CN213053702U - Tool changing calibration measuring device for industrial robot engraving tool - Google Patents
Tool changing calibration measuring device for industrial robot engraving tool Download PDFInfo
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- CN213053702U CN213053702U CN202021810081.9U CN202021810081U CN213053702U CN 213053702 U CN213053702 U CN 213053702U CN 202021810081 U CN202021810081 U CN 202021810081U CN 213053702 U CN213053702 U CN 213053702U
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Abstract
The utility model discloses a measuring device is markd to industrial robot carving tool changing, the on-line screen storage device comprises a base, the symmetry is provided with two supports on the base, be provided with dial plate seat on the support, be provided with on the dial plate seat up end and measure the body, it is provided with both ends open-ended detection chamber to measure this internal along its vertical direction, it is provided with the detection slider to detect the intracavity, sliding fit between detection slider and the measurement body, the fixed amesdial that is provided with on the dial plate seat, the measuring stick of amesdial is along measuring the vertical detection intracavity that stretches into of body vertical direction, the measuring stick tip of amesdial supports on the lower terminal surface that detects the slider, support the detection slider. The device simple structure, convenient operation through the rapid survey to the length change of cutter size behind the tool changing, realizes maring fast to cutter behind the tool changing to revise industrial robot's machining coordinate, improve the efficiency that the tool changing was markd, guarantee the continuity of manufacturing procedure, improve machining efficiency.
Description
Technical Field
The utility model relates to a cutter measurement technical field, in particular to measuring device is markd in industrial robot sculpture cutter tool changing.
Background
In the engraving process by adopting the industrial robot, due to different engraving materials, different processing positions and different processing precision, the tool needs to be changed for many times in the processing process of one engraving work. The tool changing method comprises the following two common methods: automatic tool changing and manual tool changing; the smoothness of the processing technology can be guaranteed by adopting automatic tool changing, but the tool changing size of each technology needs to be customized in advance according to the specific conditions of the engraving technology and the robot workstation, the automatic tool changing system is designed in a customized mode, the cost is high, the tool magazine size is fixed and cannot be modified randomly, and the processing cost is high; the design cost of the workstation can be reduced by adopting manual tool changing, the next process planning and the tool size can be flexibly changed according to the actual processing condition, but the processing process beat is frequently broken, and the engraving efficiency is reduced. Meanwhile, no matter which tool changing mode is adopted, after the tool is changed, the machining position deviation usually occurs, and the coordinates of the robot tool need to be calibrated again, so that the machining precision is ensured.
Because frequently change the cutter in the course of working, and length, thickness, shape etc. between the cutter all are all different to, there is the error in the sculpture instrument need install on industrial robot ring flange and receive anchor clamps machining precision and mounting process's influence equally, make even adopt size data direct input and manual TCP teaching to mark the artifical utensil coordinate of robot again and still have the error, cause the processing position deviation, influence the work fineness.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving when industrial robot carving tool changing, because the cutter size is different, need mark again behind the tool changing, lead to the problem that machining precision, machining efficiency can't be guaranteed, provide a measuring device is markd to industrial robot carving tool changing.
In order to solve the technical problem, the utility model discloses a technical scheme as follows:
measuring device is markd in industrial robot carving cutter tool changing, including the base, the symmetry is provided with two supports on the base, be provided with dial plate seat on the support, be provided with on the dial plate seat up end and measure the body, it is provided with both ends open-ended detection chamber to measure this internal along its longitudinal direction, it is provided with the detection slider to detect the intracavity, sliding fit between detection slider and the measurement body, the fixed amesdial that is provided with on the dial plate seat, the measuring stick of amesdial is along measuring the vertical detection intracavity that stretches into of body longitudinal direction, and the measuring stick tip of amesdial supports on the lower terminal surface that detects the slider, supports the detection slider.
In the above technical solution, further, a floating support assembly is disposed between the support and the dial seat, so that the dial seat can move up and down and/or move in a horizontal direction on the support.
Among the above-mentioned technical scheme, further, the supporting component that floats is the supporting spring who sets up respectively on the support, the supporting spring both ends respectively with be connected between support and the dial plate seat.
In the above technical solution, further, the stiffness of the support spring is greater than the stiffness of the dial indicator detection lever acting spring.
In the above technical scheme, further, the upper end of the detection slide block is provided with a matching groove matched with the section of the tool bit of the tool.
In the above technical scheme, further, the number of the detection sliding blocks is multiple, and the matching grooves on the upper end surface of the detection sliding blocks are respectively arranged into structures capable of matching with different tool bits.
In the above technical scheme, further, a support groove matched with the end of the detection rod of the dial indicator is arranged on the lower end face of the detection slide block.
The utility model discloses simple structure, convenient operation, through the rapid survey to the length change of cutter size behind the tool changing, realize demarcating fast to cutter behind the tool changing to revise industrial robot's instrument coordinate, improve the efficiency that the tool changing was markd, guarantee manufacturing procedure's continuity, improve machining efficiency.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of an embodiment of the middle detection slider of the present invention.
Fig. 3 is a schematic structural view of another embodiment of the middle detection slider of the present invention.
In the figure: 1. the device comprises a base, 2, a support, 3, a dial seat, 4, a measuring body, 401, a detecting cavity, 5, a detecting sliding block, 501, a matching groove, 502, a supporting groove, 6, a dial indicator, 7, a supporting spring, 8 and a connecting screw.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the tool changing calibration measuring device for the industrial robot engraving tool in the embodiment includes a base 1, two supports 2 are symmetrically arranged on the base 1, a dial seat 3 is arranged on the supports 2, a measuring body 4 is arranged on the upper end surface of the dial seat 3, and the measuring body 4 is fixedly mounted on the dial seat through a connecting screw. The measuring body 4 is internally provided with a detection cavity 401 with two open ends along the longitudinal direction, a detection slide block 5 is arranged in the detection cavity 401, and the detection slide block 5 is connected with the measuring body 4 in a sliding fit manner, so that the detection slide block can move in the detection cavity along the vertical direction. The dial indicator seat 3 is fixedly provided with a dial indicator 6, and one end of the dial indicator 6 is arranged between the two supports 2 so as to facilitate the setting of the dial indicator; the detection rod of the dial indicator 6 vertically extends into the detection cavity 401 along the longitudinal direction of the measurement body, and the end part of the detection rod of the dial indicator 6 abuts against the lower end face of the detection slide block 5 to support the detection slide block 5. A supporting groove 502 matched with the end part of the detection rod of the dial indicator is arranged on the lower end face of the detection slide block 5, and the supporting groove is used for forming good matching between the end part of the detection rod of the dial indicator and the detection slide block to ensure detection precision.
A floating support component is arranged between the support 2 and the dial seat 3, so that the dial seat can move up and down and can swing in the horizontal direction on the support, and preferably, the dial seat can swing in the horizontal direction on the support. Set up to the floating structure that can move on the horizontal direction between dial plate seat and the support, can be used to offset the cutter and enter into measuring device's the measuring intracavity error on the horizontal direction, guarantee the cutter when measuring and detect and can well cooperate between the slider, make cutter and amesdial be located the same axis to guarantee the precision of detecting.
Specifically, the floating support assembly in this embodiment is a support spring 7 respectively disposed on two supports, and two ends of the support spring 7 are respectively connected with the support 2 and the dial plate seat 3. The rigidity of the supporting spring 7 is greater than that of the spring acted by the detection rod of the dial indicator 6, so that the position of the dial seat is kept in a stable state when the cutter drives the detection slide block to move in the measurement process, and the influence of the supporting spring on the measurement precision is avoided.
The upper end of the detection slide block 5 is provided with an engaging groove 501 which is engaged with the cross section of the tool bit. Wherein, the quantity that detects slider 5 is a plurality of, and cooperation groove 501 on the detection slider 5 up end sets up respectively to be can with different cutter tool bit complex structures, changes different detection sliders to different cutters and detects. Different cutters adopt different detection sliders to detect, and the cutter head of the cutter stretches into the matching groove during detection, so that the coaxiality between the cutter and the detection sliders can be well guaranteed, and the measurement precision is ensured. As shown in fig. 2 and 3, the mating grooves 501 on the detection slide block are respectively a conical section groove for mating with a conical cutter head and a rectangular flat-bottom section groove for mating with a flat-head cutter.
The implementation process of calibrating and measuring the cutter by adopting the measuring device in the embodiment is as follows:
manually calibrating the coordinates of a primary tool by selecting a common cutter of the engraving workstation, and recording coordinate data in an upper computer; the robot is controlled to move the cutter to enter a measuring body detecting cavity of the measuring device, so that the cutter head of the cutter is matched with a corresponding detecting slide block, the moving distance of the detecting slide block in the vertical direction is measured through a dial indicator, datum data are obtained, the datum data are transmitted to an upper computer to be stored as datum data A0, and meanwhile, a path program P1 from a home point to the measuring device of the industrial robot is compiled.
And (4) running the path program P1 again after tool changing, automatically controlling the tool to run to a set position, and measuring the data A1 of the movement of the detection slide block after tool changing through a dial indicator.
Uploading the data A1 to an upper computer, comparing the data A1 with the reference data A0, and calculating the difference between the data A1 and the reference data A0; and the upper computer corrects the tool coordinate by the manually calibrated tool coordinate according to the difference obtained by calculation to obtain the tool coordinate suitable for newly replacing the tool, and then the subsequent processing is carried out.
The present invention is not limited to the above description and drawings, but should be understood as being illustrative and not restrictive, and the technical features can be replaced and modified without creative efforts by those skilled in the art according to the technical content disclosed, all falling within the scope of the present invention.
Claims (7)
1. Measuring device is markd in industrial robot carving cutter tool changing, its characterized in that, the on-line screen storage device comprises a base, the symmetry is provided with two supports on the base, be provided with dial plate seat on the support, be provided with on the dial plate seat up end and measure the body, it is provided with both ends open-ended detection chamber to measure this internal along its longitudinal direction, it is provided with the detection slider to detect the intracavity, sliding fit between detection slider and the measurement body, the dial plate seat is last to fix and is provided with the amesdial, the measuring stick of amesdial is along measuring the vertical detection intracavity that stretches into of body longitudinal direction, and the measuring stick tip of amesdial supports on the lower terminal surface that detects the slider, supports the detection slider.
2. An industrial robot engraving tool changing calibration measuring device according to claim 1, characterized in that a floating support assembly is arranged between the support and the dial seat, so that the dial seat can move up and down and/or can swing horizontally on the support.
3. The tool changing calibration measuring device for the industrial robot engraving tool according to claim 2, wherein the floating support components are support springs respectively arranged on the support, and two ends of each support spring are respectively connected with the support and the dial seat.
4. The industrial robot engraving tool changing calibration measuring device according to claim 3, wherein the stiffness of the supporting spring is larger than the stiffness of the dial indicator detecting rod acting spring.
5. An industrial robot engraving tool changing calibration measuring device according to any of the claims 1 to 3, characterized in that the upper end of the detecting slide is provided with a matching groove matching with the cross section of the tool bit.
6. The tool changing calibration measuring device for the engraving tool of the industrial robot as claimed in claim 5, wherein the number of the detection slide blocks is multiple, and the matching grooves on the upper end surface of the detection slide blocks are respectively configured to match with different tool bits.
7. The tool changing calibration measuring device for the industrial robot engraving tool according to claim 5, wherein a supporting groove matched with the end part of the detecting rod of the dial indicator is arranged on the lower end surface of the detecting slide block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021810081.9U CN213053702U (en) | 2020-08-26 | 2020-08-26 | Tool changing calibration measuring device for industrial robot engraving tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021810081.9U CN213053702U (en) | 2020-08-26 | 2020-08-26 | Tool changing calibration measuring device for industrial robot engraving tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213053702U true CN213053702U (en) | 2021-04-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021810081.9U Active CN213053702U (en) | 2020-08-26 | 2020-08-26 | Tool changing calibration measuring device for industrial robot engraving tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213053702U (en) |
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2020
- 2020-08-26 CN CN202021810081.9U patent/CN213053702U/en active Active
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