CN205184780U - Intelligence compresses tightly installation end effector - Google Patents
Intelligence compresses tightly installation end effector Download PDFInfo
- Publication number
- CN205184780U CN205184780U CN201520839618.7U CN201520839618U CN205184780U CN 205184780 U CN205184780 U CN 205184780U CN 201520839618 U CN201520839618 U CN 201520839618U CN 205184780 U CN205184780 U CN 205184780U
- Authority
- CN
- China
- Prior art keywords
- installing plate
- vision camera
- end effector
- type installing
- laser displacement
- 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.)
- Active
Links
Landscapes
- Automatic Assembly (AREA)
Abstract
The utility model relates to an intelligence compresses tightly installation end effector, including L type mounting panel, laser displacement sensor, vacuum chuck, force transducer, the electronic jar of displacement and vision camera, wherein the vision camera is installed on L type mounting panel, and the electronic jar of displacement is connected between the riser and diaphragm of L type mounting panel, force transducer locates L type mounting panel diaphragm below, and one end is connected with the electronic jar of displacement, and the other end is through connecting sleeve and vacuum chuck fixed connection, laser displacement sensor installs in the two side edge below of L type mounting panel diaphragm. The utility model discloses can real -time supervision the size of power, can not crush the work piece by pressure, can not draw bad work piece because of the power with too big yet, avoid extravagant and do over again because of the improper material that causes of doing all can, saved the process of artifical loading and unloading, improved production efficiency greatly, interchangeability is good, easily installation is convenient for change and the maintenance.
Description
Technical field
The present invention relates to a kind of Intelligent Manufacturing Technology field, a kind of intelligence compresses and installs end effector specifically.
Background technology
In production manufacture process, sometimes relating to the stickup of the workpiece of slightly curved surface, for guaranteeing that its sticking Quality is firm, stable, uniformity is good, needing to compress and tensile test the workpiece pasted.
At present, mainly adopt frock form to carry out compression in process of production to install.For tensile test, main method is also the special frock of design, frock is equipped with vacuum cup, thus realizes tensile test.But there is following problem in said method: when compression or tensile test, the size of power has no way of learning, dynamics is excessive and situation that is that damaged by pressure by workpiece happens occasionally, and causes unnecessary loss or waste; Location and normal direction low precision, bring error to compression and tensile test result; The uniformity that on whole product, part is pasted cannot ensure, sticking Quality just cannot ensure; Efficiency is low, and process is loaded down with trivial details, and design frock, artificial handling etc. are all compared wastes time and energy.
Simultaneously, because digital-to-analogue theoretical during product design has certain error with material object, used method for tooling cannot ensure to compress and tensile test time the positional precision of workpiece and normal direction precision, for discontinuity equalization workpiece, impact must be brought on test result, cause unnecessary error.
Summary of the invention
Sticking Quality for workpiece in prior art cannot ensure, sticking efficiency is low, process is loaded down with trivial details, cannot ensure to compress and tensile test time the deficiency such as the positional precision of workpiece and normal direction precision, the technical problem to be solved in the present invention is to provide a kind ofly can assist the intelligence of assembling to compress to install end effector.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
The present invention's intelligence compresses installs end effector, comprise L-type installing plate, laser displacement sensor, vacuum cup, force snesor, displacement electric cylinder and vision camera, wherein vision camera is installed on L-type installing plate, between the riser that displacement electric cylinder is connected to L-type installing plate and transverse slat; Force snesor is located at below L-type installing plate transverse slat, and one end is connected with displacement electric cylinder, and the other end is fixedly connected with vacuum cup through branch sleeve; Laser displacement sensor is installed on below the dual-side portion of L-type installing plate transverse slat.
Adpting flange is provided with outside the riser of L-type installing plate.
Vision camera and system source thereof are installed on below the transverse slat front portion of L-type installing plate by vision camera and system source installing plate.
Reinforcement is provided with between the riser of L-type installing plate and transverse slat.
Laser displacement sensor is four, two one group, is connected to the transverse slat edge both sides of L-type installing plate respectively by two laser displacement sensor installing plates.
The sensing head angle of two groups of laser displacement sensors is 45o ~ 75o.
Vision camera and system source are arranged on vision camera and system source installing plate.
The present invention has following beneficial effect and advantage:
1. the present invention is owing to devising force feedback element (force snesor), can the size of Real-Time Monitoring power, once state can lock and implement to compress or tensile test by the power reaching setting, workpiece can not be damaged by pressure, also can not draw bad workpiece by excessive power, avoid the waste of material that causes because power is improper and do over again.
2. the present invention is owing to being provided with vision camera and laser displacement sensor, make the positional precision of this end effector and normal direction precision very high, simultaneously owing to being worked by robot end of tape actuator, as long as so choose the accessibility of robot, the test of any position of product can complete, and coverage rate is high; Realizing well solving conforming problem for installing machines to replace manual labor the larger application work of quantity in producing, substantially increasing sticking Quality, eliminating the process of artificial handling, substantially increase production efficiency.
3. the present invention is functionally, force feedback precisely, position and normal direction precision is high, reliable and stable, coverage rate is high, uniformity is good.
4., in the present invention, better, vision camera is with better with the displacement electric cylinder depth of parallelism, and such system operationally precision is high for laser displacement sensor and displacement electric cylinder axiality.
5. adopt modularized design in the present invention, laser displacement sensor or vision camera all can require according to actual measurement the product changing different range or other specifications, vacuum cup also can change the sucker of different size according to the size of practical work piece size and required power, interchangeability is good, is easy to installation and is convenient to change and safeguard.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention (one);
Fig. 2 is structural representation of the present invention (two);
Fig. 3 is section of structure of the present invention;
Fig. 4 is workflow diagram of the present invention.
Detailed description of the invention
As shown in Fig. 1 ~ 3, the present invention's intelligence compresses installs end effector, comprise L-type installing plate 1, laser displacement sensor 3, vacuum cup 4, force snesor 7, displacement electric cylinder 8 and vision camera 11, wherein vision camera 11 is installed on L-type installing plate 1, between the riser that displacement electric cylinder 8 is connected to L-type installing plate 1 and transverse slat; Force snesor 7 is located at below L-type installing plate 1 transverse slat, and one end is connected with displacement electric cylinder 8, and the other end is fixedly connected with vacuum cup 4 through branch sleeve 6; Laser displacement sensor 3 is installed on below the dual-side portion of L-type installing plate 1 transverse slat; Vision camera 11 is installed on below the transverse slat front portion of L-type installing plate 1.
In the present embodiment, adpting flange 2 is connected to outside the riser of L-type installing plate 1, opposite side is welded with two reinforcements 9 between riser and transverse slat, displacement electric cylinder 8 is connected to the transverse slat top of L-type installing plate 1, the two ends up and down of force snesor 7 are all threaded rods, its upper end is directly screwed in the lower end screwed hole of displacement electric cylinder 8, its lower end is screwed into screwed hole in branch sleeve 6, branch sleeve 6 lower end and vacuum cup 4 are connected and fixed, two pieces of laser displacement sensor installing plates 5 are by being threaded in the transverse slat both sides edge of L-type installing plate 1, main body is to downward-extension, four laser displacement sensor sensing heads 3 are arranged on two pieces of laser displacement sensor installing plates 5 respectively, vision camera and system source installing plate 10 by be threaded in L-type installing plate 1 transverse slat before edge, main body is to downward-extension, vision camera 11 and system source 12 are arranged on vision camera and system source installing plate 10.
On the optional position of the be arranged on L-type installing plate 1 of vision camera 11 and system source 12, as long as ensure that the working region of vision camera 11 can coating workpieces scope, system source 12 can illuminate workpiece region when vision camera measurement light is poor and does not block vision camera work.
Laser displacement sensor sensing head 3 is four, two one group, dividing two groups is arranged on two laser displacement sensor installing plates 5 respectively, two groups of laser displacement sensor sensing head 3 angles are 45o ~ 75o, the present embodiment adopts 60 °, also can be other angles, mainly according to decisions such as surveyed workpiece shapes, sizes.
Kind and the size of vacuum cup 4 are replaceable, are equipped with corresponding branch sleeve 6 i.e. replaceable vacuum cup 4, can tackle different size workpiece.
As shown in Figure 4, the course of work of the present invention's intelligence compression installation end effector is as follows:
Start after equipment normal boot-strap to start automatic mode or manual mode;
When system enters automatic mode, the off-line procedure that system Automatically invoked is finished in advance, according to off-line procedure, robot reaches assigned address with end effector;
Vision camera 11 scans the profile of workpiece, and calculates workpiece centre position;
Robot carries out position adjustment according to the center calculated, and carries out a position and judge after adjustment;
If vacuum cup central point position is consistent with workpiece centre point position, then enter normal direction measurement links; Otherwise get back to robot assigned address and continue adjustment again, until some position meets the requirements, enter normal direction measurement links;
Four laser displacement sensor sensing heads 3 start to measure and calculate the normal direction of workpiece centre point; Robot carries out normal direction adjustment, adjusts complete;
Normal direction judges, if vacuum cup is axially consistent with the normal direction of workpiece centre point, then and calling technological parameter, enter compression or tensile test link, otherwise get back to robot assigned address and continue a position and normal direction adjustment again, until its normal direction meets the requirements, enter compression or tensile test link:
Displacement electric cylinder 8 produces displacement, and force snesor 7, branch sleeve 6, vacuum cup 4 produce displacement with it together;
Change along with displacement after vacuum cup 4 touches workpiece certainly leads to power, this power can pass to force snesor 7 in real time with equal size, force snesor 7 sends the size of the value converting to force detected to control system, once power reaches the value of the power that control system presets, displacement electric cylinder 8 locking position, enters compression or tensile test state, after reaching the time of pressure or tensile test setting, displacement electric cylinder unlocks, back to zero.
When system enters manual mode, then directly inlet point position judges, subsequent step is the same.
Repetition like this thus the auxiliary installation completed on production line.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included in protection scope of the present invention.
Claims (7)
1. an intelligence compresses and installs end effector, it is characterized in that: comprise L-type installing plate, laser displacement sensor, vacuum cup, force snesor, displacement electric cylinder and vision camera, wherein vision camera is installed on L-type installing plate, between the riser that displacement electric cylinder is connected to L-type installing plate and transverse slat; Force snesor is located at below L-type installing plate transverse slat, and one end is connected with displacement electric cylinder, and the other end is fixedly connected with vacuum cup through branch sleeve; Laser displacement sensor is installed on below the dual-side portion of L-type installing plate transverse slat.
2. compress by intelligence according to claim 1 and end effector is installed, it is characterized in that: outside the riser of L-type installing plate, be provided with adpting flange.
3. compress by intelligence according to claim 1 and end effector is installed, it is characterized in that: vision camera and system source thereof are installed on below the transverse slat front portion of L-type installing plate by vision camera and system source installing plate.
4. compress by intelligence according to claim 1 and end effector is installed, it is characterized in that: between the riser of L-type installing plate and transverse slat, be provided with reinforcement.
5. compress by intelligence according to claim 1 and end effector is installed, it is characterized in that: laser displacement sensor is four, two one group, be connected to the transverse slat edge both sides of L-type installing plate respectively by two laser displacement sensor installing plates.
6. compress by intelligence according to claim 5 and end effector is installed, it is characterized in that: the sensing head angle of two groups of laser displacement sensors is 45o ~ 75o.
7. compress by intelligence according to claim 1 and end effector is installed, it is characterized in that: vision camera and system source are arranged on vision camera and system source installing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520839618.7U CN205184780U (en) | 2015-10-27 | 2015-10-27 | Intelligence compresses tightly installation end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520839618.7U CN205184780U (en) | 2015-10-27 | 2015-10-27 | Intelligence compresses tightly installation end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205184780U true CN205184780U (en) | 2016-04-27 |
Family
ID=55777810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520839618.7U Active CN205184780U (en) | 2015-10-27 | 2015-10-27 | Intelligence compresses tightly installation end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205184780U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196299A (en) * | 2015-10-27 | 2015-12-30 | 中国航空工业集团公司北京长城航空测控技术研究所 | Intelligent compression mounting end actuator and control method thereof |
| CN109226647A (en) * | 2018-11-17 | 2019-01-18 | 大连四达高技术发展有限公司 | Intelligence riveting ejector rod system |
| CN109592068A (en) * | 2018-10-30 | 2019-04-09 | 成都飞机工业（集团）有限责任公司 | A kind of automatic tension and compression method of the heat-insulated magnetic shoe of aircraft |
| CN110142758A (en) * | 2019-04-19 | 2019-08-20 | 航天时代电子技术股份有限公司 | A kind of method for locking of wearable wheeled stop force feedback control device |
-
2015
- 2015-10-27 CN CN201520839618.7U patent/CN205184780U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196299A (en) * | 2015-10-27 | 2015-12-30 | 中国航空工业集团公司北京长城航空测控技术研究所 | Intelligent compression mounting end actuator and control method thereof |
| CN105196299B (en) * | 2015-10-27 | 2017-03-29 | 中国航空工业集团公司北京长城航空测控技术研究所 | Intelligence is compressed installs end effector and its control method |
| CN109592068A (en) * | 2018-10-30 | 2019-04-09 | 成都飞机工业（集团）有限责任公司 | A kind of automatic tension and compression method of the heat-insulated magnetic shoe of aircraft |
| CN109226647A (en) * | 2018-11-17 | 2019-01-18 | 大连四达高技术发展有限公司 | Intelligence riveting ejector rod system |
| CN110142758A (en) * | 2019-04-19 | 2019-08-20 | 航天时代电子技术股份有限公司 | A kind of method for locking of wearable wheeled stop force feedback control device |
| CN110142758B (en) * | 2019-04-19 | 2021-08-31 | 航天时代电子技术股份有限公司 | Stopping method of wearable wheel type stopping force feedback control device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205184780U (en) | Intelligence compresses tightly installation end effector | |
| CN105196299A (en) | Intelligent compression mounting end actuator and control method thereof | |
| CN113245884B (en) | Quick reloading system and method based on zero point positioning | |
| CN108857121A (en) | Robot welding system | |
| CN103056272B (en) | Servo transmission hydraulic head-riveting equipment | |
| CN104999202B (en) | A kind of high precision machines people's automatic soldering device and method of work thereof | |
| WO2021018149A1 (en) | Blade forming method and blade | |
| CN103128459A (en) | Method for controlling welding deformation between seal head and skirt transition section | |
| CN102528354B (en) | Automatic conveying mechanical arm suitable for glass mould welding | |
| CN106695202B (en) | A kind of intelligent automatic welding system and its working method for Turbogrid plates welding | |
| CN204867859U (en) | Automatic welder of high accuracy robot | |
| CN202762879U (en) | Automation stamping plate material sucking device | |
| CN107570990B (en) | Automobile horn insulator assembly and correction device | |
| CN104985301B (en) | A kind of steel grating plate special purpose robot automatic soldering device and its method of work | |
| CN203992920U (en) | Prevent the tool set of T shape welding line angular distortion | |
| CN215391702U (en) | Full-automatic coil stock unloading punching press transport production line | |
| CN208826492U (en) | A kind of coil sealing ring assembly tool | |
| CN204202583U (en) | A kind of riveting spot size detects uses online rapid measurement device | |
| CN209465823U (en) | A kind of die laser welding machine digital control system | |
| CN110280641B (en) | White vehicle body rear wheel cover trimming system and working method | |
| CN116262312A (en) | Assembly process method of single-layer vibration simulation platform | |
| CN209077609U (en) | A kind of mold clamping mechanism suitable for intelligent bending robot automatic mold-change | |
| CN103481003B (en) | A kind of connecting rod welding system | |
| CN109367082A (en) | A kind of flange automated production and detection device based on robot | |
| CN204229929U (en) | A kind of self-piercing riveting equipment of bus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |