CN213515397U

CN213515397U - Material height measuring device for manipulator

Info

Publication number: CN213515397U
Application number: CN202022424566.0U
Authority: CN
Inventors: 黄运军
Original assignee: Yiwate Robot Equipment Manufacturing Co ltd
Current assignee: Yiwate Robot Equipment Manufacturing Co ltd
Priority date: 2020-10-27
Filing date: 2020-10-27
Publication date: 2021-06-22
Anticipated expiration: 2030-10-27

Abstract

The utility model belongs to the technical field of measuring devices, in particular to a material height measuring device for a manipulator, which comprises a bottom plate, wherein a sliding box and a measuring box are fixedly arranged on the upper end surface of the bottom plate from left to right in sequence, first ports are respectively arranged on the left side wall and the right side wall of the sliding box, a sliding rod is fixedly arranged between the upper end surface and the lower end surface in the sliding box, a sliding block is movably sleeved on the outer wall of the sliding rod, moving rods are fixedly connected with the left side wall and the right side wall of the sliding block, and the far ends of the two moving rods respectively pass through the two first ports and extend to the outside of the sliding box, so that when the manipulator carries materials each time, the manipulator moves downwards to contact the materials, drives a vertical motion mechanism to move downwards to enable the measuring rod to touch an inductive probe, further measures the height of the materials and directly and conveniently checks the height of, and the inductive probe can be calibrated by the graduated scale.

Description

Material height measuring device for manipulator

Technical Field

The utility model relates to a measuring device technical field, concretely relates to material height measuring device for manipulator.

Background

When the vertical motion of the carrying manipulator is driven by a stepping motor or a servo motor, when the sensor detects that the manipulator touches an object, the control program can calculate the height of the current material according to the related relative quantity (or absolute quantity), however, under the condition that the vertical motion of the manipulator is driven by a common cylinder (or a hydraulic cylinder), when the height of the current material needs to be judged, the laser or ultrasonic measuring sensor needs to be adopted for measuring, the cost is high, or manual measurement needs to be carried out by other measuring electronic instruments, the height of the material is not convenient to measure, and the manipulator is influenced to carry the material.

SUMMERY OF THE UTILITY MODEL

For solving the problem that proposes among the above-mentioned background art, the utility model provides a material height measurement device for manipulator has and touches inductive probe according to the measuring stick, and then measures the height of material and moves down the position that stops according to the measuring stick, directly conveniently looks over the height of measuring stick to and the characteristics that inductive probe was calibrated to the accessible scale.

In order to achieve the above object, the utility model provides a following technical scheme: a material height measuring device for a manipulator comprises a bottom plate, wherein a sliding box and a measuring box are fixedly installed on the upper end face of the bottom plate from left to right in sequence, first ports are formed in the left side wall and the right side wall of the sliding box respectively, a sliding rod is fixedly installed between the upper end face and the lower end face inside the sliding box, a sliding block is movably sleeved on the outer wall of the sliding rod, moving rods are fixedly connected to the left side wall and the right side wall of the sliding block respectively, the far ends of the two moving rods penetrate through the two first ports respectively and extend to the outside of the sliding box, a vertical movement mechanism is fixedly connected to the left end of the moving rod on the left side, a second port is formed in the left side wall of the measuring box, a toothed chain is arranged inside the second port, a first gear is connected to middle toothed grains inside the toothed chain, a measuring rod is arranged inside the first gear, and a measuring plate is fixedly installed, the inside of measuring panel is provided with a plurality of from the top down evenly distributed's metal pole, and is a plurality of the equal fixed mounting in left end of metal pole has inductive probe.

In order to make the toothed chain rotate, as the utility model relates to a material height measuring device for manipulator is preferred, measure the equal fixedly connected with dead lever in upper and lower both ends of the inside right side wall of case, two the left end of dead lever all is provided with second gear, two the outer wall of second gear all is connected with the inside insection meshing of toothed chain.

In order to measure the height of vertical movement, and then measure the height of material, as the utility model relates to a manipulator is with material height measuring device preferred, measure the inside right side wall fixedly connected with fixed plate of inboard, the left side wall of fixed plate and the equal fixed connection of right-hand member of a plurality of metal poles, it is a plurality of the left end of metal pole all runs through the left side wall of measuring the board and extends to the outside of measuring the board.

Move down to drive the carriage release lever in order to make perpendicular motion and move down, and then make the carriage release lever push down the measuring stick and move down, as the utility model relates to a material height measuring device for manipulator is preferred, the bearing has been cup jointed to the inner wall of first gear is fixed, the inner wall of bearing and the outer wall fixed connection of measuring stick, the left end of measuring stick is located the carriage release lever on right side under.

In order to make the measuring stick highly carry out the measurement of side with the material when moving down, as the utility model relates to a material height measuring device for manipulator is preferred, the left end of measuring stick passes the second port and extends to the outside of measuring box, the right-hand member of measuring stick extends to the inside right side and the inductive probe contact of measuring box.

For the height of conveniently observing the material, as the utility model relates to a material height measuring device for manipulator is preferred, the left side wall of measuring box is provided with the scale, the scale is located the rear of second port, the scale and a plurality of inductive probe of scale are to corresponding.

Compared with the prior art, the beneficial effects of the utility model are that:

1. this material height measurement device for manipulator, the in-process that the vertical motion mechanism moved down, drive carriage release lever and slider move down along the slide bar, the carriage release lever is when moving down, push down the measuring stick, make the measuring stick move down, thereby the bearing rotates and drives first gear revolve, and then drive the chain gear and rotate, two second gear support chain gear revolve, when the measuring stick moves down, the right-hand member of measuring stick can touch inductive probe, when the measuring stick stops moving down, inductive probe with the contact of measuring stick right-hand member gives the controller with the signal transmission, and then measure the height of material, thereby when the manipulator carries the material at every turn, the manipulator moves down and contacts the material, it moves down to drive the vertical motion mechanism, make the measuring stick touch inductive probe, and then measure the height of material.

2. This high measuring device of material for manipulator, through the scale, the scale and a plurality of inductive probe of scale are to corresponding to according to the measuring stick position that moves down and stop, directly conveniently look over the height of measuring stick, and the accessible scale calibrates inductive probe.

Drawings

The accompanying drawings 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 and not to limit the invention. In the drawings:

fig. 1 is a structural diagram of a material height measuring device for a manipulator according to the present invention;

fig. 2 is a partial left side view of the present invention;

fig. 3 is a partial left side view of the present invention;

in the figure, 1, a bottom plate; 2. a slide box; 201. a first port; 3. a measuring box; 301. a measuring rod; 3011. a second port; 302. a first gear; 3021. a bearing; 303. a graduated scale; 4. a vertical movement mechanism; 5. a travel bar; 6. a slide bar; 601. a slider; 7. a toothed chain; 8. measuring a plate; 801. a fixing plate; 802. a metal rod; 803. an inductive probe; 9. fixing the rod; 901. a second gear.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and 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 thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1-3, the present invention provides the following technical solutions: a material height measuring device for a manipulator comprises a bottom plate 1, wherein a sliding box 2 and a measuring box 3 are sequentially and fixedly installed on the upper end face of the bottom plate 1 from left to right, first ports 201 are formed in the left side wall and the right side wall of the sliding box 2, a sliding rod 6 is fixedly installed between the upper end face and the lower end face in the sliding box 2, a sliding block 601 is movably sleeved on the outer wall of the sliding rod 6, moving rods 5 are fixedly connected to the left side wall and the right side wall of the sliding block 601, the far ends of the two moving rods 5 respectively penetrate through the two first ports 201 and extend to the outside of the sliding box 2, a vertical movement mechanism 4 is fixedly connected to the left end of the moving rod 5 on the left side, a second port 3011 is formed in the left side wall of the measuring box 3, a toothed chain 7 is arranged in the second port 3011, a first gear 302 is connected to a toothed line in the middle of the inside of the toothed chain 7, a measuring rod 301 is arranged, a plurality of metal rods 802 distributed uniformly from top to bottom are arranged in the measuring plate 8, and the left ends of the metal rods 802 are fixedly provided with induction probes 803.

In this embodiment: in the process of moving the vertical movement mechanism 4 downwards, the movable rod 5 and the slider 601 are driven to move downwards along the sliding rod 6, when the movable rod 5 moves downwards, the measuring rod 301 is pressed downwards, so that the measuring rod 301 moves downwards, the bearing 3021 rotates to drive the first gear 302 to rotate, and further drive the toothed chain 7 to rotate, the two second gears 901 support the toothed chain 7 to rotate, when the measuring rod 301 moves downwards, the right end of the measuring rod 301 touches the inductive probe 803, when the measuring rod 301 stops moving downwards, the inductive probe 803 in contact with the right end of the measuring rod 301 transmits a signal to the controller, and further measures the height of the material, through the scale 303, the scales of the scale 303 correspond to the inductive probes 803, so that the height of the measuring rod 301 can be directly and conveniently checked according to the position where the measuring rod 301 moves downwards to stop, and the inductive probe 803 can be calibrated through the scale 303.

As a technical optimization scheme of the utility model, the equal fixedly connected with dead lever 9 in upper and lower both ends of the inside right side wall of measuring box 3, the left end of two dead levers 9 all is provided with second gear 901, and the outer wall of two second gears 901 all is connected with the inside insection meshing of toothed chain 7.

In this embodiment: through setting up two second gears 901, two second gears 901 are located the upper and lower both ends of toothed chain 7 respectively, and two dead levers 9 are fixed two second gears 901's position respectively, and when toothed chain 7 rotated, toothed chain 7 drove two second gears 901 and rotate to two second gears 901 support toothed chain 7 and rotate.

As the utility model discloses a technical optimization scheme, the inside right side wall fixedly connected with fixed plate 801 of measurement board 8, the left side wall of fixed plate 801 and the equal fixed connection of right-hand member of a plurality of metal poles 802, the left end of a plurality of metal poles 802 all runs through the left side wall of measurement board 8 and extends to the outside of measurement board 8.

In this embodiment: by providing the fixing plate 801, the plurality of metal rods 802 are fixed to the fixing plate 801, and the plurality of inductive probes 803 are fixed by attaching the inductive probes 803 to the left ends of the plurality of metal rods 802.

As a technical optimization scheme of the utility model, the fixed bearing 3021 that has cup jointed of inner wall of first gear 302, the inner wall of bearing 3021 and measuring stick 301's outer wall fixed connection, the left end of measuring stick 301 is located the carriage release lever 5 on right side under.

In this embodiment: a plurality of inductive probe 803 all are connected with the controller, and every inductive probe 803 all is provided with corresponding scale, drives the carriage release lever 5 at vertical motion mechanism 4 and moves down, and then pushes down measuring stick 301 for measuring stick 301 moves down, when measuring stick 301 moves down, makes bearing 3021 rotate and then drives first gear 302 and rotate, and then drives toothed chain 7 and rotates, and toothed chain 7 rotates and drives two second gears 901 and rotate simultaneously.

As a technical optimization scheme of the utility model, the left end of measuring stick 301 passes second port 3011 and extends to the outside of measuring box 3, and the right-hand member of measuring stick 301 extends to the inside right side and the inductive probe 803 contact of measuring box 3.

In this embodiment: when the measuring rod 301 moves down, the right end of the measuring rod 301 touches the inductive probe 803, and when the measuring rod 301 stops moving down, the inductive probe 803 in contact with the right end of the measuring rod 301 transmits a signal to the controller, and the controller transmits measured height data, so as to measure the height of the material.

As a technical optimization scheme of the utility model, the left side wall of measuring box 3 is provided with scale 303, and scale 303 is located second port 3011's rear, and scale and a plurality of inductive probe 803 of scale 303 are to corresponding.

In this embodiment: through setting up scale 303, when measuring stick 301 moved down and stops, through scale 303, conveniently look over the height of measuring stick 301, the height of measuring stick 301 is the height of material promptly to and when inductive probe 803 reacts insensitive, the inductive probe 803 is calibrated to accessible scale 303.

The utility model discloses a theory of operation and use flow: firstly, the measuring rod 301 is moved up to the same height as the material, the manipulator contacts the material when the vertical movement mechanism 4 moves down, and then carries the material, in the process that the vertical movement mechanism 4 moves down, the moving rod 5 moves down, so that the measuring rod 301 is pressed down, the measuring rod 301 moves down, so that the bearing 3021 and the first gear 302 rotate, and further the toothed chain 7 and the two second gears 901 are driven to rotate, when the measuring rod 301 moves down, the right end of the measuring rod 301 touches the inductive probe 803, when the measuring rod 301 stops moving down, the inductive probe 803 contacted with the right end of the measuring rod 301 transmits a signal to the controller, and further the height of the material is measured, when the manipulator carries the material each time, the material gradually starts to move down, at this time, the manipulator moves down to contact the material, so as to drive the vertical movement mechanism 4 to move down, and further the manipulator can measure the height of the material when carrying the material, through setting up scale 303, conveniently look over the height of measuring stick 301 to and accessible scale 303 calibrates inductive probe 803.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a material height measurement device for manipulator, includes bottom plate (1), its characterized in that: the upper end face of the bottom plate (1) is fixedly provided with a sliding box (2) and a measuring box (3) from left to right in sequence, the left side wall and the right side wall of the sliding box (2) are respectively provided with a first port (201), a sliding rod (6) is fixedly arranged between the upper end face and the lower end face in the sliding box (2), the outer wall of the sliding rod (6) is movably sleeved with a sliding block (601), the left side wall and the right side wall of the sliding block (601) are respectively and fixedly connected with moving rods (5), one ends, far away from the two moving rods (5), penetrate through the two first ports (201) respectively and extend to the outside of the sliding box (2), the left end of the moving rod (5) positioned on the left side is fixedly connected with a vertical movement mechanism (4), the left side wall of the measuring box (3) is provided with a second port (3011), a toothed chain (7) is arranged in the second port (3011), and a first gear (302) is connected with, the inside of first gear (302) is provided with measuring stick (301), the inside right side wall fixed mounting of measurement case (3) has measuring board (8), the inside of measuring board (8) is provided with a plurality of from the top even metal pole (802) of distribution down, and is a plurality of the equal fixed mounting in left end of metal pole (802) has inductive probe (803).

2. The material height measuring device for the manipulator according to claim 1, characterized in that: the upper end and the lower end of the right side wall in the measuring box (3) are fixedly connected with fixing rods (9), the left ends of the two fixing rods (9) are provided with second gears (901), and the outer walls of the two second gears (901) are meshed with the inner insections of the toothed chain (7).

3. The material height measuring device for the manipulator according to claim 1, characterized in that: the right side wall of the interior of the measuring plate (8) is fixedly connected with a fixing plate (801), the left side wall of the fixing plate (801) is fixedly connected with the right ends of the metal rods (802), and the left ends of the metal rods (802) penetrate through the left side wall of the measuring plate (8) and extend to the exterior of the measuring plate (8).

4. The material height measuring device for the manipulator according to claim 1, characterized in that: the fixed bearing (3021) that has cup jointed of inner wall of first gear (302), the inner wall of bearing (3021) and the outer wall fixed connection of measuring stick (301), the left end of measuring stick (301) is located right below right side carriage release lever (5).

5. The material height measuring device for the manipulator according to claim 1, characterized in that: the left end of the measuring rod (301) penetrates through the second port (3011) and extends to the outside of the measuring box (3), and the right end of the measuring rod (301) extends to the right side of the inside of the measuring box (3) and is in contact with the induction probe (803).

6. The material height measuring device for the manipulator according to claim 1, characterized in that: the left side wall of the measuring box (3) is provided with a graduated scale (303), the graduated scale (303) is located behind the second port (3011), and scales of the graduated scale (303) correspond to the plurality of inductive probes (803).