CN208601535U - A kind of door-opening sensing device being carried on robot arm - Google Patents
A kind of door-opening sensing device being carried on robot arm Download PDFInfo
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- CN208601535U CN208601535U CN201821329155.XU CN201821329155U CN208601535U CN 208601535 U CN208601535 U CN 208601535U CN 201821329155 U CN201821329155 U CN 201821329155U CN 208601535 U CN208601535 U CN 208601535U
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Abstract
A kind of door-opening sensing device being carried on robot arm disclosed by the utility model, including shaft, operating stick, coupler body, in place baffle, torsional spring and shaft seat；The connection of the arm of the shaft seat and robot, the shaft are arranged on shaft seat, and shaft is fixed on one end of operating stick by torsional spring；One end of operating stick is arranged in the coupler body, and baffle is arranged on coupler body in place；The end of operating stick is provided with a pair of of striker, and initial position switch is provided on the upside of striker, maloperation switch is provided on the downside of striker；The door-opening sensing device further includes hooking location switch, and the medium position of maloperation switch and initial position switch is oppositely arranged and be located at initial position switch.The car assisted spraying of the door-opening sensing device provided by the utility model being carried on robot arm, it is structurally reasonable, it realizes the opening and closing of car door, improves production efficiency；It can stop robot motion in time in maloperation, reduce car body scrappage, control production cost.
Description
Technical field
The utility model relates to automated manufacturing technical field more particularly to a kind of it is carried to opening on robot arm
Door sensing device.
Background technique
In the automatic spraying process of automobile, four of robot automatic opening car body are needed.Robot arm end at this stage
Door opener do not incude system in place, be easy to appear the maloperation that enabling hook does not hook car door gap, cause car body report
It is useless, also influence vehicle body coating efficiency.
Therefore, it needs to design a kind of door-opening sensing device being carried on robot arm, solves to exist in the prior art
The problem of.
Utility model content
The purpose of this utility model is that in view of the above technical problems, one kind provided by the utility model is carried to robot
The car assisted spraying of door-opening sensing device on arm, it is structurally reasonable, it realizes the opening and closing of car door, improves production effect
Rate；It can stop robot motion in time in maloperation, reduce car body scrappage, control production cost.
In order to solve the above technical problems, a kind of enabling induction dress being carried on robot arm provided by the utility model
It sets, specifically includes shaft, operating stick, coupler body, baffle in place, torsional spring and shaft seat；The arm of the shaft seat and robot connects
It connects, the shaft is arranged on shaft seat, and shaft is fixed on one end of operating stick by torsional spring；The coupler body is arranged in operating stick
One end, the baffle in place is arranged on coupler body；The end of the operating stick is provided with a pair of of striker, the upside setting of striker
There is initial position switch, maloperation switch is provided on the downside of striker；The enabling induction dress being carried on robot arm
Setting further includes hooking location switch, is oppositely arranged and is located in maloperation switch and initial position switch with initial position switch
Portion position.
In some embodiments, the torsional spring is set in the outside of shaft, and one end of torsional spring is fixed in operating stick, another
End is connect by torsional spring adjusting block with shaft.Operator can by torsional spring adjusting block adjust torsional spring screw diameter, i.e., and
Change the torsional moment that torsional spring resets.
In some embodiments, the quantity of the torsional spring is a pair, is symmetrically set in the outside of shaft and is located at operation
The both ends of bar.
In some embodiments, it is provided with fixed frame on the shaft seat, the hook location switch, maloperation switch and just
Beginning position switch is arranged on fixed frame.
In some embodiments, the door-opening sensing device being carried on robot arm further includes shield, position
In the outside of shaft seat, hook location switch, maloperation switch and initial position switch are located to the inside of shield.
The utility model the utility model has the advantages that
A kind of car assisted spraying of door-opening sensing device being carried on robot arm provided by the utility model,
It is structurally reasonable, it realizes the opening and closing of car door, improves production efficiency；It can stop robot motion in time in maloperation, drop
Low car body scrappage controls production cost.
Detailed description of the invention
It will be apparent and more hold by made detailed description, the above-mentioned advantage of the utility model in conjunction with the following drawings
Readily understood, these attached drawings are only schematical, are not intended to limit the utility model, in which:
Fig. 1 is a kind of structural schematic diagram of door-opening sensing device being carried on robot arm described in the utility model；
Fig. 2 is the sectional view along A-A in Fig. 1；
Fig. 3 is the B-B direction cross-sectional view in Fig. 1；
Fig. 4 is the perspective view of the herein described door-opening sensing device being carried on robot arm；
Fig. 5 is the schematic diagram of the utility model Application Example.
In figure:
1. robot；2. door-opening sensing device；3. car body；4. coupler body；5. baffle in place；6. operating stick；7. shaft；8. turning round
Spring；9. torsional spring adjusting block；10. striker；11. hooking location switch；12. maloperation switchs；13. initial position switchs；14. shaft
Seat；15. shield；16. fixed frame.
Specific embodiment
Fig. 1 to Fig. 5 is that a kind of correlation of door-opening sensing device being carried on robot arm described in the utility model is shown
It is intended to, combined with specific embodiments below and attached drawing, the application is described in detail.
The embodiment recorded herein is the specific specific embodiment of the utility model, for illustrating the utility model
Design, be it is explanatory and illustrative, should not be construed as the limit to the utility model embodiment and the scope of the utility model
System.In addition to the embodiment recorded herein, those skilled in the art can also be public based on the claim of this application book and specification institute
For the content opened using obvious other technical solutions, these technical solutions include using doing to the embodiment recorded herein
The technical solution of any obvious substitutions and modifications out.
The attached drawing of this specification is schematic diagram, aids in illustrating the design of the utility model, it is schematically indicated each section
Shape and its correlation.It note that for the ease of clearly showing the structure of each component of the utility model embodiment, phase
Same reference marker is for indicating identical part.
The structural schematic diagram of herein described a kind of door-opening sensing device being carried on robot arm, such as Fig. 1 to Fig. 3
It is shown, specifically include shaft 7, operating stick 6, coupler body 4, baffle 5 in place, torsional spring 8 and shaft seat 14；The shaft seat 14 and machine
The arm of device people 1 connects, and the shaft 7 is arranged on shaft seat 14, and shaft 7 is fixed on one end of operating stick 6 by torsional spring 8,
As shown in Figure 2；One end of operating stick 6 is arranged in the coupler body 4, and the baffle in place 5 is arranged on coupler body 4；The operating stick 6
End be provided with a pair of of striker 10, the upside of striker 10 is provided with initial position switch 13, and the downside setting of striker 10 is wrong
Operation switch 12；The door-opening sensing device being carried on robot arm further includes hooking location switch 11, with initial bit
The medium position that switch 13 is oppositely arranged and is located at maloperation switch 12 and initial position switch 13 is set, as shown in Figure 3.
Three kinds of different inductive switches, machine is arranged in the herein described door-opening sensing device being carried on robot arm
People acts according to the signal of different switches.When car body in place after, robot 1 drive door-opening sensing device 2 hook arrive car door,
Different inductive switches are triggered, and switching signal passes to robot 1, and robot 1 determines next step according to signal is received
Movement, the opening and closing until completing car door.
Specifically, 1 arm of robot drives door-opening sensing device 2 to decline, as shown in figure 5, coupler body 4 enters car door gap,
When baffle in place 5 on coupler body 4 touches doorframe, operating stick 6 is slightly upper to lift and rotates clockwise along shaft 7,6 end of operating stick
The triggering of striker 10 hook location switch 11, robot 1, which receives, to be hooked the signal of location switch 11 and continues to execute and pulls open the dynamic of car door
Make.
After the paint spraying of vehicle body, when needing closed door, 1 arm of robot lifts door-opening sensing device 2
It rises, torsional spring 8 drives the decline of operating stick 6 and rotates counterclockwise along shaft 7, hooks location switch 11 and resets, initial position switch 13 touches
Hair, robot 1 reset after receiving switching signal.
In the application, if coupler body 4 does not hook car door gap, maloperation switch 12 is triggered；If coupler body 4 is stuck in crack between a door and its frame not
It can decline and reset, robot 1 does not receive the signal of initial position switch 13, and robot 1 not can be carried out homing action, in this way may be used
It causes car body to scrap to avoid malfunction, preferably car body to be assisted to spray automatically, controls production cost.
In the application, the torsional spring 8 is set in the outside of shaft 7, and 8 one end of torsional spring is fixed in operating stick 6, the other end
It is connect by torsional spring adjusting block 9 with shaft 7；The quantity of the torsional spring 8 is a pair, is symmetrically set in the outside of shaft 7 and position
In the both ends of operating stick 6.
Specifically, torsional spring is to change the screw diameter adjustment reset torsional moment of torsional spring, torsional spring both ends by its both ends is compressed
Relative angle variation it is bigger, screw diameter is smaller, and the torsional moment of torsional spring is bigger.Operator can be adjusted by operation torsional spring
Block 9 makes torsional spring adjusting block 9 and operating stick 6 generate angle number, that is, changes the compression degree at 8 both ends of torsional spring, changes torsional spring 8
Screw diameter, thus torsional spring 8 generate torsional moment operating stick 6 is pressed in extreme lower position.
In the embodiment shown in Figure 2, by adjusting angle of the shaft 7 with respect to shaft seat 14 counterclockwise, torsional spring tune is driven
Locking nub 9 and operating stick 6 generate angle change, compress the both ends of torsional spring 8, torsional spring screw diameter gap, thus the torsion generated
Operating stick 6 is pressed in extreme lower position by square.
When operating stick 6 reaches extreme higher position, and the triggering of striker 10 in operating stick 6 hooks location switch 11, the reset of torsional spring 8
Torsional moment is maximum.So when robot arm rise when, operating stick 6 can under the action of torsional spring 8 quick spinning reduction.
Scene is being generated, excessive torsional moment can generate very big collision noise, so needing by adjusting shaft 7 and turning round
Spring adjusting block 9 adjusts the compression angle and torsional moment at 8 both ends of torsional spring, opens door-opening sensing device 2 with respect to the angle of shaft seat 14
Movement at closing time is more coordinated.
In some embodiments, fixed frame 16 is provided on the shaft seat 14, the hook location switch 11, maloperation are opened
Pass 12 and initial position switch 13 are arranged on fixed frame 16, as shown in Figure 3.The enabling sense being carried on robot arm
Answering device further includes shield 15, be located at shaft seat 14 outside, will hook location switch 11, maloperation switch 12 and initially
Position switch 13 is located at the inside of shield 15, with prevent external interference influence hook location switch 11, maloperation switch 12 and
The triggering of initial position switch 13 avoids robot maloperation and influences normal operation.
Fig. 4 is the perspective view of the herein described door-opening sensing device being carried on robot arm, below with reference to automobile
Spraying scene, illustrates car door opening process:
Car body 3 in place after, robot 1 drives door-opening sensing device 2 close to car door, after reaching above car door gap,
The decline of 1 arm of robot, the door-opening sensing device 2 being connected with robot 1 arm follow decline.At this point, door-opening sensing device 2
Operating stick 6 be in extreme lower position under the torsional moment effect of torsional spring 8, the striker 10 installed in operating stick 6 touches initial bit
Switch 13 is set, initial position switch 13 is in an off state.
It is injected in the gap of car door when door-opening sensing device 2 drops to coupler body 4, after baffle 5 contacts doorframe in place, machine
1 arm of people continues to decline, and doorframe is turned round to 5 one upward reaction forces of baffle in place when the torque that reaction force generates is greater than
When the torsional moment of spring 8, operating stick 67 rotates clockwise and upper lift around the shaft, and the striker 10 in operating stick 6 is detached from initial position and opens
13 are closed, initial position switch 13 is closed.
Robot arm continues to decline, and operating stick 6 continues to rotate, when the striker 10 in operating stick 6 touches hook location switch
When 11, hooks location switch 11 and disconnect.At this point, the cut-off signal of the closure signal of initial position switch 13 and hook location switch 11 passes
Defeated to arrive PLC control system, PLC control system controls robot arm and withdraws, and drives the coupler body 4 on door-opening sensing device 2 by vehicle
Door pulls open.
The implementation procedure resetted after closing of the door is as follows: after closing of the door, 1 arm of robot drives door-opening sensing device 2
On coupler body 4 and baffle 5 rises in place, when doorframe is less than the torsional moment of torsional spring 8 to the reaction torque of baffle 5 in place,
Operating stick 67 rotates and declines counterclockwise around the shaft, and the striker 10 in operating stick 6, which is detached from, at this time hooks location switch 11, and hook is opened in place
Close 11 closures.1 arm of robot continues to rise, and under the action of torsional spring torsion, operating stick 6 continues to rotate and decline, when in place
Baffle 5 is detached from doorframe, and hook 4 is detached from after crack between a door and its frame, and the rotation of operating stick 6 drops to extreme lower position, and the striker 10 in operating stick 6 touches
Initial position switch 13 is sent out, initial position switch 13 is restored to off-state.At this point, hook location switch 11 closure signal and just
The cut-off signal of beginning position switch 13 is transferred to PLC control system, and PLC control system controls robot arm and resets.
Compared with prior art, a kind of door-opening sensing device being carried on robot arm provided by the utility model is auxiliary
The spraying of automobile is helped, it is structurally reasonable, it realizes the opening and closing of car door, improves production efficiency；It can stop in time in maloperation
Only robot motion reduces car body scrappage, controls production cost.
The utility model is not limited to above embodiment, anyone can obtain other under the enlightenment of the utility model
Various forms of products, however, make any variation in its shape or structure, it is all with identical or similar to the present application
Technical solution, all fall within the protection scope of the utility model.
Claims (5)
1. a kind of door-opening sensing device being carried on robot arm, which is characterized in that including shaft (7), operating stick (6),
Coupler body (4), in place baffle (5), torsional spring (8) and shaft seat (14)；The shaft seat (14) connect with the arm of robot (1),
The shaft (7) is arranged on shaft seat (14), and shaft (7) is fixed on one end of operating stick (6) by torsional spring (8)；The hook
Body (4) setting is arranged on coupler body (4) in one end of operating stick (6), the baffle in place (5)；The end of the operating stick (6)
It is provided with a pair of of striker (10), initial position switch (13) is provided on the upside of striker (10), striker is provided on the downside of (10)
Maloperation switchs (12)；The door-opening sensing device being carried on robot arm further includes hooking location switch (11), with
Initial position switch (13) is oppositely arranged and is located at the medium position of maloperation switch (12) and initial position switch (13).
2. the door-opening sensing device according to claim 1 being carried on robot arm, which is characterized in that the torsional spring
(8) it is set in the outside of shaft (7), torsional spring (8) one end is fixed on operating stick (6), and the other end passes through torsional spring adjusting block (9)
It is connect with shaft (7).
3. the door-opening sensing device according to claim 2 being carried on robot arm, which is characterized in that the torsional spring
(8) quantity is a pair, is symmetrically set in the outside of shaft (7) and is located at the both ends of operating stick (6).
4. the door-opening sensing device according to claim 1 being carried on robot arm, which is characterized in that the shaft
It is provided with fixed frame (16) on seat (14), the hook location switch (11), maloperation switch (12) and initial position switch (13)
It is arranged on fixed frame (16).
5. the door-opening sensing device according to claim 1 being carried on robot arm, which is characterized in that the carrying
Door-opening sensing device on to robot arm further includes shield (15), is located at the outside of shaft seat (14), hook is arrived
Bit switch (11), maloperation switch (12) and initial position switch (13) are located at the inside of shield (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821329155.XU CN208601535U (en) | 2018-08-17 | 2018-08-17 | A kind of door-opening sensing device being carried on robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821329155.XU CN208601535U (en) | 2018-08-17 | 2018-08-17 | A kind of door-opening sensing device being carried on robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208601535U true CN208601535U (en) | 2019-03-15 |
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ID=65679371
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821329155.XU Active CN208601535U (en) | 2018-08-17 | 2018-08-17 | A kind of door-opening sensing device being carried on robot arm |
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| CN (1) | CN208601535U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676118A (en) * | 2020-12-07 | 2021-04-20 | 机械工业第九设计研究院有限公司 | Automatic door opening device for cavity wax filling and application |
-
2018
- 2018-08-17 CN CN201821329155.XU patent/CN208601535U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676118A (en) * | 2020-12-07 | 2021-04-20 | 机械工业第九设计研究院有限公司 | Automatic door opening device for cavity wax filling and application |
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