CN110238815A - Dimensional measurement intelligent robot - Google Patents
Dimensional measurement intelligent robot Download PDFInfo
- Publication number
- CN110238815A CN110238815A CN201910324871.1A CN201910324871A CN110238815A CN 110238815 A CN110238815 A CN 110238815A CN 201910324871 A CN201910324871 A CN 201910324871A CN 110238815 A CN110238815 A CN 110238815A
- Authority
- CN
- China
- Prior art keywords
- terminal pad
- drive disk
- dimensional measurement
- mechanical arm
- console
- 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.)
- Pending
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000005303 weighing Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robot building technical fields, more particularly, to a kind of dimensional measurement intelligent robot, including console (1), the mechanical arm (1-1) for being mounted on the console (1) end face, the manipulator for being mounted on the end the mechanical arm (1-1)；The present apparatus includes two three shaft mechanical arms (1-1), it interior in a limited space can realize to the crawl of bottle, placement, dimensional measurement and weighing, and the analysis and judgement for making the real-time input computer of data to carry out next step are linked by distance measuring sensor and console, practical, flexibility ratio is high.
Description
Technical field
The invention belongs to robot building technical fields, more particularly, to a kind of dimensional measurement intelligent robot.
Background technique
Robot measurement is also known as automatic total instruments, is a kind of collection automatic target detection, sights automatically, automatic angle measurement and survey
Away from, Automatic Target Following, automatically record needed in special-shape bottle production detection in the measuring table of one to the product of production into
Row dimensional measurement and weighing generally use manual type at present and carry out weighing and dimensional measurement, it is therefore desirable to which designing one kind can
It automatically grabs, the robot of dimensional measurement and weighing.
Summary of the invention
The present invention proposes a kind of dimensional measurement intelligence machine for the problems in above-mentioned background technique of effective solution
People, specific technical solution are as follows；
A kind of dimensional measurement intelligent robot, which is characterized in that including console (1), be mounted on the console (1) end
The mechanical arm (1-1) in face, the manipulator for being mounted on the end the mechanical arm (1-1)；
Including three groups of structures, horn component identical and interconnected, the horn component include: the mechanical arm (1-1)
Drive disk (2), connecting rod (3), terminal pad (4)；Connecting rod (3) both ends are separately connected drive disk (2) and terminal pad (4), and even
Drive disk (2) and terminal pad (4) after connecing are mutually perpendicular to；Drive disk (2) center is equipped with internal gear (5), in terminal pad (4)
The heart is equipped with through-hole (6)；The terminal pad (4) of upper level horn component is connected in the heart with the drive disk (2) of next stage, the terminal pad
(4) it is equipped with the motor (7) for driving drive disk (2)；The motor (7) is connected with gear, and the gear cooperation is next
On the internal gear of the drive disk (2) of horn component；
The manipulator includes the bracket (8) connecting with afterbody horn component terminal pad (4), bracket (8) end
Portion is equipped with fixed plate (9), and positioning plate (10) are installed in fixed plate (9) end, positioning plate (10) both ends hinged jaws
(11), clamping jaw (11) end is respectively articulated with strut (12), and each strut (12) is hinged and is fixed on the gas on bracket (8)
Cylinder (13) connection；
Preferably, rolling bearing is installed between the terminal pad (4) and the drive disk (2) of next stage, and passes through weldering respectively
It connects on the outer ring and inner ring for being connected to rolling bearing axis；
Preferably, the end of the clamping jaw (1) is equipped with distance measuring sensor (14)；
Preferably, the mechanical arm (1-1) is symmetrically mounted on the end face of console (1)；
It compared with prior art, can the beneficial effects of the present invention are: the present apparatus includes two three shaft mechanical arms (1-1)
It is realized in a limited space to the crawl of bottle, placement, dimensional measurement and weighing, and passes through distance measuring sensor and console
Link makes the real-time input computer of data to carry out the analysis and judgement of next step, and practical, flexibility ratio is high.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is structure of the invention monodactyle schematic diagram；
Fig. 3 is structure of the invention partial schematic diagram；
Fig. 4 is structure of the invention manipulator schematic diagram.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawing with embodiment to this
Invention is described in further detail；
A kind of dimensional measurement intelligent robot, which is characterized in that including console 1, be mounted on 1 end face of console
Mechanical arm 1-1, be mounted on the manipulator of the end the mechanical arm 1-1；The mechanical arm 1-1 is symmetrically mounted on console 1
On end face；
Mechanical arm 1-1 horn component identical and interconnected including three groups of structures, the horn component include: to drive
Moving plate 2, connecting rod 3, terminal pad 4；3 both ends of connecting rod are separately connected drive disk 2 and terminal pad 4, and 2 He of drive disk after connection
Terminal pad 4 is mutually perpendicular to；2 center of drive disk is equipped with internal gear 5, and 4 center of terminal pad is equipped with through-hole 6；Upper level horn group
The terminal pad 4 of part is connected in the heart with the drive disk 2 of next stage, and the terminal pad 4 is equipped with the motor for driving drive disk 2
7；7 connection gear of motor drives the rotation of next stage horn component by the connection of gear and drive disk 2；
The manipulator includes the bracket 8 connecting with afterbody horn component terminal pad 4, and 8 end of bracket is equipped with
Positioning plate 10, the 10 both ends hinged jaws 11 of positioning plate, 11 end of clamping jaw are installed in fixed plate 9,9 end of fixed plate
It is respectively articulated with strut 12, each strut 12 is hinged and is fixed on the connection of the cylinder 13 on bracket 8；The end of the clamping jaw 1 is set
There is distance measuring sensor 14；
Rolling bearing is installed between the terminal pad 4 and the drive disk 2 of next stage, and is being rolled respectively by being welded to connect
On the outer ring and inner ring of bearing axis；
The present apparatus include two three shaft mechanical arm 1-1, can in a limited space in realize to the crawl of bottle, placement,
Dimensional measurement and weighing, and keep the real-time input computer of data next to carry out by distance measuring sensor and linking for console
The analysis and judgement of step, practical, flexibility ratio is high.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as the protection scope of invention.
Claims (4)
1. a kind of dimensional measurement intelligent robot, which is characterized in that including console (1), be mounted on the console (1) end face
Mechanical arm (1-1), be mounted on the manipulator of the end the mechanical arm (1-1)；
The mechanical arm (1-1) horn component identical and interconnected including three groups of structures, the horn component include: driving
Disk (2), connecting rod (3), terminal pad (4)；Connecting rod (3) both ends are separately connected drive disk (2) and terminal pad (4), and after connection
Drive disk (2) and terminal pad (4) be mutually perpendicular to；Drive disk (2) center is equipped with internal gear (5), and terminal pad (4) center is set
There are through-hole (6)；The terminal pad (4) of upper level horn component is connected in the heart with the drive disk (2) of next stage, the terminal pad (4)
It is equipped with the motor (7) for driving drive disk (2)；The motor (7) is connected with gear, and the gear cooperation is in next horn
On the internal gear of the drive disk (2) of component；
The manipulator includes the bracket (8) connecting with afterbody horn component terminal pad (4), and bracket (8) end is set
Have fixed plate (9), positioning plate (10) are installed in fixed plate (9) end, positioning plate (10) the both ends hinged jaws (11), institute
It states clamping jaw (11) end to be respectively articulated with strut (12), each strut (12) is hinged and is fixed on the cylinder (13) on bracket (8)
Connection.
2. dimensional measurement intelligent robot according to claim 1, which is characterized in that the terminal pad (4) and next stage
Drive disk (2) between rolling bearing is installed, and respectively by be welded to connect on the outer ring and inner ring of rolling bearing axis.
3. dimensional measurement intelligent robot according to claim 1, which is characterized in that the end of the clamping jaw (1) is equipped with
Distance measuring sensor (14).
4. dimensional measurement intelligent robot according to claim 1, which is characterized in that the mechanical arm (1-1) is symmetrically pacified
On the end face of console (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910324871.1A CN110238815A (en) | 2019-04-22 | 2019-04-22 | Dimensional measurement intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910324871.1A CN110238815A (en) | 2019-04-22 | 2019-04-22 | Dimensional measurement intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110238815A true CN110238815A (en) | 2019-09-17 |
Family
ID=67883349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910324871.1A Pending CN110238815A (en) | 2019-04-22 | 2019-04-22 | Dimensional measurement intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110238815A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112194087A (en) * | 2020-09-22 | 2021-01-08 | 安徽艾可豪生物科技有限公司 | White spirit filling conveyor |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3771650A (en) * | 1972-05-22 | 1973-11-13 | Beatson Clark & Co Ltd | Bottle-gauging means |
| GB1352018A (en) * | 1971-05-18 | 1974-05-15 | Beatson Clark Co Ltd | Apparatus for gauging the bore in the neck of a bottle or the like |
| DE2534183A1 (en) * | 1975-07-31 | 1977-02-17 | Rudolf Ing Grad Steinle | Size dependent bottle sorter - has adjustable gripper heads controlled by sensor elements through magnetic valves |
| WO1999059738A1 (en) * | 1998-05-20 | 1999-11-25 | Teuvo Kolehmainen | Method of sorting bottles, a sorting apparatus, a sensor and a detector equipment |
| CN107160363A (en) * | 2017-06-07 | 2017-09-15 | 华南理工大学 | A kind of parallel clamping device |
| CN107717695A (en) * | 2017-10-27 | 2018-02-23 | 合肥常青机械股份有限公司 | A kind of girder steel rust removing robot of four-degree-of-freedom |
| CN208514495U (en) * | 2018-06-25 | 2019-02-19 | 上海寰晟新能源科技有限公司 | A kind of six-joint robot talked with |
| CN211053677U (en) * | 2019-04-22 | 2020-07-21 | 岱纳包装（天津）有限公司 | Size measurement intelligent robot |
-
2019
- 2019-04-22 CN CN201910324871.1A patent/CN110238815A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1352018A (en) * | 1971-05-18 | 1974-05-15 | Beatson Clark Co Ltd | Apparatus for gauging the bore in the neck of a bottle or the like |
| US3771650A (en) * | 1972-05-22 | 1973-11-13 | Beatson Clark & Co Ltd | Bottle-gauging means |
| DE2534183A1 (en) * | 1975-07-31 | 1977-02-17 | Rudolf Ing Grad Steinle | Size dependent bottle sorter - has adjustable gripper heads controlled by sensor elements through magnetic valves |
| WO1999059738A1 (en) * | 1998-05-20 | 1999-11-25 | Teuvo Kolehmainen | Method of sorting bottles, a sorting apparatus, a sensor and a detector equipment |
| CN107160363A (en) * | 2017-06-07 | 2017-09-15 | 华南理工大学 | A kind of parallel clamping device |
| CN107717695A (en) * | 2017-10-27 | 2018-02-23 | 合肥常青机械股份有限公司 | A kind of girder steel rust removing robot of four-degree-of-freedom |
| CN208514495U (en) * | 2018-06-25 | 2019-02-19 | 上海寰晟新能源科技有限公司 | A kind of six-joint robot talked with |
| CN211053677U (en) * | 2019-04-22 | 2020-07-21 | 岱纳包装（天津）有限公司 | Size measurement intelligent robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112194087A (en) * | 2020-09-22 | 2021-01-08 | 安徽艾可豪生物科技有限公司 | White spirit filling conveyor |
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