner of the triangular plate located at the upper end, the front end of the first section finger upper connecting rod is hinged to the rear end of a second section finger upper connecting rod, the front end of the second section finger upper connecting rod is hinged to the upper portion of the fingertip member, the rear end of the first section finger lower rod is hinged to a corner of the triangular plate located at the rear end, the front end of the first section finger lower rod is hinged to the rear end of.
The wheels are Mecanum wheels.
And the feeding turnover vehicle is also provided with an early warning lamp.
The utility model discloses a machine trolley automatic feeding, the arm carries out the clamping to the part that awaits measuring on waiting to detect the district according to clamping storehouse scheme to remove the part to examining the test table.
The utility model has the advantages that: the clamping accuracy is greatly improved, the feeding and discharging speed is greatly increased, and the cost is reduced.
The utility model discloses a material loading snatchs the clamping structure that transports, combine arm and detecting system to realize with current CMM measurement system's integration and optimization, reach mechanical part's censorship transmission, measuring machine's upper and lower unloading and detect whole process automation such as back part reposition of redundant personnel. And the mechanical arm is used for fixing and clamping.
The utility model discloses like this snatch the combination of structure through digital system and mechanical feeding and use, can be used for producing the product of high accuracy, high efficiency, high technique, reduce cost improves production efficiency.
Drawings
Fig. 1 is an overall perspective view of the present invention.
Fig. 2 is a schematic perspective view of the feeding turnover vehicle.
Fig. 3 is a perspective view of a mechanical gripper.
Fig. 4 is a left side view of the mechanical finger linkage.
Fig. 5 is a perspective view illustrating a motion state of the mechanical finger link.
In the figure: 1. the safety guardrail comprises a safety guardrail shell, 2, a precision detection device, 3 mechanical arms, 4, an area to be detected, 5, a manual code scanning gun, 6, a feeding turnover vehicle, 9, a PLC (programmable logic controller) cabinet, 10, a robot control cabinet, 16, a transverse plate, 17, a cross sliding table mechanism, 18, a top plate, 19, a camera, 20, an early warning lamp, 21, a motor, 22, a support, 23, a wheel, 24, a mechanical gripper, 30, a mechanical finger link mechanism, 31, a steering engine, 32, a mechanical palm, 33, a gear, 34, a belt, 35, a belt wheel, 36, a stepping motor, 37, a root finger link rod, 38, the steering engine, 39, a sliding block, 40, a sliding rail, 41, a triangular plate, 42, a first section of lower finger rod, 43, a second section of lower finger rod, 44, a fingertip component, 46, a second section of upper finger link rod, 47 and a first section of upper finger link rod.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
As shown in fig. 1, the device comprises a safety guardrail shell 1, a precision detection device 2, a mechanical arm 3, a to-be-detected area 4, a manual code scanning gun 5, a feeding turnover vehicle 6, a PLC control cabinet 9 and a robot control cabinet 10; precision detection device 2 and arm 3 have been arranged in safety barrier shell 1, and 1 the place ahead of safety barrier shell is equipped with and remains detection zone 4, waits to detect that the other sign indicating number rifle 5 that sweeps that is equipped with of district 4 is waited to detect, is equipped with material loading turnover vehicle 6 before waiting to detect district 4, is equipped with PLC switch board 9 and robot control cabinet 10 outside safety barrier shell 1.
As shown in fig. 2, the feeding turnover vehicle 6 comprises a housing, a transverse plate 16, a cross sliding table mechanism 17, a top plate 18, a camera 19, a bracket 22 and a mechanical gripper 24, wherein the transverse plate, the cross sliding table mechanism 17, the top plate 18, the camera 19, the bracket 22 and the mechanical gripper 24 are arranged in the housing, four corners of the bottom of the bracket 22 are respectively provided with a wheel assembly, each wheel assembly is composed of a wheel 23 and a motor 21, and the output end of the motor 21 is coaxially connected with the wheel 23 to drive the wheel; the wheel 23 adopts mecanum wheel, and the mid-mounting of support 22 has the vertical cross slip table mechanism 17 of arranging, and the top surface of cross slip table mechanism 17 is roof 18, installs mechanical tong 24 on cross plate 16 of cross slip table mechanism 17, and the extension of cross plate 16 downside is fixed with the horizontal plate, and camera 19 is installed to the horizontal plate bottom surface, still installs early warning lamp 20 on the support 22.
The material loading turnover vehicle 6 fixedly conveys the workpiece to the detection area 4, the mechanical arm 3 grabs the workpiece to be detected on the detection area 4 and places the workpiece on the precision detection device 2 for detection, and then the detection of clamping and positioning is realized.
The precision detecting device 10 mainly performs a detecting function, and is generally a whole machine. The mechanical arm 3 is mainly used for feeding and discharging in a working area and enabling a workpiece to be detected to flow from the area to be detected to the detection platform or from the detection platform to the area to be detected. The precision detection device 2 and the mechanical arm 3 are respectively connected to the PLC control cabinet 9 and the robot control cabinet 10 through connecting wires, and the precision detection device 2 and the mechanical arm 3 are controlled to work by the PLC control cabinet 9 and the robot control cabinet 10.
The manual code scanning gun 5 is used for an operator to carry out warehousing operation, and scanning and recording each workpiece entering the area to be detected.
The mechanical arm is a vertical multi-joint mechanical structure, has 6 degrees of freedom, and is installed on the ground.
When the camera 19 is used for feeding, the corresponding bar code is scanned, and the corresponding piece to be detected is selected according to the scanned bar code and is placed in the corresponding area to be detected.
As shown in fig. 3, the mechanical gripper 24 includes a mechanical finger linkage 30, a mechanical palm 32, a gear 33, a belt 34, a pulley 35 and a stepping motor 36,
The gripper portion first uses the motor 36 to control the opening and closing of the mechanical gripper. The principle that the mechanical palm 32 is opened and closed is that the gear set 33 is engaged with the outside and the direction is opposite, and the characteristic that the transmission distance is long is simultaneously utilized, so that the problem that the outer end is too heavy and the cantilever beam is bent to cause too large stress to form obvious deformation is prevented. Meanwhile, the gravity center can be kept at a proper position, and the problem of forward tilting during lifting is prevented.
As shown in fig. 4, the mechanical finger link mechanism 30 includes a steering engine 31, a root finger link 37, a crank 38, a slider 39, a slide rail 40, a triangle plate 41, a first finger lower rod 42, a second finger lower rod 43, a finger tip member 44, a second finger upper link 46 and a first finger upper link 47; the steering engine 31 is fixed on the side surface of the mechanical palm 32, the output end of the steering engine 31 is hinged with a sliding block 39 through a crank 38, the sliding block 39 is embedded on a sliding rail 40, the sliding rail 40 is fixed on the mechanical palm 32, a triangular plate 41 and a fingertip member 44 are sequentially arranged in front of the sliding block 39, the rear end of a root finger connecting rod 37 is hinged on the corner of the front end of the triangular plate 41, the front end of the root finger connecting rod 37 is hinged on the corner of the front end of the triangular plate 41, the rear end of a first section of an upper finger connecting rod 47 is hinged on the corner of the upper end of the triangular plate 41, the front end of the first section of an upper finger connecting rod 47 is hinged with the rear end of a second section of an upper finger connecting rod 46, the front end of the second section of the upper finger connecting rod 46 is hinged on the upper part of the fingertip member 44, the rear end of the first section of a lower finger rod 42 is hinged on the corner of the rear end of the triangular plate 41, the front end of the, thereby forming a multi-stage link driving structure.
The root finger link 37, the first-section lower finger link 42 and the first-section upper finger link 47 are arranged at different axial positions offset at the triangular plate 41 by sleeves or bushings so that the respective rotational lower movements do not interfere.
As shown in fig. 5, the steering engine 31 moves to drive the sliding block 39 to move back and forth on the sliding rail 40: if the slide block 39 moves forward along the slide rail 40, the multi-level link driving structure drives the root finger link 37 to move forward, the front end of the triangular plate 41 tilts upwards and turns over, and the front end of the fingertip component 44 is driven to tilt upwards and turn over; if the slide block 39 moves backwards along the slide rail 40, the multi-stage link driving structure drives the root finger link 37 to move backwards, the front end of the triangle 41 tilts downwards and turns over, and further drives the front end of the fingertip component 44 to tilt downwards.
As shown in fig. 4 and 5, the single finger movement is as follows:
when the rudder horn rotates as the crank 38, the slider 39 is driven to move linearly back and forth on the slide rail 40. When the slide block 39 moves backwards, the triangular connecting plate 41 is driven to rotate anticlockwise, and the first-section lower finger connecting rod 42 is driven to do anticlockwise movement with the circle center fixed on the rack.
Until the first section of lower finger connecting rod 42 touches a workpiece to be taken, the first section of lower finger connecting rod 42 cannot continue to move anticlockwise, but the triangular connecting plate 41 continues to rotate anticlockwise due to the set value of the steering engine, so that the first section of upper finger connecting rod 47 moves anticlockwise to a small extent, and has a forward-tilting movement tendency, the second section of upper finger connecting rod 46 drives the second section of lower finger connecting rod 43 to move anticlockwise, the effect of inward bending of the second section of finger is achieved, the finger tip member 44 is buckled in a locking state, and the steering engine 31 stops rotating.
Therefore, one mechanical finger connecting rod mechanism is controlled by the steering engine on the mechanical finger connecting rod mechanisms on the two sides. The joints of the mechanical finger link mechanism are hinged by pins and are in clearance fit, so that the rotation of each joint can be ensured. And controlling the mechanical finger connecting rod mechanism to relax and bend to the limit by using the steering engine.
Claims (5)
1. The utility model provides a device that is used for CMM detecting system to realize clamping and location which characterized in that: the automatic stacking and conveying device comprises a safety guardrail shell (1), a precision detection device (2), a mechanical arm (3), a to-be-detected area (4), a manual stacking and scanning gun (5), a feeding turnover vehicle (6), a PLC control cabinet (9) and a robot control cabinet (10); a precision detection device (2) and a mechanical arm (3) are arranged in a safety guardrail shell (1), a detection area (4) to be detected is arranged in front of the safety guardrail shell (1), a manual code sweeping gun (5) is arranged beside the detection area (4), a feeding turnover vehicle (6) is arranged in front of the detection area (4), and a PLC control cabinet (9) and a robot control cabinet (10) are arranged outside the safety guardrail shell (1);
the feeding turnover vehicle (6) comprises a shell, a transverse plate (16), a cross sliding table mechanism (17), a top plate (18), a camera (19), a support (22) and a mechanical clamping hand (24), wherein the transverse plate, the cross sliding table mechanism, the top plate (18), the camera (19), the support (22) and the mechanical clamping hand (24) are arranged in the shell, four corners of the bottom of the support (22) are respectively provided with a wheel assembly, each wheel assembly consists of a wheel (23) and a motor (21), and the output end of the motor (21) is coaxially connected with the wheel (23) to drive the wheel (; the middle part of the bracket (22) is provided with a vertically arranged cross sliding table mechanism (17), a transverse plate (16) of the cross sliding table mechanism (17) is provided with a mechanical clamping hand (24), the lower side of the transverse plate (16) extends and is fixed with a horizontal plate, and the bottom surface of the horizontal plate is provided with a camera (19).
2. The device for realizing clamping and positioning of the CMM detection system according to claim 1 is characterized in that: machinery tong (24) including mechanical finger link mechanism (30), machinery palm (32), gear (33), belt (34), band pulley (35) and step motor (36), step motor (36) are fixed on diaphragm (16) of cross slip table mechanism (17), a machinery palm (32) are all installed to both sides on the horizontal plate of diaphragm (16) downside, the front end of machinery palm (32) is connected and is installed mechanical finger link mechanism (30), the equal fixed mounting in top of every machinery palm (32) has gear (33), gear (33) of two machinery palms (32) mesh mutually and connect, gear (33) coaxial coupling at one of them machinery palm (32) top has the band pulley axle, the band pulley axle is connected through the output transmission of band pulley (35) and belt (34) and step motor (36).
3. The device for realizing clamping and positioning of the CMM detection system according to claim 2 is characterized in that: the mechanical finger connecting rod mechanism (30) comprises a steering engine (31), a root finger connecting rod (37), a crank (38), a sliding block (39), a sliding rail (40), a triangular plate (41), a first section lower finger rod piece (42), a second section lower finger rod piece (43), a fingertip member (44), a second section upper finger connecting rod (46) and a first section upper finger connecting rod (47); the steering engine (31) is fixed on the side surface of a mechanical palm (32), the output end of the steering engine (31) drives the sliding block (39) to move horizontally through the crank (38), the sliding block (39) is embedded on the sliding rail (40), a triangular plate (41) and a fingertip member (44) are sequentially arranged in front of the sliding block (39), the rear end of the root finger connecting rod (37) is hinged to the sliding block (39), the front end of the root finger connecting rod (37) is hinged to the corner of the triangular plate (41) at the front end, the rear end of the first finger upper connecting rod (47) is hinged to the corner of the triangular plate (41) at the upper end, the front end of the second finger upper connecting rod (46) is hinged to the upper part of the fingertip member (44), the rear end of the first finger lower rod (42) is hinged to the corner of the triangular plate (41) at the rear end, the front end of the first finger lower rod (42) is hinged to the second finger lower rod (43), the front end of the second finger lower rod piece (43) is hinged with the lower part of the fingertip component (44).
4. The device for realizing clamping and positioning of the CMM detection system according to claim 1 is characterized in that: the wheels (23) adopt Mecanum wheels.
5. The device for realizing clamping and positioning of the CMM detection system according to claim 1 is characterized in that: and an early warning lamp (20) is also arranged on the feeding turnover vehicle (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021080100.7U CN212109932U (en) | 2020-06-12 | 2020-06-12 | Device for realizing clamping and positioning of CMM detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021080100.7U CN212109932U (en) | 2020-06-12 | 2020-06-12 | Device for realizing clamping and positioning of CMM detection system |
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| CN212109932U true CN212109932U (en) | 2020-12-08 |
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| CN202021080100.7U Active CN212109932U (en) | 2020-06-12 | 2020-06-12 | Device for realizing clamping and positioning of CMM detection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061503A (en) * | 2021-10-20 | 2022-02-18 | 中国航空工业集团公司北京航空精密机械研究所 | Wheel rotating tool for measuring machine platform |
-
2020
- 2020-06-12 CN CN202021080100.7U patent/CN212109932U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061503A (en) * | 2021-10-20 | 2022-02-18 | 中国航空工业集团公司北京航空精密机械研究所 | Wheel rotating tool for measuring machine platform |
| CN114061503B (en) * | 2021-10-20 | 2023-07-28 | 中国航空工业集团公司北京航空精密机械研究所 | Wheel rotating tool for measuring machine platform |
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