CN103381574A - Full-automatic disc part angle recognition device - Google Patents
Full-automatic disc part angle recognition device Download PDFInfo
- Publication number
- CN103381574A CN103381574A CN2013103409203A CN201310340920A CN103381574A CN 103381574 A CN103381574 A CN 103381574A CN 2013103409203 A CN2013103409203 A CN 2013103409203A CN 201310340920 A CN201310340920 A CN 201310340920A CN 103381574 A CN103381574 A CN 103381574A
- Authority
- CN
- China
- Prior art keywords
- fixed
- rotating shaft
- full
- workpiece
- recognition device
- 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.)
- Granted
Links
- 238000012545 processing Methods 0.000 claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 7
- 230000000630 rising effect Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000003754 machining Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000002351 wastewater Substances 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 240000004859 Gamochaeta purpurea Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a full-automatic disc part angle recognition device. The full-automatic disc part angle recognition device comprises a frame, a positioner and an automatic adjusting device, wherein the frame is used for fixing every processing component; the manipulator is used for automatically moving a workpiece, is fixed on the frame through a mounting rack, and is connected with a driving unit to achieve rotation or vertical movement; the positioner is provided with a positioning slot which has a reference positioning function; the automatic adjusting device is used for matching the positioning slot on the positioner with a key on the workpiece, is fixed onto the frame and is arranged on one side of the manipulator. The full-automatic disc part angle recognition device does not need manual operation, can automatically position workpieces to a position needing processing, is accurate in positioning and high in automation degree, reduces manpower of workers, and greatly improves processing efficiency.
Description
Technical field
The present invention relates to the manipulator field, especially a kind of for the full-automatic disk-like accessory angle recognition device of location disk-like accessory automatically.
Background technology
More existing disk part by performings such as rotor flywheel are adding man-hour, need accurately location, satisfy machining accuracy, in prior art, be all generally to realize the location on the machine chuck grinding tool by manually workpiece being put into, yet when adopting artificial location, not only the amount of labour is large, working (machining) efficiency is poor, and positioning accuracy is also relatively poor, easily produces substandard products, and operating personnel are operation around the lathe of being everlasting, and also easily causes danger.
Summary of the invention
The technical problem to be solved in the present invention is: for a kind of simple to operate, registration, automaticity is high, working (machining) efficiency is high full-automatic disk-like accessory angle recognition device are provided.
The technical solution adopted for the present invention to solve the technical problems is: a kind of full-automatic disk-like accessory angle recognition device comprises:
For the frame of fixing each processing assembly;
Be used for automatically shifting the manipulator of workpiece, described manipulator is fixed on frame by installing rack, and manipulator is connected with drive unit to be realized rotation or moves up and down;
Locator, the locating slot that has had the reference location effect on described locator, also comprise the locating slot on locator is completed with the key on workpiece the self-checking device that coordinates, described self-checking device is fixed on frame, and self-checking device is arranged on a side of described manipulator.
Because the workpiece inboard is provided with key, need this workpiece rotating before workpiece processing, make bond energy enough in specific position, so that processing.In prior art, be all generally by the manual adjustment location of workpiece, make bond energy enough in specific position.Yet it is very inconvenient manually to adjust workpiece, and accuracy is poor, if workpiece size is larger, needs a large amount of labour of workman, simultaneously, adds man-hour, and manual operation is very dangerous.Therefore, need a kind of positioning workpieces automatically of design, make the interior bond energy of workpiece enough automatically towards specific position, need for processing.The present invention adopts the ingenious cooperation of manipulator, locator and self-checking device, and positioning workpieces, need not manual operation automatically, and accuracy is high, greatly reduces workman's labour, has improved production efficiency.
in a preferred embodiment of the present invention, described locator comprises rotating shaft moving up and down and latch, described latch is fixed on the rotating shaft top, described locating slot is arranged on latch, described self-checking device comprises installing plate, briquetting, fixed disk, connecting plate, be used for receiving the push pedal of workpiece, back-moving spring, driving member, tablet and sensor, described installing plate is fixed on frame, described fixed disk is fixed on the installing plate surface, described connecting plate is fixed on fixed disk by some uniform pillars, described push pedal is arranged on above connecting plate, be provided with some uniform guide rods between push pedal and connecting plate, be arranged with spring on described guide rod, described push pedal is connected with connecting plate elasticity by spring, described briquetting correspondence is arranged on above push pedal, briquetting is connected with the first cylinder to be realized rising or descending, described fixed disk, connecting plate, the push pedal coaxial sleeve is located at outside rotating shaft, and the height of the latch on rotating shaft top is higher than the height of push pedal, described back-moving spring is set in outside rotating shaft, back-moving spring one end is resisted against on fixed disk, the other end is fixedly connected with rotating shaft, described driving member is fixed on bottom installing plate, driving member is connected bottom rotating shaft, described tablet is fixed on the rotating shaft bottom, described sensor is fixed on bottom installing plate, the sensor correspondence is arranged on tablet both sides, sensor comprises upper sensor and lower sensor, described upper sensor receives the signal that tablet rises, described lower sensor receives the signal that tablet descends.after receiving workpiece in push pedal, briquetting descends, with Work-sheet pressing in push pedal, due to the locating slot on the latch of rotating shaft top towards the position of needs location, and the key on workpiece departs from this position, this moment, briquetting continued to descend, the workpiece that promotes in push pedal descends, workpiece promotes rotating shaft and descends, when lower sensor receives the tablet of rotating shaft bottom, driving member comes into operation, driven rotary axle forward, after the certain angle of rotating shaft forward, key on workpiece just falls in locating slot on latch, driving member stops the rotation, at this moment, briquetting slowly rises, when upper sensor receives the tablet of rotating shaft bottom, briquetting stops rising, the counter-rotating of driving member driven rotary axle, because the key on workpiece engages with locating slot on latch, workpiece and rotating shaft reverse simultaneously, the angle of counter-rotating is identical with the angle of forward, after counter-rotating, briquetting rises, key in this workpiece is namely towards the position of needs processing, complete automatic location.
In order to realize rotating and reverse of rotating shaft, described driving member comprises the first tilt cylinder, gear wheel and pinion, and described the first tilt cylinder is fixed on the installing rack bottom, and described gear wheel is fixed on the first tilt cylinder bottom, described pinion is fixed on rotating shaft bottom, described gear wheel and pinion engagement.The first tilt cylinder comes rotating and reverse of driven rotary axle by the cooperation of gear wheel, pinion, and flexibility is good.
For rising or the decline of controlling briquetting, described briquetting is fixed on installing rack by support, and described the first cylinder is fixed on support, the first cylinder end connection briquetting, and the first cylinder drives briquetting and rises or descend.
In order to make manipulator transferring work piece in a big way, be fixed with the second cylinder and the second tilt cylinder on described installing rack, it is lower mobile on hand that described the second cylinder is controlled machinery, described the second tilt cylinder is controlled mechanical hand-screw and is turned, cooperation by the second cylinder and the second tilt cylinder, manipulator can be with workpiece transfer to push pedal, and scope of activities is large, and accuracy is high.
Whether put in place in order automatically to respond to workpiece, also comprise photoelectric sensor, described photoelectric sensor be symmetricly set on the locator both sides and with the locator Central Symmetry, when workpiece blocks the induced signal of two photoelectric sensors, illustrate that workpiece puts in place.
Owing to needing to use water in processing, for the ease of collecting waste water, be fixed with water receiving tank on described frame, described water receiving tank correspondence is arranged on the below of manipulator and locator, and the waste water that produces in processing can be collected in water receiving tank, is convenient to process.
In order to prevent danger, described frame surrounding is provided with protective plate, avoids operating personnel to be accidentally injured by this device.
The invention has the beneficial effects as follows: the full-automatic disk-like accessory angle of the present invention recognition device does not need manually-operated, workpiece can be navigated to required Working position automatically, registration, and automaticity is high, has reduced workman's labour, has greatly improved working (machining) efficiency.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the perspective view of the full-automatic disk-like accessory angle of the present invention recognition device;
Fig. 2 is the perspective view of manipulator of the present invention, locator, self-checking device;
Fig. 3 is the front view of manipulator of the present invention, locator, self-checking device;
Fig. 4 is the upward view of Fig. 3;
Fig. 5 is the structural representation of locator of the present invention;
Fig. 6 is the structural representation of workpiece of the present invention;
In figure: 1. frame, 2. manipulator, 21. second tilt cylinders, 22. the second cylinder, 31. rotating shafts, 32. latches, 33. locating slot, 41. installing plates, 42. briquettings, 421. the first cylinder, 422. supports, 431. push pedals, 432. connecting plate, 433. fixed disks, 434. pillars, 435. guide rod, 436. springs, 437 back-moving springs, 441. gear wheel, 442. pinions, 443. first tilt cylinders, 45. tablet, 461. upper sensors, 462. lower sensors, 5. workpiece, 51. keys, 6. installing rack, 7. photoelectric sensor, 8. protective plate, 9. water receiving tank.
The specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, basic structure of the present invention only is described in a schematic way, so it only show the formation relevant with the present invention.
Fig. 6 is the structural representation of workpiece 5, is provided with key 51 in workpiece 5, add man-hour needs with this key 51 towards specific position, to satisfy the processing needs, therefore need a kind of device of design the key 51 of workpiece 5 can be located automatically.
As shown in Figure 1, the invention provides a kind of full-automatic disk-like accessory angle recognition device, comprising:
For the frame 1 of fixing each processing assembly;
Be used for automatically shifting the manipulator 2 of workpiece, described manipulator 2 is fixed on frame 1 by installing rack 6, and manipulator 2 is connected with drive unit to be realized rotation or moves up and down;
Locator, the locating slot 33 that has had the reference location effect on described locator, also comprise the locating slot 33 on locator is completed with the key 51 on workpiece 5 self-checking device that coordinates, described self-checking device is fixed on frame 1, and self-checking device is arranged on a side of described manipulator 1.
By manipulator 1, workpiece 5 is transferred on self-checking device, had the locating slot 33 of reference location effect on locator, self-checking device can snap in the key 51 on workpiece 5 and realize the location in this locating slot 33.
Be fixed with water receiving tank 9 on described frame 1, described water receiving tank 9 correspondences are arranged on the below of manipulator 2 and locator, and the waste water that produces in processing can be collected in water receiving tank 9, are convenient to process.
In order to prevent danger, described frame 1 surrounding is provided with protective plate 8, avoids operating personnel to be accidentally injured by this device.
Fig. 2-Fig. 5 is the preferred version of manipulator 2 of the present invention, locator, self-checking device.Locator as shown in Figure 5, described locator comprises rotating shaft 31 moving up and down and latch 32, described latch 32 is fixed on rotating shaft 31 tops, described locating slot 33 is arranged on latch 32, locating slot 33 plays the reference location effect, this locating slot 33 initially towards or final towards being the required orientation of workpiece 5.Can realize accurate location by self-checking device of the present invention.as shown in Fig. 2-4, described self-checking device comprises installing plate 41, briquetting 42, fixed disk 433, connecting plate 432, be used for receiving the push pedal 431 of workpiece 5, back-moving spring 437, driving member, tablet 45 and sensor, described installing plate 41 is fixed on frame 1, described fixed disk 433 is fixed on installing plate 41 surfaces, described connecting plate 432 is fixed on fixed disk 433 by some uniform pillars 434, described push pedal 431 is arranged on connecting plate 432 tops, be provided with some uniform guide rods 435 between push pedal 431 and connecting plate 432, be arranged with spring 436 on described guide rod 435, described push pedal 431 is connected with connecting plate 432 elasticity by spring 436, described briquetting 42 correspondences are arranged on push pedal 431 tops, briquetting 42 is connected with the first cylinder 421 to be realized rising or descending, described fixed disk 433, connecting plate 432, push pedal 431 coaxial sleeves are located at outside rotating shaft 31, and the height of the latch 32 on rotating shaft 31 tops is higher than the height of push pedal 431, described back-moving spring 437 is set in outside rotating shaft 31, back-moving spring 437 1 ends are resisted against on fixed disk 433, the other end is fixedly connected with rotating shaft 31, described driving member is fixed on installing plate 41 bottoms, driving member is connected with rotating shaft 31 bottoms, described tablet 45 is fixed on rotating shaft 31 bottoms, described sensor is fixed on installing plate 41 bottoms, the sensor correspondence is arranged on tablet 45 both sides, sensor comprises upper sensor 461 and lower sensor 462, described upper sensor 461 receives the signal that tablet 45 rises, described lower sensor 462 receives the signal that tablet 45 descends.This self-checking device is by driving the locator forward, locating slot 33 on the latch 32 of locator is snapped on key 51 in workpiece 5 automatically, then self-checking device drives the locator counter-rotating, this reverse angle is identical with the angle of forward, make locator drive workpiece 5 counter-rotatings, thereby make key 51 on workpiece 5 arrive locating slots 33 initially towards, should be towards the position that is the required location of workpiece.
In addition, in another embodiment of the present invention, also can adopt another kind of self-checking device, this self-checking device is by regulating workpiece rotating, key on workpiece is snapped in locating slot on the latch of locator automatically, initially be oriented the required orientation of workpiece, the location of therefore realizing workpiece due to this locating slot.
In order to realize rotating and reverse of rotating shaft 31, described driving member comprises the first tilt cylinder 443, gear wheel 441 and pinion 442, described the first tilt cylinder 443 is fixed on installing rack 6 bottoms, described gear wheel 441 is fixed on the first tilt cylinder 443 bottoms, described pinion 442 is fixed on rotating shaft 31 bottoms, described gear wheel 441 and pinion 442 engagements.The first tilt cylinder 443 comes rotating and reverse of driven rotary axle 31 by the cooperation of gear wheel 441, pinion 442, and flexibility is good.
For rising or the decline of controlling briquetting 42, described briquetting 42 is fixed on installing rack 6 by support 422, and described the first cylinder 421 is fixed on support 422, and the first cylinder 421 ends connection briquetting 42, the first cylinders 421 drive briquettings 42 and rise or descend.
In order to make manipulator 2 transferring work piece 5 in a big way, be fixed with the second cylinder 22 and the second tilt cylinder 21 on described installing rack 6, described the second cylinder 22 is controlled manipulator 2 and is moved up and down, described the second tilt cylinder 21 is controlled manipulator 2 rotations, cooperation by the second cylinder 22 and the second tilt cylinder 21, manipulator 2 can be transferred to workpiece 5 in push pedal 431, and scope of activities is large, and accuracy is high.
Whether put in place in order automatically to respond to workpiece 5, also comprise photoelectric sensor 7, described photoelectric sensor 7 be symmetricly set on the locator both sides and with the locator Central Symmetry, when workpiece 5 blocks the induced signal of two photoelectric sensors 7, illustrate that workpiece 5 has put in place.
operation principle of the present invention is as follows: open gauge tap, the second cylinder 22 is controlled manipulator 2 and is moved up and down, the second tilt cylinder 21 is controlled manipulator 2 rotations, make the accurately other workpiece 5 of crawl frame 1 of manipulator 2, and workpiece 5 is sent to self-checking device, when the induced signal of two photoelectric sensors 7 is blocked, illustrate that workpiece 5 has arrived in push pedal 431, this moment first, cylinder 421 drove briquetting 42 declines, workpiece 5 is pressed in push pedal 431, due to the locating slot 33 on rotating shaft 31 top latches 32 towards the position of needs location, and the key 51 on workpiece 5 departs from this position, this moment, briquetting 42 continuation descended, the workpiece 5 that promotes in push pedal 431 descends, workpiece 5 promotes rotating shaft 31 and descends, when lower sensor 462 receives the tablet 45 of rotating shaft 31 bottoms, the first tilt cylinder 443 comes into operation, the gear wheel 441 that is connected with the first tilt cylinder 443 drives pinion 442 forwards that are fixed on rotating shaft 31 bottoms, thereby driven rotary axle 31 forwards, after the certain angle of rotating shaft 31 forwards, key 51 on workpiece 5 just falls in locating slot 33 on latch 32, the first tilt cylinder 443 decommissions, at this moment, briquetting 42 slowly rises, owing to being provided with back-moving spring 437 between rotating shaft 31 and fixed disk 433, rotating shaft 31 automatic-ascendings, when upper sensor 461 receives the tablet 45 of rotating shaft 31 bottoms, briquetting 42 stops rising, the first tilt cylinder 443 driven rotary axle 31 counter-rotatings, because the key 51 on workpiece 5 engages with locating slot 33 on latch 32, workpiece 5 reverses simultaneously with rotating shaft 31, the angle of controlling counter-rotating is identical with the angle of forward, after counter-rotating, briquetting 42 rises, key 51 in this workpiece 5 is namely towards the initial position of locating slot 33, namely need the target location that processes, complete automatic location.
Compared with prior art, the full-automatic disk-like accessory angle of the present invention recognition device does not need manually-operated, workpiece can be navigated to required Working position automatically, registration, and automaticity is high, has reduced workman's labour, has greatly improved working (machining) efficiency.
Take above-mentioned foundation desirable embodiment of the present invention as enlightenment, by above-mentioned description, the relevant staff can in the scope that does not depart from this invention technological thought, carry out various change and modification fully.The technical scope of this invention is not limited to the content on specification, must determine its technical scope according to the claim scope.
Claims (8)
1. a full-automatic disk-like accessory angle recognition device, is characterized in that, comprising:
For the frame of fixing each processing assembly;
Be used for automatically shifting the manipulator of workpiece, described manipulator is fixed on frame by installing rack, and manipulator is connected with drive unit to be realized rotation or moves up and down;
Locator, the locating slot that has had the reference location effect on described locator, also comprise the locating slot on locator is completed with the key on workpiece the self-checking device that coordinates, described self-checking device is fixed on frame, and self-checking device is arranged on a side of described manipulator.
2. full-automatic disk-like accessory angle recognition device as claimed in claim 1, it is characterized in that: described locator comprises rotating shaft moving up and down and latch, described latch is fixed on the rotating shaft top, described locating slot is arranged on latch, described self-checking device comprises installing plate, briquetting, fixed disk, connecting plate, be used for receiving the push pedal of workpiece, back-moving spring, driving member, tablet and sensor, described installing plate is fixed on frame, described fixed disk is fixed on the installing plate surface, described connecting plate is fixed on fixed disk by some uniform pillars, described push pedal is arranged on above connecting plate, be provided with some uniform guide rods between push pedal and connecting plate, be arranged with spring on described guide rod, described push pedal is connected with connecting plate elasticity by spring, described briquetting correspondence is arranged on above push pedal, briquetting is connected with the first cylinder to be realized rising or descending, described fixed disk, connecting plate, the push pedal coaxial sleeve is located at outside rotating shaft, and the height of the latch on rotating shaft top is higher than the height of push pedal, described back-moving spring is set in outside rotating shaft, back-moving spring one end is resisted against on fixed disk, the other end is fixedly connected with rotating shaft, described driving member is fixed on bottom installing plate, driving member is connected bottom rotating shaft, described tablet is fixed on the rotating shaft bottom, described sensor is fixed on bottom installing plate, the sensor correspondence is arranged on tablet both sides, sensor comprises upper sensor and lower sensor, described upper sensor receives the signal that tablet rises, described lower sensor receives the signal that tablet descends.
3. full-automatic disk-like accessory angle recognition device as claimed in claim 2, it is characterized in that: described driving member comprises the first tilt cylinder, gear wheel and pinion, described the first tilt cylinder is fixed on the installing rack bottom, described gear wheel is fixed on the first tilt cylinder bottom, described pinion is fixed on rotating shaft bottom, described gear wheel and pinion engagement.
4. full-automatic disk-like accessory angle recognition device as claimed in claim 2, it is characterized in that: described briquetting is fixed on installing rack by support, and described the first cylinder is fixed on support, and the first cylinder end connects briquetting.
5. full-automatic disk-like accessory angle recognition device as claimed in claim 1 is characterized in that: be fixed with the second cylinder and the second tilt cylinder on described installing rack, it is lower mobile on hand that described the second cylinder is controlled machinery, and described the second tilt cylinder is controlled mechanical hand-screw and turned.
6. the full-automatic disk-like accessory angle recognition device of stating as claim 1 is characterized in that: also comprise photoelectric sensor, described photoelectric sensor be symmetricly set on the locator both sides and with the locator Central Symmetry.
7. full-automatic disk-like accessory angle recognition device as claimed in claim 1, it is characterized in that: be fixed with water receiving tank on described frame, described water receiving tank correspondence is arranged on the below of manipulator and locator.
8. full-automatic disk-like accessory angle recognition device as claimed in claim 1, it is characterized in that: described frame surrounding is provided with protective plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310340920.3A CN103381574B (en) | 2013-08-06 | 2013-08-06 | Full-automatic disc part angle recognition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310340920.3A CN103381574B (en) | 2013-08-06 | 2013-08-06 | Full-automatic disc part angle recognition device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103381574A true CN103381574A (en) | 2013-11-06 |
| CN103381574B CN103381574B (en) | 2014-05-21 |
Family
ID=49489621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310340920.3A Active CN103381574B (en) | 2013-08-06 | 2013-08-06 | Full-automatic disc part angle recognition device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103381574B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583517A (en) * | 2016-03-10 | 2016-05-18 | 大族激光科技产业集团股份有限公司 | Laser cutting induction device |
| CN106425364A (en) * | 2016-11-04 | 2017-02-22 | 苏州亨通智能精工装备有限公司 | Automatic positioning device for charging tray |
| CN106743033A (en) * | 2016-12-19 | 2017-05-31 | 金石机器人银川有限公司 | Can classified access tire transfer truck and its application method |
| CN109940464A (en) * | 2019-02-26 | 2019-06-28 | 西南大学 | A kind of angular identification device of Full-automatic disc part |
| CN111590419A (en) * | 2020-04-15 | 2020-08-28 | 安徽金诚复合材料有限公司 | Corner polishing device for machining rear tail door of passenger car and operation method of corner polishing device |
| CN112658833A (en) * | 2021-01-04 | 2021-04-16 | 张友 | Full-automatic grinding equipment for inner ring of integral bearing bush |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5013887A (en) * | 1990-06-29 | 1991-05-07 | Deere & Company | Torch alignment verification method and apparatus |
| CN2225320Y (en) * | 1995-10-04 | 1996-04-24 | 呼和浩特太极计算机公司 | Automatic braider of circular chain |
| DE19501711C1 (en) * | 1995-01-20 | 1996-04-25 | Fraunhofer Ges Forschung | Precision adjustment mechanism for microoptics and micromechanics |
| US20050240290A1 (en) * | 2003-10-01 | 2005-10-27 | Varian Semiconductor Equipment Associates, Inc. | Automated robot alignment system and method using kinematic pins and end effector sensor |
| JP2010089213A (en) * | 2008-10-08 | 2010-04-22 | Kawasaki Heavy Ind Ltd | Original position adjusting mechanism and robot |
| JP2011104698A (en) * | 2009-11-16 | 2011-06-02 | Chugoku Electric Power Co Inc:The | Polishing device for tapered member |
| CN203380767U (en) * | 2013-08-06 | 2014-01-08 | 金石机器人常州有限公司 | Full-automatic angle recognition device for disc parts |
-
2013
- 2013-08-06 CN CN201310340920.3A patent/CN103381574B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5013887A (en) * | 1990-06-29 | 1991-05-07 | Deere & Company | Torch alignment verification method and apparatus |
| DE19501711C1 (en) * | 1995-01-20 | 1996-04-25 | Fraunhofer Ges Forschung | Precision adjustment mechanism for microoptics and micromechanics |
| CN2225320Y (en) * | 1995-10-04 | 1996-04-24 | 呼和浩特太极计算机公司 | Automatic braider of circular chain |
| US20050240290A1 (en) * | 2003-10-01 | 2005-10-27 | Varian Semiconductor Equipment Associates, Inc. | Automated robot alignment system and method using kinematic pins and end effector sensor |
| JP2010089213A (en) * | 2008-10-08 | 2010-04-22 | Kawasaki Heavy Ind Ltd | Original position adjusting mechanism and robot |
| JP2011104698A (en) * | 2009-11-16 | 2011-06-02 | Chugoku Electric Power Co Inc:The | Polishing device for tapered member |
| CN203380767U (en) * | 2013-08-06 | 2014-01-08 | 金石机器人常州有限公司 | Full-automatic angle recognition device for disc parts |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583517A (en) * | 2016-03-10 | 2016-05-18 | 大族激光科技产业集团股份有限公司 | Laser cutting induction device |
| CN106425364A (en) * | 2016-11-04 | 2017-02-22 | 苏州亨通智能精工装备有限公司 | Automatic positioning device for charging tray |
| CN106425364B (en) * | 2016-11-04 | 2018-05-25 | 江苏亨通智能科技有限公司 | Automatic positioning device for charging tray |
| CN106743033A (en) * | 2016-12-19 | 2017-05-31 | 金石机器人银川有限公司 | Can classified access tire transfer truck and its application method |
| CN106743033B (en) * | 2016-12-19 | 2022-12-23 | 金石机器人银川有限公司 | Transfer skip car capable of storing and taking tires in classification mode and using method thereof |
| CN109940464A (en) * | 2019-02-26 | 2019-06-28 | 西南大学 | A kind of angular identification device of Full-automatic disc part |
| CN111590419A (en) * | 2020-04-15 | 2020-08-28 | 安徽金诚复合材料有限公司 | Corner polishing device for machining rear tail door of passenger car and operation method of corner polishing device |
| CN112658833A (en) * | 2021-01-04 | 2021-04-16 | 张友 | Full-automatic grinding equipment for inner ring of integral bearing bush |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103381574B (en) | 2014-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103381574B (en) | Full-automatic disc part angle recognition device | |
| CN110039308B (en) | Water temperature sensor assembly equipment and working method thereof | |
| CN210139636U (en) | Automatic hot melt nut equipment of plastic part drain pan | |
| CN204220833U (en) | A kind of deep-draw pressing mold reclaimer robot | |
| CN203380767U (en) | Full-automatic angle recognition device for disc parts | |
| CN203495962U (en) | Grabbing manipulator for COG binding machine and COG binding machine | |
| CN205397495U (en) | Automatic material loading machine of piston work piece based on machine vision | |
| KR101890041B1 (en) | Multi-tapping machine | |
| CN204584852U (en) | Materials device fetched and delivered by a kind of manipulator | |
| CN102785144A (en) | Automatic clamping mechanical hand device for milling machining optical lens | |
| CN102490119B (en) | Auxiliary up-and-down feeding mechanism of surface-grinding machine | |
| CN103658434B (en) | Peach-shaped point spade spade sheet automatic loading and unloading manipulator system | |
| CN109940379A (en) | A kind of one way device for ignitor Automated assembly device | |
| CN210527875U (en) | Robot end effector for stacking refractory bricks | |
| CN104190844B (en) | Pusher dog assembly assembling machine of window glass lifter for full automatic vehicle | |
| CN105904192B (en) | A kind of automobile stabilizer bar dust cover assemble mechanism and its assembly method | |
| CN105149474A (en) | Material taking mechanical arm | |
| CN207014393U (en) | Automatic conveying mechanical arm | |
| CN109848285B (en) | Four-axis planar robot integrated system for automatic feeding and discharging of high-speed notching press | |
| CN106956253A (en) | Three Degree Of Freedom cylindrical coordinates industrial robot | |
| CN208914872U (en) | Large scale engraved stone machine people's assembly | |
| CN107932925B (en) | Semi-automatic assembly machine for O-shaped ring | |
| CN217417400U (en) | Equipment for placing glass by using mechanical arm to correct deviation in real time through vision system | |
| CN215248103U (en) | Electric automatic control moves material device | |
| CN203254144U (en) | Automatic screw screwing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 213164 Wujin new and high tech Industrial Development Zone, Jiangsu, Hui Hui Road, No. 7, A3, Patentee after: STON ROBOT CHANGZHOU Co.,Ltd. Address before: 213100 No. 7 Xinhui Road, South villa, Wujin District, Jiangsu, Changzhou Patentee before: STON ROBOT MANUFACTURING (CHANGZHOU) Co.,Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Full-automatic disc part angle recognition device Effective date of registration: 20180202 Granted publication date: 20140521 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: 2018990000126 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20190202 Granted publication date: 20140521 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: 2018990000126 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Full-automatic disc part angle recognition device Effective date of registration: 20190202 Granted publication date: 20140521 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: 2019990000114 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20201119 Granted publication date: 20140521 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: 2019990000114 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Automatic angular recognition device for disk parts Effective date of registration: 20201119 Granted publication date: 20140521 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: Y2020990001361 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20221013 Granted publication date: 20140521 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: Y2020990001361 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |