Robot gripper position detection device for indirect thermal forming

Abstract

The utility model discloses a robot gripper position detection device for indirect thermal forming, which relates to the technical field of detection equipment and comprises a box body, an x seat, a pair of y seats and a z seat, the y seats are parallelly arranged on two sides of the upper surface of the box body along the width direction of the box body, second sliding chutes are respectively arranged on the y seats, and the z seat is arranged on the x seat. Second sliding blocks are arranged in the second sliding grooves in a sliding mode, the two sides of the lower bottom face of the x base are fixedly connected with the upper surfaces of the sliding blocks correspondingly, the x base is arranged in the length direction of the box body, and a first sliding groove is horizontally formed in the x base. According to the utility model, the target ring is grabbed by the gripper at the initial position of the robot and the initial coordinate is recorded, the robot works to drive the target ring to move to the grabbing position and then the grabbing coordinate is recorded, and the grabbing stroke data can be calculated by calculating the difference between the grabbing coordinate and the initial coordinate, so that the measurement mode is simple and rapid, the efficiency is improved, and the accuracy is high.

Description

Technical Field

[0001] This utility model relates to the field of testing equipment technology, specifically a robot gripper position detection device for indirect thermoforming. Background Technology

[0002] Indirect thermoforming is a special forming process that first cold-stamps steel sheets into shape, then heats them, places them in a water-cooled mold, and quenches them under the pressure of a high-speed special hydraulic press, thereby improving the strength of automotive parts.

[0003] In indirect thermoforming production lines, the loading of raw materials and semi-finished products is accomplished using robotic grippers. The robotic gripper needs to be set to an initial position, then, according to the program settings, it finally grips the material at the designated location. After the robotic gripper is used for the first time or after maintenance, its gripping position needs to be tested to ensure accuracy. Currently, the method used is manual measurement of the gripper's position in the X, Y, and Z directions, which is inefficient and inaccurate. Utility Model Content

[0004] To address the aforementioned shortcomings of existing technologies, this utility model provides a robot gripper position detection device for indirect thermoforming. The operator guides the robot's gripper to grasp the target ring at its initial position and records the initial coordinates. The robot then moves the target ring to the grasping position, and the grasping coordinates are recorded again. By subtracting the grasping coordinates from the initial coordinates, the grasping stroke data can be calculated. This measurement method is simple, fast, efficient, and highly accurate.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A robot gripper position detection device for indirect thermoforming includes a housing, an X-base, a pair of Y-bases, and a Z-base. The pair of Y-bases are arranged parallel to each other on both sides of the upper surface of the housing and along the width direction of the housing. Each pair of Y-bases has a second sliding groove, in which a second slider is slidably disposed. The bottom surfaces of the X-bases are fixedly connected to the upper surfaces of the sliders on both sides, and the X-bases are arranged along the length direction of the housing. A first sliding groove is horizontally formed on the X-base, in which a first slider is slidably disposed. The Z-base is vertically disposed on the first slider and along the height direction of the housing. A third sliding groove is formed on the Z-base, in which a third slider is slidably disposed. A target ring is disposed on the third slider. A support base is disposed on the rear end face of the housing, and a control panel is disposed on the support base. A display is connected to the control panel. A laser rangefinder is disposed at one end of each of the first, second, and third sliding grooves, and the laser rangefinder is electrically connected to the control panel and the display.

[0006] Preferably, the target ring is detachably connected to the third slider, and the front side wall of the housing is provided with a drawer for storing the target ring.

[0007] Preferably, the end faces of the x-seat, y-seat, and z-seat are respectively provided with scale marks, and the corresponding side walls of the first slider, second slider, and third slider are respectively provided with pointers.

[0008] Preferably, a level is provided on the top of the z-seat.

[0009] Preferably, the bottom of the box is provided with wheels.

[0010] Preferably, left and right indicator lights are provided on the side walls of the control panel.

[0011] This utility model provides a robot gripper position detection device for indirect thermoforming, which has the following advantages:

[0012] 1. This utility model allows a person to guide the robot's gripper to grasp the target ring at its initial position and record the initial coordinates. The robot then moves the target ring to the grasping position and records the grasping coordinates again. By subtracting the grasping coordinates from the initial coordinates, the grasping stroke data can be calculated. The measurement method is simple, fast, efficient, and highly accurate.

[0013] 2. In this utility model, the end faces of the x-seat, y-seat, and z-seat are respectively provided with scale marks, and the corresponding sliders are provided with pointers, so that personnel can read the values ​​and compare them with electronic measurement data, thereby further improving the accuracy of the detection. Attached Figure Description

[0014] Figure 1 This is a front view schematic diagram of the entire utility model;

[0015] Figure 2 This is a top view of the entire utility model.

[0016] In the diagram: 1. Second slide rail; 2. Y-seat; 3. X-seat; 4. First slide rail; 5. Drawer; 6. Scale mark; 7. Pointer; 8. First slider; 9. Third slider; 10. Target ring; 11. Z-seat; 12. Level; 13. Display; 14. Left and right indicators; 15. Control panel; 16. Support base; 17. Housing; 18. Laser rangefinder; 19. Second slider; 20. Third slide rail. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] like Figure 1-2 As shown, a robot gripper position detection device for indirect thermoforming includes a housing 17, an x-base 3, a pair of y-bases 2, and a z-base 11. The pair of y-bases 2 are arranged parallel to each other on both sides of the upper surface of the housing 17 and along the width direction of the housing 17. Each pair of y-bases 2 has a second sliding groove 1, in which a second slider 19 is slidably disposed. The lower bottom surface of the x-base 3 is fixedly connected to the upper surface of the slider on both sides, and the x-base 3 is arranged along the length direction of the housing 17. A first sliding groove 4 is horizontally formed on the x-base 3, in which a first slider 8 is slidably disposed. The z-base 11 is vertically disposed on the first slider 8 and along the height direction of the housing 17. A third sliding groove 20 is formed on the z-base, in which a third slider 9 is slidably disposed. A target ring 10 is disposed on the third slider 9. The rear end face of the housing 17 is provided with a support base 16, and a control panel 15 is provided on the support base 16. A display 13 is connected to the control panel 15. A laser rangefinder 18 is provided at one end of the first slide 4, the second slide 1, and the third slide 20, respectively. The laser rangefinder 18 is electrically connected to the control panel 15 and the display 13. The target ring 10 is detachably connected to the third slider 9. A drawer 5 for storing the target ring 10 is provided on the front side wall of the housing 17. The end faces of the x seat 3, y seat 2, and z seat 11 are respectively provided with scale marks 6. The corresponding side walls of the first slider 8, the second slider 19, and the third slider 9 are respectively provided with pointers 7. A level 12 is provided on the top of the z seat 11. The bottom of the housing 17 is provided with wheels. The side walls of the control panel 15 are provided with left and right indicator marks 14.

[0019] Its detailed connection methods are well-known technologies in this field. The following mainly introduces the working principle and process, as follows:

[0020] According to the instruction manual Figure 1-2As can be seen, when using this utility model, the operator moves it to the position of the robot gripper to be tested. Wheels can be installed at the bottom of the housing 17 for easy movement. The operator adjusts the position of the target ring 10 so that it corresponds to the initial position of the robot gripper, and the robot gripper grips the target ring 10. Due to the movement of the target ring 10, the first slider 8, the second slider 19, and the third slider 9 will move on the x-seat 3, y-seat 2, and z-seat 11 respectively. At this time, the control panel 15 controls the laser rangefinder 18 at one end of the first slide rail 4, the second slide rail 1, and the third slide rail 20 to measure the distance, which is then displayed on the monitor 13 as the initial coordinates. Then, the robot gripper is activated, moving the column to grip the target position. At this point, the positions of the first slider 8, the second slider 19, and the third slider 9 change again at the x-position 3, y-position 2, and z-position 11, respectively. Measurements are then taken using the laser rangefinder 18 and displayed on the monitor 13. These are the gripping coordinates. The difference between the two coordinates represents the displacement of the robot gripper in the x, y, and z directions. By comparing this difference with the robot gripper's preset values, the accuracy of the gripper's movement and gripping position can be determined. This measurement method is simple, quick, efficient, and highly accurate. Alternatively, the difference between the gripping coordinates and the initial coordinates can also be calculated by a computer and directly displayed on the monitor 13, further improving detection efficiency.

[0021] The target ring 10 is detachably connected to the third slider 9, such as the existing snap-fit ​​connection. It can be made to slide more according to the style of the robot gripper. The target ring 10 is stored in the drawer 5 set on the front side wall of the box 17 for easy access and replacement.

[0022] Among them, the end faces of the x-seat 3, y-seat 2 and z-seat 11 are respectively equipped with scale marks 6, and the corresponding first slider 8, second slider 19 and third slider 9 are respectively equipped with pointers 7, so that personnel can read the data and compare it with the data displayed on the display 13 to further improve the accuracy of the detection.

[0023] A level 12 is installed at the top of the Z-seat 11 to ensure that the Z-seat 11 is completely vertical and to guarantee the accuracy of the measurement. Left and right indicator marks 14 are installed on both side walls of the control panel 15 to facilitate the observation and differentiation of the robot's left and right displacement when gripping a person.

[0024] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot gripper position detection device for indirect thermoforming, characterized in that, The enclosure includes a housing (17), an x-seat (3), a pair of y-seats (2), and a z-seat (11). The pair of y-seats (2) are arranged parallel to each other on both sides of the upper surface of the housing (17) and along the width direction of the housing (17). Each pair of y-seats (2) has a second sliding groove (1), in which a second slider (19) is slidably disposed. The bottom surfaces of the x-seat (3) are fixedly connected to the upper surfaces of the sliders on both sides, and the x-seat (3) is arranged along the length direction of the housing (17). A first sliding groove (4) is horizontally opened on the x-seat (3), in which a first slider (8) is slidably disposed. The z-seat (11) has a first slider (8) slidably disposed vertically. 8) and set along the height direction of the box (17), the z seat is provided with a third slide groove (20), the third slide groove (20) is slidably provided with a third slider (9), the third slider (9) is provided with a target ring (10), the rear end face of the box (17) is provided with a support base (16), the support base (16) is provided with a control panel (15), the control panel (15) is connected to a display (13); one end of the first slide groove (4), the second slide groove (1) and the third slide groove (20) are respectively provided with a laser rangefinder (18), the laser rangefinder (18) is electrically connected to the control panel (15) and the display (13).

2. The robot gripper position detection device for indirect thermoforming according to claim 1, characterized in that, The target ring (10) is detachably connected to the third slider (9), and the front side wall of the box (17) is provided with a drawer (5) for storing the target ring (10).

3. The robot gripper position detection device for indirect thermoforming according to claim 1, characterized in that, The end faces of the x-seat (3), y-seat (2) and z-seat (11) are respectively provided with scale marks (6), and the side walls of the corresponding first slider (8), second slider (19) and third slider (9) are respectively provided with pointers (7).

4. The robot gripper position detection device for indirect thermoforming according to claim 1, characterized in that, A level (12) is installed on the top of the z-seat (11).

5. The robot gripper position detection device for indirect thermoforming according to claim 1, characterized in that, The bottom of the box (17) is equipped with wheels.

6. The robot gripper position detection device for indirect thermoforming according to claim 1, characterized in that, The control panel (15) has left and right indicator signs (14) on both sides.

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