CN216634359U

CN216634359U - Measuring type mechanical arm

Info

Publication number: CN216634359U
Application number: CN202123432193.2U
Authority: CN
Inventors: 杨冬立; 龚志; 谭平
Original assignee: Chongqing Wangchi Gear Manufacturing Co ltd
Current assignee: Chongqing Wangchi Gear Manufacturing Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-05-31
Anticipated expiration: 2031-12-30

Abstract

The utility model discloses a measuring type mechanical arm, comprising: the arm is fixedly provided with the driving device, the arm is provided with a first grabbing arm and a second grabbing arm which are spaced from each other, the first grabbing arm and the second grabbing arm can be far away from or close to each other, the driving device is connected to the first grabbing arm and the second grabbing arm, the driving device is used for driving the first grabbing arm and the second grabbing arm to be far away from or close to each other, the arm is provided with a movable seat which can move, the movable seat is connected to the first grabbing arm or the second grabbing arm, and the movable seat can move relative to the arm; a position sensor is arranged on the arm and used for detecting the moving distance of the moving seat; the position sensor and the driving device are both connected to the control box. The measuring type mechanical arm solves the problem that the workpiece cannot be detected in the prior art.

Description

Measuring type mechanical arm

Technical Field

The utility model relates to a mechanical arm, in particular to a measuring type mechanical arm.

Background

In order to achieve gripping of workpieces and the like, it is therefore often necessary to use a robot during the machining process.

Among the prior art, the manipulator includes: the arm, drive arrangement, first arm and the second of snatching snatchs the arm, and fixed mounting has drive arrangement on the arm, installs the first arm and the second of snatching of mutual interval on the arm, and first arm and the second of snatching snatchs the arm and can keep away from each other or be close to each other, and drive arrangement is connected to first arm and the second of snatching and snatchs the arm, and drive arrangement is used for driving first arm and the second of snatching the arm and can keep away from each other or be close to each other. Although the robot can grip the workpiece, the robot cannot detect the size of the workpiece.

SUMMERY OF THE UTILITY MODEL

The utility model provides a measuring type mechanical arm, which solves the problem that workpieces cannot be detected in the prior art.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model discloses a measuring type mechanical arm, comprising: the arm is fixedly provided with the driving device, the arm is provided with a first grabbing arm and a second grabbing arm which are spaced from each other, the first grabbing arm and the second grabbing arm can be far away from or close to each other, the driving device is connected to the first grabbing arm and the second grabbing arm, the driving device is used for driving the first grabbing arm and the second grabbing arm to be far away from or close to each other, the arm is provided with a movable seat which can move, the movable seat is connected to the first grabbing arm or the second grabbing arm, and the movable seat can move relative to the arm; a position sensor is arranged on the arm and used for detecting the moving distance of the moving seat; the position sensor and the driving device are both connected to the control box.

Preferably, the moving seat includes: remove body, initiative guide post and detect the guide post, remove and install the initiative guide post of mutual interval and detect the guide post on the body, the initiative guide post is through being connected to first snatching arm or second with the linking arm and snatching the arm, detects the guide post and is located position sensor department, and position sensor detects the position that detects the guide post.

Preferably, the arm comprises: the driving assembly is installed on the arm body, the guide rail is installed on the end face of the arm body, the guide rail guides the first grabbing arm and the second grabbing arm to move, the mounting seat is installed at the top of the guide rail and used for installing the moving seat, and the mounting seat is provided with a connecting arm to penetrate through a through hole.

Preferably, the installation seat is provided with a guide seat, and the guide seat guides the detection guide column and the active guide column.

Preferably, the position sensor is a position sensor coil, a section of the detection guide column departing from the guide seat is made of a permanent magnet, and the detection guide column is inserted into the position sensor.

Preferably, the moving body includes: go up block, lower block, bolt and nut, it is tight with lower block cooperation clamp detection guide post and initiative guide post clamp to go up the block, and the bolt passes block and lower block, and bolt threaded connection is to the nut, and the block closes down block on the nut and the big end cooperation of bolt clamp.

Preferably, the detection guide column and the active guide column are in threaded connection with an anti-disengaging cap, and the anti-disengaging cap is located on one side, away from the moving body, of the guide seat.

Preferably, the connecting arm and the position sensor are located on one side of the moving body, and the guide seat is located on the other side of the moving body.

Compared with the prior art, the utility model has the following beneficial effects:

in this embodiment, remove the seat through the setting and can snatch the arm at first or the second and snatch the drive of arm and remove down, and set up position sensor, realized detecting the position change that removes the seat, measure diameter or width etc. of work piece then, realized can detecting the work piece in the production process, improved the work piece efficiency of leaving the factory, improved market competition, had and guaranteed the quality measurement to the work piece again.

Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model.

Drawings

FIG. 1 is a schematic structural view of a metrology robot of the present application;

FIG. 2 is a front view of a measuring robot;

FIG. 3 is a sectional view taken along line A-A of FIG. 2;

FIG. 4 is a schematic view of a metrology robot of the present application;

fig. 5 is a schematic structural view of the pushing elastic member.

Reference numerals: the device comprises an arm 1, an arm body 11, a guide rail 12, a mounting seat 13, a guide seat 14, a seat body 141, a plugging plate 142, a positioning seat 15, a driving device 2, a first grabbing arm 3, a second grabbing arm 4, a workpiece 5, a moving seat 6, a moving body 61, an upper block body 611, a lower block body 612, a bolt 613, a nut 614, a driving guide column 62, a detection guide column 63, an anti-falling cap 64, a connecting arm 65, a permanent magnet 66, a position sensor 7, a pushing elastic piece 8, a first pushing disk 81, a second pushing disk 82 and an elastic rod 83.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the functions of the utility model clearer and easier to understand, the utility model is further explained by combining the drawings and the detailed implementation mode:

as shown in fig. 1 to 5, the present invention discloses a measuring robot, comprising: the robot comprises an arm 1, a driving device 2, a first grabbing arm 3 and a second grabbing arm 4, wherein the driving device 2 is fixedly installed on the arm 1, the first grabbing arm 3 and the second grabbing arm 4 which are spaced from each other are installed on the arm 1, the first grabbing arm 3 and the second grabbing arm 4 can be far away from or close to each other, the driving device 2 is connected to the first grabbing arm 3 and the second grabbing arm 4, the driving device 2 is used for driving the first grabbing arm 3 and the second grabbing arm 4 to be far away from or close to each other, a movable seat 6 capable of moving is installed on the arm 1, the movable seat 6 is connected to the first grabbing arm 3 (in the embodiment, the movable seat 6 is connected to the first grabbing arm 3, and of course, the form of connecting the second grabbing arm 4 is also within the protection range of the application), and the movable seat 6 can move relative to the arm 1; a position sensor 7 is arranged on the arm 1, and the position sensor 7 is used for detecting the moving distance of the moving seat 6; the position sensor 7 and the drive 2 are connected to the control box.

The moving seat 6 includes: remove body 61, initiative guide post 62 and detect guide post 63, install the initiative guide post 62 and the detection guide post 63 of mutual interval on the removal body 61, initiative guide post 62 is through being connected to first snatching arm 3 with linking arm 65, detects guide post 63 and is located position sensor 7 department, and position sensor 7 detects the position that detects guide post 63. The detection guide post 63 extends to the position sensor 7, so that detection is convenient, and meanwhile, the active guide post 62 guides the movement of the whole movable seat 6 and also realizes the movement driven by the first grabbing arm 3.

The arm 1 includes: arm body 11, guide rail 12 and mount pad 13 install drive assembly on the arm body 11, install guide rail 12 on the arm body 11 terminal surface, guide rail 12 direction is first snatchs the arm 3 and the second snatchs the removal of arm 4, and mount pad 13 is installed at guide rail 12 top, and mount pad 13 is used for the installation to remove seat 6, and mount pad 13 has been seted up and has been offered and supply linking arm 65 to pass the perforation. The guide rail 12 guides the first grabbing arm 3 and the second grabbing arm 4, so that the movement of the first grabbing arm 3 and the second grabbing arm 4 is more standardized, and the influence on the detection result caused by the random movement of the first grabbing arm 3 and the second grabbing arm 4 is avoided. The mounting seat 13 is located above the guide rail 12, so that the movement of the moving seat 6 can be driven by the first grabbing arm 3, and the influence of the installation of the moving seat 6 on the movement of the first grabbing arm 3 and the second grabbing arm 4 can also be avoided.

The guide seat 14 is installed on the installation seat 13, and the guide seat 14 guides the detection guide column 63 and the active guide column 62. The movement of the detection guide post 63 and the active guide post 62 is more stable, and the state of offset or prying cannot occur.

The position sensor 7 is a coil of the position sensor 7, a section of the detection guide post 63 departing from the guide seat 14 is made of a permanent magnet 66, and the detection guide post 63 is inserted into the position sensor 7. The position sensor 7 corresponds to a hall sensor, and detects the position of the permanent magnet 66 by detecting a change in the magnetic field of the permanent magnet 66.

The moving body 61 includes: the upper block 611 and the lower block 612 are matched with each other to clamp the detection guide column 63 and the active guide column 62, the bolt 613 penetrates through the upper block 611 and the lower block 612, the bolt 613 is connected to the nut 614 in a threaded mode, and the nut 614 is matched with the large end of the bolt 613 to clamp the upper block 611 and the lower block 612. The upper block 611 and the lower block 612 cooperate to clamp the detection guide column 63 and the active guide column 62, so that the detection guide column 63 and the active guide column 62 are mounted on the moving body 61.

The detection guide column 63 and the active guide column 62 are both in threaded connection with an anti-drop cap 64, and the anti-drop cap 64 is located on the side, away from the moving body 61, of the guide seat 14. The removal prevention cap 64 prevents the detection guide post 63 and the active guide post 62 from being removed from the guide housing 14.

The connecting arm 65 and the position sensor 7 are located on one side of the moving body 61, and the guide shoe 14 is located on the other side of the moving body 61. This position overall arrangement sets up, has avoided linking arm 65 and position sensor 7 to influence the direction of guide holder 14 to detecting guide post 63 and initiative guide post 62, and linking arm 65 and guide holder 14 have realized the state of triangular supports to whole removal seat 6 simultaneously, and unstable states such as prying can not appear, guarantee to remove the stability of seat 6 motion, have avoided the motion stability to lead to permanent magnet 66 position deviation to improve detection quality.

The position sensor 7 is mounted on the mounting base 13 via a positioning base 15.

A pushing elastic member 8 is installed in front of the moving seat 6 and the guide seat 14, and the pushing elastic member 8 includes: first push disk 81, second push disk 82 and elastic rod 83, first push disk 81 puts into to the first recess that the removal seat 6 was seted up, and second push disk 82 puts into to the second recess that the guide holder 14 was seted up in, and first push disk 81 is connected through elastic rod 83 before with second push disk 82.

The guide shoe 14 includes: the seat body 141 is installed on the installation seat 13, the seat body 141 is provided with a through hole for the pushing elastic element 8 to pass through, the plugging plate 142 is installed on one side of the seat body 141 departing from the pushing elastic element 8, and the plugging plate 142 is tightly attached to the second pushing disk 82. The installation of the pushing elastic member 8 is achieved.

Because when first arm 3 and the second of snatching snatch arm 4 and adopt electromagnetic drive, first arm 3 that snatchs adopts the elastic component to reply first arm 3 and the open state of second arm 4 of snatching, the elastic component need drive first arm 3 of snatching and connect and remove 6 these motions together of seat, in order to avoid the strain of elastic component, consequently increase and set up promotion elastic component 8, prolong the life of elastic component, make first arm 3 of snatching can keep opening the state, guarantee that the motion is smooth and easy.

When drive arrangement 2 during operation, first arm 3 and the second of snatching snatchs arm 4 and all moves to 5 direction movements of work piece, first arm 3 that snatchs drives initiative guide post 62 simultaneously, the linking arm 65, detect guide post 63, remove body 61, detect guide post 63, permanent magnet 66 is at position sensor 7's axial displacement, position sensor 7 this moment, receive the position that detects permanent magnet 66 on the guide post 63, then the control box is with calculating the outer diameter data of work piece 5 through this position data, realize measuring, thereby detect whether work piece 5 reaches the requirement for quality, improve the outgoing from the factory quality of work piece 5, improve market competition.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims

1. A instrumented robot comprising: the robot comprises an arm (1), a driving device (2), a first grabbing arm (3) and a second grabbing arm (4), wherein the driving device (2) is fixedly installed on the arm (1), the first grabbing arm (3) and the second grabbing arm (4) which are spaced from each other are installed on the arm (1), the first grabbing arm (3) and the second grabbing arm (4) can be far away from or close to each other, the driving device (2) is connected to the first grabbing arm (3) and the second grabbing arm (4), the driving device (2) is used for driving the first grabbing arm (3) and the second grabbing arm (4) to be far away from or close to each other, and the robot is characterized in that,

a movable seat (6) capable of moving is installed on the arm (1), the movable seat (6) is connected to the first grabbing arm (3) or the second grabbing arm (4), and the movable seat (6) can move relative to the arm (1);

a position sensor (7) is arranged on the arm (1), and the position sensor (7) is used for detecting the moving distance of the moving seat (6);

the position sensor (7) and the driving device (2) are both connected to the control box.

2. A measuring robot according to claim 1, characterized in that the mobile seat (6) comprises: remove body (61), initiative guide post (62) and detect guide post (63), install mutual spaced initiative guide post (62) and detection guide post (63) on removing body (61), initiative guide post (62) are connected to first arm (3) or the second arm (4) of snatching through with linking arm (65), detect guide post (63) and are located position sensor (7) department, position sensor (7) detect the position that detects guide post (63).

3. A measuring robot according to claim 2, characterized in that the arm (1) comprises: arm body (11), guide rail (12) and mount pad (13), install drive assembly on arm body (11), install guide rail (12) on arm body (11) terminal surface, guide rail (12) direction is first snatchs arm (3) and the removal that the arm (4) was snatched to the second, mount pad (13) are installed at guide rail (12) top, mount pad (13) are used for the installation to remove seat (6), mount pad (13) have been seted up and have been offered and supply linking arm (65) to pass the perforation.

4. A measuring manipulator according to claim 3, characterized in that the mounting seat (13) is provided with a guide seat (14), and the guide seat (14) guides the sensing guide post (63) and the active guide post (62).

5. A measuring manipulator according to claim 4, characterized in that the position sensor (7) is a coil of the position sensor (7), the section of the sensing guide (63) facing away from the guide holder (14) is made of a permanent magnet (66), and the sensing guide (63) is inserted into the position sensor (7).

6. A measuring robot according to claim 5, characterized in that the moving body (61) comprises: the detection device comprises an upper block body (611), a lower block body (612), a bolt (613) and a nut (614), wherein the upper block body (611) and the lower block body (612) are matched to clamp a detection guide column (63) and an active guide column (62) to clamp, the bolt (613) penetrates through the upper block body (611) and the lower block body (612), the bolt (613) is connected to the nut (614) in a threaded mode, and the nut (614) and the large end of the bolt (613) are matched to clamp the upper block body (611) and the lower block body (612).

7. A measuring manipulator according to claim 6, characterized in that the detection guide column (63) and the active guide column (62) are each screwed with a disengagement cap (64), the disengagement cap (64) being located on the side of the guide base (14) facing away from the moving body (61).

8. A measuring manipulator according to claim 7, characterized in that the connecting arm (65) and the position sensor (7) are located on one side of the moving body (61) and the guide shoe (14) is located on the other side of the moving body (61).