CN214442461U - Manipulator mistake proofing dress subassembly - Google Patents
Manipulator mistake proofing dress subassembly Download PDFInfo
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- CN214442461U CN214442461U CN202120609318.5U CN202120609318U CN214442461U CN 214442461 U CN214442461 U CN 214442461U CN 202120609318 U CN202120609318 U CN 202120609318U CN 214442461 U CN214442461 U CN 214442461U
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Abstract
The utility model discloses a manipulator mistake proofing dress subassembly for the production water line that has the several manipulator, the several manipulator has corresponding frock separately, and corresponding manipulator and frock are assembled mutually through matching the subassembly, and the matching assembly includes locating pin and inductor, and manipulator mistake proofing dress subassembly is installed respectively on manipulator and frock, holds locating pin and inductor, and manipulator mistake proofing dress subassembly includes: the installation base, installation crane span structure and mistake proofing cotter pin group. The installation base is arranged on the manipulator, and four positioning pin installation holes and four sensor installation holes which are distributed in a rectangular shape are formed in the installation base. The installation bridge is arranged on the tool and is provided with four positioning pin accommodating holes and four induction component accommodating holes which are distributed in a rectangular shape. The anti-error bolt pin set comprises a positioning plugging bolt and an induction plugging bolt, the positioning plugging bolt is arranged in a positioning pin mounting hole or a positioning pin accommodating hole, and the induction plugging bolt is arranged in an inductor mounting hole or an induction part accommodating hole.
Description
Technical Field
The utility model relates to an automobile parts field, more specifically say, relate to the appurtenance on the car production water line.
Background
Automobile production lines have a large number of stamping stations, and automobile stamping generally uses a mechanical arm Tooling of the automobile stamping production line to pick and place workpieces for automated part processing. FIG. 1 shows a block diagram of a robot Tooling used in an automated manufacturing line. Fig. 1 discloses a robot tool for the schulelen Servoline automated production line tolling. In the schuller Serioline automatic production line, the transmission of the process pieces is completed by a schuller cross-bar manipulator CBF, and Tooling is a special pneumatic clamp which is installed on the cross-bar manipulator CBF and has high flexibility, and is formed by assembling a plurality of rod pieces and a sucker.
Referring to fig. 1, tolling includes a main rod 101, a plurality of sub-rods 102 extending transversely from the main rod 101, a plurality of support rods 103 extending from the sub-rods 102, a steering knuckle 104 mounted on the support rods 103, and a suction cup 105 mounted on the steering knuckle 104. The boom 101 is mounted to a crossbar robot 107 by a gripper 106. The primary component of tolling that functions to pick and place is the suction cup 105. the suction cup 105 needs to be accurately positioned to the desired location to be attached to the work piece at the exact location. Accurate positioning of the suction cup 105 is a prerequisite for the correct operation of tolling. In a practical pipeline, multiple robots, each having a different tolling, may be provided to accommodate different work pieces. Taking the schuler six-order servo press production line as an example, each side of the production line is provided with 7 sets of Tooling of the cross bar manipulator CBF0-CBF6, and the two sides of the production line are provided with 14 sets of Tooling. The tolling and process pieces on both sides of the production line are symmetrically arranged, so that there are 7 types of tolling on the production line of the schuler six-order servo press, corresponding to 7 different process pieces.
The Tooling needs to be replaced manually during die replacement, and the correct installation of the Tooling is a precondition for starting production of the punching production line. Having 7 different tolling on the same side of the line requires installation, and the differences between the various tolling are not very significant and need to be carefully identified for discovery. However, the interface between tolling and the robot is the same, and therefore there is a possibility of misloading. If the Tooling is installed incorrectly during die change, the following consequences may occur:
1) tooling cannot be installed in place, and the die change operation is interrupted;
2) after the installation error, the Tooling exceeds the range of the safety door of the equipment, and collides with the safety door to damage the Tooling and the equipment;
3) tooling collides with the mold, causing CBF damage.
In order to avoid the above problems, a mistake proofing measure is needed for replacement and installation of the tolling, and the currently adopted mistake proofing measure is to distinguish different tolling by adopting different color codes and codes, but the mistake proofing measure depends on manual visual inspection and does not have structural mistake proofing capability, and if the manual inspection fails, the condition of wrong installation still occurs.
SUMMERY OF THE UTILITY MODEL
The utility model provides a can be from structural mistake proofing dress subassembly that prevents the mistake dress from appearing.
According to the utility model discloses an embodiment provides a manipulator mistake proofing subassembly for the production water line that has the several manipulator, the several manipulator has corresponding frock separately, and corresponding manipulator and frock are through matching the subassembly and assembling mutually, and the matching subassembly includes locating pin and inductor, and this manipulator mistake proofing subassembly is installed respectively on manipulator and frock, and manipulator mistake proofing subassembly holds locating pin and inductor, and wherein, manipulator mistake proofing subassembly includes: the installation base, installation crane span structure and mistake proofing cotter pin group. The installation base is arranged on the manipulator, and four positioning pin installation holes and four sensor installation holes which are distributed in a rectangular shape are formed in the installation base. The installation bridge is arranged on the tool and is provided with four positioning pin accommodating holes and four induction component accommodating holes which are distributed in a rectangular shape. The anti-error bolt pin set comprises a positioning plugging bolt and an induction plugging bolt, the positioning plugging bolt is arranged in a positioning pin mounting hole or a positioning pin accommodating hole, and the induction plugging bolt is arranged in an inductor mounting hole or an induction part accommodating hole.
In one embodiment, the positioning plug pins are inserted into positioning pin receiving openings of the mounting bridge, and the positioning pin receiving openings into which the positioning plug pins are inserted can no longer receive positioning pins.
In one embodiment, the inductive plugging plug is installed in the inductor installation hole or the inductive element accommodating hole, the length of the inductive plugging plug is larger than the depth of the inductor installation hole or the inductive element accommodating hole, and the inductive plugging plug protrudes out of the surface of the installation base or the installation bridge.
In one embodiment, a set of diagonally distributed positioning pin mounting holes on the mounting base are open to mount two positioning pins, another set of positioning pin mounting holes are vacant or blocked, a corresponding set of diagonally distributed positioning pin receiving holes on the mounting bridge are open to receive two positioning pins, and another set of positioning pin receiving holes are blocked by mounting positioning blocking plugs, so that the mounting base and the mounting bridge can only be assembled with each other in a designated direction.
In one embodiment, the four sensor mounting holes of the mounting base are respectively configured to be plugged by installing sensors, being left empty or installing sensing plugging plugs, the four sensing element receiving holes of the mounting bridge are respectively configured to be plugged by installing sensing elements, being left empty or installing sensing plugging plugs, and the mounting base and the mounting bridge are assembled with each other in a one-to-one correspondence manner.
In one embodiment, the inductor mounting holes into which the inductor is fitted are matched with the induction member receiving holes into which the induction member is fitted. The vacant sensor mounting hole is matched with the blocked sensing part accommodating hole. The blocked sensor mounting hole is matched with the vacant sensing part accommodating hole.
In one embodiment, the four inductor mounting holes on each mounting base are arranged to include three modes of installing inductors, being left vacant or being plugged, and the modes of the four inductor mounting holes on different mounting bases form different combinations. The four induction element accommodating holes on each mounting bridge are arranged in three modes of being filled with induction elements, being vacant or being blocked, and the four induction element accommodating holes on different mounting bridges form different combinations. The mounting bases and the mounting bridge with the corresponding combinations can be assembled with each other.
Use the utility model discloses a manipulator mistake proofing dress subassembly forms only corresponding relation between manipulator and frock Tooling through installation base, installation crane span structure and mistake proofing bolt group. Each tolling can only be matched with the mounting base on one manipulator and cannot be assembled with the mounting bases of the other manipulators. Because the installation can not be completed, the operator can immediately recognize the mixed loading and correct the mixed loading, and the condition that the Tooling is not recognized to appear mixed loading and open the production line of the press can be effectively avoided.
Drawings
FIG. 1 shows a block diagram of a robot Tooling used in an automated manufacturing line.
Fig. 2a and 2b disclose schematic structural diagrams of a robot anti-misloading assembly according to an embodiment of the present invention.
Fig. 3a and 3b disclose schematic diagrams of an example of a robot anti-misloading assembly preventing directional misloading according to an embodiment of the present invention.
Fig. 4a and 4b disclose schematic diagrams of another example of a robot anti-misloading assembly preventing directional misloading according to an embodiment of the present invention.
Fig. 5a, 5b and 5c disclose schematic diagrams of the mounting base of the robot anti-mismatching assembly according to an embodiment of the present invention to prevent mismatching.
Fig. 6a, 6b and 6c disclose schematic diagrams of the mounting bridge of the robot anti-mismatching assembly according to an embodiment of the present invention.
Detailed Description
When the Tooling tolling is mounted on the robot, the positioning and identification is accomplished by the following components: the manipulator CBF is provided with an installation base, and the Tooling Tooling is provided with an installation bridge. The installation base and the installation bridge frame are respectively provided with a positioning pin hole and an inductor hole, and the positioning pin hole and the inductor hole on the installation base and the installation bridge frame correspond to each other in position. And the positioning pins are respectively arranged in the positioning pin holes corresponding to the positions on the mounting base and the mounting bridge frame to complete the positioning of the tool and the manipulator. The inductor is arranged in an inductor hole of the mounting base, and an induction part, such as an induction bolt, is arranged in an inductor hole at a corresponding position on the mounting bridge. After the installation base and the installation bridge frame are assembled, the sensor can sense the sensing bolt to complete positioning and identification. In the prior art, all the installation bases of the manipulator CBF and the installation bridges of the Tooling tolling adopt a universal mode to install the positioning pins, the inductors and the induction components in the positioning pin holes and the inductor holes, so that misassembly occurs immediately, positioning assembly and positioning identification can be completed, and the effect of preventing misassembly cannot be achieved. The utility model discloses distinguish the use in location pinhole and inductor hole, location pinhole and inductor hole are disposed with the mode of difference to different frock and manipulator to form the mode of one-to-one.
According to the utility model discloses an embodiment provides a manipulator mistake proofing subassembly for the production water line that has the several manipulator, the several manipulator has corresponding frock separately, and corresponding manipulator and frock are through matching the subassembly and assembling mutually, and the matching subassembly includes locating pin and inductor, and manipulator mistake proofing subassembly is installed respectively on manipulator and frock, and manipulator mistake proofing subassembly holds locating pin and inductor, and wherein, manipulator mistake proofing subassembly includes: mounting base 201, mounting bridge 202 and error-proofing bolt sets.
Fig. 2a and 2b disclose schematic structural diagrams of a robot anti-misloading assembly according to an embodiment of the present invention. Wherein fig. 2a discloses a structural diagram of a mounting base in the robot error proofing assembly, and fig. 2b discloses a structural diagram of a mounting bridge in the robot error proofing assembly. The installation base 201 is arranged on the manipulator, and four positioning pin installation holes 211 and four sensor installation holes 212 which are distributed in a rectangular shape are formed in the installation base 201. The mounting bridge 202 is disposed on the tool, and the mounting bridge 202 has four positioning pin receiving holes 221 and four sensing element receiving holes 222 distributed in a rectangular shape. The two ends of the positioning pin in the matching assembly are respectively arranged in the positioning pin mounting hole 211 and the positioning pin accommodating hole 221 which are arranged on the mounting base and the mounting bridge frame and correspond to each other in position. In actual use, only two of the four positioning pin mounting holes and the positioning pin accommodating holes are used for accommodating the positioning pins, and the other two holes are left vacant as spares. The inductors of the mating assembly are received in inductor receiving holes 212 in the mounting base and the corresponding inductor receiving holes 222 in the mounting bridge receive inductor elements, such as inductor bolts. In actual use, only two of the four inductor mounting holes and the four inductor receiving holes are used for accommodating the inductors and the inductor components, and the other two inductor mounting holes and the inductor component accommodating holes are reserved and are vacant.
The utility model discloses a manipulator mistake proofing dress subassembly realizes the mistake proofing mechanism through following means: and a mistake-proof bolt pin is arranged in the spare hole which is empty, so that a unique matching structure is formed. The actual holes and the spare holes are combined and configured according to different positions, so that a one-to-one unique matching mechanism is formed between the mounting base and the mounting bridge, and the purpose of preventing misassembly is achieved. In one embodiment, the anti-error bolt pin set comprises a positioning plugging bolt and a sensing plugging bolt, wherein the positioning plugging bolt is installed in a positioning pin installation hole or a positioning pin accommodating hole, and the sensing plugging bolt is installed in a sensor installation hole or a sensing component accommodating hole.
Fig. 3a, 3b, 4a and 4b disclose examples of a robot anti-misloading assembly to prevent directional misloading according to an embodiment of the present invention. Wherein fig. 3a and 3b disclose schematic views of an example of a misload protection for a left hand robot and tooling and fig. 4a and 4b disclose schematic views of an example of a misload protection for a right hand robot and tooling. Referring to fig. 3a and 3b, a set of diagonally distributed dowel mounting holes on the mounting base 201 are opened to mount two dowel pins 301, and the other set of dowel mounting holes 211 are left empty or blocked. In the embodiment shown in fig. 3a, two positioning pins 301 are installed in the positioning pin installation holes on the upper left-right diagonal, and the positioning pin installation holes on the upper left-right diagonal are left vacant. The positioning plug 302 is inserted into the positioning pin receiving hole of the mounting bridge, and the positioning pin receiving hole 221 in which the positioning plug is inserted can no longer receive a positioning pin. A corresponding set of diagonally distributed locating pin receiving holes on the mounting bridge are open to receive two locating pins, and a locating plugging pin 302 is inserted into the other set of locating pin receiving holes to be plugged, so that the mounting base and the mounting bridge can only be assembled with each other in a designated direction. In the embodiment shown in fig. 3b, the positioning pin receiving holes 221 on the upper left-right diagonal are open to receive two positioning pins, and the positioning block pins 302 are received in the positioning pin receiving holes on the upper left-right diagonal. Thus, the positioning base shown in fig. 3a can only be fitted to the positioning bridge shown in fig. 3b in a unique orientation. Referring to fig. 4a and 4b, a set of diagonally distributed dowel mounting holes on the mounting base 201 are opened to mount two dowel pins 301, and the other set of dowel mounting holes 211 are left empty or blocked. In the embodiment shown in fig. 4a, two positioning pins 301 are installed in the positioning pin installation holes on the upper left-right diagonal, and the positioning pin installation holes on the upper left-right diagonal are left vacant. The positioning plug 302 is inserted into the positioning pin receiving hole of the mounting bridge, and the positioning pin receiving hole 221 in which the positioning plug is inserted can no longer receive a positioning pin. A corresponding set of diagonally distributed locating pin receiving holes on the mounting bridge are open to receive two locating pins, and a locating plugging pin 302 is inserted into the other set of locating pin receiving holes to be plugged, so that the mounting base and the mounting bridge can only be assembled with each other in a designated direction. In the embodiment shown in fig. 4b, the positioning pin receiving holes 221 on the upper left-right diagonal are open to receive two positioning pins, and the positioning block pins 302 are received in the positioning pin receiving holes on the upper left-right diagonal. Thus, the positioning base shown in fig. 4a can only be fitted to the positioning bridge shown in fig. 4b in a unique orientation. The positioning pin holes are used in a diagonal mode in a staggered mode, and after the unused positioning pin holes are plugged, the problem that the left and right sides or the installation errors between the front and rear processes occur during the installation of the tool can be effectively avoided, and the tool cannot be installed due to the fact that the plugged holes cannot be installed again in the positioning pins.
Fig. 5a, 5b, 5c, 6a, 6b and 6c disclose schematic diagrams of a robot anti-mismatching assembly according to an embodiment of the present invention to prevent mismatching. Wherein fig. 5a, 5b and 5c disclose schematic diagrams of the mounting base for preventing mismatching, and fig. 6a, 6b and 6c disclose schematic diagrams of the mounting bridge for preventing mismatching. Referring to fig. 5a, 5b and 5c, in one embodiment, four inductor mounting holes on the mounting base are respectively set to the following three modes: the sensor is arranged in the container, and the container is empty or is arranged in the sensing plugging plug to be plugged. It should be noted that fig. 5a, 5b, and 5c are for the purpose of explaining the pattern of the inductor mounting holes, and thus not all four inductor mounting holes but only two inductor mounting holes arranged up and down are shown. One inductor mounting hole in fig. 5a is filled with an inductor 401 and the other inductor mounting hole 212 is left empty. Both inductor mounting holes 212 in fig. 5b are left vacant. One of the sensor mounting holes in fig. 5c is plugged with a sensing plug 402 and the other sensor mounting hole 212 is left empty. In one embodiment, the inductive plugging plug 402 is installed into the inductor mounting hole, the inductive plugging plug 402 has a length greater than the depth of the inductor mounting hole, and the inductive plugging plug 402 protrudes from the surface of the mounting base. For example, in one example, the inductive occlusion plug 402 protrudes from the surface of the mounting base a distance of about 5 mm. Referring to fig. 6a, 6b and 6c, in one embodiment, the four sensing element receiving holes on the mounting bridge are respectively arranged in the following three patterns: the induction component is arranged in the container, and the container is empty or is arranged in the induction plugging plug to be plugged. It should be noted that fig. 6a, 6b, and 6c are for the purpose of explaining the pattern of the sensing element accommodating holes, and therefore, not all four sensing element accommodating holes are shown, but only two sensing element accommodating holes arranged up and down are shown. In fig. 6a, one of the sensing element receiving holes is filled with the sensing element 403, and the other sensing element receiving hole 222 is left empty. Both sensing element receiving holes 222 in fig. 6b are left empty. One of the sensing element receiving holes in fig. 6c is plugged by fitting a sensing plug 402 thereto, and the other sensing element receiving hole 212 is left vacant. In one embodiment, the inductive plugging plug 402 is installed into the inductive component receiving hole, the inductive plugging plug 402 has a length greater than the depth of the inductive component receiving hole, and the inductive plugging plug 402 protrudes from the mounting tray surface. For example, in one example, the inductive plugging plugs 402 protrude from the mounting bridge surface by a distance of about 5 mm. The pattern of the inductor mounting holes on the mounting base and the pattern of the inductor receiving holes on the mounting bridge are matched in the following manner: the sensor mounting hole for mounting the sensor is matched with the sensing part accommodating hole for mounting the sensing part, the vacant sensor mounting hole is matched with the blocked sensing part accommodating hole, and the blocked sensor mounting hole is matched with the vacant sensing part accommodating hole. Because the induction plugging bolt can protrude out of the surface of the installation base or the installation bridge, the protruding part can be accommodated only by the vacant hole, and the vacant hole does not form position interference, so that the assembly cannot be completed. By means of the matching pattern and the hole position arrangement, the mounting bases and the mounting bridges can be assembled with each other in a one-to-one corresponding mode.
Referring to the examples shown in fig. 5a, 5b, 5c, 6a, 6b and 6c, the four inductor mounting holes on each mounting base are arranged to include three modes of loading inductors, being left empty or being plugged, and the modes of the four inductor mounting holes on different mounting bases form different combinations. The four induction element accommodating holes on each mounting bridge are arranged in three modes of being filled with induction elements, being vacant or being blocked, and the four induction element accommodating holes on different mounting bridges form different combinations. The mounting bases and the mounting bridge with the corresponding combinations can be assembled with each other.
The inductor is arranged in the inductor mounting hole and recorded as a state A, the inductor is arranged in the inductor mounting hole and recorded as a state B, and the inductor is arranged in the inductor mounting hole and recorded as a state C after being arranged in the inductor mounting hole and blocked. In one embodiment, 7 in-use mounting bases plus one spare mounting base are labeled C0-C6 and spare, respectively, four sensor mounting holes are listed in a rectangular array, as listed above and below in table 1, and the configuration pattern of the sensor mounting holes on 8 mounting bases, 7+1, is shown with reference to table 1, as follows:
TABLE 1
The induction part accommodating hole is filled with the induction part to be recorded as a state D, is empty to be recorded as a state E, and is filled with the induction plugging plug to be recorded as a state F. In one embodiment, 7 of the active mounting bridges plus one of the spare mounting bridges are labeled T0-T6 and spare, respectively, and four sensing element receiving holes are listed in a rectangular array, as listed in table 2 below for the upper and lower holes, respectively, and the pattern of the arrangement of the sensing element receiving holes on 8 mounting bridges, 7+1, is shown in table 2 below, as follows:
TABLE 2
The correct matching pattern of the sensor mounting holes to the sensing element receiving holes should be: A-D, B-F, C-E. In this matching mode, the mounting bases and the mounting bridges form a one-to-one unique matching relationship, which is shown in table 3 below:
TABLE 3
If misassembly conditions of matching errors occur, for example, the mounting bridge T0 and the mounting base C1 are mixed, the mounting bridge T0 of the tool No. 0 is mounted on the mounting base C1 of the manipulator No. 1, the matching state of the sensor mounting hole and the sensing part accommodating hole is A-D, B-E, C-F, at the moment, the blocked hole (state C) of the mounting base C1 and the blocked hole (state F) of the mounting bridge T0 are both sensing blocking bolts protruding out of the surface, interference occurs, the positioning pin cannot be inserted in place, the sensor cannot normally work, the mounting bridge T0 cannot be mounted on the mounting base C1, and the purpose of preventing misassembly from the structure is achieved.
Use the utility model discloses a manipulator mistake proofing dress subassembly forms only corresponding relation between manipulator and frock Tooling through installation base, installation crane span structure and mistake proofing bolt group. Each tolling can only be matched with the mounting base on one manipulator and cannot be assembled with the mounting bases of the other manipulators. Because the installation can not be completed, the operator can immediately recognize the mixed loading and correct the mixed loading, and the condition that the Tooling is not recognized to appear mixed loading and open the production line of the press can be effectively avoided.
It should also be noted that the above-mentioned embodiments are only specific embodiments of the present invention. It is obvious that the present invention is not limited to the above embodiments, and similar changes or modifications can be directly derived or easily suggested by those skilled in the art from the disclosure of the present invention, and all should fall within the protection scope of the present invention. The above-described embodiments are provided to enable persons skilled in the art to make or use the invention, and many modifications and variations may be made to the above-described embodiments by persons skilled in the art without departing from the inventive concept of the present invention, so that the scope of the invention is not limited by the above-described embodiments, but should be accorded the widest scope consistent with the innovative features set forth in the claims.
Claims (7)
1. The utility model provides a manipulator mistake proofing dress subassembly for the production line that has the several manipulator, the several manipulator has corresponding frock separately, and corresponding manipulator and frock are assembled mutually through matching the subassembly, and the matching subassembly includes locating pin and inductor, and its characterized in that, manipulator mistake proofing dress subassembly are installed respectively on manipulator and frock, and manipulator mistake proofing dress subassembly holds locating pin and inductor, wherein, manipulator mistake proofing dress subassembly includes:
the mounting base is arranged on the manipulator and is provided with four positioning pin mounting holes and four sensor mounting holes which are distributed in a rectangular shape;
the installation bridge is arranged on the tool and is provided with four positioning pin accommodating holes and four induction component accommodating holes which are distributed in a rectangular shape;
the anti-error bolt pin set comprises a positioning plugging bolt and an induction plugging bolt, the positioning plugging bolt is arranged in a positioning pin mounting hole or a positioning pin accommodating hole, and the induction plugging bolt is arranged in an inductor mounting hole or an induction component accommodating hole.
2. The robot anti-misload assembly of claim 1, wherein the locating pin plugs are received in locating pin receiving holes in the mounting bridge, the locating pin receiving holes in the locating pin plugs being incapable of receiving a locating pin.
3. The robot anti-misloading assembly of claim 1, wherein the sensing plug is installed in the sensor mounting hole or the sensing element receiving hole, the sensing plug has a length greater than a depth of the sensor mounting hole or the sensing element receiving hole, and the sensing plug protrudes from a surface of the mounting base or the mounting bridge.
4. The robot anti-misloading assembly of claim 2, wherein one set of diagonally-distributed positioning pin receiving holes in the mounting base are open to receive two positioning pins, the other set of positioning pin receiving holes are vacant or blocked, a corresponding set of diagonally-distributed positioning pin receiving holes in the mounting bridge are open to receive two positioning pins, and the other set of positioning pin receiving holes are blocked by receiving positioning blocking plugs, such that the mounting base and the mounting bridge can only be assembled with each other in a designated direction.
5. The robot anti-misloading assembly of claim 3, wherein the four sensor mounting holes of the mounting base are respectively configured to be plugged by installing a sensor, being left empty or installing an inductive plugging plug, the four sensing element receiving holes of the mounting bridge are respectively configured to be plugged by installing a sensing element, being left empty or installing an inductive plugging plug, and the mounting base and the mounting bridge are assembled with each other in a one-to-one correspondence.
6. The robot anti-misload assembly of claim 5,
the inductor mounting hole for installing the inductor is matched with the induction part accommodating hole for installing the induction part;
the vacant sensor mounting hole is matched with the blocked sensing part accommodating hole;
the blocked sensor mounting hole is matched with the vacant sensing part accommodating hole.
7. The robot anti-misload assembly of claim 5,
the four inductor mounting holes on each mounting base are set to include three modes of installing inductors and being vacant or blocked, and the modes of the four inductor mounting holes on different mounting bases form different combinations;
the four induction part accommodating holes on each mounting bridge are set to comprise three modes of installing induction parts, being vacant or being blocked, and the modes of the four induction part accommodating holes on different mounting bridges form different combinations;
the mounting bases and the mounting bridge with the corresponding combinations can be assembled with each other.
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| CN202120609318.5U CN214442461U (en) | 2021-03-25 | 2021-03-25 | Manipulator mistake proofing dress subassembly |
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| CN202120609318.5U CN214442461U (en) | 2021-03-25 | 2021-03-25 | Manipulator mistake proofing dress subassembly |
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| CN214442461U true CN214442461U (en) | 2021-10-22 |
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