CN208358812U - One kind being used for manipulator automatic check device - Google Patents

Abstract

The utility model discloses one kind to be used for manipulator automatic check device, including mechanical arm, mechanical arm is equipped with control unit, the bottom end of mechanical wall is fixedly connected with fixed sliding block, fixed sliding block slidably connects driven sliding block, the inside of fixed sliding block offers sliding slot, the end of driven sliding block is fixedly installed slide bar, one end of slide bar is fixedly connected with reset spring, one end of reset spring is connected on the inner wall of sliding slot, detection device is installed between fixed sliding block and driven sliding block, sensor is provided in detection device, sensor is electrically connected with control unit.The utility model structure is simple, by the way that reset spring is arranged, to play the role of buffering to gripper stress, detection device will detect that the moving distance of fixed sliding block and driven sliding block simultaneously, then pass through the control unit of sensor transmissions to mechanical arm, to be adjusted to the position location of next mechanical arm, to reach the function of automatic Verification, while underproof product is screened out.

Description

One kind being used for manipulator automatic check device

Technical field

Disclosed by the utility model to belong to manipulator technical field, specially a kind of automatic Verification for manipulator fills It sets.

Background technique

Be constantly progressive with the continuous development of society with science and technology, the realization of mechanical automation by machinery production lead to One new field has been really achieved big industrial production and has reduced labor intensity, improved labour effect by automatic control system Rate, so that commercial production levels, which step, has gone up a new step.

Currently, mechanical arm automatic loading/unloading is commonly used in manipulator, whether the workpiece in machine tool fixture is put into position, only leans on The precision of mechanical arm itself guarantees.If gripper first unclamps, machine tool fixture clamps again, and after gripper unclamps, workpiece is in weight Deviate accurate location under the action of power, so that location of workpiece inaccuracy after clamping, influences the accurate to dimension of workpiece.If machine Bed fixture first clamps, and gripper unclamps again, and mechanical arm can be because position error, Workpiece length and workpiece size generate positioning and miss Difference can bear the additional force from machine tool fixture, the service life and positioning accuracy of mechanical arm be easily reduced, so as to cause product It is unqualified.

In the prior art, machine tool fixture is mostly used first to clamp greatly, gripper unclamps again, and does not have between gripper and workpiece There is setting elastic hold-down mechanism, the additional force of machine tool fixture can not be buffered, not can guarantee the service life of mechanical arm, together When also without detect position error, do not have automatic school checking functions, substandard product can not be screened, so that after causing The loss of continuous processing, it is therefore necessary to be improved.

Utility model content

The purpose of this utility model is in view of the deficiency of the prior art, to provide a kind of for the automatic school of manipulator Experiment device, it has elastic hold-down mechanism, the service life that the additional force of machine tool fixture is buffered, guaranteed mechanical arm, same When detection position error, have automatic school checking functions and screening substandard product the characteristics of.

In order to achieve the above purpose, the technical scheme adopted by the utility model is a kind of be used for the automatic school of manipulator Experiment device, including mechanical arm, control unit is provided on the mechanical arm, and the bottom end of the machinery wall is fixedly connected with fixed cunning Block, the fixed sliding block slidably connect driven sliding block, and the inside of the fixed sliding block offers sliding slot, the driven sliding block End is fixedly installed slide bar, and one end of the slide bar is fixedly connected with reset spring, and one end of the reset spring is connected to On the inner wall of sliding slot, detection device is installed between the fixed sliding block and driven sliding block, biography is provided in the detection device Sensor, the sensor are electrically connected with control unit.

Preferably, the bottom end of the driven sliding block is fixedly installed with link block, fixed company on the left of the bottom end of the link block It is connected to cylinder mounting base, is fixedly installed with rotary cylinder, the output of the rotary cylinder on the left of the bottom end of the cylinder mounting base End is fixedly connected with set square, and the bottom end and left end of the set square are equipped with integrally formed gripper mounting base, the machine Gripper finger connector is fixedly connected at the outer rim of machinery claw mounting base, the left end of the gripper finger connector is solid Surely it is connected with fastening spiral shell disk.

Preferably, the set square is in isosceles right triangle structure, and the gripper mounting base is respectively arranged at triangle In two right-angle surfaces of plate.

Preferably, the link block is in " 7 " character form structure, and the top of the cylinder mounting base is fixedly installed with port, institute It states port and is connected with bend pipe, the port is fixedly connected by bend pipe with rotary cylinder.

Compared with prior art, the utility model has the beneficial effects that the utility model structure is simple, resetted by setting Spring, when mechanical arm because position error, Workpiece length and workpiece size generate position error, gripper is by from machine tool fixture Additional force when, the direction of reset spring along the chute is stretched, thus play the role of to gripper stress buffer, detect simultaneously Device will detect that the moving distance of fixed sliding block and driven sliding block, then pass through the control list of sensor transmissions to mechanical arm Member, to be adjusted to the position location of next mechanical arm, to reach the function of automatic Verification, while underproof product It is screened out, prevents from causing the unnecessary loss of following process.

Detailed description of the invention

FIG. 1 is a schematic structural view of the utility model；

Fig. 2 is the utility model structural side view；

Fig. 3 is the utility model driven sliding block structural schematic diagram.

In figure: 1, mechanical arm；2, fixed sliding block；21, sliding slot；3, driven sliding block；31, slide bar；32, reset spring；4, it passes Sensor；5, link block；6, cylinder mounting base；7, rotary cylinder；71, port；8, set square；9, gripper mounting base；91, mechanical Cleft hand refers to connector；92, spiral shell disk is fastened.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Please refer to Fig. 1-3, the utility model provides a kind of technical solution: one kind is for manipulator automatic check device, packet Mechanical arm 1 is included, control unit is provided on mechanical arm 1, the movement of mechanical arm 1 can be any direction, can reach identical Effect.The bottom end of mechanical wall 1 is fixedly connected with fixed sliding block 2, and fixed sliding block 2 slidably connects driven sliding block 3, fixed sliding block 2 Inside offer sliding slot 21, the end of driven sliding block 3 is fixedly installed slide bar 31, and certain driven sliding block 3 can be in any direction Slide bar 31 is set, is attained by identical effect, one end of slide bar 31 is fixedly connected with reset spring 32, reset spring 32 One end is connected on the inner wall of sliding slot 21, is equipped with detection device between fixed sliding block 2 and driven sliding block 3, is set in detection device It is equipped with sensor 4, sensor 4 is electrically connected with control unit；Sensor 4 can be used optoelectronic switch, close to switch, laser ranging, Encoder etc. also uses other different sensing devices certainly, can generate same effect.

The bottom end of driven sliding block 3 is fixedly installed with link block 5, and cylinder installation is fixedly connected on the left of the bottom end of link block 5 The bottom end left side of seat 6, cylinder mounting base 6 is fixedly installed with rotary cylinder 7, and the output end of rotary cylinder 7 is fixedly connected with triangle Plate 8, the bottom end and left end of set square 8 are equipped with integrally formed gripper mounting base 9, the outer rim of gripper mounting base 9 Place is fixedly connected with gripper finger connector 91, and the left end of gripper finger connector 91 is fixedly connected with fastening spiral shell disk 92.

Set square 8 is in isosceles right triangle structure, and gripper mounting base 9 is respectively arranged at two right-angle surfaces of set square 8 On.

Link block 5 is in " 7 " character form structure, and the top of cylinder mounting base 6 is fixedly installed with port 71, and port 71 is connected with curved Pipe, port 71 are fixedly connected by bend pipe with rotary cylinder 7.

Working principle: manipulator is fixedly mounted in gripper mounting base 9, when mechanical arm 1 because of position error, workpiece When length and workpiece size generate position error, the additional force from machine tool fixture will receive, at this moment driven sliding block 3 is transported to the right Dynamic, so that slide bar 31 21 moves right along the chute, while reset spring 32 is stretched, thus play to the buffering of mechanical arm 1 and Protective effect to gripper, while detection device will detect that the moving distance of fixed sliding block 2 and driven sliding block 3, the movement The length that distance as reset spring 32 is stretched, while being also the error lengths that mechanical arm 1 positions, then by reset spring 32 The length being stretched is transmitted to the control unit of mechanical arm 1 by sensor 4, which is CPU or PLC etc., then right The location position data of next mechanical arm 1 is calculated and is improved, to reach the function of automatic Verification, while underproof production Product are screened out, prevent from causing the unnecessary loss of following process.When the length that reset spring 32 is stretched reaches pre-set peak value When, the warning device in 1 control unit of mechanical arm can issue alarm, remind related personnel to overhaul, when gripper has operated Cheng Hou, reset spring 32 restPose, so that driven sliding block 3 be driven to reset.

While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art, It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.

Claims (4)

1. one kind is used for manipulator automatic check device, including mechanical arm (1), it is characterised in that: be arranged on the mechanical arm (1) There is control unit, the bottom end of the mechanical arm (1) is fixedly connected with fixed sliding block (2), and the fixed sliding block (2) slidably connects The inside of driven sliding block (3), the fixed sliding block (2) offers sliding slot (21), the end fixed setting of the driven sliding block (3) Have slide bar (31), one end of the slide bar (31) is fixedly connected with reset spring (32), and one end of the reset spring (32) is supported It connects on the inner wall of sliding slot (21), detection device, the detection is installed between the fixed sliding block (2) and driven sliding block (3) It is provided on device sensor (4), the sensor (4) is electrically connected with control unit.

2. according to claim 1 a kind of for manipulator automatic check device, it is characterised in that: the driven sliding block (3) bottom end is fixedly installed with link block (5), is fixedly connected with cylinder mounting base (6) on the left of the bottom end of the link block (5), It is fixedly installed with rotary cylinder (7) on the left of the bottom end of the cylinder mounting base (6), the output end of the rotary cylinder (7) is fixed It is connected with set square (8), the bottom end and left end of the set square (8) are equipped with integrally formed gripper mounting base (9), described Gripper finger connector (91), the gripper finger connection are fixedly connected at the outer rim of gripper mounting base (9) The left end of part (91) is fixedly connected with fastening spiral shell disk (92).

3. according to claim 2 a kind of for manipulator automatic check device, it is characterised in that: the set square (8) In isosceles right triangle structure, the gripper mounting base (9) is respectively arranged in two right-angle surfaces of set square (8).

4. according to claim 2 a kind of for manipulator automatic check device, it is characterised in that: the link block (5) In " 7 " character form structure, the top of the cylinder mounting base (6) is fixedly installed with port (71), and the port (71) is connected with curved Pipe, the port (71) are fixedly connected by bend pipe with rotary cylinder (7).