A tool online detection device and detection method thereof

Abstract

The present invention provides a tool online detection device and a detection method thereof, which relates to the technical field of tool detection, and includes: a frame, having a base and two supporting rods arranged opposite to each other; a moving assembly, having a moving block arranged between the two supporting rods, and a driving member for driving the moving block to reciprocate between the two supporting rods; a sensing assembly, having a laser displacement sensor and a photoelectric switch installed on the moving block, the laser displacement sensor being used to detect the deformation of the tool, and the photoelectric switch being used to detect the signal of tool movement; a limit assembly, including limit switches respectively arranged on the two supporting rods, so that the laser displacement sensor can reciprocate linearly through the two limit switches; and a control assembly, which is electrically connected to the moving assembly, the sensing assembly and the limiting assembly, so that the laser displacement sensor and the tool can reciprocate synchronously. Thus, real-time online detection of the tool is realized, and the problems existing in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of tool detection, and in particular to an online tool detection device and a detection method thereof. Background Art

[0002] In the field of mechanical manufacturing, the use of industrial robots to process workpieces is becoming more and more common, and industrial robots have become an indispensable part of the mechanical processing industry. Applying industrial robots to milling processing can greatly improve processing efficiency and reduce labor costs. The deformation of the robot's end tool directly affects the surface quality of the workpiece. However, the existing processing error detection device cannot detect the deformation of the robot's end tool during the processing process online. For parts with high processing accuracy requirements, the inability to detect tool deformation in real time can easily produce defective products with a high scrap rate. Summary of the invention

[0003] The invention discloses a tool online detection device and a detection method thereof, aiming to improve the problem that the existing processing device has no online detection of the tool, resulting in a high product defect rate.

[0004] The present invention adopts the following scheme:

[0005] A tool online detection device, used for detecting a tool of a robot, comprising:

[0006] A frame having a base and two supporting rods arranged opposite to each other;

[0007] A moving assembly, comprising a moving block disposed between the two support rods, and a driving member for driving the moving block to reciprocate between the two support rods;

[0008] A sensing component, comprising a laser displacement sensor and a photoelectric switch mounted on the moving block, wherein the laser displacement sensor is used to detect the deformation of the tool, and the photoelectric switch is used to detect a signal of tool movement;

[0009] A limit assembly, comprising limit switches respectively arranged on the two support rods, so that the laser displacement sensor can perform reciprocating linear movement through the two limit switches;

[0010] The control component is electrically connected to the moving component, the sensing component and the limiting component, so that the laser displacement sensor and the tool can move back and forth synchronously.

[0011] As a further improvement, the moving assembly also includes a slide rail placed horizontally between the two support rods, and a screw rod adaptively connected to the slide rail; wherein the driving member is adaptively connected to the screw rod, the moving block cooperates with the slide rail, and the moving block is configured to move along the slide rail when the driving member drives the screw rod to rotate.

[0012] As a further improvement, the moving block cooperates with the screw rod through a ball nut, so that the rotational motion of the screw rod is converted into the linear motion of the moving block.

[0013] As a further improvement, the support rod is provided with a first adjustment slot for the slide rail rod to move up and down.

[0014] As a further improvement, the moving block has an L-shaped assembly portion, and a vertical section of the assembly portion is provided with an assembly hole for mounting the photoelectric switch.

[0015] As a further improvement, the laser displacement sensor is arranged in the accommodating cavity on the front side of the moving block so that the laser displacement sensor can face the tool.

[0016] As a further improvement, at least one cross bar is arranged between the two support rods, and a limit switch is provided at each end of the cross bar; and the cross bar is provided with a second adjustment slot for movement and adjustment of the limit switch, so as to regulate the stroke of the moving block.

[0017] As a further improvement, the base is provided with a limiting rod whose axis is located in the same plane as the axis of the support rod and is perpendicular to each other, so as to limit the width of the external processing part.

[0018] As a further improvement, the control component is configured on the rack and includes a controller and a power supply.

[0019] A detection method for the tool online detection device as described above is also provided, comprising the following steps:

[0020] S1: The laser displacement sensor is adjusted to face the tool; the two limit switches are respectively adjusted to align with the edges of the two sides of the workpiece;

[0021] S2: Control the robot to drive the tool to perform reciprocating cutting operations at a predetermined speed, and the photoelectric switch transmits the movement signal of the tool to the control component, so that the control component drives the moving block to move, correspondingly making the laser displacement sensor and the tool move synchronously;

[0022] S3: When the limit switch detects the moving block, it sends a signal to the control component to change the moving direction of the moving block, and the laser sensor can perform synchronous reciprocating linear movement corresponding to the tool;

[0023] S4: When the photoelectric switch detects that the tool stops moving, the signal is transmitted to the control component to stop the moving block.

[0024] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0025] The tool online detection device of the present application detects the action signal of the tool through a photoelectric switch, and transmits the signal to the control component, so that the driving member drives the moving block to move or stop, and correspondingly drives the laser displacement sensor and the photoelectric switch configured on the moving block to perform reciprocating linear motion synchronously with the tool. Thereby, the deformation of the tool can be detected in real time. It is easy to understand that the detection device can be detachably configured on the workbench of the robot for easy use and maintenance. The detection device can also be removed when processing workpieces with low precision requirements, so that users have more usage options. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 1 is a schematic diagram of the structure of one embodiment of the present invention (the curve with arrows represents the motion trajectory of the tool);

[0028] Figure 2 yes Figure 1 A magnified view of middle;

[0029] Figure 3 yes Figure 1 A schematic diagram of the structure and a partial enlarged diagram thereof at another viewing angle;

[0030] Figure 4 yes Figure 1 Schematic diagram of the structure from another perspective;

[0031] Figure 5 is a schematic structural diagram of a moving block in one embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of a mobile component after hiding the mobile block in one embodiment of the present invention:

[0033] Figure 7 It is a schematic structural diagram of a tool detection device according to one embodiment of the present invention when used in conjunction with a robot;

[0034] Figure 8 It is a flow chart of the detection method of the tool detection device of the present invention.

[0035] Icons: 100-frame; 110-base; 111-limit rod; 120-support rod; 121-first adjustment slot; 130-cross bar; 131-second adjustment slot; 200-moving component; 210-moving block; 211-assembly hole; 220-driving member; 230-slide rail; 240-screw rod; 250-ball nut; 300-sensing component; 310-laser displacement sensor; 320-photoelectric switch; 400-limit component; 410-limit switch; 500-control component; 600-robot. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] Example

[0042] Combination Figures 1 to 7 This embodiment provides a tool online detection device for detecting a tool of a robot 600, including a frame 100, a moving component 200, a sensing component 300, a limiting component 400 and a control component 500. Among them, the frame 100 has a base 110 and two support rods 120 arranged opposite to each other, and the base 110 is placed on the workbench of the robot 600; the moving component 200 is provided with a moving block 210 arranged between the two support rods 120, and a driving member 220 for driving the moving block 210 to reciprocate between the two support rods 120; the sensing component 300 has a laser displacement sensor 310 and a photoelectric switch 320 installed on the moving block 210, the laser displacement sensor 310 is used to detect the deformation of the tool, and the photoelectric switch 320 is used to detect the signal of the tool movement; the limit component 400 includes limit switches 410 respectively arranged on the two support rods 120, so that the laser displacement sensor 310 can make reciprocating linear movement through the two limit switches 410; the control component is electrically connected to the moving component 200, the sensing component 300 and the limit component 400, so that the laser displacement sensor 310 and the tool can reciprocate synchronously.

[0043] It should be noted that, in the present embodiment, a safety distance is set between the laser displacement sensor 310 and the tool, and the movement of the laser displacement sensor 310 will not affect the processing of the tool. The action signal of the tool is detected by the photoelectric switch 320, and the signal is transmitted to the control component 500, so that the driving member 220 drives the moving block 210 to move or stop, and correspondingly drives the laser displacement sensor 310 and the photoelectric switch 320 configured on the moving block 210 to perform reciprocating linear motion synchronously with the tool. Thereby, the deformation of the tool can be detected in real time. It is easy to understand that the detection device is detachably configured on the workbench of the robot 600 for easy use and maintenance. The detection device can also be removed when the workpiece with low processing accuracy is required, so that the user has more usage options.

[0044] On the basis of the above embodiment, in an optional embodiment of the present invention, the moving assembly 200 further includes a slide rail 230 placed transversely between the two support rods 120, and a screw rod 240 adapted to be connected to the slide rail 230; wherein the driving member 220 (such as a motor) is adapted to be connected to the screw rod 240, the moving block 210 cooperates with the slide rail 230, and the moving block 210 is configured to move along the slide rail 230 when the driving member 220 drives the screw rod 240 to rotate. For example, when the photoelectric switch 320 detects a signal of tool movement, the control assembly 500 drives the motor to rotate so that the screw rod 240 drives the moving block 210 to move.

[0045] Preferably, the moving block 210 cooperates with the screw 240 through the ball nut 250, so that the rotary motion of the screw 240 is converted into the linear motion of the moving block 210, thereby realizing the precise movement of the moving block 210. For example, an arc-shaped spiral groove is processed on the screw 240 and the ball nut 250, and a spiral raceway can be formed when the ball nut 250 is sleeved on the screw 240, and the raceway is filled with balls. When the screw 240 rotates relative to the ball nut 250, axial displacement occurs between the two, and the balls can roll along the raceway to reduce friction resistance. After rolling on the screw 240 for several circles, the balls are rolled back one by one between the screw 240 and the ball nut 250 through the return guide device (ball return device), forming a closed loop pipeline.

[0046] Further, the support rod 120 is provided with a first adjustment slot 121 for the slide rail 230 to move up and down, and the user can adjust the position of the laser displacement sensor 310 by moving the slide rail 230 up and down, and after adjusting to a better detection position, fix the slide rail 230 on the support rod 120. For example, the end of the slide rail 230 corresponding to the first adjustment slot 121 is provided with a bolt, and the slide rail 230 is moved and fixed along the first adjustment slot 121 by the bolt, but it is not limited thereto.

[0047] In another embodiment, the moving block 210 has an L-shaped assembly portion, and a vertical section of the assembly portion is provided with an assembly hole 211 for mounting the photoelectric switch 320. The photoelectric switch is disposed through the assembly hole 211.

[0048] Furthermore, the laser displacement sensor 310 is disposed in the accommodation cavity on the front side of the moving block 210 and fixed by bolts and nuts so that the laser displacement sensor 310 can face the tool to avoid measurement errors. The working principle of the laser displacement sensor 310 for detecting tool deformation is prior art and will not be described in detail here.

[0049] In a preferred embodiment, at least one cross bar 130 is disposed between the two support bars 120, and a limit switch 410 is disposed at each end of the cross bar 130; and the cross bar 130 is provided with a second adjustment slot 131 for the limit switch 410 to move and adjust, so as to adjust the stroke of the moving block 210. The two support bars 120 are respectively a first support bar and a second support bar, and the first limit switch is disposed flush with the first support bar, and the second limit switch is disposed flush with the second support bar. For example, when the first limit switch detects the moving block 210, the signal is sent to the control component 500, so that the control component 500 drives the driving member 220 to drive the screw rod 240 to rotate in the forward direction, corresponding to the moving block 210 moving in the direction of the second limit switch; when the moving block 210 moves to the detection position of the second limit switch, the second limit switch sends the detected signal to the control component 500 to make the screw rod 240 rotate in the reverse direction, corresponding to the moving block 210 moving in the direction of the first limit switch, and so on, thereby realizing the reciprocating linear movement of the moving block 210.

[0050] Specifically, the base 110 is provided with a limit rod 111 whose axis is in the same plane as the axis of the support rod 120 and is perpendicular to each other, so as to limit the width of the external workpiece, thereby ensuring that the tool stroke is between the two support rods 120 and ensuring that the laser displacement sensor 310 and the tool can move synchronously.

[0051] Furthermore, the control assembly 500 is disposed on the frame 100 and includes a controller (such as a PLC controller) and a power supply. In this embodiment, the control assembly 500 is disposed on the side of the frame 100 away from the moving block 210 to facilitate disassembly and avoid interference with the moving block 210.

[0052] Combination Figure 8 Another embodiment provides a detection method of the tool online detection device as described above, comprising the following steps:

[0053] S1: Adjust the laser displacement sensor to face the tool; adjust the two limit switches 410 to align with the edges of the workpiece on both sides;

[0054] S2: When the robot 600 drives the tool to perform reciprocating cutting operations, the photoelectric switch 320 transmits the tool movement signal to the control component 500, so that the control component 500 drives the moving block 210 to move, correspondingly making the laser displacement sensor and the tool move synchronously;

[0055] S3: When the limit switch 410 detects the moving block 210, it sends a signal to the control component 500 to make the moving block 210 change the moving direction. The photoelectric switch 320 detects that the tool stops moving and transmits the signal to the control component 500 to make the moving block 210 stop moving. The laser sensor can perform synchronous reciprocating linear movement corresponding to the tool;

[0056] S4: When the photoelectric switch 320 detects that the tool stops moving, the signal is transmitted to the control component 500 to stop the moving block 210 from moving.

[0057] The above are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

Claims

1. A tool online detection device, used for detecting a tool of a robot, characterized in that: include: A frame having a base and two supporting rods arranged opposite to each other; A moving assembly, comprising a moving block disposed between the two support rods, and a driving member for driving the moving block to reciprocate between the two support rods; A sensing component, comprising a laser displacement sensor and a photoelectric switch mounted on the moving block, wherein the laser displacement sensor is used to detect the deformation of the tool, and the photoelectric switch is used to detect a signal of tool movement; A limit assembly, comprising limit switches respectively arranged on the two support rods, so that the laser displacement sensor can perform reciprocating linear movement through the two limit switches; A control component is electrically connected to the moving component, the sensing component and the limiting component, so that the laser displacement sensor and the tool can move back and forth synchronously; When used to detect the tool of the robot, the following steps are included: S1: The laser displacement sensor is adjusted to face the tool; the two limit switches are adjusted to align with the edges of the two sides of the workpiece; S2: Control the robot to drive the tool to perform reciprocating cutting operations at a predetermined speed, and the photoelectric switch transmits the movement signal of the tool to the control component, so that the control component drives the moving block to move, and the laser displacement sensor and the tool move synchronously; S3: When the limit switch detects the moving block, it sends a signal to the control component to change the moving direction of the moving block, and the laser displacement sensor can perform synchronous reciprocating linear movement corresponding to the tool; S4: When the photoelectric switch detects that the tool stops moving, the signal is transmitted to the control component to stop the moving block.

2. The tool online detection device according to claim 1, characterized in that: The moving assembly also includes a slide rail placed horizontally between the two support rods, and a screw rod adaptively connected to the slide rail; wherein the driving member is adaptively connected to the screw rod, the moving block cooperates with the slide rail, and the moving block is configured to move along the slide rail when the driving member drives the screw rod to rotate.

3. The tool online detection device according to claim 2, characterized in that: The moving block cooperates with the screw rod through a ball nut, so that the rotary motion of the screw rod is converted into the linear motion of the moving block.

4. The tool online detection device according to claim 2, characterized in that: The support rod is provided with a first adjusting slot for the slide rail to move up and down.

5. The tool online detection device according to claim 3, characterized in that: The moving block has an L-shaped assembly portion, and a vertical section of the assembly portion is provided with an assembly hole for installing the photoelectric switch.

6. The tool online detection device according to claim 5, characterized in that: The laser displacement sensor is arranged in the accommodating cavity at the front side of the moving block so that the laser displacement sensor can face the tool.

7. The tool online detection device according to claim 1, characterized in that: At least one cross bar is arranged between the two support bars, and a limit switch is respectively arranged at the two ends of the cross bar; and the cross bar is provided with a second adjustment slot for movement and adjustment of the limit switch, so as to regulate the stroke of the moving block.

8. The tool online detection device according to claim 1, characterized in that: The base is provided with a limiting rod whose axis and the axis of the support rod are located in the same plane and are perpendicular to each other, so as to limit the width of the external processing part.

9. The tool online detection device according to claim 1, characterized in that: The control component is arranged on the rack and includes a controller and a power supply.

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