CN107322611A - A kind of window inspecting manipuator and detecting system - Google Patents
A kind of window inspecting manipuator and detecting system Download PDFInfo
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- CN107322611A CN107322611A CN201710733080.5A CN201710733080A CN107322611A CN 107322611 A CN107322611 A CN 107322611A CN 201710733080 A CN201710733080 A CN 201710733080A CN 107322611 A CN107322611 A CN 107322611A
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- mould bases
- handle
- window
- inspecting manipuator
- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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Abstract
The invention belongs to manipulator technical field, it is specifically related to a kind of to be used for the inspecting manipuator that window is hanged in folding repeatedly, it includes manipulator and driving mould bases, the manipulator includes pedestal and multiple pivoted arms on the pedestal, the multiple pivoted arm is sequentially connected, and two adjacent pivoted arms can be relatively rotated.It is described driving mould bases be arranged on manipulator head end pivoted arm, and from manipulator be moved at handle with handle coordinate, the driving mould bases is selectively rotated by manipulator, promoted or pull handle, realize hang window folding.The present invention also provides a kind of detecting system of the above-mentioned inspecting manipuator of application, and it includes above-mentioned inspecting manipuator and detection means.The driving mould bases that the present invention is provided can realize the activity in the different frees degree by manipulator, its is simple in construction, simplifies the structure of existing testing machine, and driving mould bases simulation capacity is stronger, the simulation of forms folding can be preferably carried out, the precision of testing result is improved.
Description
Technical field
The invention belongs to manipulator technical field, and in particular to a kind of window inspecting manipuator and detecting system.
Background technology
Inner flat opening bottom-hung window is that one kind both can be good, safe with performance of ventilating to inward opening, the forms that also can inwardly topple over
Performance is high, the advantages of be easy to cleaning, therefore is widely used in the fields such as factory, hotel, house.
People are in order to detect the quality of inner flat opening bottom-hung window and handware, in the prior art using testing machine come mould repeatedly
Intend the action that user opens, closes forms, so as to carry out the performance detection of forms, regard the number of times of the normal folding of forms as measurement
One important indicator of the forms and its hanging inward opening mechanism quality, so that it is guaranteed that the quality of the inner flat opening bottom-hung window of production.
General, traditional testing machine includes frame, pendulous device, tumbler and pushing meanss, wherein, pendulous device
A long arm swing and swing arm seat are generally included, long arm swing is laterally set and across inner flat opening bottom-hung window, its one end is arranged on
In frame, the other end extends at the handle of forms and connects tumbler to realize transmission agency, although this kind of structure
The experiment that function carries out folding repeatedly to forms is tested, but the testing machine structure of this kind of structure is complicated, troublesome poeration, and volume
Huge, space-consuming is more, influence workman normal activity, be unfavorable for transporting and manufacture, in addition above-mentioned testing machine there is also
Transmission not accurately shortcoming, therefore a kind of simple in construction, small volume of research and development, accurately window is ten with inspecting manipuator to testing result
Divide necessary.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of simple in construction, small volume, testing result essence
Accurate window inspecting manipuator.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：
A kind of window inspecting manipuator, window is hanged for folding repeatedly, and the outstanding window being related to includes Xuan Chuan mechanisms, and for driving
The handle of the Xuan Chuan mechanisms is moved, window inspecting manipuator includes manipulator and driving mould bases.
The manipulator includes pedestal and multiple pivoted arms on the pedestal, and the multiple pivoted arm is sequentially connected,
Two adjacent pivoted arms can be relatively rotated.
It is described driving mould bases be arranged on manipulator head end pivoted arm, and from manipulator be moved at handle with handle with,
The driving mould bases is selectively rotated by manipulator, promoted or pull handle, realizes the folding of outstanding window.
Compared with prior art, the window that the present invention is provided inspecting manipuator includes manipulator and driving mould bases, the drive
Dynamic model is set up on manipulator and by robot drives to realize the activity in the different frees degree, the driving mould bases be used for rotate,
Push or pull on handle, the inspecting manipuator of above-mentioned set-up mode, compared with existing testing machine, which simplify existing testing machine
Structure, reduce its volume, and using the type of drive of manipulator, make that driving mould bases activity is more flexible, simulation capacity is more
By force, the simulation to forms folding can be really realized, the precision of testing result is improved.
Further, the driving mould bases bag mounting platform, penetrating mechanism, pulling mechanism and two rotating mechanisms, institute
The front side that pulling mechanism is located at penetrating mechanism is stated, two rotating mechanisms are relatively located at the both sides of pulling mechanism and penetrating mechanism,
The installation opening for being arranged handle is surrounded between the penetrating mechanism, pulling mechanism and two rotating mechanisms, the penetrating mechanism is used
In promoting handle, the pulling mechanism is used for pull handle, and the rotating mechanism is used for swing handle；The driving mould bases passes through
Mounting platform is connected with pivoted arm；The penetrating mechanism is connected with mounting platform, and one end of described two rotating mechanisms is flat with installing
Platform is connected, and the two ends of the other end and pulling mechanism are connected.The set-up mode of the driving mould bases is simple in construction, in the drive of manipulator
Under action is used, handle can with penetrating mechanism, pulling mechanism or rotating mechanism are detachable contacts, and under the drive of manipulator,
The function of promotion handle, pull handle or swing handle can be achieved, so as to open forms or close forms.
Further, the penetrating mechanism can be mounted opposite opposite direction activity of the platform along ejection handle, the ejection machine
The first dynamic clamping head and quiet clamping head is provided between structure and mounting platform, first dynamic clamping head and quiet clamping head makes penetrating mechanism to the side of ejection handle
To reset.The penetrating mechanism includes ejection part and ejection part connector, and the mounting platform is provided with to be connected with the ejection part
The first connecting hole that fitting is adapted, ejection part connector one end is connected with ejection part, and the other end can phase through the first connecting hole
To mounting platform activity, the end of the ejection part connector is provided with the first block piece for preventing that it from departing from mounting platform, institute
State mounting platform and the first lead stretched out is provided with positioned at the side of the first block piece, first block piece is provided with confession
The first via that first lead passes through, the penetrating mechanism can be past along first lead by first via
Bring back to life and move, the end of first lead is provided with the first fixed seat, and first dynamic clamping head and quiet clamping head is set in the first lead
Go up and be located between the first fixed seat and the first block piece.The set-up mode of the penetrating mechanism is simple in construction, compact, and first
Dynamic clamping head and quiet clamping head effectively can provide reset function and damping, the mode of above-mentioned penetrating mechanism flexible setting to penetrating mechanism
Driving mould bases is set to produce buffering effect in ejection handle, so as to reduce impulsive force.
Further, described two rotating mechanisms can be mounted opposite opposite direction activity of the platform along pull handle, described two
Between individual rotating mechanism and mounting platform be provided with the second dynamic clamping head and quiet clamping head, second dynamic clamping head and quiet clamping head make two rotating mechanisms to
The direction of pull handle resets.The rotating mechanism includes rotation section and rotation section connector, and rotation section is connected by rotation section
Part is connected with mounting platform；The mounting platform is provided with the second connecting hole, and the rotation section connector passes through the second connecting hole
Platform activity can be mounted opposite；The driving mould bases also includes the second block piece, the end point of described two rotation section connectors
Two ends not with the second block piece are connected, and the side that the mounting platform is located at the second block piece is led provided with second stretched out
Xiang Zhu, second block piece is provided with the second via passed through for second lead, and the rotating mechanism passes through described
Second via can be along the second lead reciprocating movement, and the end of second lead is provided with the second fixed seat, and described the
Two dynamic clamping head and quiet clamping heads are set on the second lead and are located between the second fixed seat and the second block piece.The rotating mechanism
Set-up mode it is simple in construction, compact, the second dynamic clamping head and quiet clamping head can effectively to rotating mechanism provide reset function and damping imitate
Really, the mode of above-mentioned rotating mechanism flexible setting makes driving mould bases produce buffering effect in pull handle, so as to reduce impact
Power.
Further, window inspecting manipuator also includes torque induction installation, and the torque induction installation includes setting
The torque induction machine for putting on the pivoted arm being connected with driving mould bases and driving the driving mould bases to rotate；Or, the power
Square induction installation includes torque sensor, and the torque sensor is arranged on the motor for driving the driving mould bases rotation.Institute
The set-up mode for stating torque induction installation is simple in construction, during forms are tested, and can detect torque during swing handle, one
Aspect collects more test datas, on the other hand can prevent manipulator from being burnt out because of overload.
The present invention also provides a kind of detecting system of the above-mentioned window inspecting manipuator of application, and it includes the inspecting manipuator
And detection means, the detection means includes being used to install the installation mould bases and data statistics module of forms, the installation mould bases
The folding sensor for being used for detecting forms folding situation is provided with, the folding sensor is electrically connected with data statistics module, number
Module is according to the number of times of the data statistics forms folding of folding sensor transmissions according to statistics, and the installation mould bases is including being located at bottom
Support base and the forms installation frame on support base, forms detachably are installed on the forms installation frame, institute
Two guide rails that support base includes being oppositely arranged are stated, the forms installation frame is arranged on guide rail and can be movable along guide rail,
The mould bases of installing also includes connection guide rail and the support arm of forms installation frame side, and the forms installation frame is located at described
The side of support arm is provided with chute, and the support arm connects chute and guide rail and can be along chute and guide rail activity.Due to the inspection
Examining system employs above-mentioned inspecting manipuator, and the inspecting manipuator is simple in construction, is conducive to detecting system to reduce its occupancy
Space, and the inspecting manipuator is driven using six axis robot, it is good that it simulates effect, can carry the accurate of testing result
Degree.
Brief description of the drawings
Fig. 1 is detecting system structural representation
Fig. 2 is the enlarged drawing of Fig. 1 a-quadrant
Fig. 3 is the structural representation of window inspecting manipuator
Fig. 4 is the enlarged drawing in Fig. 3 B regions
Fig. 5 is the structural representation of driving mould bases
Fig. 6 is the enlarged drawing in Fig. 5 C regions
Embodiment
Below in conjunction with the embodiment of the brief description of the drawings present invention.
Embodiment one：
Referring to Fig. 1 and Fig. 2, the present embodiment provides a kind of window inspecting manipuator, and it is used for folding repeatedly and hangs window, described outstanding
Window is opened flat projecting top-hung window, outer flat-opened bottom-hung window, inward opening projecting top-hung window or inner flat opening bottom-hung window outside referring to.In the present embodiment, with
Inner flat opening bottom-hung window is as the object for illustrating this inspecting manipuator, and the inner flat opening bottom-hung window being related to includes hanging inward opening mechanism,
And for driving the handle 511 of the hanging inward opening mechanism, by rotating the handle 511, changeable hanging inward opening machine
The mode of operation of structure so that forms 51 unlock, lock, switch to inward opening pattern or switch to the mould inwardly toppled over
Formula, window inspecting manipuator includes manipulator and driving mould bases 2, specifically, the manipulator is six axis robot 1.
Referring to Fig. 1 to Fig. 4, the six axis robot 1 includes pedestal 10 and multiple pivoted arms on pedestal 10, described
Multiple pivoted arms are sequentially connected, and two adjacent pivoted arms can be relatively rotated.Specifically, the six axis robot 1 includes what is be sequentially connected
Seven pivoted arms and the first to the 6th motor (not showing in the described first to the 6th motor figure), seven pivoted arms difference
For the first pivoted arm 11, the second pivoted arm 12, the 3rd pivoted arm 13, the 4th pivoted arm 14, the 5th pivoted arm 15, the 6th pivoted arm 16 and the 7th pivoted arm
17, provided with a motor between two adjacent pivoted arms；First pivoted arm 11 is fixedly mounted on the pedestal 11, the
Two pivoted arms 12 are flexibly connected by the way that the first motor and the first pivoted arm 11 are relative, the 3rd pivoted arm 13 by the second motor and
The relative flexible connection of second pivoted arm 12, the 4th pivoted arm 14 is flexibly connected relatively by the 3rd motor with the 3rd pivoted arm 13, the
Five pivoted arms 15 are flexibly connected by the way that the 4th motor and the 4th pivoted arm 14 are relative, the 6th pivoted arm 16 by the 5th motor and
The relative flexible connection of 5th pivoted arm 15, the 7th pivoted arm 17 is by the 6th motor with the 6th pivoted arm 16 to being flexibly connected；Institute
State driving mould bases 2 to be arranged on the 7th pivoted arm 17, the driving mould bases 2 is moved to inner flat opening bottom-hung window by six axis robot 1
Coordinate at handle 511 with handle 511, and be selectively rotated, promoted or pull handle 511 by six axis robot 1, realize
The folding of outstanding window；The side that six axis robot 1 is located at the 7th pivoted arm 17 is defined as head end by the present invention, positioned at the first pivoted arm 11
Side is defined as end.
The window inspecting manipuator also includes torque induction installation (not showing in the torque induction installation figure), the torque
The set-up mode of induction installation includes following two.
As the first set-up mode of torque induction installation, the torque induction installation includes being arranged on and driving mould bases
The torque induction machine for (being originally embodied as the 7th pivoted arm 17) on the pivoted arms of 2 connections and driving mould bases 2 to rotate, i.e., described the
Six motors are the torque induction machine.
As second of set-up mode of torque induction installation, the torque induction installation includes torque sensor, described
Torque sensor is arranged on the motor for driving the driving mould bases rotation, that is, is arranged on 17 turns of the 7th pivoted arm of driving the present embodiment
On the 6th dynamic motor.
The set-up mode of the torque induction installation is simple in construction, during forms 51 are tested, and can detect turning handle
Torque during hand 511, on the one hand collects more test datas, on the other hand can prevent six axis robot 1 from being burnt because of overload
It is bad.
Referring to Fig. 2, the driving mould bases 2 includes mounting platform 3, penetrating mechanism 21, pulling mechanism 22 and two rotations
Mechanism 23, the driving mould bases 2 is connected by mounting platform 3 with pivoted arm.
Referring to Fig. 2 to Fig. 5, the mounting platform 3 is preferably installing plate, and it includes fixing end 301 and free end 302, institute
State fixing end 301 to be fixedly connected with the 7th pivoted arm 17, the penetrating mechanism 21 is connected with the free end 302 of mounting platform 3,
One end of described two rotating mechanisms 23 is connected with the free end 302 of mounting platform 3, the other end and the two of pulling mechanism 22
End connection.The pulling mechanism 22 is located at the front side of penetrating mechanism 21, and two rotating mechanisms 23 are relatively located at pulling mechanism 22
With the both sides of penetrating mechanism 21, installation opening is surrounded between the penetrating mechanism 21, pulling mechanism 22 and two rotating mechanisms 23
20, the installation opening 20 is used to pass through for the grip part 511a of handle 511, and the driving mould bases 2 has six axis robot 1 to drive simultaneously
The periphery of handle 511 is set in by installation opening 20, so that the grip part 511a of handle 511 is movable to be arranged on penetrating mechanism
21st, between pulling mechanism 22 and rotating mechanism 23, the penetrating mechanism 21 is used to promote handle 511, and the pulling mechanism 22 is used
In pull handle 511, the rotating mechanism 23 is used for swing handle 511.The set-up mode of the driving mould bases 2 is simple in construction,
Under the driving effect of six axis robot 1, the grip part 511a of handle 511 can be with penetrating mechanism 21, pulling mechanism 22 or rotation
The detachable contact of mechanism 23, and under the drive of six axis robot 1, can be achieved to promote handle 511, pull handle 511 or turn
The function of dynamic handle 511, so as to realize the mode of operation for changing hanging inward opening mechanism, and opens forms 51 and closes forms
51 function, the mode of operation includes inward opening pattern or lower outstanding pattern.
Referring to Fig. 2, Fig. 4 and Fig. 5, it is reciprocal that the penetrating mechanism 21 can be mounted opposite direction of the platform 3 along ejection handle 511
Activity, is provided with the first dynamic clamping head and quiet clamping head 4 between the penetrating mechanism 21 and mounting platform 3, first dynamic clamping head and quiet clamping head 4 makes to push away
Mechanism 21 is pushed up to reset to the direction of ejection handle 511.
Referring to Fig. 5 and Fig. 6, the penetrating mechanism 21 includes ejection part 211 and ejection part connector 212, described to install flat
Platform 3 is provided with the first connecting hole 31 being adapted with the ejection part connector 212, it is preferred that the ejection part connector 212
Relative to be provided with two, the corresponding ejection connecting portion 212 of the first connecting hole 31 is provided with two, and the ejection part connector 212 is set
Count into cylindric, first connecting hole 31 is designed to circular hole；Described two one end of ejection part connector 212 respectively with ejection part
211 two ends connection, the other end inserts the rear side of corresponding first connecting hole 31 and protruding mounting platform 3, the ejection
Portion's connector 212 can be mounted opposite on the activity of platform 3, the end of the ejection part connector 212 by the first connecting hole 31 and be set
There is the first block piece 213 for preventing that it from departing from mounting platform 3, the side that the mounting platform 3 is located at the first block piece 213 is provided with
The first lead 33 stretched out, first block piece 213 is provided with the first mistake passed through for first lead 33
Hole (does not show) that the penetrating mechanism 21 can be past along first lead 33 by first via in the first mistake hole pattern
Bring back to life and move, the end of first lead 33 is provided with the first fixed seat 34, and first dynamic clamping head and quiet clamping head 4 is set in first and led
On to post 33 and it is located between the first fixed seat 34 and the first block piece 213.The set-up mode structure of the penetrating mechanism 21
Simply, compact, the first dynamic clamping head and quiet clamping head 4 effectively can provide reset function and damping, above-mentioned ejection to penetrating mechanism 21
The mode of the flexible setting of mechanism 21 makes driving mould bases 2 produce buffering effect in ejection handle 511, so as to reduce impulsive force.It is excellent
Choosing, the ejection part 211 is the first roller bearing being rotatably connected with the head end of ejection part connector 212.Above-mentioned setting side
Formula is simple in construction, coordinates compact, manufacturing process is simple, and the first dynamic clamping head and quiet clamping head 4 effectively can connect to ejection part 211 and ejection part
Fitting 212 provides reset function and damping.Above-mentioned driving mould bases 2 is defined as head end close to one end of forms 51, it is remote
One end of forms 51 is defined as end.The mode of the above-mentioned flexible setting of penetrating mechanism 21 makes driving mould bases 2 in ejection handle 511
Buffering effect is produced, so as to reduce impulsive force.
Referring to figure, 5, the rotating mechanism 23 includes rotation section 231 and rotation section connector 232, and the rotation section 231 leads to
Cross rotation section connector 232 to be connected with mounting platform 3, the mounting platform 3 is provided with and mutually fitted with the rotation section connector 232
The second connecting hole 32 matched somebody with somebody, it is preferred that the rotation section connector 232 is designed to cylindric, and second connecting hole 32 is designed
Into circular hole；The head end of the rotation section connector 232 is connected with the end of rotation section 231, and the end of rotation section connector 232 is inserted
Enter the installation that corresponding second connecting hole 32 realizes rotation section connector 232, it is preferred that the rotation section 231 is the 3rd roller bearing.
The mode that the above-mentioned rigidity of rotating mechanism 23 is set is simple in construction, easy to assembly.
Referring to Fig. 5, the pulling mechanism 22 includes pulling department 221 and pulling department mounting seat 222, and the pulling department 221 leads to
Cross the pulling department mounting seat 222 to be connected with rotating mechanism 23, the pulling department mounting seat 222 and the head end of rotation section 231 connect
Connect, the pulling department 221 is arranged in pulling department mounting seat 222, it is preferred that the pulling department 221 is the second roller bearing.
Referring to Fig. 2 and Fig. 5, the ejection part 211, pulling department 221, rotation section 231 respectively with the movable contact of handle 511,
Ejection part 211, pulling department 221 and rotation section 231 are arranged into the structure of roller bearing can be reduced between driving mould bases 2 and handle 511
Friction.
As an improvement scheme (not showing in this programme figure), described two rotating mechanisms can be mounted opposite platform along drawing
The opposite direction activity of dynamic handle, is provided with the second dynamic clamping head and quiet clamping head, described second between described two rotating mechanisms and mounting platform
Dynamic clamping head and quiet clamping head makes two rotating mechanisms be resetted to the direction of pull handle.The end insertion of the rotation section connector is corresponding
The rear side of second connecting hole and protruding mounting platform, the rotation section connector can be mounted opposite flat by the second connecting hole
Platform activity；The driving mould bases also includes being used to place the second block piece that rotation section connector departs from mounting platform, described two
Two ends of the end of individual rotation section connector respectively with the second block piece are connected, and the mounting platform is located at the one of the second block piece
Side is provided with the second lead stretched out, and second block piece is provided with the second mistake passed through for second lead
Hole, the rotating mechanism can be along the second lead reciprocating movement, the end of second lead by second via
End is provided with the second fixed seat, and second dynamic clamping head and quiet clamping head is set on the second lead and is located in the second fixed seat and second
Between block piece.Being rigidly connected between rotating mechanism and mounting platform is substituted for flexible connection by above-mentioned set-up mode, so that
Pulling mechanism is set to produce buffering effect in pull handle, to reduce impulsive force.
Compared with prior art, the window that the present invention is provided inspecting manipuator includes six axis robot 1 and driving mould bases 2,
The driving mould bases 2 on six axis robot 1 and is driven to realize the activity in the different frees degree by six axis robot 1, should
Driving mould bases 2 is used to rotate, push or pull on handle 511, the inspecting manipuator of above-mentioned set-up mode, with existing testing machine phase
Than which simplify the structure of existing testing machine, reducing its volume, and using the type of drive of six axis robot 1, make driving
The activity of mould bases 2 is more flexible, and simulation capacity is stronger, can really realize the simulation to the folding of forms 51, improves the accurate of testing result
Degree.
Referring to Fig. 1 to Fig. 6, the operation principle of above-mentioned window inspecting manipuator is as follows：Before work starts, according to actual need
Ask to the typing operation procedure of six axis robot 1, the coded program that the operation procedure can be known for those skilled in the art, this hair
It is bright to be not construed as limiting；During work, the driving driving mould bases 2 of six axis robot 1 is moved at handle 511, and now, handle 511 is in just
Beginning position, handle 511 be located at initial position when grip part 511a down, six axis robot 1 drive will driving mould bases 2 from it is lower toward
On be enclosed on handle 511 grip part 511a periphery；Then, six axis robot 1 drives driving mould bases 2 to rotate in one direction,
With swing handle 511, hanging inward opening mechanism switching working mode can be triggered during being somebody's turn to do, when handle 511 continues in the direction
When going to horizontal level, forms 51 are unlocked；Then, six axis robot 1 drives driving mould bases 2 to be moved rearwards by, pull handle 511,
Forms 51 are opened in the way of inward opening；Then, six axis robot 1 drives driving mould bases 2 to move forward, and promotes handle 511, closes
Upper forms 51, so as to complete the folding of a forms 51；Then, six axis robot 1 drives driving mould bases 2 to continue in the same direction
Rotate, to switch the mode of operation of hanging inward opening mechanism, when handle 511 goes to the positions of its grip part 511a upward, window
Body 51 is unlocked；Then, six axis robot 1 drives driving mould bases 2 to be moved rearwards by, and pull handle 511 is beaten in the way of inwardly toppling over
Open a window body 51；Then, six axis robot 1 drives driving mould bases 2 to move forward, and promotes handle 511, forms 51 is closed, so that complete
Into the folding of another forms 51；Finally, six axis robot 1 drives driving mould bases 2 to rotate in reverse direction, drives 511 turns of handle
To initial position, circulated with this, repeatedly folding inner flat opening bottom-hung window.
Embodiment two：
The difference of (not showing in the present embodiment figure) the present embodiment and embodiment one is the set-up mode of the driving mould bases
Difference, the penetrating mechanism of the present embodiment, rotating mechanism and pulling mechanism combination constitute frame-type structure, and the frame-type structure can be with
Cyclic structure or trapezoidal cyclic structure for rectangle, the head end of the frame-type structure are that the pulling mechanism, end are institute
The sidepiece of penetrating mechanism, the connection pulling mechanism and penetrating mechanism is stated for rotating mechanism, within frame-type structure inner ring
Space forms the installation opening, and the set-up mode of above-mentioned frame-type structure is simple in construction, easily manufactured, and assembling is easy.
The other technical characteristics of the present embodiment are identical with embodiment one, no longer describe in detail herein.
Embodiment three：
Referring to Fig. 1 and Fig. 2, the present embodiment provides the window inspecting manipuator of a kind of Application Example one and embodiment two
100 detecting system, it includes the inspecting manipuator 100 and detection means 50, and the detection means 50 includes being used to install
The installation mould bases 52 and data statistics module 53 of forms 51, the installation mould bases 52, which is provided with, to be used to detect the folding situation of forms 51
Folding sensor (not showing in the folding sensor map), the folding sensor is electrically connected with data statistics module 53, window
Body 51 often completes a folding and just triggers folding sensor so that signal is fed back to data statistics module 53 by folding sensor, number
Module 53 is according to the number of times of the folding of data statistics forms 51 of folding sensor transmissions according to statistics.
The data statistics module 53 includes being arranged on the display module 531 and and display module installed on mould bases 52
The processing module (not showing in the processing module figure) of 531 electrical connections.The mould bases 52 of installing includes the support base positioned at bottom
521 and the forms installation frame 522 on support base 521, forms detachably are installed on the forms installation frame 522
51, the support base 521 includes two guide rail 521a being oppositely arranged, and the forms installation frame 522 is arranged on guide rail 521a
It is upper and can also include connection guide rail 521a and the side of forms installation frame 522 along guide rail 521a activities, the installation mould bases 52
Support arm 521b, the forms installation frame 522 is located at the side of the support arm 521b provided with chute (in the chute figure
Do not show), the support arm 521b connection chutes and guide rail 521a and can along chute and guide rail 521a activity.Due to the detection system
System employs above-mentioned inspecting manipuator 100, and the inspecting manipuator 100 is simple in construction, is conducive to detecting system to reduce it and accounts for
With space, and the inspecting manipuator 100 is driven using six axis robot, and it is good that it simulates effect, can put forward testing result
Accuracy.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and changed.Therefore, the invention is not limited in embodiment disclosed and described above, to the present invention's
Some modifications and changes should also be as falling into the scope of the claims of the present invention.Although in addition, being used in this specification
Some specific terms, but these terms are merely for convenience of description, do not constitute any limitation to the present invention.
Claims (10)
1. a kind of window inspecting manipuator, window is hanged for folding repeatedly, the outstanding window being related to includes Xuan Chuan mechanisms, and for driving
The handle of the Xuan Chuan mechanisms, it is characterised in that the window is included with inspecting manipuator：
Manipulator, it includes pedestal and multiple pivoted arms on the pedestal, and the multiple pivoted arm is sequentially connected, adjacent
Two pivoted arms can be relatively rotated；
The driving mould bases on manipulator head end pivoted arm is arranged on, is moved to from the manipulator at handle with handle, passing through
The manipulator is selectively rotated, promoted or pull handle, realizes the folding of outstanding window.
2. a kind of window inspecting manipuator according to claim 1, it is characterised in that：The driving mould bases includes ejection machine
Structure, pulling mechanism and two rotating mechanisms, the pulling mechanism are located at the front side of penetrating mechanism, and two rotating mechanisms are relatively
Located at the both sides of pulling mechanism and penetrating mechanism, set is surrounded between the penetrating mechanism, pulling mechanism and two rotating mechanisms
If the installation opening of handle, the penetrating mechanism is used to promote handle, and the pulling mechanism is used for pull handle, the rotating mechanism
For swing handle.
3. a kind of window inspecting manipuator according to claim 2, it is characterised in that：The driving mould bases also includes installing
Platform, the driving mould bases is connected by mounting platform with pivoted arm；The penetrating mechanism is connected with mounting platform, described two turns
One end of motivation structure is connected with mounting platform, the two ends connection of the other end and pulling mechanism.
4. a kind of window inspecting manipuator according to claim 3, it is characterised in that：The penetrating mechanism can be mounted opposite
Opposite direction activity of the platform along ejection handle, is provided with the first dynamic clamping head and quiet clamping head between the penetrating mechanism and mounting platform, described
First dynamic clamping head and quiet clamping head makes penetrating mechanism be resetted to the direction of ejection handle.
5. a kind of window inspecting manipuator according to claim 4, it is characterised in that：The penetrating mechanism includes ejection part
With ejection part connector, the mounting platform is provided with the first connecting hole being adapted with the ejection part connector, ejection part
Connector one end is connected with ejection part, and the other end can be mounted opposite platform activity, the ejection part connection through the first connecting hole
The end of part is provided with the first block piece for preventing that it from departing from mounting platform, and the mounting platform is located at the side of the first block piece
Provided with the first lead stretched out, first block piece is provided with the first via passed through for first lead,
The penetrating mechanism can be set by first via along the first lead reciprocating movement, the end of first lead
There is the first fixed seat, first dynamic clamping head and quiet clamping head is set on the first lead and is located in the first fixed seat to be stopped with first
Between part.
6. a kind of window inspecting manipuator according to claim 3 or 4, it is characterised in that：Described two rotating mechanisms can
Opposite direction activity of the platform along pull handle is mounted opposite, provided with the second elasticity between described two rotating mechanisms and mounting platform
Return unit, second dynamic clamping head and quiet clamping head makes two rotating mechanisms be resetted to the direction of pull handle.
7. a kind of window inspecting manipuator according to claim 6, it is characterised in that：The rotating mechanism includes rotation section
With rotation section connector, rotation section is connected by rotation section connector with mounting platform；The mounting platform connects provided with second
Hole is connect, the rotation section connector can be mounted opposite platform activity through the second connecting hole；
Also include the second block piece, the two ends of the ends of described two rotation section connectors respectively with the second block piece are connected, institute
State mounting platform and the second lead stretched out is provided with positioned at the side of the second block piece, second block piece is provided with confession
The second via that second lead passes through, the rotating mechanism can be past along second lead by second via
Bring back to life and move, the end of second lead is provided with the second fixed seat, and second dynamic clamping head and quiet clamping head is set in the second lead
Go up and be located between the second fixed seat and the second block piece.
8. a kind of window inspecting manipuator according to claim 1, it is characterised in that：Also include torque induction installation, institute
State the torque that torque induction installation includes being arranged on the pivoted arm being connected and driven the driving mould bases to rotate with driving mould bases
Induction machine；Or, the torque induction installation includes being arranged on torque sensor, and the torque sensor is arranged on driving institute
On the motor for stating driving mould bases rotation.
9. a kind of detecting system of the window inspecting manipuator described in any one of application the claims 1 to 8, its feature exists
In：Including the inspecting manipuator and detection means, the detection means includes the installation mould bases and data for being used to install forms
Statistical module, the installation mould bases, which is provided with, is used to detecting the folding sensor of forms folding situation, the folding sensor with
Data statistics module is electrically connected, and data statistics module is according to the number of times of the data statistics forms folding of folding sensor transmissions.
10. a kind of detecting system according to claim 9, it is characterised in that：The mould bases of installing is included positioned at bottom
Forms detachably are installed on support base and the forms installation frame on support base, the forms installation frame, it is described
Support base includes two guide rails being oppositely arranged, and the forms installation frame is arranged on guide rail and can be along guide rail activity, institute
The support arm for installing mould bases also including connection guide rail with forms installation frame side is stated, the forms installation frame is located at the branch
The side of brace is provided with chute, and the support arm connects chute and guide rail and can be along chute and guide rail activity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710733080.5A CN107322611B (en) | 2017-08-24 | 2017-08-24 | Detection manipulator and detection system for window |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710733080.5A CN107322611B (en) | 2017-08-24 | 2017-08-24 | Detection manipulator and detection system for window |
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| CN107322611A true CN107322611A (en) | 2017-11-07 |
| CN107322611B CN107322611B (en) | 2023-04-18 |
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| CN201710733080.5A Active CN107322611B (en) | 2017-08-24 | 2017-08-24 | Detection manipulator and detection system for window |
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| CN (1) | CN107322611B (en) |
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| Publication number | Publication date |
|---|---|
| CN107322611B (en) | 2023-04-18 |
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