CN216593187U

CN216593187U - Coordinate robot

Info

Publication number: CN216593187U
Application number: CN202122975809.4U
Authority: CN
Inventors: 李裕连; 孟大庆; 杨旭磊
Original assignee: SAIC GM Wuling Automobile Co Ltd
Current assignee: SAIC GM Wuling Automobile Co Ltd
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2022-05-24
Anticipated expiration: 2031-11-29

Abstract

The utility model provides a coordinate robot which comprises a shell, a first driving module arranged on the shell, a second driving module connected with the first driving module, a third driving module connected with the second driving module, and a fourth driving module connected with the third driving module, wherein a laser probe is arranged at one end, away from the third driving module, of the fourth driving module, the second driving module is used for driving the third driving module to rotate, and the driving directions of the first driving module, the third driving module and the fourth driving module are pairwise vertical. The utility model can realize the online real-time detection of the workpiece, does not need to stop work or move the workpiece to an offline reference table for detection, and improves the detection efficiency; the online state of the vehicle body and the real-time state of the follower fixture are effectively monitored; the device is integrated with other on-line detection of a main line, can analyze problem change points in real time, timely searches the problem root, reduces repair and quality defects, and avoids the mass repair phenomenon.

Description

Coordinate robot

Technical Field

The utility model relates to the technical field of robot detection, in particular to a coordinate robot.

Background

At present, most of clamp equipment adopts off-line reference table detection or on-line clamp detection during production halt, the clamp equipment is not in a real-time monitoring state, and large-area repair is easily caused when production is abnormal; the robot is adopted to detect large-scale equipment, welding stations are occupied, the layout of a production line is influenced, and old lines are difficult to add; the overall cost of using a robotic device is also relatively high.

In view of the above, there is a need to provide a novel coordinate robot to solve or at least alleviate the above technical drawbacks.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a coordinate robot and aims to solve the technical problem that a clamp cannot be detected on line in real time in the prior art.

In order to achieve the above object, the present invention provides a coordinate robot, which includes a housing, a first driving module installed on the housing, a second driving module connected to the first driving module, a third driving module connected to the second driving module, and a fourth driving module connected to the third driving module, wherein a laser probe is disposed at one end of the fourth driving module away from the third driving module, the second driving module is used for driving the third driving module to rotate, and driving directions of the first driving module, the third driving module, and the fourth driving module are perpendicular to each other.

In an embodiment, the first driving module is an X-axis driving module, the second driving module is a Z-axis rotating module, the third driving module is a Z-axis driving module, the fourth driving module is a Y-axis driving module, the X-axis driving module is disposed at the bottom of the Z-axis driving module, and the Y-axis driving module is disposed at the top of the Z-axis driving module.

In an embodiment, the first driving module comprises a first driving motor and a first lead screw in transmission connection with the first driving motor, the third driving module comprises a third driving motor and a third lead screw in transmission connection with the third driving motor, the fourth driving module comprises a fourth driving motor and a fourth lead screw in transmission connection with the first driving motor, and the second driving module comprises a rotating motor.

In an embodiment, a guide rail and a first slider slidably mounted on the guide rail are further disposed in the housing, the first lead screw is connected with the first slider to drive the first slider to slide along the guide rail, and the second driving module is connected with the first slider.

In an embodiment, the guide rail includes two rails disposed in parallel, and the third driving module is disposed between the two rails.

In an embodiment, the third driving module further includes a slide rail and a third slider slidably mounted on the slide rail, the third lead screw is connected to the third slider to drive the third slider to slide along the slide rail, and the fourth driving module is connected to the third slider.

In an embodiment, the fourth driving module further includes a guide bar and a fourth slider slidably mounted on the guide bar, the fourth lead screw is connected to the fourth slider to drive the fourth slider to slide along the guide bar, and the laser probe is mounted on the fourth slider.

In an embodiment, the second driving module further includes a speed reduction motor rotationally connected to the rotating motor.

In one embodiment, the first drive motor, the third drive motor and the fourth drive motor are all servo motors.

In one embodiment, the number of laser probes is two or three.

In the above scheme, the coordinate robot includes the casing, install in the first drive module of casing, the second drive module of being connected with first drive module, the third drive module of being connected with second drive module, and the fourth drive module of being connected with third drive module, the one end that third drive module was kept away from to fourth drive module is provided with laser probe, second drive module is used for driving the rotation of third drive module, first drive module, the two liang of verticality of drive direction of third drive module and fourth drive module. The coordinate robot can arrange by the production line, and first drive module, third drive module and fourth drive module are used for driving laser probe and remove in the three direction of XYZ axle for adjust laser probe's direction, laser probe is used for detecting the work piece. Meanwhile, the second driving module is used for driving the third driving module to rotate, so that a fourth driving module close to the production line body can rotate to avoid a measuring workpiece after measurement is finished, and the fourth driving module returns to the original position to reduce the occupied space; and the condition avoidance under the condition of multiple online interference conditions can be met, the use conditions of certain specific working conditions are increased, and the application in wider scenes is met. The utility model can realize the online real-time detection of the workpiece, does not need to stop work or move the workpiece to an offline reference table for detection, improves the detection efficiency, and effectively monitors the online state of the vehicle body and the real-time state of the pallet; the online detection device is integrated with other online detections of the main line, can analyze problem variation points in real time, timely search the problem source, reduce the repair and quality defects, and avoid the mass repair phenomenon.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a coordinate robot according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a coordinate robot according to an embodiment of the present invention;

fig. 3 is another schematic cross-sectional view of the coordinate robot according to the embodiment of the present invention.

The reference numbers illustrate:

1. a first driving module; 11. a first drive motor; 12. a first lead screw; 2. a second driving module; 21. a rotating electric machine; 22. a reduction motor; 3. a third driving module; 31. a third drive motor; 32. a third screw rod; 4. a fourth driving module; 41. a fourth drive motor; 5. a housing; 6. a first slider; 7. a laser probe; 8. a coupling; 9. and a second slider.

The implementation, functional features and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that all the directional indicators (such as the upper and lower … …) in the embodiment of the present invention are only used to explain the relative position relationship, movement, etc. of the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Moreover, the technical solutions in the embodiments of the present invention may be combined with each other, but it is necessary to be able to be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

Referring to fig. 1-3, the utility model provides a coordinate robot, which includes a housing 5, a first driving module 1 mounted on the housing 5, a second driving module 2 connected to the first driving module 1, a third driving module 3 connected to the second driving module 2, and a fourth driving module 4 connected to the third driving module 3, wherein a laser probe 7 is disposed at one end of the fourth driving module 4 away from the third driving module 3, the second driving module 2 is used for driving the third driving module 3 to rotate, and the driving directions of the first driving module 1, the third driving module 3, and the fourth driving module 4 are perpendicular to each other.

In the above embodiment, the coordinate robot can be arranged beside the production line, the first driving module 1, the third driving module 3 and the fourth driving module 4 are used for driving the laser probe 7 to move in three directions of XYZ axes, so as to adjust the direction of the laser probe 7, and the laser probe 7 is used for detecting the workpiece. Meanwhile, the second driving module 2 is used for driving the third driving module 3 to rotate, so that the fourth driving module 4 close to the production line body can rotate to avoid a measuring workpiece after measurement is finished, and the fourth driving module 4 returns to the original position to reduce the occupied space; and the condition avoidance under a plurality of online interference conditions can be met, the use conditions under certain specific working conditions are increased, and the wider scene application is met. The embodiment can realize the online real-time detection of the workpiece, does not need to stop work or move the workpiece to an offline reference table for detection, improves the detection efficiency, and effectively monitors the online state of the vehicle body and the real-time state of the pallet; the online detection device is integrated with other online detections of the main line, can analyze problem variation points in real time, timely search the problem source, reduce the repair and quality defects, and avoid the mass repair phenomenon.

In one embodiment, the first driving module 1 is an X-axis driving module, the second driving module 2 is a Z-axis rotating module, the third driving module 3 is a Z-axis driving module, the fourth driving module 4 is a Y-axis driving module, the X-axis driving module is disposed at the bottom of the Z-axis driving module, and the Y-axis driving module is disposed at the top of the Z-axis driving module. Laser probe 7 is installed and is kept away from Z axle drive module one end at Y axle drive module, keeps whole coordinate robot focus as far as possible in bottom X axle drive module within range, designs whole coordinate robot like this and can acquire better rigidity, can effectively eliminate the measurement accuracy overproof that the bias of coordinate robot leads to, has guaranteed the precision of whole equipment, satisfies and measures the use scene demand. And, the coordinate robot can pass through PLC control, and XYZ axle drive module and the linkage of the rotatory module of Z axle drive laser probe 7 arrival measuring position, measure and read data, get back to the original point after having measured, accomplish measurement work. The length of the X-axis driving module can be set to be 1000mm, the X-axis driving module is distributed at the bottom in a long distance, the measurement of 1000mm of positioning difference of the pallet (i.e. a workpiece to be detected) in the X direction can be realized, and the measurement of the positioning difference of a vehicle type with 2.5-3.8 meters can be covered; and can effectively avoid interfering with other welding equipment.

In an embodiment, the first driving module 1 includes a first driving motor 11 and a first lead screw 12 in transmission connection with the first driving motor 11, the third driving module 3 includes a third driving motor 31 and a third lead screw 32 in transmission connection with the third driving motor 31, the fourth driving module 4 includes a fourth driving motor 41 and a fourth lead screw in transmission connection with the first driving motor 11, and the second driving module 2 includes a rotating motor 21. Specifically, the first drive motor 11, the third drive motor 31, and the fourth drive motor 41 are all servo motors. The embodiment adopts a servo motor and precise screw rod structure, and adopts a servo drive and detection zero return point adjustment and teaching technology, so that the position consistency of the robot is ensured during each measurement; the coordinate robot has the advantages that the axis positions are reasonably arranged, the self repetition precision is controlled within 0.02mm, the coordinate robot is more reliable than a mobile three-coordinate robot, and the measurement of the measuring equipment to the clamp equipment is reduced. In addition, the multi-axis servo linkage control is adopted in the embodiment, rapid measurement and data reading can be carried out on the measuring points, and the efficiency is higher than that of the modes such as vision. The measuring time can be reduced to 10S, the beat is fast, and the requirement of compact stations in various conditions on measuring beat is met. Of course, the housing 5 further includes a coupling 8 therein, and the coupling 8 connects the first driving motor 11 and the first lead screw 12.

In an embodiment, a guide rail and a first slider 6 slidably mounted on the guide rail are further disposed in the housing 5, the first lead screw 12 is connected to the first slider 6 to drive the first slider 6 to slide along the guide rail, and the second driving module 2 is connected to the first slider 6. In one embodiment, the guide rail includes two parallel rails, and the third driving module 3 is disposed between the two rails. Arrange Z axle drive module in the middle of two slide rails of X axle drive module, Y axle drive module overall arrangement is at the top, and displacement is little, and four-axis's rational arrangement effectively hoist mechanism's rigidity can promote coordinate robot's stability.

In an embodiment, the third driving module 3 further includes a slide rail and a third slider 9 slidably mounted on the slide rail, the third lead screw 32 is connected to the third slider 9 to drive the third slider 9 to slide along the slide rail, and the fourth driving module 4 is connected to the third slider 9. The fourth driving module 4 further comprises a guide bar and a fourth sliding block slidably mounted on the guide bar, the fourth screw rod is connected with the fourth sliding block to drive the fourth sliding block to slide along the guide bar, and the laser probe 7 is mounted on the fourth sliding block. Therefore, the fourth driving module 4 can be driven by the third lead screw 32 to move in the vertical direction, and the laser probe 7 can also be driven by the fourth driving lead screw to move.

In an embodiment, the second driving module 2 further includes a speed reduction motor 22 rotatably connected to the rotating motor 21, and the speed reduction motor 22 is used to reduce speed and increase torque.

In an embodiment, the number of laser probes 7 is two or three. The design measures 2-3 point data at one time, and can replace some visual measurement and three-coordinate measurement.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents made by the claims and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A coordinate robot, comprising:

the shell, install in the first drive module of casing, with the second drive module that first drive module connects, with the third drive module that second drive module connects, and with the fourth drive module that third drive module connects, the one end that the fourth drive module kept away from the third drive module is provided with laser probe, the second drive module is used for driving the third drive module is rotatory, two liang of verticals of drive direction of first drive module, third drive module and fourth drive module.

2. The coordinate robot of claim 1, wherein the first driving module is an X-axis driving module, the second driving module is a Z-axis rotating module, the third driving module is a Z-axis driving module, the fourth driving module is a Y-axis driving module, the X-axis driving module is disposed at the bottom of the Z-axis driving module, and the Y-axis driving module is disposed at the top of the Z-axis driving module.

3. The coordinate robot of claim 1 or 2, wherein the first driving module comprises a first driving motor and a first lead screw in transmission connection with the first driving motor, the third driving module comprises a third driving motor and a third lead screw in transmission connection with the third driving motor, the fourth driving module comprises a fourth driving motor and a fourth lead screw in transmission connection with the first driving motor, and the second driving module comprises a rotating motor.

4. The coordinate robot of claim 3, wherein a guide rail and a first slide block slidably mounted on the guide rail are further disposed in the housing, the first lead screw is connected to the first slide block to drive the first slide block to slide along the guide rail, and the second driving module is connected to the first slide block.

5. The coordinate robot of claim 4, wherein the guide rail comprises two rails arranged in parallel, and the third driving module is arranged between the two rails.

6. The coordinate robot of claim 3, wherein the third driving module further comprises a slide rail and a third slide block slidably mounted on the slide rail, the third lead screw is connected to the third slide block to drive the third slide block to slide along the slide rail, and the fourth driving module is connected to the third slide block.

7. The coordinate robot of claim 3, wherein the fourth driving module further comprises a guide bar and a fourth slider slidably mounted to the guide bar, the fourth lead screw is connected to the fourth slider to drive the fourth slider to slide along the guide bar, and the laser probe is mounted to the fourth slider.

8. The coordinate robot of claim 3, wherein the second drive module further comprises a reduction motor in rotational connection with the rotary motor.

9. A coordinate robot as claimed in claim 3, wherein the first, third and fourth driving motors are all servo motors.

10. The coordinate robot of claim 1 or 2, wherein the number of the laser probes is two or three.