A telescopic workpiece positioning actuator
By incorporating the telescopic probe and anti-collision sensor design of the telescopic workpiece positioning actuator, the problem of workpiece damage caused by traditional workpiece positioning actuators is solved, achieving high-precision, low-damage workpiece positioning and improving production efficiency and product quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHENGDU LIANKE AEROTECH CO LTD
- Filing Date
- 2025-07-22
- Publication Date
- 2026-07-17
AI Technical Summary
Traditional workpiece positioning actuators are prone to damaging workpieces when in contact with them, and are difficult to adapt to different sizes and shapes, resulting in unstable positioning accuracy and affecting production efficiency and product quality.
A telescopic workpiece positioning actuator is adopted, which uses a contact sensor with a telescopic probe for positioning. The telescopic movement reduces the contact pressure between the sensor and the workpiece, and an anti-collision sensor is equipped to trigger an emergency stop mechanism in the event of a collision.
Reduce workpiece damage, improve positioning accuracy and production efficiency, ensure workpiece quality, and adapt to the positioning needs of workpieces of different sizes and shapes.
Smart Images
Figure CN224509703U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of workpiece positioning technology, and specifically to a telescopic workpiece positioning actuator. Background Technology
[0002] A workpiece positioning actuator is a specialized tool installed on a flange at the end of a robotic arm, used to position a workpiece in space by contact. It mainly determines the precise position and orientation of the workpiece in the system coordinate system by physically contacting specific feature points of the workpiece, providing a positioning reference for subsequent assembly or architecture.
[0003] Traditional workpiece positioning actuators typically use rigid measuring rods, such as pointed cones or ruby ball heads. However, because these actuators lack buffering when in contact with the workpiece, they are prone to damaging the workpiece. Furthermore, they are difficult to adapt to workpieces of different sizes and shapes, resulting in unstable positioning accuracy and affecting production efficiency and product quality.
[0004] For example, Chinese patent CN217494165U discloses an automated workpiece positioning and calibration device. By using positioning rods distributed at multiple points to move down and insert into bolt holes on the workpiece, the alignment of the workpiece's three coordinates (x, y, and z) can be achieved quickly. However, since the device still requires hard friction between the positioning rods and the workpiece during positioning, it is easy to damage workpieces with fragile surfaces, thus affecting the quality of the workpiece.
[0005] Therefore, we propose a telescopic positioning actuator that causes minimal damage to the workpiece. Utility Model Content
[0006] The purpose of this invention is to provide a telescopic workpiece positioning actuator, which solves the problem of traditional actuators causing significant damage to workpieces.
[0007] This utility model is achieved through the following technical solution: A telescopic workpiece positioning actuator includes a base, an anti-collision sensor, and an L-shaped bracket. The base is fixedly connected to the end of a robotic arm via a quick-change mechanism. An anti-collision sensor is fixedly installed on the base and is fixedly connected to the horizontal side of the L-shaped bracket. A contact sensor with a telescopic probe is installed on the vertical side of the L-shaped bracket.
[0008] Furthermore, the quick-change mechanism includes a quick-change disc body, which has pin holes and insertion holes for connecting to the end of the robotic arm, and a protective block and a connecting block are fixedly provided on the outer edge of the quick-change disc.
[0009] Furthermore, the number of pin holes is two, and the positions of the two pin holes are symmetrical about the center of the quick-change disc.
[0010] Furthermore, the insertion hole is countersunk, and the stepped surface inside the insertion hole is inclined.
[0011] Furthermore, the side of the anti-collision sensor is provided with a communication unit that is electrically connected to the contact sensor.
[0012] Furthermore, the communication unit includes a housing, a power converter, a main controller, and a plug installed within the housing; wherein the power input terminal of the power converter is electrically connected to the industrial power supply of the robotic arm, and the power output terminal of the power converter is electrically connected to the main controller; the signal input terminal of the main controller is electrically connected to the plug, the plug is electrically connected to the data plug of the contact sensor, and the signal output terminal of the main controller is electrically connected to the host computer via an industrial bus.
[0013] Furthermore, the main controller is model STM32F103C8T6.
[0014] Furthermore, the contact sensor is model number Keyence GT2-H12.
[0015] Furthermore, the anti-collision sensor is model number Schunk OPR-048.
[0016] The technical solution of this utility model has at least the following advantages and beneficial effects: This utility model discloses a telescopic workpiece positioning actuator. By using a contact sensor with a telescopic probe, when positioning a workpiece using this actuator, the action of the telescopic probe can eliminate the contact pressure between the sensor contact and the workpiece, thereby reducing the damage to the workpiece during positioning operations.
[0017] In addition, when a collision occurs, the mounting flange of the anti-collision sensor will tilt, causing the sensor to react. The sensor signal can trigger the system's emergency stop mechanism, thus protecting the contact sensor. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a structural schematic diagram of the quick-change mechanism of this utility model; Figure 3 This is a schematic diagram of the communication unit structure of this utility model.
[0019] Reference numerals: 1. Base; 2. Quick-change mechanism; 21. Quick-change tray body; 22. Pin hole; 23. Plug hole; 24. Protective block; 25. Connecting block; 3. Anti-collision sensor; 4. L-shaped bracket; 41. Horizontal side; 42. Vertical side; 5. Contact sensor; 6. Communication unit; 61. Power converter; 62. Main controller; 63. Plug; 64. Host computer. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0021] Example 1 like Figures 1-2 The telescopic workpiece positioning actuator shown includes a base 1, an anti-collision sensor 3, and an L-shaped bracket 4. The base 1 is fixedly connected to the end of a robotic arm via a quick-change mechanism 2. The anti-collision sensor 3 is fixedly installed on the base 1 and is fixedly connected to the horizontal side 41 of the L-shaped bracket 4. A contact sensor 5 with a telescopic probe is installed on the vertical side 42 of the L-shaped bracket 4. Since the end of the robotic arm is generally used to install different types of actuators, the quick-change mechanism 2 enables rapid assembly between the actuator and the robotic arm. In addition, the use of the contact sensor 5 with a telescopic probe as the positioning means of this positioning actuator ensures that when the contact sensor 5 contacts the workpiece, the telescopic probe retracts accordingly, thereby ensuring stable contact between the telescopic probe and the workpiece without the probe part of the telescopic probe exerting excessive force on the workpiece, thus avoiding damage to the workpiece. In addition, the quick-change mechanism 2 includes a quick-change disc body 21. The quick-change disc body 21 has a pin hole 22 and a plug hole 23 for connecting to the end of the robotic arm. The pin hole 22 cooperates with the positioning pin of the robotic arm mounting flange. Through the cooperation of the two, the initial positioning of the robotic arm when connected to this positioning actuator can be achieved. The plug hole 23 is used for assembly with the robotic arm. The outer edge of the quick-change plate is fixedly provided with a protective block 24 and a connecting block 25; wherein the protective block 24 and the connecting block 25 are located on both sides of the center point of the quick-change plate body 21, which can effectively protect the outer edge of the quick-change plate, while the connecting block 25 is provided with an electrical socket for connecting the control line on the robotic arm and the sensor on this positioning actuator, thereby realizing the signal transmission between the robotic arm and this positioning actuator. Specifically, the anti-collision sensor 3 is model number Schunk OPR-048, and the contact sensor 5 is model number Keyence GT2-H12.
[0022] Specifically, there are two pin holes 22, and the positions of the two pin holes 22 are symmetrical about the center of the quick-change plate body 21, so as to maximize the distance between the two pin holes 22 and ensure more accurate positioning between the pin holes 22 and the robotic arm. In addition, the insertion hole 23 is countersunk, and the stepped surface inside the insertion hole 23 is inclined. During the assembly operation, firstly, the positioning pin enters the pin hole 22, and the connecting pin of the robotic arm enters the insertion hole 23. Since the diameter of the pin hole 22 is larger than that of the positioning pin, and the diameter of the countersunk part at the head of the insertion hole 23 is larger than that of the connecting pin, the actuator still has a certain assembly margin at this time, and can be adjusted and calibrated by moving. Then, when continuing the assembly, the inclined surface can guide the connecting pin into the tail mounting part of the insertion hole 23, thus realizing the assembly between the positioning actuator and the robotic arm.
[0023] Example 2 As one example, such as Figure 3 As shown, the side of the anti-collision sensor 3 is provided with a communication unit 6 that is electrically connected to the contact sensor 5. Since the data of the contact sensor 5 is a low-frequency signal, it is easily interfered with. If it is directly transmitted to the host computer 64 over a long distance, it will result in excessive signal noise, which will affect the positioning effect of the actuator. However, by collecting the data of the contact sensor 5 through the communication unit 6 and then forwarding it to the host computer 64, the noise of the contact sensor 5 data can be effectively reduced and the data accuracy can be improved.
[0024] Additionally, the communication unit 6 includes a housing, and a power converter 61, a main controller 62, a plug 63, and an industrial bus installed inside the housing. After the data plug of the contact sensor 5 is connected to the plug 63, the housing is then mounted on the side of the anti-collision sensor 3 using screws 2. The power input terminal of the power converter 61 is electrically connected to the industrial power supply of the robotic arm, and the power output terminal of the power converter 61 is electrically connected to the main controller 62. The power converter 61 receives 34V power output from the industrial power supply of the robotic arm and converts it into 5V power to supply the main controller 62. The signal input terminal of the main controller 62 is electrically connected to the plug 63, which is electrically connected to the data plug of the contact sensor 5. The plug 63 is a 6-pin aviation plug that is compatible with the data plug. The data from the contact sensor 5 is input to the main controller 62 through the plug 63. The main controller is an STM32F103C8T6. The signal output terminal of the main controller 62 is electrically connected to the host computer 64 through the industrial bus. The main controller 62 transmits the data detected by the contact sensor 5 to the host computer 64 through the industrial bus.
[0025] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A telescoping workpiece positioning actuator, comprising: The device includes a base (1), an anti-collision sensor (3), and an L-shaped bracket (4). The base (1) is fixedly connected to the end of the robotic arm via a quick-change mechanism (2). An anti-collision sensor (3) is fixedly installed on the base (1). The anti-collision sensor (3) is fixedly connected to the horizontal side (41) of the L-shaped bracket (4). A contact sensor (5) with a telescopic probe is installed on the vertical side (42) of the L-shaped bracket (4).
2. The telescoping workpiece positioning actuator of claim 1, wherein: The quick-change mechanism (2) includes a quick-change disc body (21), which has a pin hole (22) and a plug hole (23) for connecting to the end of the robotic arm. A protective block (24) and a connecting block (25) are fixed on the outer edge of the quick-change disc.
3. The telescoping workpiece positioning actuator of claim 2, wherein: The number of pin holes (22) is two, and the positions of the two pin holes (22) are symmetrical about the center of the quick-change disc body (21).
4. The telescoping workpiece positioning actuator of claim 2, wherein: The insertion hole (23) is countersunk, and the stepped surface inside the insertion hole (23) is inclined.
5. The telescoping workpiece positioning actuator of claim 1, wherein: The side of the anti-collision sensor (3) is provided with a communication unit (6) that is electrically connected to the contact sensor (5).
6. The telescoping workpiece positioning actuator of claim 5, wherein: The communication unit (6) includes a housing, a power converter (61), a main controller (62), and a plug (63) installed inside the housing; wherein the power input terminal of the power converter (61) is electrically connected to the industrial power supply of the robotic arm, and the power output terminal of the power converter (61) is electrically connected to the main controller (62); the signal input terminal of the main controller (62) is electrically connected to the plug (63), the plug (63) is electrically connected to the data plug (63) of the contact sensor (5), and the signal output terminal of the main controller (62) is electrically connected to the host computer (64) through the industrial bus.
7. The telescoping workpiece positioning actuator of claim 6, wherein: The main controller (62) is an STM32F103C8T6.
8. The telescoping workpiece positioning actuator of claim 1, wherein: The contact sensor (5) is a Keyence GT2-H12.
9. The telescopic workpiece positioning actuator according to claim 1, characterized in that: The anti-collision sensor (3) is model number SCHUNK OPR-048.