CN203579686U - Device for detecting states of conveying rollers and track on manipulator device - Google Patents
Device for detecting states of conveying rollers and track on manipulator device Download PDFInfo
- Publication number
- CN203579686U CN203579686U CN201320606335.9U CN201320606335U CN203579686U CN 203579686 U CN203579686 U CN 203579686U CN 201320606335 U CN201320606335 U CN 201320606335U CN 203579686 U CN203579686 U CN 203579686U
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- roller
- track
- handover
- detecting unit
- checkout gear
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- 238000001514 detection method Methods 0.000 claims abstract description 5
- 229920001971 elastomer Polymers 0.000 claims description 7
- 239000000806 elastomer Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
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Abstract
The utility model discloses a device for detecting the states of conveying rollers and a track on a manipulator device. A first roller support body for supporting one of a pair of conveying rollers which rotates on both sides of the track and moves horizontally is fixedly connected with an outer cover, and a second roller support body for supporting the other conveying roller is connected with the outer cover through a rotary joint; one side of the outer cover is provided with a measuring unit; one end of the second roller support body is provided with a detection unit; the measuring unit consists of a pressure sensor. The device can be used for easily and rapidly detecting the states of the conveying rollers and the track in real time according to the changes of the states, wear degrees, deformation degrees, inflow of foreign matters and the like of the track and the conveying rollers through measuring positions and change values. Moreover, the clamping jaw of a clamping device is compensated by using detected change values through a computer and a control unit, thereby ensuring that workpieces can be always conveyed to correct positions accurately.
Description
Technical field
The utility model relates to a kind of along with track is transferred the robot device of industrial workpiece, particularly, adopt Workpiece transfer, with robot device, industrial workpiece is accurately transferred to tram, in order to detect the handover roller of robot device and the state of track, level is transferred and the changing value of variation in orbit, and employing is a kind of for the handover roller on robot device and the checkout gear of track condition.
Background technology
For various industrial Workpiece transfers to assigned address, adopt robot device.This kind of Workpiece transfer passes through to install in orbit the movably grip device of crawl or place work piece with robot device, workpiece is transferred to the position of appointment from the position of loading.
Above-mentioned grip device, by being fixedly connected with in orbit the handover roller of can level transferring, is installed on ground or workbench, and can moves horizontally in orbit; But in the situation that above-mentioned Workpiece transfer is transferred in orbit with robot device, transfer roller and produce wearing and tearing with the phase mutual friction of track; According to the degree of wearing and tearing, above-mentioned fixture unit can change or angle variation by occurrence positions.This variation causes the position of Workpiece transfer accurate not; Particularly, because the change in location of placement unit may affect, capture or the position of place work piece, cause the position of Workpiece transfer accurate not.
Traditional Workpiece transfer can not detect the problems referred to above with robot device, that is, according to transferring the degree of wear occurring between roller and track, fixture unit can change by occurrence positions; And the change in location of fixture unit is not only because transfer the wearing and tearing of roller and track, Yin Wendu or external force impact also can cause distortion, and foreign matter flows at track and transfers the various problems that produce between roller.Therefore need to detect the checkout gear of transferring change in location between roller and track.
Summary of the invention
The purpose of this utility model is exactly to provide a kind of for the handover roller on robot device and the checkout gear of track condition, and it can detect the state of change in location between handover roller on existing machinery arm device and track.
The purpose of this utility model is achieved in that a kind of for the handover roller on robot device and the checkout gear of track condition, comprises the track of installing with ground or workbench parallel direction, the handover roller that can move horizontally; Grip device, by being connected with handover roller, can move along with track cross level, and carry out lifting by the running of servomotor, can capture or place work piece to assigned address; It is characterized in that: the both sides that a pair of handover roller is close to track are rotated, along with rail moving; Checkout gear by: grip device is connected with outer cover; A pair of handover roller is contained in respectively on roller shaft; Wherein the first support for roller is fixedly connected with outer cover; The second support for roller is connected with outer cover by rotary joint; One end of the second described support for roller is fixedly connected with detecting unit; Described detecting unit is along with the rotation of the second support for roller, and realization moves left and right; Measuring unit is fixedly connected with outer cover.
Described measuring unit is by the axle supporter that is fixedly connected with outer cover; One end is provided with gauge head, the measurement axle that the other end is combined with axle supporter; The central authorities of measuring axle are provided with elastomer composition; Described elastomer forms spiral helical spring.
The gauge head of described measuring unit can be measured the degree that moves left and right of detecting unit in real time; Under the state that gauge head is connected with detecting unit, by detecting unit, move left and right, can measure physics strength, the increase and decrease of pressure or heavy burden, the degree that moves left and right of detecting unit is transformed to the value of changing by pressure sensor.
The detection numerical value of described detecting unit goes out result by pressure sensor processing, by computer and control module, the jaw position of grip device is compensated.
Described handover roller comprises roller shaft, swing roller, swivel bearing; Between roller shaft and swing roller, be provided with swivel bearing; The outside of swing roller is rotatable state.
With the one group of track of the each installation of beam upper and lower side that travels of ground or the parallel installation of workbench, every group of track both sides arrange a pair of handover roller; Every a pair of handover roller is separately installed with checkout gear, and reaches symmetrical.
The detecting unit that the utility model arranges, can be according to the state of track and handover roller, the variation that the degree of wear, deformation extent, foreign matter flow into, pass through measuring position, changing value can simply and promptly detect the state of transferring roller and track in real time, and adopt the changing value detecting, by computer and control module, the jaw of grip device is compensated, can accurately transfer workpiece to tram all the time.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model checkout gear;
Fig. 2 is the in-built profile of the utility model checkout gear;
Fig. 3 is checkout gear mounting structure schematic diagram of the present utility model;
Fig. 4 is track and transfers the profile of roller under state of wear;
Fig. 5 is track and transfers the reference diagram in the situation that flows into foreign matter between roller;
10. checkout gear, 11. outer covers, 12. beams that travel, 13. tracks, 20. transfer roller, 21. roller shafts, 22. swing rollers, 23. swivel bearings, 30. first support for roller, 31. second support for roller, 32. rotary joints, 40. detecting units, 44. frays, 50. measuring units, 51. axle supporters, 52. measure axle, 53. gauge heads, 54. elastomers, 55. foreign matters, 60. grip devices.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail;
For the handover roller on robot device and a checkout gear for track condition, comprise the track 13 of installing with ground or workbench parallel direction, the handover roller 20 that can move horizontally; Grip device 60, by being connected with handover roller 20, can move horizontally along with track 13, and carry out lifting by the running of servomotor, can capture or place work piece to assigned address; It is characterized in that: the both sides that a pair of handover roller 20 is close to track 13 are rotated, along with track 13 moves; Checkout gear 10 by: grip device 60 is connected with outer cover 11; A pair of handover roller 20 is contained in respectively on roller shaft 21; Wherein the first support for roller 30 is fixedly connected with outer cover 11; The second support for roller 31 is connected with outer cover 11 by rotary joint 32; One end of the second described support for roller 31 is fixedly connected with detecting unit 40; Described detecting unit 40 is along with the rotation of the second support for roller 31, and realization moves left and right; Measuring unit 50 is fixedly connected with outer cover 11.
Described measuring unit 50 is by the axle supporter 51 that is fixedly connected with outer cover 11; One end is provided with gauge head 53, the measurement axle 52 of the other end and 51 combinations of axle supporter; The central authorities of measuring axle 52 are provided with elastomer 54 and form; Described elastomer 54 forms spiral helical spring.
The gauge head 53 of described measuring unit 50 can be measured the degree that moves left and right of detecting unit 40 in real time; Under the state that gauge head 53 is connected with detecting unit 40, by detecting unit 40, move left and right, can measure physics strength, the increase and decrease of pressure or heavy burden, the degree that moves left and right of detecting unit 40 is transformed to the value of changing by pressure sensor.
The detection numerical value of described detecting unit 40 goes out result by pressure sensor processing, by computer and control module, the jaw position of grip device 60 is compensated.
Described handover roller 20 comprises roller shaft 21, swing roller 22, swivel bearing 23; Between roller shaft 21 and swing roller 22, be provided with swivel bearing 23; The outside of swing roller 22 is rotatable state.
With the one group of track 13 of the each installation of beam 12 upper and lower sides that travels of ground or the parallel installation of workbench, every group of track 13 both sides arrange a pair of handover roller 20; Every a pair of handover roller 20 is separately installed with checkout gear, and reaches symmetrical.
During concrete enforcement, embodiment mono-: as shown in Figure 4, in the situation that transferring roller 20 or track 13 and wearing and tearing, transferring roller 20 original position and track 13 before wearing and tearing is close to, therefore the second support for roller 31 that supports handover roller 20 rotates centered by rotary joint 32, and the detecting unit 40 of one end moves to the opposite direction of measuring unit 50.
Embodiment bis-: as shown in Figure 5, transferring flow into foreign matter 55 between roller 20 and track 13 in the situation that, transfer roller 20 and will the original position before wearing and tearing be offset (thickness that side-play amount is foreign matter 55) to the opposite direction of track 13; Therefore the second support for roller 31 that supports handover roller 20 rotates centered by rotary joint 32, and the detecting unit 40 of one end moves to the opposite direction of measuring unit 50.
Shown in observing by way of example, according to track 13 and transfer the state of roller 20, swing roller 22, when the second support for roller 31 of transferring roller being installed rotating, the detecting unit 40 of the second support for roller 31 that one end possesses produces and moves left and right; Now, the gauge head 53 of measuring unit 50 can be measured the degree that moves left and right of detecting unit 40 in real time, under the state that gauge head 53 is connected with detecting unit 40, by detecting unit 40, move left and right, can measure physics strength, comprise the increase and decrease of pressure or heavy burden, the degree that moves left and right of above-mentioned detecting unit 40 is transformed to the value of changing by pressure sensor.The measurement of physics strength increase and decrease, can measure for compression stress or the pulling force of load (load moving left and right according to detecting unit 40).
And the detection numerical value of above-mentioned detecting unit 40 is by going out result with above-mentioned pressure sensor processing.
Changing value for the physics strength increase and decrease in above-mentioned pressure sensor induction (measurement) is sent to computer, and computer compensates corresponding changing value by control panel again, is applied to the state of track 13 and handover roller 20; Can realize accurate handover workpiece.
On the other hand: in order to ensure safety, according to capturing, place work piece is as the load of the grip device 60 of object, the track being connected with outer cover 11 needs parallel installation.Most preferably: with beam 12 upper and lower sides that travel of ground or the parallel installation of workbench, one group of track 13 is respectively being installed.
The handover of one group of track 13 structure being respectively housed at the upper and lower side of the beam 12 that travels is with robot device, every group of track 13 forms one group and transfers roller 20, and each group is transferred roller 20 and comprised outer cover 11, the first support for roller 30, the second support for roller 31, measuring unit 50, detecting unit 40 checkout gears.
And it is symmetrical that each group that optimum is is transferred each checkout gear that roller 20 connects, that is, form the first support for roller 30, the second support for roller 31, measuring unit 50, detecting unit 40 and the rotary joint 32 that checkout gear comprises and realize symmetrically.
Now, above-mentioned rotary joint 32, track 13 direction parallel to the ground are installed, and according under the state of track 13 and handover roller 20, second support for roller 31 that can rotate reaches and operates as flexibly the best.
In order to transfer workpiece, in the process that handover roller 20 moves horizontally, the changing value of the position (position of the detecting unit moving left and right according to the rotation of the second support for roller 31) of the detecting unit 40 changing according to track 13 and the state of transferring roller 20 can detect or measurement simply and promptly in real time; Adopt the changing value of measuring or detecting simultaneously, by computer and control module, the jaw of grip device 60 is compensated, and then can accurately transfer workpiece to tram all the time.That is, crawl position and the placement location of placement unit (or paw) remain at assigned address.
Transfer the wearing and tearing that cause that rubs of roller 20 and track 13, only need replacing swing roller 22; Described handover roller 20 is to be provided with swivel bearing 23 between swing roller 22 and roller shaft 21, so can realize spinning movement flexibly.
Claims (6)
1. for the handover roller on robot device and a checkout gear for track condition, comprise the track (13) of installing with ground or workbench parallel direction, the handover roller (20) that can move horizontally; Grip device (60), by being connected with handover roller (20), can move horizontally along with track (13), and carry out lifting by the running of servomotor, can capture or place work piece to assigned address; It is characterized in that: the both sides that a pair of handover roller (20) is close to track (13) are rotated, along with track (13) is mobile; Checkout gear (10) by: grip device (60) is connected with outer cover (11); A pair of handover roller (20) is contained in respectively on roller shaft (21); Wherein the first support for roller (30) is fixedly connected with outer cover (11); The second support for roller (31) is connected with outer cover (11) by rotary joint (32); One end of the second support for roller (31) is fixedly connected with detecting unit (40); Detecting unit (40) is along with the rotation of the second support for roller (31), and realization moves left and right; Measuring unit (50) is fixedly connected with outer cover (11).
2. according to claim 1 a kind of for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: described measuring unit (50) is by the axle supporter (51) being fixedly connected with outer cover (11); One end is provided with gauge head (53), the measurement axle (52) of the other end and axle supporter (51) combination; The central authorities of measuring axle (52) are provided with elastomer (54) composition; Described elastomer (54) forms spiral helical spring.
3. according to claim 1 a kind of for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: the gauge head (53) of described measuring unit (50) can be measured the degree that moves left and right of detecting unit (40) in real time; Under the state that gauge head (53) is connected with detecting unit (40), by detecting unit (40), move left and right, can measure physics strength, the increase and decrease of pressure or heavy burden, the degree that moves left and right of detecting unit (40) is transformed to the value of changing by pressure sensor.
4. a kind of for the handover roller on robot device and the checkout gear of track condition according to described in claim 1 or 3, it is characterized in that: the detection numerical value of described detecting unit (40) goes out result by pressure sensor processing, by computer and control module, the jaw position of grip device (60) is compensated.
5. according to claim 1 a kind of for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: described handover roller (20) comprises roller shaft (21), swing roller (22), swivel bearing (23); Between roller shaft (21) and swing roller (22), be provided with swivel bearing (23); The outside of swing roller (22) is rotatable state.
6. according to claim 1 a kind of for the handover roller on robot device and the checkout gear of track condition, it is characterized in that: with the beam that travels (12) upper and lower side of ground or the parallel installation of workbench, one group of track (13) is respectively installed, every group of track (13) both sides arrange a pair of handover roller (20); Every a pair of handover roller (20) is separately installed with checkout gear, and reaches symmetrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320606335.9U CN203579686U (en) | 2013-09-29 | 2013-09-29 | Device for detecting states of conveying rollers and track on manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320606335.9U CN203579686U (en) | 2013-09-29 | 2013-09-29 | Device for detecting states of conveying rollers and track on manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203579686U true CN203579686U (en) | 2014-05-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320606335.9U Expired - Fee Related CN203579686U (en) | 2013-09-29 | 2013-09-29 | Device for detecting states of conveying rollers and track on manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203579686U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552092A (en) * | 2013-09-29 | 2014-02-05 | 爱马特（江苏）自动化有限公司 | State detection device for conveying wheels and rails of manipulator device |
| CN103586875A (en) * | 2013-10-18 | 2014-02-19 | 爱马特（江苏）自动化有限公司 | System for measuring conditions of roller and track of mechanical arm moving device |
| CN105084250A (en) * | 2014-10-11 | 2015-11-25 | 合肥井松自动化科技有限公司 | High-speed stacking machine |
-
2013
- 2013-09-29 CN CN201320606335.9U patent/CN203579686U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552092A (en) * | 2013-09-29 | 2014-02-05 | 爱马特（江苏）自动化有限公司 | State detection device for conveying wheels and rails of manipulator device |
| CN103586875A (en) * | 2013-10-18 | 2014-02-19 | 爱马特（江苏）自动化有限公司 | System for measuring conditions of roller and track of mechanical arm moving device |
| CN105084250A (en) * | 2014-10-11 | 2015-11-25 | 合肥井松自动化科技有限公司 | High-speed stacking machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140507 Termination date: 20150929 |
|
| EXPY | Termination of patent right or utility model |