Follow-up device applying displacement sensing system

Abstract

The utility model relates to the technical field of automation, in particular to a follow-up device applying a displacement sensing system, which comprises a displacement sensing assembly and an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm. The displacement sensing assembly comprises a displacement light sensing gun and a distance measuring box; the distance measuring box is of a wrap angle structure formed by connecting three vertical plates. The positions, corresponding to the three vertical plates, of the displacement light sensation gun are each provided with a laser displacement sensor. The X-axis mechanical arm, the Y-axis mechanical arm and the Z-axis mechanical arm are each provided with a motor, and the motors are electrically connected with the laser displacement sensors. The X-axis mechanical arm is in sliding connection with the Y-axis mechanical arm through the Y-axis sliding block; the Z-axis mechanical arm is in sliding connection with the X-axis mechanical arm through an X-axis sliding block; the execution workbench is in sliding connection with the Z-axis mechanical arm through a Z-axis sliding block. Compared with traditional manual dragging, the motor can accurately control the applied force, the movement smoothness of the mechanical arm and the accurate point fixing capacity of the execution tail end are guaranteed, and the working efficiency is effectively improved.

Description

Technical Field

[0001] The utility model relates to the field of automation technology, in particular to a follow-up device using a displacement sensor system. Background Art

[0002] With the disappearance of my country's demographic dividend, it is becoming more and more urgent for robots to replace workers. It plays an increasingly important role in industrial production. An important step before the robot can work smoothly is the robot's teaching. At present, the robot's teaching work mainly involves installing torque sensors at the robot's joints. In conjunction with the algorithm in the controller, the operator pulls or drags the robot's end effector to make linear or rotational movements. The sensor detects the external force information applied by the user at that location for dragging teaching. Due to the resistance of the robotic arm, manual forced dragging cannot accurately control the degree of force applied, which will make the robot's follow-up movement very stiff, and cannot guarantee the smooth movement of the robotic arm and the precise positioning of the end of the execution. Utility Model Content

[0003] The purpose of the present application is to provide a follow-up device using a displacement sensing system, aiming to solve the problems in the prior art.

[0004] The embodiment of the present application provides a follow-up device using a displacement sensing system, including a displacement sensing component and an X, Y, and Z three-axis mechanical arm; the displacement sensing component includes a displacement light-sensing gun and a distance-measuring box; the distance-measuring box is an angle-shaped structure composed of three vertical plates connected to each other; the three vertical plates are respectively a top plate, a front plate, and a side plate; a laser displacement sensor is respectively arranged on the position surface corresponding to the displacement light-sensing gun and the three vertical plates; the displacement light-sensing gun moves within the range of the distance-measuring box; the X, Y, and Z three-axis mechanical arms are each provided with a motor, and the motor and the laser displacement sensor are electrically connected; the X-axis machine is slidably connected to the Y-axis mechanical arm through a Y-axis slider; the Z-axis mechanical arm is slidably connected to the X-axis mechanical arm through an X-axis slider; a slide rail and an execution workbench are arranged on the surface of the Z-axis mechanical arm, and the execution workbench is slidably connected to the Z-axis mechanical arm through a Z-axis slider.

[0005] Furthermore, the displacement sensor component is located on the side of the Z-axis robotic arm and is fixedly connected to the Z-axis robotic arm.

[0006] Furthermore, there are two Y-axis robotic arms, which are arranged in parallel at both ends of the X-axis robotic arm.

[0007] Furthermore, a connecting fixture is provided at the bottom of the Y-axis robotic arm.

[0008] Furthermore, the connecting fixture is fixedly connected to the mounting frame.

[0009] The beneficial effects of the utility model are as follows: the utility model changes the traditional mode of teaching by human dragging, and instead uses displacement sensor signals to drive the motor to move the robotic arm; compared with human dragging, the motor can accurately control the size of the force applied, ensure the smoothness of the movement of the robotic arm and the ability to accurately locate the end, and effectively improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is the overall structure diagram of the utility model.

[0011] Figure 2 This is a schematic diagram of the X, Y, and Z three-axis robotic arm structure.

[0012] Figure 3 Schematic diagram of the displacement sensor component structure.

[0013] Figure 4 Schematic diagram of the displacement light sensing gun structure.

[0014] In the figure:

[0015] 1. Y-axis robotic arm; 2. X-axis robotic arm; 3. Z-axis robotic arm; 4. Distance measuring box; 40. Top plate; 41. Side plate; 42. Front plate; 5. Motor; 6. Displacement light sensing gun; 601. Laser displacement sensor; 7. Execution workbench; 101. Y-axis slider; 102. X-axis slider; 103. Z-axis slider; 201. Connecting firmware; 10. Mounting bracket. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] like Figures 1 to 4The following device using a displacement sensing system shown in the figure comprises a displacement sensing component and an X, Y, and Z three-axis mechanical arm; the displacement sensing component comprises a displacement light-sensing gun 6 and a distance-measuring box 4; the distance-measuring box 4 is an angle-shaped structure composed of three vertical plates connected to each other; the three vertical plates are a top plate 40, a front plate 42, and a side plate 41; a laser displacement sensor 601 is respectively arranged on the position surface corresponding to the three vertical plates of the displacement light-sensing gun 6; the displacement light-sensing gun 6 moves within the range of the distance-measuring box 4; the X, Y, and Z three-axis mechanical arms are each provided with a motor 5, and the motor 5 and the laser displacement sensor 601 are respectively arranged on the position surface corresponding to the three vertical plates. The sensor 601 is electrically connected; the signal generated by the laser displacement sensor 601 is encoded by the teaching control system to command the operation of each axis motor 5; the X-axis robot 2 is slidably connected to the Y-axis robot 1 through the Y-axis slider 101; the Z-axis robot 3 is slidably connected to the X-axis robot 2 through the X-axis slider 102; the surface of the Z-axis robot 3 is provided with a slide rail and an execution workbench 7, and the execution workbench 7 is slidably connected to the Z-axis robot 3 through the Z-axis slider 103; the execution workbench 7 is the execution end of the follower device, and devices such as a spray gun or a welding gun can be set on the workbench.

[0018] The motors 5 of the robot arms of each axis can drive the sliders on the axis to slide, wherein the Y-axis slider 101 drives the X-axis robot arm 2 to move in the Y direction, the X-axis slider 102 drives the Z-axis robot arm 3 to move in the X direction, and the Z-axis slider 103 drives the execution workbench 7 to move in the Z direction. The three spatial movement modes cooperate with each other to enable the execution workbench 7 to move smoothly and accurately.

[0019] The displacement sensor assembly is located on the side of the Z-axis mechanical arm 3 and is fixedly connected to the Z-axis mechanical arm 3 .

[0020] There are two Y-axis robotic arms 1 , which are arranged in parallel at both ends of the X-axis robotic arm 2 .

[0021] A connecting fixture 201 is provided at the bottom of the Y-axis robot arm 1 .

[0022] The connecting fixture 201 is fixedly connected to the mounting frame 10 .

[0023] When operating the device, first fix the displacement light-sensitive gun 6 in the distance-measuring box 4, then hold the displacement light-sensitive gun 6 and slide it to the left along the X-axis direction. The laser displacement sensor 601 of the gun head 60 transmits and receives the light-sensitive distance signal reflected by the distance-measuring box 4, and senses the movement signal of the gun body moving to the left away from the side plate 41 of the distance-measuring box 4. After being processed by the teaching control system, the motor 5 on the X-axis mechanical arm 2 is directed to drag the X-axis upper slider 101 to slide to the left, driving the Z-axis mechanical arm 3 fixedly connected to the X-axis upper slider 101 to move to the left; similarly, operating the light-sensitive gun 6 to move in the Y and Z directions can drag the X-axis mechanical arm 2 and the execution workbench 7 to move accordingly.

[0024] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A follow-up device using a displacement sensing system, characterized in that: It comprises a displacement sensing component and an X, Y, and Z three-axis mechanical arm; the displacement sensing component comprises a displacement light-sensing gun and a distance-measuring box; the distance-measuring box is an angle-shaped structure composed of three vertical plates connected to each other; the three vertical plates are respectively a top plate, a front plate, and a side plate; a laser displacement sensor is respectively arranged on the position surface corresponding to the displacement light-sensing gun and the three vertical plates; the displacement light-sensing gun moves within the range of the distance-measuring box; the X, Y, and Z three-axis mechanical arms are each provided with a motor, and the motor and the laser displacement sensor are electrically connected; the X-axis mechanical arm is slidably connected to the Y-axis mechanical arm through a Y-axis slider; the Z-axis mechanical arm is slidably connected to the X-axis mechanical arm through an X-axis slider; a slide rail and an execution workbench are arranged on the surface of the Z-axis mechanical arm, and the execution workbench is slidably connected to the Z-axis mechanical arm through a Z-axis slider.

2. The follower device using the displacement sensor system according to claim 1, characterized in that: The displacement sensor component is located on the side of the Z-axis mechanical arm and is fixedly connected to the Z-axis mechanical arm.

3. The follower device using the displacement sensor system according to claim 1, characterized in that: There are two Y-axis robotic arms, which are arranged in parallel at both ends of the X-axis robotic arm.

4. The follower device using a displacement sensor system according to claim 1, characterized in that: A connecting fixture is provided at the bottom of the Y-axis mechanical arm.

5. The follower device using the displacement sensor system according to claim 4, characterized in that: The connecting fixture is fixedly connected to the mounting frame.

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