CN206724895U - A kind of position label means - Google Patents
A kind of position label means Download PDFInfo
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- CN206724895U CN206724895U CN201621494056.8U CN201621494056U CN206724895U CN 206724895 U CN206724895 U CN 206724895U CN 201621494056 U CN201621494056 U CN 201621494056U CN 206724895 U CN206724895 U CN 206724895U
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Abstract
The utility model discloses a kind of position label means, including whether reach for sensing the robot tool the first sensory package of the first predetermined coordinate；The second sensory package of the second predetermined coordinate whether is reached for sensing the robot tool；Determine whether the robot tool has reached the control assembly of predetermined location point.The utility model is by proposing a kind of position label means, pass through the cooperation of both first sensory package and the second sensory package, using the first coordinate and the second coordinate a certain location point whether is reached come accurate judgement robot, so as to more accurately demarcate the tool coordinates system of robot, ensure the path accuracy of robot.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to a kind of position label means.
Background technology
In modern production manufacturing technology, industrial robot is in drilling, riveting and assembling of the parts such as aircraft, automobile etc.
Gradually applied in operation, production efficiency can be greatly improved by industrial robot, ensure product quality and its consistency, shortening
Production cycle etc., applicable industry robot turn into a kind of new trend of industrial automation.Industrial robot is installed by end
Different instruments completes various job tasks, and the degree of accuracy of the tool coordinates system of each instrument directly affects the track essence of robot
Degree.
The demarcation of current most of industrial robot tool coordinates systems is all the method verified using instrument, i.e., robot with
Different postures contact a certain location point, record different posture lower end coordinate systems to the transformation matrices of basis coordinates system, are calculated
Tool center point relative to ending coordinates system position.And detect the judgement side that robot contacts a certain location point with different postures
Method mainly has：1) with visually judge instrument cusp whether with fixed-point contact；2) using laser tracker auxiliary judgment whether with
Fixed-point contact；3) using industrial camera auxiliary judgment whether with fixed-point contact.Wherein, first method can be due to light ring
The many factors such as border, operating personnel's eyesight cause to judge to produce larger error；Although second can carry with the third method
The accuracy that height judges, but cost is all very high, it is under many circumstances and impracticable.
Utility model content
The utility model, being capable of accurate calibration robot mainly solving the technical problems that provide a kind of position label means
Tool coordinates system, ensure the path accuracy of robot.
In order to solve the above technical problems, the technical scheme that the utility model uses is to provide a kind of location position dress
Put, including：
Whether the first sensory package, sensing robot tool reach the first predetermined coordinate；
Second sensory package, senses whether the robot tool reaches the second predetermined coordinate；
Control assembly, first sensory package, second sensory package are electrically connected with, in first sensory package
Sense the robot tool and reach the first predetermined coordinate, and to sense the machine artificial for second sensory package
When tool reaches the second predetermined coordinate, determine that the robot tool has reached predetermined location point；Wherein, first coordinate
The three-dimensional coordinate of the location point is collectively constituted with second coordinate.
Wherein, first coordinate is the wherein two-dimensional coordinate in the three-dimensional coordinate of the location point, second coordinate
Be the location point three-dimensional coordinate in other one-dimensional coordinate.
Wherein, at least one in first sensory package, second sensory package is non-contact sensor component.
Wherein, first sensory package includes photoelectric sensing component, and the photoelectric sensing component includes light source emitter
And light sensor, the light source emitter are oppositely arranged with the light sensor interval；
Wherein, the light source emitter sends the light beam that angle of flare is less than predetermined value, and the light sensor is sensing not
During to the light beam, the control assembly is judged as that the robot tool reaches the first predetermined coordinate.
Wherein, second sensory package includes displacement transducer, and institute's displacement sensors one end is launched with the light source
Device or the light sensor are relatively fixed, when the robot tool reaches predetermined the first coordinate and along the light beam side
To when promoting the light source emitter or the light sensor to move to reach precalculated position, the control assembly is judged as described
Robot tool reaches the second predetermined coordinate.
Wherein, described device also includes：
Top base, the light source emitter is fixed on the upper surface center of the top base, and is coated by a transparent shell；
Institute's displacement sensors are fixed on the lower surface center of the top base；
Bottom base；
Guide rod, it is vertically installed between the top base lower surface and the bottom base upper surface, the guide rod
The bottom base upper surface is fixed in one end.
Wherein, the control assembly also includes the first indicator lamp and the second indicator lamp, is being judged as the robot tool
When reaching the first predetermined coordinate, control first indicator lamp to light, be judged as that it is predetermined that the robot tool reaches
During the second coordinate, second indicator lamp is controlled to light.
Wherein, the switch board of robot described in the control assembly electric property coupling, it is judged as in the control assembly described
When robot tool reaches the first predetermined coordinate, the control assembly sends instruction to the switch board of the robot to control
The robot tool promotes the top base to move along the beam direction, is judged as the machine in the control assembly
When people's instrument reaches the second predetermined coordinate, it is described to control to the switch board of the robot that the control assembly sends instruction
Robot tool stops movement.
Alternatively, the top base lower surface and the bottom base upper surface are respectively fixed in the both ends of the guide rod；
Cut-off is provided with the middle part of the guide rod, is arranged with back-moving spring thereon, will for after the location position is completed
The top base resets；
The guide rod has at least two.
Alternatively, the top base lower surface is provided with hole or the groove that the external diameter of internal diameter and the guide rod matches, institute
The other end for stating guide rod gos deep into the hole or groove with so that the top base slides on the guide rod；
Spring is arranged with the guide rod, for after the location position is completed, the top base to be resetted；
The guide rod has at least two.
Wherein, described device also includes shell, for protecting first sensory package and second sensory package.
The utility model passes through first sensory package and the second sensory package by proposing a kind of position label means
Whether both cooperations, a certain location point is reached using the first coordinate and the second coordinate come accurate judgement robot, so as to more smart
The tool coordinates system of robot really is demarcated, ensures the path accuracy of robot.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model position label means embodiment；
Fig. 2 is the face upwarding section of the utility model position label means embodiment；
Fig. 3 is the structural representation of the utility model position label means embodiment；
Fig. 4 is the structural representation of the control assembly of the utility model position label means embodiment；
Fig. 5 is the diagrammatic cross-section of the guide rod of the utility model cursor position caliberating device embodiment；
Fig. 6 is the structural representation of the utility model position label means embodiment；
Fig. 7 is the structural representation of another embodiment of the utility model position label means；
Fig. 8 is the structural scheme of mechanism of another embodiment of the utility model position label means.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only part of the embodiment of the present utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Referring to Fig. 1, the utility model position label means embodiment includes：
Whether the first sensory package 10, sensing robot tool reach the first predetermined coordinate；
Whether the second sensory package 20, sensing robot tool reach the second predetermined coordinate；
Control assembly 30, the first sensory package 10, the second sensory package 20 are electrically connected with, is sensed in the first sensory package 10
Predetermined the first coordinate is reached to robot tool, and the second sensory package 20 senses robot tool and reaches predetermined the
During two coordinates, determine that robot tool has reached predetermined location point；Wherein, the first coordinate and the second coordinate collectively constitute position
The three-dimensional coordinate of point.
In the present embodiment, the first coordinate is the wherein two-dimensional coordinate in the three-dimensional coordinate of location point, and the second coordinate is position
Put the other one-dimensional coordinate in three-dimensional coordinate a little.At least one in first sensory package 10, the second sensory package 20 is non-connect
Touch sensory package.
In the present embodiment, the first sensory package 10 includes photoelectric sensing component, and photoelectric sensing component is launched including light source
Device 101 and light sensor 102, light source emitter 101 are oppositely arranged with the interval of light sensor 102；Wherein, light source emitter
101 send the light beam that angle of flare is less than predetermined value, and when sensing is less than light beam, control assembly 30 is judged as light sensor 102
Robot tool reaches the first predetermined coordinate.
Second sensory package 20 includes displacement transducer, and displacement transducer one end is relatively fixed with light source emitter 101, when
Robot tool reaches the first predetermined coordinate and promotes light source emitter 101 to move to reach precalculated position along beam direction
When, control assembly 30 is judged as that robot tool reaches the second predetermined coordinate.
In embodiment, light source emitter 101 can also be generating laser etc., and other can position the biography of the first coordinate
Sensor；Displacement transducer can also be the rangings such as light point sensor or pressure sensor or sense away from sensor.
Referring to Fig. 1 to Fig. 2, the utility model position label means embodiment also includes：
Top base 40, light source emitter 101 is fixed on the upper surface center of top base 40, and is wrapped by a transparent shell 401
Cover；Displacement transducer 20 is fixed on the lower surface center of top base 40；
Bottom base 50；
Guide rod 60, it is vertically installed between the lower surface of top base 40 and the upper surface of bottom base 50, one end of guide rod 60
It is fixed on the upper surface of bottom base 50.
Alternatively, the position of light source emitter and light sensor can exchange, i.e., light sensor is arranged at top base
40 upper surface center, light source emitter are arranged at the outer position corresponding with light sensor of top base 40.
Referring to Fig. 3 to Fig. 4, control assembly 30 also includes the first indicator lamp 301 and the second indicator lamp 302, is being judged as machine
When device people instrument 701 reaches the first predetermined coordinate, the first indicator lamp 301 of control is luminous, is being judged as that robot tool 701 arrives
During up to the second predetermined coordinate, the second indicator lamp 302 of control is luminous.
Referring to Fig. 1 to Fig. 4, the switch board 80 of the electric property coupling robot of control assembly 30, it is judged as machine in control assembly 30
When device people instrument 701 reaches the first predetermined coordinate, control assembly 30 sends instruction to the switch board 80 of robot with control machine
Device people instrument 701 promotes top base 40 to move along beam direction, and it is pre- to be judged as that robot tool 701 reaches in control assembly 30
During fixed second coordinate, control assembly 30 sends instruction to the switch board 80 of robot and stops moving with control machine people instrument 701
It is dynamic.
In the present embodiment, the light source emitter 101 at the upper surface center of top base 40 sends angle of flare and is less than predetermined value
Light beam, through transparent shell 401, received by light sensor 102, and on transparent shell 401 formed a luminous point.Machine
Device people 70 moves from either direction to caliberating device, and the light beam for making robot tool 701 be sent to light source emitter 101 is close,
(when naked eyes judge that robot tool 701 touches luminous point, actually not necessarily connect when robot tool 701 will contact luminous point
Contact) meeting break beam, when light sensor is sensed less than light beam, it is pre- that control assembly 30 judges that robot tool 701 reaches
The first fixed coordinate, the first indicator lamp 301 of control is luminous, and sends instruction to the IO ends of robot control cabinet 80 with control machine
People's instrument 701 promotes top base 40 to move along beam direction；When displacement transducer 101 detects that robot tool 701 promotes
When top base 40 moves preset distance, control assembly 30 judges that robot tool 701 reaches the second predetermined coordinate, control second
Indicator lamp 302 is luminous, and sends instruction and stop moving with control machine people instrument 701 to the IO ends of robot control cabinet 80, complete
Into location position.The movement of robot tool 701 in beam direction, reach the second coordinate be in order to eliminate robot 70 with it is upper
Space that may be present between pedestal 40.After demarcation terminates every time, guide rod 60 resets top base 40, waits next deutero-albumose
It is fixed.
Alternatively, control assembly 30 can send control instruction by the PLC of robot control cabinet 80.
Alternatively, robot control cabinet 80 can be arranged in robot 70, and control assembly 30 can also be arranged on demarcation
On the top base 40 or bottom base 50 of device.
Referring to Fig. 1, Fig. 2 and Fig. 5, guide rod 60 has at least two, in the present embodiment, is provided with four guide rods 60,
And be uniformly distributed centered on displacement transducer 20, the lower surface of top base 40 and bottom base 50 are respectively fixed in the both ends of guide rod 60
Upper surface.Guide rod 60 includes middle fix bar and external springs, and cut-off is provided with the middle part of fix bar, and shifting is provided for top base 40
Dynamic space；External springs are used for after location position is completed, and top base 40 is resetted.
Referring to Fig. 1 and Fig. 6, position label means also include shell 90, and top base 40, guide rod 60 and bottom base 50 are all provided with
Put in shell 90, the first sensory package 10 and the second sensory package 20 are played a protective role.
Referring to Fig. 7, another embodiment of the utility model position label means includes：
First sensory package 10, the second sensory package 20, control assembly 30, top base 400, bottom base 50 and guide rod
600, wherein the first sensory package 10, the second sensory package 20, control assembly 30 and bottom base 50 26S Proteasome Structure and Function with it is above-mentioned
The 26S Proteasome Structure and Function of the first sensory package, the second sensory package, control assembly and bottom base in position label means embodiment
It is all identical, it will not be repeated here.
In the present embodiment, four guide rods 600 are provided with, and are uniformly distributed centered on displacement transducer 20；Upper base
Top base is run through in the hole or groove 402, hole or groove 402 that the external diameter that 400 lower surfaces of seat are provided with internal diameter and guide rod 600 matches
400；The upper surface of bottom base 50 is fixed in one end of guide rod 600, and the other end of guide rod 600 runs through top base 400 to cause
Top base 400 slides on guide rod 600.Spring is arranged with guide rod 600, for after location position is completed, by upper base
Seat 400 resets.
Referring to Fig. 8, alternatively, hole that the external diameter that the lower surface of top base 400 is provided with internal diameter and guide rod 600 matches or
Groove 402, the hole or groove 402 on top base 400 are deeply but not through top base 400；Bottom base is fixed in one end of guide rod 600
50 upper surfaces, the other end of guide rod 600 go deep into top base 400 with so that top base 400 slides on guide rod 600, upper base
The difference for the length that the hole of seat 400 or the length of groove 402 are located at hole or the part of groove 402 with guide rod 600 exists more than top base 400
The distance moved on beam direction.
The utility model embodiment is passed by proposing a kind of position label means by first sensory package and second
Feel the cooperation of both components, a certain location point whether is reached come accurate judgement robot using the first coordinate and the second coordinate, from
And the tool coordinates system of robot is more accurately demarcated, ensure the path accuracy of robot.
Embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model, it is all
It is the equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or directly or indirectly uses
In other related technical areas, similarly it is included in scope of patent protection of the present utility model.
Claims (10)
- A kind of 1. position label means, it is characterised in that including：Whether the first sensory package, sensing robot tool reach the first predetermined coordinate；Second sensory package, senses whether the robot tool reaches the second predetermined coordinate；Control assembly, first sensory package, second sensory package are electrically connected with, are sensed in first sensory package The first predetermined coordinate is reached to the robot tool, and second sensory package senses the robot tool and arrived During up to the second predetermined coordinate, determine that the robot tool has reached predetermined location point；Wherein, first coordinate and institute State the three-dimensional coordinate that the second coordinate collectively constitutes the location point.
- 2. device according to claim 1, it is characterised in thatFirst coordinate is the wherein two-dimensional coordinate in the three-dimensional coordinate of the location point, and second coordinate is the position Other one-dimensional coordinate in the three-dimensional coordinate of point.
- 3. device according to claim 1, it is characterised in thatFirst sensory package includes photoelectric sensing component, and the photoelectric sensing component includes light source emitter and light sensing Device, the light source emitter are oppositely arranged with the light sensor interval；Wherein, the light source emitter sends the light beam that angle of flare is less than predetermined value, and the light sensor is in sensing less than institute When stating light beam, the control assembly is judged as that the robot tool reaches the first predetermined coordinate.
- 4. device according to claim 3, it is characterised in thatSecond sensory package includes displacement transducer, institute's displacement sensors one end and the light source emitter or the light Line inductor is relatively fixed, when the robot tool reaches the first predetermined coordinate and promotes the light in the beam path When source transmitter or the light sensor move to reach precalculated position, the control assembly is judged as that the robot tool arrives Up to the second predetermined coordinate.
- 5. device according to claim 4, it is characterised in that described device also includes：Top base, the light source emitter is fixed on the upper surface center of the top base, and is coated by a transparent shell；It is described Displacement transducer is fixed on the lower surface center of the top base；Bottom base；Guide rod, it is vertically installed between the top base lower surface and the bottom base upper surface, one end of the guide rod It is fixed on the bottom base upper surface.
- 6. device according to claim 5, it is characterised in thatThe control assembly also includes the first indicator lamp and the second indicator lamp, is being judged as that it is predetermined that the robot tool reaches During the first coordinate, first indicator lamp is controlled to light, when being judged as that the robot tool reaches the second predetermined coordinate, Second indicator lamp is controlled to light.
- 7. device according to claim 6, it is characterised in thatThe switch board of robot described in the control assembly electric property coupling, is judged as the robot tool in the control assembly When reaching the first predetermined coordinate, the control assembly sends instruction to the switch board of the robot to control the robot Instrument promotes the top base to move along the beam direction, is judged as that the robot tool reaches in the control assembly During predetermined second coordinate, the control assembly sends instruction to the switch board of the robot to control the robot tool Stop movement.
- 8. device according to claim 5, it is characterised in thatThe top base lower surface and the bottom base upper surface are respectively fixed in the both ends of the guide rod；Cut-off is provided with the middle part of the guide rod, is arranged with back-moving spring thereon, for after location position is completed, by the upper base Seat resets；The guide rod has at least two.
- 9. device according to claim 5, it is characterised in thatThe hole or groove that the external diameter that the top base lower surface is provided with internal diameter and the guide rod matches, the guide rod it is another The hole or groove are goed deep into so that the top base slides on the guide rod in one end；Spring is arranged with the guide rod, for after location position is completed, the top base to be resetted；The guide rod has at least two.
- 10. device according to claim 1, it is characterised in thatDescribed device also includes shell, for protecting first sensory package and second sensory package.
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| CN201621494056.8U CN206724895U (en) | 2016-12-30 | 2016-12-30 | A kind of position label means |
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| CN201621494056.8U CN206724895U (en) | 2016-12-30 | 2016-12-30 | A kind of position label means |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109311161A (en) * | 2016-12-30 | 2019-02-05 | 深圳配天智能技术研究院有限公司 | A kind of position label means |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109311161A (en) * | 2016-12-30 | 2019-02-05 | 深圳配天智能技术研究院有限公司 | A kind of position label means |
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