CN216030941U - A accurate positioner for moving part - Google Patents
A accurate positioner for moving part Download PDFInfo
- Publication number
- CN216030941U CN216030941U CN202122549510.2U CN202122549510U CN216030941U CN 216030941 U CN216030941 U CN 216030941U CN 202122549510 U CN202122549510 U CN 202122549510U CN 216030941 U CN216030941 U CN 216030941U
- Authority
- CN
- China
- Prior art keywords
- distance measuring
- measuring sensor
- workpiece
- material channel
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000005259 measurement Methods 0.000 abstract description 17
- 238000000034 method Methods 0.000 abstract description 8
- 230000000007 visual effect Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an accurate positioning device for moving parts, which comprises a first distance measurement sensor and a second distance measurement sensor, wherein the first distance measurement sensor and the second distance measurement sensor are arranged above two sides of a material channel and are mutually staggered in the height direction; the material channel device is simple in design structure and convenient and fast to use, three laser ranging sensors are adopted for accurately positioning the center of a workpiece in the process of slowly moving the workpiece, a 3D visual positioning mode is replaced, positioning errors caused by movement of the material channel can be eliminated, cost can be reduced, use is convenient, and smooth work grabbing work is facilitated.
Description
Technical Field
The utility model belongs to the technical field of part measurement and grabbing, and particularly relates to an accurate positioning device for moving parts.
Background
At present, a 3D visual positioning method is generally adopted for positioning cylindrical parts, a 3D visual positioning robot is used for positioning and grabbing cylindrical workpieces which are produced and vertically placed, a traditional manual workpiece grabbing mode is replaced, the working efficiency is high, and the automation degree is high. However, the method has disadvantages that the cylindrical workpiece is placed on the moving material channel, and the workpiece is always in the moving process, which brings large errors to positioning work, and the method adopting 3D vision positioning cannot realize accurate positioning, which affects the precision and efficiency of grabbing parts.
Disclosure of Invention
In order to solve the technical problems, the utility model provides an accurate positioning device for moving parts, which is simple and reasonable in structural design and convenient to use, adopts three laser ranging sensors to accurately position the center of a workpiece in the process of slowly moving the workpiece, replaces a 3D visual positioning mode, can eliminate positioning errors caused by movement of a material channel, can reduce cost, is convenient to use, and is beneficial to smooth operation of workpiece grabbing.
The technical scheme adopted by the utility model is as follows: an accurate positioning device for moving parts comprises a first distance measurement sensor and a second distance measurement sensor which are arranged above two sides of a material channel and staggered with each other in the height direction, wherein the measurement directions of the first distance measurement sensor and the second distance measurement sensor face one side of the material channel; the end part of the material channel is provided with a paw used for grabbing a workpiece, the front end of the paw is provided with a distance measuring sensor III, and the measuring direction of the distance measuring sensor III is perpendicular to the measuring direction of the distance measuring sensor I.
The gripper is mounted on a mechanical arm of an industrial robot.
The first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor are all laser distance measuring sensors.
The first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor are respectively connected with the PLC.
The accurate positioning device for moving parts is characterized in that when the accurate positioning device is used, a cylindrical workpiece is vertically placed on a material channel, the workpiece is placed in a staggered manner in the width direction of the material channel, the material channel drives the workpiece to slowly move forwards, when the workpiece moves to a certain position of the material channel, distance measuring sensors I and two on two sides can detect the distance between the outer wall of the current workpiece and the two distance measuring sensors, the distance between the distance measuring sensors I and the workpiece is y1, the distance between the distance measuring sensors II and the workpiece is y2, L is the horizontal distance between the distance measuring sensors I and the distance measuring sensors II, the central position of the workpiece, namely (L-y 1-y 2)/2 can be calculated by utilizing PLC (programmable logic controller) operation, the calculated data value is transmitted to an industrial robot, a claw of the industrial robot moves to move to the position right ahead of the workpiece, and after the paw moves to the position right in front of the workpiece, the distance x between the workpiece and the paw is measured by the distance measuring sensor III, the central position of the part can be calculated, namely x + R, R is the radius of the workpiece, the coordinate value of the workpiece is determined at the moment, the PLC controls the paw of the industrial robot to move to the position, the workpiece is grabbed, and the grabbing work is completed.
The device comprises a first distance measurement sensor and a second distance measurement sensor which are arranged above the two sides of the material channel and staggered with each other in the height direction, wherein the measurement directions of the first distance measurement sensor and the second distance measurement sensor face one side of the material channel; the purpose of this is: the distance between the two sensors of the workpiece distance can be measured by the first distance measuring sensor and the second distance measuring sensor respectively, and the longitudinal coordinate value of the workpiece can be obtained by combining PLC operation, so that the method has the advantages of accurate measuring result and high efficiency; the height of the two sensors is higher than the material channel so as to detect the workpiece, and the height directions of the two sensors are staggered so as to avoid mutual interference of laser and enable the distance measurement to be carried out smoothly.
A paw used for grabbing a workpiece is arranged at the end part of the material channel, a distance measuring sensor III is arranged at the front end of the paw, and the measuring direction of the distance measuring sensor III is perpendicular to that of the distance measuring sensor I; the purpose of this is: after the longitudinal coordinate value of the workpiece is determined, the gripper can move to the front end of the material channel of the coordinate value, the distance between the workpiece and the gripper is measured by using the distance measuring sensors, the transverse coordinate value of the workpiece at the moment of measurement can be obtained by adding the radius of the workpiece to the obtained numerical value, and the coordinate of the central point of the workpiece is determined, so that the gripper can be conveniently and accurately moved to grab the workpiece.
The utility model has the beneficial effects that:
the three-position laser ranging sensor is simple in design structure and convenient to use, is used for accurately positioning the center of a workpiece in the process of slowly moving the workpiece, replaces a 3D visual positioning mode, can eliminate positioning errors caused by movement of a material channel, can reduce cost, is convenient to use, and is beneficial to smooth operation of workpiece grabbing.
Drawings
FIG. 1 is a top view of the present invention;
fig. 2 is a side view of the present invention.
The labels in the figure are: 1. a material channel; 2. a first distance measuring sensor; 3. a second distance measuring sensor; 4. a distance measuring sensor III; 5. a paw; 6. and (5) a workpiece.
Detailed Description
The following detailed description of embodiments of the utility model is provided in connection with the accompanying drawings.
As shown in the figure, the accurate positioning device for the moving part comprises a first distance measuring sensor 2 and a second distance measuring sensor 3 which are arranged above two sides of a material channel 1 and staggered in the height direction, wherein the measuring directions of the first distance measuring sensor 2 and the second distance measuring sensor 3 face one side of the material channel 1; specifically, the first distance measuring sensor 2 and the second distance measuring sensor 3 can be arranged at positions higher than the upper surface of the material channel 1 through a bracket; a paw 5 used for grabbing a workpiece 6 is arranged at the end of the material channel 1, a distance measuring sensor III 4 is installed at the front end of the paw 5, and the measuring direction of the distance measuring sensor III 4 is perpendicular to the measuring direction of the distance measuring sensor I2.
The gripper 5 is installed on a mechanical arm of the industrial robot, the industrial robot is connected with the PLC, and after the coordinate value of the workpiece 6 in the longitudinal direction is determined, the gripper 5 can move to the front end of the material channel 1 under the driving of the mechanical arm of the industrial robot, so that preparation can be made for subsequent determination of transverse coordinate values and grabbing work after the coordinate values are determined.
The first distance measuring sensor 2, the second distance measuring sensor 3 and the third distance measuring sensor 4 are all laser distance measuring sensors.
The distance measuring sensor I2, the distance measuring sensor II 3 and the distance measuring sensor III 4 are respectively connected with the PLC, and the three distance measuring sensors can transmit signals with the PLC to improve the automatic control performance.
When the precise positioning device for moving parts is used, a cylindrical workpiece 6 is vertically placed on a material channel 1, the workpiece 6 is placed in a staggered manner in the width direction of the material channel 1, the material channel 1 drives the workpiece 6 to slowly move forwards (the direction of an arrow shown in figure 1 is the moving direction of the material channel 1), when the workpiece 6 moves to a certain position of the material channel 1, distance between the outer wall of the current workpiece 6 and two distance measuring sensors can be detected by a distance measuring sensor I2 and a distance measuring sensor II 3 on two sides, the distance between the distance measuring sensor I2 and the workpiece 6 is y1, the distance between the distance measuring sensor II 3 and the workpiece 6 is y2, L is the horizontal distance between the distance measuring sensor I2 and the distance measuring sensor II 3, the central position of the workpiece 6, namely (L-y 1-y 2)/2 can be calculated by PLC operation, and the calculated data value is transmitted to an industrial robot, the gripper 5 of the industrial robot moves to the position right in front of the workpiece 6, when the gripper 5 moves to the position right in front of the workpiece 6, the distance x between the workpiece 6 and the gripper 5 is measured by the distance measuring sensor three 4, the central position of the part can be calculated, namely x + R, R is the radius of the workpiece 6, the coordinate value of the workpiece 6 is determined at the moment, and the gripper 5 of the industrial robot is controlled by the PLC to move to the position to grab the workpiece 6, so that the grabbing work is completed.
Claims (4)
1. The utility model provides an accurate positioner for moving part which characterized in that: the device comprises a first distance measuring sensor and a second distance measuring sensor which are arranged above the two sides of the material channel and staggered with each other in the height direction, wherein the measuring directions of the first distance measuring sensor and the second distance measuring sensor face one side of the material channel; the end part of the material channel is provided with a paw used for grabbing a workpiece, the front end of the paw is provided with a distance measuring sensor III, and the measuring direction of the distance measuring sensor III is perpendicular to the measuring direction of the distance measuring sensor I.
2. A precision positioning device for moving parts according to claim 1, characterized in that: the gripper is mounted on a mechanical arm of an industrial robot.
3. A precision positioning device for moving parts according to claim 1, characterized in that: the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor are all laser distance measuring sensors.
4. A precision positioning device for moving parts according to claim 1, characterized in that: the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor are respectively connected with the PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122549510.2U CN216030941U (en) | 2021-10-22 | 2021-10-22 | A accurate positioner for moving part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122549510.2U CN216030941U (en) | 2021-10-22 | 2021-10-22 | A accurate positioner for moving part |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216030941U true CN216030941U (en) | 2022-03-15 |
Family
ID=80610543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122549510.2U Expired - Fee Related CN216030941U (en) | 2021-10-22 | 2021-10-22 | A accurate positioner for moving part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216030941U (en) |
-
2021
- 2021-10-22 CN CN202122549510.2U patent/CN216030941U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110271029B (en) | Servo driving elastic clamping jaw of truss robot | |
| CN106737688B (en) | Multi-sensor-based automatic assembly system and method for header tube seats by robot | |
| CN103017726B (en) | Robot pose error measuring system and method in Cartesian coordinate mode | |
| CN108127651A (en) | Intelligent mobile captures robot and its method of work | |
| CN106346486A (en) | Six-axis cooperated robot multi-loop control system and control method thereof | |
| WO2019136997A1 (en) | Gantry device supporting simultaneous operation of two servo motors | |
| CN103512511A (en) | Large face automatic measurement method based on laser tracker | |
| CN111175770B (en) | Automatic container grabbing device and method based on point laser ranging | |
| CN104339210A (en) | Horizontal type double-head machining center | |
| CN111496679A (en) | Method and system for automatically detecting polishing allowance | |
| CN216030941U (en) | A accurate positioner for moving part | |
| CN205021016U (en) | Seven three -dimensional laser cutting machine | |
| CN210689546U (en) | Automobile glass curvature laser detection device | |
| CN204248536U (en) | Be suitable for the Horizontal double-headed machining center of production line balance | |
| CN102266965A (en) | Detecting and positioning device for steel keel under wood floor of container | |
| CN111702304B (en) | Control system and method for automatic positioning of contact tip for submerged arc welding | |
| CN219488946U (en) | Stacking clamp and stacking device | |
| CN213226182U (en) | Head vertex positioning device | |
| CN221891953U (en) | Height-adjustable industrial robot | |
| CN220497670U (en) | Walking beam structure and mechanism for forging feeding and discharging | |
| CN221135887U (en) | Robot special-shaped motion track automatic planning device based on point cloud data guiding technology | |
| CN215749133U (en) | Autonomous mobile compound robot | |
| CN215547046U (en) | Floating pushing and discharging device for mechanical arm | |
| CN221020989U (en) | Vehicle type transfer robot | |
| CN202583807U (en) | Fuzzy position positioning control system based on photoelectric displacement sensor and servo motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220315 |