Quick accurate adjusting device of transfer robot manipulatorTechnical Field
The invention relates to a conveying machine, in particular to a quick and accurate adjustment device for a manipulator of a transfer robot.
Background
On an automobile transmission conveying line, workpieces are usually placed in a tray and then conveyed, when the workpieces reach a designated position, the workpieces are grabbed and transferred from the tray of one conveying line to the tray of the other conveying line by a conveying robot through a manipulator, and when the workpieces are grabbed and transferred by the conveying robot, whether the workpieces are located at proper positions or not and whether the positions of the trays of the conveying lines are proper or not are firstly required to be obtained by the conveying robot, after each time of adjustment, the positions of the trays can deviate after long-time conveying, adjustment is required to be carried out, particularly when the trays are replaced, the adjustment is required to be carried out by the conveying robot according to the positions of the trays, and then the position information of the trays after the adjustment is stored in the conveying robot.
Disclosure of Invention
The invention aims to provide the rapid and accurate calibrating device for the manipulator of the transfer robot, which has novel structure, rapid and accurate calibrating and high positioning precision.
In order to achieve the purpose, the invention comprises a mechanical arm, a clamping plate, a probe, a positioning plate, an electric cabinet, a signal line and two screws, wherein an elbow plastic pipe is arranged at the upper part of the probe, a metal probe is arranged at the lower part of the probe, an inclined opening is arranged at the upper right corner of the positioning plate, two positioning holes which are horizontally arranged are arranged at the upper part of the positioning plate, nine cross grooves are arranged in three rows and three columns in the middle of the positioning plate, blind longitudinal grooves and blind transverse grooves which are vertically arranged are arranged on each cross groove, a taper hole is formed at the intersection of the blind longitudinal grooves and the blind transverse grooves, the right end of an elbow of the elbow plastic pipe is arranged in a hole of the mechanical arm, the metal probe is arranged at the lower end of the elbow plastic pipe, the elbow plastic pipe is arranged on the mechanical arm by adopting the clamping plate and the screws, and the metal probe is connected with the electric cabinet through the signal line.
The mechanical arm is provided with the adjusting device consisting of the clamping plate, the probe, the positioning disk, the electric cabinet, the signal wire and the two screws, so that when adjustment is needed, the positioning disk is firstly placed on the tray, then the probe is adopted to measure the position information of each cross groove on the positioning disk, then the obtained data is compared with the preset data in the electric cabinet, and the positioning disk is adjusted according to the comparison result; the bevel connection arranged at the right upper corner of the positioning disk is convenient for correctly installing the positioning disk; and the upper part of the positioning disk is provided with two positioning holes which are horizontally arranged and can be used for sleeving the positioning holes of the positioning disk on the positioning column of the tray so as to quickly and accurately position the positioning disk. The invention has novel structure, rapid and accurate adjustment and high positioning precision.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a top view of the puck of fig. 1.
Fig. 3 is a cross-sectional view A-A in fig. 2.
Fig. 4 is an enlarged view at I in fig. 2.
Fig. 5 is an enlarged view at II in fig. 3.
Detailed Description
Referring to fig. 1 to 5, the invention comprises a mechanical arm 1, a clamping plate 2, a probe 4, a positioning disk 5, an electric cabinet 6, a signal line 7 and two screws 3, wherein an elbow plastic pipe 41 is arranged at the upper part of the probe 4, a metal probe 42 is arranged at the lower part of the probe 4, an inclined opening 51 is arranged at the upper right corner of the positioning disk 5, two positioning holes 52 which are horizontally arranged are arranged at the upper part of the positioning disk 5, nine cross grooves 53 are arranged in three rows and three columns at the middle part of the positioning disk 5, a blind longitudinal groove 531 and a blind transverse groove 533 which are mutually and vertically arranged are arranged on each cross groove 53, a taper hole 532 is arranged at the intersection of the blind longitudinal groove 531 and the blind transverse groove 533, the right end of the elbow plastic pipe 41 is arranged in the hole of the mechanical arm 1, the metal probe 42 is arranged at the lower end of the elbow plastic pipe 41, the elbow plastic pipe 41 is arranged on the mechanical arm 1 by adopting the clamping plate 2 and the screws 3, the metal probe 42 is connected with the electric cabinet 6 by the signal line 7, and the metal probe 42 is arranged below the positioning disk 42.