CN110389076A - A kind of industrial robot with strength test - Google Patents
A kind of industrial robot with strength test Download PDFInfo
- Publication number
- CN110389076A CN110389076A CN201910696516.7A CN201910696516A CN110389076A CN 110389076 A CN110389076 A CN 110389076A CN 201910696516 A CN201910696516 A CN 201910696516A CN 110389076 A CN110389076 A CN 110389076A
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- telescopic
- fixed
- intensity
- industrial robot
- 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.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
- G01N3/10—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces generated by pneumatic or hydraulic pressure
- G01N3/12—Pressure testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
- G01N3/42—Investigating hardness or rebound hardness by performing impressions under a steady load by indentors, e.g. sphere, pyramid
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/0042—Pneumatic or hydraulic means
- G01N2203/0048—Hydraulic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0058—Kind of property studied
- G01N2203/0069—Fatigue, creep, strain-stress relations or elastic constants
- G01N2203/0075—Strain-stress relations or elastic constants
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/067—Parameter measured for estimating the property
- G01N2203/0676—Force, weight, load, energy, speed or acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/067—Parameter measured for estimating the property
- G01N2203/0682—Spatial dimension, e.g. length, area, angle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/067—Parameter measured for estimating the property
- G01N2203/0688—Time or frequency
Landscapes
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to Industrial Robot Technology fields, in particular a kind of industrial robot with strength test, including fixed board, robot body and intensity detection machine, one end of the fixed board top surface is fixed with robot body, the other end of fixed board top surface is fixed with intensity detection machine, intensity detection machine includes C-shaped support arm, the top of C-shaped support arm is fixed with the first telescopic hydraulic cylinder, the bottom end of C-shaped support arm is fixed with circular orientation platform, intensity inductor is fixed in the middle part of circular orientation countertop, the telescopic shaft intermittence of first telescopic hydraulic cylinder contradicts the center of intensity inductor.The present invention drives two telescopic rail forward directions mobile by translation motor, article is lifted between the first telescopic hydraulic cylinder and intensity inductor by location tray, first telescopic hydraulic cylinder squeezes tested article, translation motor rotates backward after detection, drive two telescopic rail reverse movements, tested article is sent out, is so recycled.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specially a kind of industrial robot with strength test.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action, industrial robot are made of three main body, drive system and control system essential parts.Main body, that is, base and execution machine
Structure, including arm, wrist and hand, there are also walking mechanisms for some robots.Most of industrial robots have 3~6 movements certainly
By spending, wherein wrist usually has 1~3 freedom of motion；Drive system includes power device and transmission mechanism, is executed to make
Mechanism generates corresponding movement；Control system is to issue command signal to drive system and executing agency according to the program of input,
And controlled, metal hardness measurement is to indicate that material resists the ability that hard object is pressed into its surface, and general hardness is higher, wear-resisting
Property is better, and hardness test is a kind of test method most simple and easy in mechanical test, in order to be replaced with hardness test
Certain mechanical tests need the conversion relation of more accurately hardness and strength, qualimeter instrument in production
In machinery, optics uses unique, accurate design on light source, keeps impression imaging apparent, measure more accurate.
Current industrial robot has the following problems:
1, current industrial robot detection intensity can only monomer measure, the strong degree per step of each article of measurement
It needs manually to be positioned, cannot measure on a large scale.
2, current industrial robot is that can only be converted by the result of observation, then could be obtained in detection intensity
Detected intensities out, low efficiency, and low precision.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, it the present invention provides a kind of industrial robot with strength test, solves at present
Industrial robot detection intensity can only monomer measure, and to intensity measurements can only by the result of observation into
The problem of row conversion, low efficiency and low precision.
(2) technical solution
To achieve the above object, the invention provides the following technical scheme: a kind of industrial robot with strength test, including
Fixed board, robot body and intensity detection machine, one end of the fixed board top surface are fixed with the robot body, institute
The other end for stating fixed board top surface is fixed with the intensity detection machine, and the intensity detection machine includes C-shaped support arm, the C-shaped
The top of support arm is fixed with the first telescopic hydraulic cylinder, and the bottom end of the C-shaped support arm is fixed with circular orientation platform, the circular orientation
Intensity inductor is fixed in the middle part of countertop, the telescopic shaft intermittence of first telescopic hydraulic cylinder contradicts the intensity
The center of inductor, activity is fitting to connection and has telescopic rail, the top surface of two telescopic rails in two guide pipes
It is equipped with rack gear, two telescopic rails are equipped with location tray, the C-shaped support arm back close to one end of the robot body
Translation motor is fixed in the middle part of face, the armature spindle at the translation motor both ends, which concatenates, is fixed with gear, the gear engagement
The rack gear.
Intensity inductor is used to carry the article for carrying out intensity detection, when the telescopic shaft downlink of the first telescopic hydraulic cylinder, presses
The tight article for carrying out intensity detection makes its active force on intensity inductor, intensity inductor according to itself deformation degree, with
And first telescopic hydraulic cylinder pressure data, can side reflect carry out intensity detection article physical characteristic,
In, intensity inductor uses ZC3-A type reisilometer, can suppress the certain deformation of lower generation, and the shape after pressure disappearance
Become and restore, to go out the intensity of measured article according to deformation and corresponding pressure detecting, when translation motor rotates forward, leads to
It is mobile to cross two telescopic rail forward directions of gear and rack drives, detected article is lifted to the first flexible liquid by location tray
Between the telescopic shaft and intensity inductor of cylinder pressure, then the telescopic shaft of the first telescopic hydraulic cylinder, which stretches out, squeezes tested article, detection
After the first telescopic hydraulic cylinder telescopic shaft retract, then translation motor rotates backward, and passes through gear and rack drives two
Telescopic rail reverse movement, tested article is sent out, second measured object is then fetched again, is so recycled.
In a further embodiment, the top of the robot body is connected with horizontal rotating disc by bearing,
The top of the horizontal rotating disc is fixed with tapered stud, and the top of the tapered stud passes through the first connection turntable rotation connection
The other end of one end of the first swing arm, first swing arm is rotatablely connected the second swing arm by the second terminal pad, described
The top of second swing arm is rotatably connected to double fastener arm by dual link pin shaft, and the double fastener arm and the location tray are intermittent
Docking.
Horizontal rotating disc is used to carry out the rotation of horizontal direction, the first swing arm and the second swing arm for carrying out Vertical Square
Upward two axial movements, three, which works in coordination, can arrive at any position in operation interval, when horizontal rotating disc rotates, according to
It is secondary to drive double fastener arm to rotate in the horizontal direction by tapered stud the first swing arm of carrying and the second swing arm, it can be realized and determine
The docking of position pallet, will need the article for carrying out intensity detection to be sent to location tray, or take out from location tray through too strong
Spend the article of test.
In a further embodiment, the horizontal rotating disc, the first connection turntable and second terminal pad
One end is axially connected with servo motor, and the other end of the first connection turntable and second terminal pad is axially connected with
The inside of corner hydraulic cylinder, second swing arm is hollow structure, and the inside of second swing arm is fixedly installed with second
Telescopic hydraulic cylinder, the telescopic shaft of second telescopic hydraulic cylinder are connected with bilateral ratch, and the double fastener arm includes the first clamping limb
With the second clamping limb, it is set as the first half fluted discs on the inside of first clamping limb, is set as on the inside of second clamping limb
The second half fluted discs, the two sides engagement of the bilateral ratch the first half fluted disc and the second half fluted disc.
Two corner hydraulic cylinders use TBFZD-40-90 type oscillating oil cylinder, and two corner hydraulic cylinders are respectively the first connection
Turntable and the second terminal pad provide angular power, offset the self weight of the first swing arm and the second swing arm, and enabling servo motor is water
The rotation of flat rotating disk, the first connection turntable and the second terminal pad provides accurate positioning, when the second telescopic hydraulic cylinder extension,
The first half fluted discs and the second half fluted disc deflections are engaged and driven by bilateral ratch, to drive the first clamping limb and the second clamping
Arm is adjacent to each other, can clamp measured article and be shifted.
In a further embodiment, the side of the fixed board bottom end is equipped with hydraulic station, the top of the hydraulic station
End is fixedly installed with solenoid valve block, hydraulic station described in the inlet communication of the solenoid valve block, the outlet of the solenoid valve block
First telescopic hydraulic cylinder, two corner hydraulic cylinders and second telescopic hydraulic cylinder.
Hydraulic station is used to provide phase for the work of two corner hydraulic cylinders of the first telescopic hydraulic cylinder and the second telescopic hydraulic cylinder
The power answered, solenoid valve block carry out the working condition of two corner hydraulic cylinders of the first telescopic hydraulic cylinder and the second telescopic hydraulic cylinder
Control, can run according to the intensity detection program of setting.
In a further embodiment, the other side of the fixed board bottom end is equipped with control electric cabinet, the control electricity
Master control system, motor driver and relay are equipped with by circuit board in cabinet, the output end of the intensity inductor electrically connects
The master control system is connect, the output end of the master control system is electrically connected the control of the motor driver and the relay
End, the motor driver are electrically connected the servo motor, and the relay is electrically connected the hydraulic station and solenoid valve block.
The output end of intensity inductor is electrically connected master control system, and the inductive signal that itself is detected is sent to master control system
System is carried out the analysis of intensity by it, and master control system uses PLC controller, and PLC controller is to aim at one kind of industrial production design
The electronic device of digital operation, it is used for its internally stored program using a kind of programmable memory, executes logic fortune
It calculates, sequential control, timing, the user oriented instruction such as counting and arithmetical operation, and passes through number or analog pattern input/output control
Various types of mechanical or production processes are made, are the cores of Industry Control, therefore intensity inductor can be transmitted strong
Degree signal performs corresponding processing, and motor driver uses ASDA-1AB type AC servo driver, and servo motor uses ECMA-
C30602FS type motor, the two are auxiliary products, have good output characteristics, and relay is electrically connected solenoid valve block, passes through
Solenoid valve block controls the working condition of two corner hydraulic cylinders of the first telescopic hydraulic cylinder and the second telescopic hydraulic cylinder.
In a further embodiment, first telescopic hydraulic cylinder, two corner hydraulic cylinders and described second are stretched
Contracting hydraulic cylinder, which is both turned on, is connected with hydralic pressure gauge.
Hydralic pressure gauge is used to show the hydraulic pressure in the first telescopic hydraulic cylinder, two corner hydraulic cylinders and the second telescopic hydraulic cylinder
Power, and then calculate the receiving pressure for carrying out the article of intensity detection and the first clamping limb and the second gripping arm article
Dynamics, and be adjusted according to pressure of the bearing capacity of the first swing arm and the second swing arm to two corner hydraulic cylinders,
So that the first swing arm and the second swing arm are located at bilateral force balance state, thus preferably to the intensity detection article carried
Carry out the positioning of precision.
In a further embodiment, the side of the fixed board is fixedly installed with display screen, and the display screen is electrical
Connect the master control system.
Display screen is G530H-N19 type touch screen, and master control system is attached by data-interface, accurately shows this hair
The working condition of bright product, and specific numerical value, which is shown, to be realized to the intensity for carrying out intensity detection article, and can be by aobvious
Display screen carries out the input and observation of program, more intuitive in operation, apparent, can show test method, test force, pressure on the screen
Trace length, hardness number, test force retention time, pendulous frequency etc..
(3) beneficial effect
Compared with prior art, the present invention provides a kind of industrial robots with strength test, have following beneficial to effect
Fruit:
1, the industrial robot with strength test drives two telescopic rail forward directions mobile, passes through by translation motor
Location tray lifts article between the first telescopic hydraulic cylinder and intensity inductor, and the first telescopic hydraulic cylinder squeezes tested article,
Translation motor rotates backward after detection, drives two telescopic rail reverse movements, tested article is sent out, is so carried out
Circulation.
2, the industrial robot with strength test carries out the input and sight of program by using liquid crystal large screen
It examines, it is more intuitive in operation, it is apparent, it can show that test method, test force, impression length, hardness number, test are tried hard to keep on the screen
Time, pendulous frequency etc. are held, and the corresponding intensity data of printer output can be connected by data port.
Detailed description of the invention
Fig. 1 is side structural schematic diagram of the present invention；
Fig. 2 is that structural schematic diagram is cutd open in the other side of the present invention；
Fig. 3 is that structural schematic diagram is cutd open in side of the present invention；
Fig. 4 is robot body's partial structural diagram of the present invention；
Fig. 5 is intensity detection machine partial structural diagram of the present invention；
Fig. 6 is robot control circuit schematic diagram of the present invention.
In figure: 1, fixed board；2, robot body；3, intensity detection machine；301, C-shaped support arm；302, the first flexible liquid
Cylinder pressure；303, circular orientation platform；304, intensity inductor；305, guide pipe；306, telescopic rail；307, rack gear；308, it positions
Pallet；309, translation motor；310, gear；4, horizontal rotating disc；5, tapered stud；6, the first connection turntable；7, it first swings
Arm；8, the second connection turntable；9, the second swing arm；10, dual link pin shaft；11, double fastener arm；1101, the first clamping limb；1102,
Second clamping limb；1103, the first half fluted discs；1104, the second half fluted discs；12, servo motor；13, corner hydraulic cylinder；14, second
Telescopic hydraulic cylinder；15, bilateral ratch；16, hydraulic station；17, solenoid valve block；18, electric cabinet is controlled；19, master control system；20, motor
Driver；21, relay；22, hydralic pressure gauge；23, display screen.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
Fig. 1-6 is please referred to, the present invention is the following technical schemes are provided: a kind of industrial robot with strength test, packet
Fixed board 1, robot body 2 and intensity detection machine 3 are included, one end of fixed 1 top surface of board is fixed with robot body 2, Gu
The other end for determining 1 top surface of board is fixed with intensity detection machine 3, and intensity detection machine 3 includes C-shaped support arm 301, the top of C-shaped support arm 301
End is fixed with the first telescopic hydraulic cylinder 302, and the bottom end of C-shaped support arm 301 is fixed with circular orientation platform 303, and circular orientation platform 303 pushes up
Intensity inductor 304 is fixed in the middle part of face, the telescopic shaft intermittence of the first telescopic hydraulic cylinder 302 contradicts intensity inductor
304 center, the two sides of C-shaped support arm 301 are symmetrically installed with guide pipe 305, there is activity fitting connection in two guide pipes 305
Telescopic rail 306, the top surface of two telescopic rails 306 are equipped with rack gear 307, and two telescopic rails 306 are close to robot body 2
One end be equipped with location tray 308, be fixed with translation motor 309 in the middle part of 301 back side of C-shaped support arm, 309 both ends of translation motor
Armature spindle, which concatenates, is fixed with gear 310,310 pinion rack 307 of gear.
In the present embodiment, carrying carries out the article of intensity detection on intensity inductor 304, the first telescopic hydraulic cylinder 302
When telescopic shaft downlink, the article for carrying out intensity detection is compressed, makes its active force on intensity inductor 304, intensity inductor 304
According to the deformation degree of itself and the pressure data of the first telescopic hydraulic cylinder 302, can side reflect carry out intensity detection
Article physical characteristic, wherein intensity inductor 304 uses ZC3-A type reisilometer, lower can generate certain shape suppress
Become, and deformation restores after pressure disappearance, thus go out the intensity of measured article according to deformation and corresponding pressure detecting,
When translation motor 309 rotates forward, drive two telescopic rails 306 positive mobile by gear 310 and rack gear 307, by fixed
To between the telescopic shaft and intensity inductor 304 of the first telescopic hydraulic cylinder 302, then position pallet 308 lifts detected article
The telescopic shaft of first telescopic hydraulic cylinder 302, which stretches out, squeezes tested article, the telescopic shaft of the first telescopic hydraulic cylinder 302 after detection
It retracts, then translation motor 309 rotates backward, and drive two telescopic rails 306 to move backward by gear 310 and rack gear 307,
Tested article is sent out, second measured object is then fetched again, is so recycled.
Specifically, the top of robot body 2 is connected with horizontal rotating disc 4, the top of horizontal rotating disc 4 by bearing
End is fixed with tapered stud 5, and the top of tapered stud 5 is rotatablely connected one end of the first swing arm 7 by the first connection turntable 6,
The other end of first swing arm 7 is rotatablely connected the second swing arm 9 by the second terminal pad 8, and the top of the second swing arm 9 passes through double
Connection pin shaft 10 is rotatably connected to double fastener arm 11, and double fastener arm 11 is docked with 308 intermittence of location tray.
In the present embodiment, horizontal rotating disc 4 is used to carry out the rotation of horizontal direction, the first swing arm 7 and the second swing arm 9
For carrying out two axial movements in vertical direction, three, which works in coordination, can arrive at any position in operation interval, horizontal
When rotating disk 4 rotates, passes sequentially through tapered stud 5 and carry the first swing arm 7 and the second swing arm 9 drive double fastener arm 11 in level
Direction rotation, realization are docked with location tray 308, and the article for carrying out intensity detection will be needed to be sent to location tray 308, or
The article Jing Guo strength test is taken out from location tray 308.
Specifically, horizontal rotating disc 4, first connects turntable 6 and one end of the second terminal pad 8 is axially connected with servo electricity
The other end of machine 12, the first connection turntable 6 and the second terminal pad 8 axially connects angled hydraulic cylinder 13, the second swing arm 9
Inside is hollow structure, and the inside of the second swing arm 9 is fixedly installed with the second telescopic hydraulic cylinder 14, the second telescopic hydraulic cylinder 14
Telescopic shaft is connected with bilateral ratch 15, and double fastener arm 11 includes the first clamping limb 1101 and the second clamping limb 1102, the first clamping limb
1101 inside is set as the first half fluted discs 1103, and the inside of the second clamping limb 1102 is set as the second half fluted discs 1104, bilateral
The first half fluted disc 1103 of two sides engagement of ratch 15 and the second half fluted discs 1104.
In the present embodiment, two corner hydraulic cylinders 13 use TBFZD-40-90 type oscillating oil cylinder, two corner hydraulic cylinders 13
Respectively first connection turntable 6 and the second terminal pad 8 provide oneself of angular power, the first swing arm 7 of counteracting and the second swing arm 9
Weight, the rotation for enabling servo motor 12 connect turntable 6 and the second terminal pad 8 for horizontal rotating disc 4, first provide accurate positioning,
When the second telescopic hydraulic cylinder 14 extension, passes through bilateral ratch 15 and engage and drive the first half fluted discs 1103 and the second half fluted discs
1104 deflections clamp measured article and carry out to drive the first clamping limb 1101 and the second clamping limb 1102 adjacent to each other
Transfer.
Specifically, the side of fixed 1 bottom end of board is equipped with hydraulic station 16, the top of hydraulic station 16 is fixedly installed with electromagnetism
Valve group 17, the inlet communication hydraulic station 16 of solenoid valve block 17, the first telescopic hydraulic cylinder of outlet 302, two of solenoid valve block 17
A corner hydraulic cylinder 13 and the second telescopic hydraulic cylinder 14.
In the present embodiment, hydraulic station 16 is used to stretch for 302 two corner hydraulic cylinders 13 of the first telescopic hydraulic cylinder and second
The work of hydraulic cylinder 14 provides corresponding power, and solenoid valve block 17 is to 302 two 13 Hes of corner hydraulic cylinder of the first telescopic hydraulic cylinder
The working condition of second telescopic hydraulic cylinder 14 is controlled, and can be run according to the intensity detection program of setting.
Specifically, the other side of fixed 1 bottom end of board is equipped with control electric cabinet 18, controls in electric cabinet 18 and pacified by circuit board
Equipped with master control system 19, motor driver 20 and relay 21, the output end of intensity inductor 304 is electrically connected master control system
19, the output end of master control system 19 is electrically connected the control terminal of motor driver 20 and relay 21, and motor driver 20 is electrically
Servo motor 12 is connected, relay 21 is electrically connected hydraulic station 16 and solenoid valve block 17.
In the present embodiment, the output end of intensity inductor 304 is electrically connected master control system 19, the induction that itself is detected
Signal is sent to master control system 19, and the analysis of intensity is carried out by it, and master control system 19 uses PLC controller, and PLC controller is special
For a kind of electronic device for digital operation that industrial production designs, it is using a kind of programmable memory, in the inner
Portion stores program, executes logical operation, sequential control, timing, the user oriented instruction such as counting and arithmetical operation, and pass through number
Word or the various types of mechanical or production processes of analog pattern input/output control, are the cores of Industry Control, therefore can
The strength signal transmitted to intensity inductor 304 performs corresponding processing, and motor driver 20 is watched using the exchange of ASDA-1AB type
Driver is taken, servo motor 12 uses ECMA-C30602FS type motor, and the two is auxiliary products, there is good output characteristics,
Relay 21 is electrically connected hydraulic station 16 and solenoid valve block 17, the starting of hydraulic station 16 is controlled, by solenoid valve block 17 to first
The working condition of 302 two corner hydraulic cylinders 13 of telescopic hydraulic cylinder and the second telescopic hydraulic cylinder 14 is controlled.
Specifically, 302, two corner hydraulic cylinders 13 of the first telescopic hydraulic cylinder and the second telescopic hydraulic cylinder 14 are both turned on connection
There is hydralic pressure gauge 22.
In the present embodiment, hydralic pressure gauge 22 is for showing that 302, two corner hydraulic cylinders 13 of the first telescopic hydraulic cylinder and second are stretched
Hydraulic pressure in contracting hydraulic cylinder 14, and then calculate the receiving pressure and the first clamping limb for carrying out the article of intensity detection
1101 and second clamping limb 1102 clamp the dynamics of article, and according to the bearing capacity pair of the first swing arm 7 and the second swing arm 9
The pressure of two corner hydraulic cylinders 13 is adjusted, so that the first swing arm 7 and the second swing arm 9 are located at bilateral stress balance shape
State, to preferably carry out the positioning of precision to the intensity detection article carried.
Specifically, the side of fixed board 1 is fixedly installed with display screen 23, display screen 23 is electrically connected master control system 19.
In the present embodiment, display screen 23 is G530H-N19 type touch screen, and master control system 19 is connected by data-interface
It connects, the accurate working condition for showing product of the present invention, and specific numerical value is realized to the intensity for carrying out intensity detection article
It has been shown that, and the input and observation of program can be carried out by display screen 23, it is more intuitive in operation, it is apparent, it can show on the screen
Show test method, test force, impression length, hardness number, test force retention time, pendulous frequency etc..
Intensity inductor 304, servo motor 12, corner hydraulic cylinder 13, master control system 19 and motor driven in the present embodiment
Device 20 is the known technology for being widely used in daily life having disclosed.
The working principle of the invention and process for using: the article of carrying progress intensity detection on intensity inductor 304, first
When the telescopic shaft downlink of telescopic hydraulic cylinder 302, the article for carrying out intensity detection is compressed, makes its active force in intensity inductor 304
On, intensity inductor 304 according to the deformation degree of itself and the pressure data of the first telescopic hydraulic cylinder 302, can side it is anti-
Mirror the physical characteristic for carrying out the article of intensity detection, wherein intensity inductor 304 uses ZC3-A type reisilometer, can be strong
Pressure generates certain deformation, and deformation restores after pressure disappearance, to go out quilt according to deformation and corresponding pressure detecting
The intensity of the article of measurement when translation motor 309 rotates forward, drives two telescopic rails by gear 310 and rack gear 307
306 is positive mobile, and the telescopic shaft and intensity of detected article to the first telescopic hydraulic cylinder 302 are lifted by location tray 308
Between inductor 304, then the telescopic shaft of the first telescopic hydraulic cylinder 302, which stretches out, squeezes tested article, and first stretches after detection
The telescopic shaft of contracting hydraulic cylinder 302 retracts, and then translation motor 309 rotates backward, and drives two by gear 310 and rack gear 307
Telescopic rail 306 moves backward, and tested article is sent out, second measured object is then fetched again, is so recycled, master control
System 19 is attached by data-interface, the accurate working condition for showing product of the present invention, and to progress intensity detection
The intensity of article realizes that specific numerical value is shown, and the input and observation of program can be carried out by display screen 23, in operation more
Intuitively, apparent, test method, test force, impression length, hardness number, test force retention time, measurement can be shown on the screen
Number etc..
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of industrial robot with strength test, including fixed board (1), robot body (2) and intensity detection
Machine (3), it is characterised in that: one end of fixed board (1) top surface is fixed with the robot body (2), the fixed machine
The other end of platform (1) top surface is fixed with the intensity detection machine (3), and the intensity detection machine (3) includes C-shaped support arm (301), institute
The top for stating C-shaped support arm (301) is fixed with the first telescopic hydraulic cylinder (302), and the bottom end of the C-shaped support arm (301) is fixed with ring
Shape positioning table (303) is fixed with intensity inductor (304) in the middle part of circular orientation platform (303) top surface, described first
The telescopic shaft intermittence of telescopic hydraulic cylinder (302) contradicts the center of the intensity inductor (304), the C-shaped support arm (301)
Two sides are symmetrically installed with guide pipe (305), and activity fitting connection has telescopic rail (306) in two guide pipes (305),
The top surface of two telescopic rails (306) is equipped with rack gear (307), and two telescopic rails (306) are close to the machine
One end of human agent (2) is equipped with location tray (308), is fixed with translation motor in the middle part of C-shaped support arm (301) back side
(309), the armature spindle at translation motor (309) both ends, which concatenates, is fixed with gear (310), and the gear (310) engages institute
State rack gear (307).
2. a kind of industrial robot with strength test according to claim 1, it is characterised in that: the robot
The top of main body (1) is connected with horizontal rotating disc (4) by bearing, and the top of the horizontal rotating disc (4) is fixed with cone
The top of shape column (5), the tapered stud (5) passes through the one of the first connection turntable (6) rotation connection the first swing arm (7)
The other end at end, first swing arm (7) passes through the second terminal pad (8) rotation connection the second swing arm (9), second pendulum
The top of swing arm (9) is rotatably connected to double fastener arm (11) by dual link pin shaft (10), the double fastener arm (11) and the positioning
The intermittent docking of pallet (308).
3. a kind of industrial robot with strength test according to claim 2, it is characterised in that: the horizontal rotation
One end of turntable (4), first connection turntable (6) and second terminal pad (8) is axially connected with servo motor (12),
The other end of first connection turntable (6) and second terminal pad (8) axially connects angled hydraulic cylinder (13), described
The inside of second swing arm (9) is hollow structure, and the inside of second swing arm (9) is fixedly installed with the second telescopic hydraulic cylinder
(14), the telescopic shaft of second telescopic hydraulic cylinder (14) is connected with bilateral ratch (15), and the double fastener arm (11) includes first
Clamping limb (1101) and the second clamping limb (1102) are set as the first half fluted discs on the inside of first clamping limb (1101)
(1103), it is set as the second half fluted discs (1104) on the inside of second clamping limb (1102), the two of the bilateral ratch (15)
Side engagement the first half fluted disc (1103) and the second half fluted disc (1104).
4. according to claim 1 with a kind of industrial robot with strength test described in 3, it is characterised in that: it is described solid
The side for determining board (1) bottom end is equipped with hydraulic station (16), and the top of the hydraulic station (16) is fixedly installed with solenoid valve block
(17), hydraulic station (16) described in the inlet communication of the solenoid valve block (17), described in the outlet of the solenoid valve block (17)
First telescopic hydraulic cylinder (302), two corner hydraulic cylinders (13) and second telescopic hydraulic cylinder (14).
5. a kind of according to claim 1, industrial robot with strength test described in 3 and 4, it is characterised in that: described
The other side of fixed board (1) bottom end is equipped with control electric cabinet (18), is equipped in the control electric cabinet (18) by circuit board
The output end of master control system (19), motor driver (20) and relay (21), the intensity inductor (304) is electrically connected institute
It states master control system (19), the output end of the master control system (19) is electrically connected the motor driver (20) and the relay
(21) control terminal, the motor driver (20) are electrically connected the servo motor (12), and the relay (21) electrically connects
Connect the hydraulic station (16) and solenoid valve block (17).
6. according to claim 1 with a kind of industrial robot with strength test described in 3, it is characterised in that: described
One telescopic hydraulic cylinder (302), two corner hydraulic cylinders (13) and second telescopic hydraulic cylinder (14) are both turned on and are connected with
Hydralic pressure gauge (22).
7. according to claim 1 with a kind of industrial robot with strength test described in 5, it is characterised in that: it is described solid
The side for determining board (1) is fixedly installed with display screen (23), and the display screen (23) is electrically connected the master control system (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910696516.7A CN110389076A (en) | 2019-07-30 | 2019-07-30 | A kind of industrial robot with strength test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910696516.7A CN110389076A (en) | 2019-07-30 | 2019-07-30 | A kind of industrial robot with strength test |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110389076A true CN110389076A (en) | 2019-10-29 |
Family
ID=68288055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910696516.7A Withdrawn CN110389076A (en) | 2019-07-30 | 2019-07-30 | A kind of industrial robot with strength test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110389076A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021263268A1 (en) * | 2020-06-22 | 2021-12-30 | H.B. Fuller Company | Packaging testing device |
| CN114055217A (en) * | 2022-01-14 | 2022-02-18 | 苏州德扬数控机械有限公司 | Digit control machine tool convenient to change anchor clamps |
-
2019
- 2019-07-30 CN CN201910696516.7A patent/CN110389076A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021263268A1 (en) * | 2020-06-22 | 2021-12-30 | H.B. Fuller Company | Packaging testing device |
| CN114055217A (en) * | 2022-01-14 | 2022-02-18 | 苏州德扬数控机械有限公司 | Digit control machine tool convenient to change anchor clamps |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110389076A (en) | A kind of industrial robot with strength test | |
| CN211012859U (en) | Bearing inner and outer diameter dimension detection device | |
| CN104181431A (en) | Manipulator for testing capacitive touch screen | |
| CN107351076A (en) | A kind of self-locking intelligent machine handgrip for high-throughput nucleic acid sample liquor removing workstation | |
| CN104523417A (en) | Pneumatic and gravity loading type laser three-dimensional positioning traditional Chinese medical massage robot | |
| CN105965471A (en) | Six-axis universal robot with lifting rollers | |
| CN105842614A (en) | Rotary test mechanism and PCB test method based on rotary test mechanism | |
| CN110231723A (en) | Test device is lighted in liquid crystal display jacking | |
| CN209566117U (en) | A kind of manipulator for intelligence manufacture | |
| CN209525348U (en) | One kind is for measuring oil liquid pH value instrument | |
| CN104551640A (en) | Full-station bolt stretcher | |
| CN212458877U (en) | Speed reducer on-line testing equipment | |
| CN206292048U (en) | The experimental bench of RV decelerator transmission efficiencies | |
| CN202661035U (en) | Valve body diameter measuring device | |
| CN207263146U (en) | Complex-curved measuring device based on six degree of freedom auxiliary robot | |
| CN208076081U (en) | A kind of torsion bringing device of bolt torsion detection | |
| CN208984260U (en) | A kind of fixable mobile Dynamometer Control cabinet | |
| CN207366204U (en) | A kind of efficiency detection device for ball screw assembly, | |
| CN203495474U (en) | Welding tool equipment | |
| CN208468407U (en) | A kind of industrial robot equipment | |
| CN210465603U (en) | Industrial robot circuit detection equipment | |
| CN105397591B (en) | A kind of fiberglass-reinforced glass storage tank end socket cuts grinding apparatus | |
| CN209655934U (en) | A kind of detection device of single crossed pin roller type pivoting support | |
| CN207798062U (en) | A kind of shaft element locating and detecting device | |
| CN209326942U (en) | A kind of lens parameters contact-type detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191029 |