阅读说明：本技术 一种铸管承口检测装置机器人夹具 (A kind of cast tube sockets detection device robot clamp ) 是由 邓启超 李艳军 郭俊 王陈 程丙南 梅志松 汪步云 许德章 于 2019-08-30 设计创作，主要内容包括：本发明涉及一种铸管承口检测装置机器人夹具,包括夹具安装杆、传感器安装板、传感器防护装置及传感器除尘装置,夹具安装杆安装于工业机器人末端法兰上,传感器安装板安装于夹具安装杆上,传感器防护装置及传感器除尘装置均安装于传感器安装板上。本发明适用于铸管承口自动检测装置,与工业机器人配合实现对铸管承口圆度的自动化检测。此外,本发明结构稳定可靠,传感器防护效果好,有效的避免了外部粉尘对圆度测量的干扰。(The present invention relates to a kind of cast tube sockets detection device robot clamps, including fixture mounting rod, sensor mounting plate, sensor guard and sensor dust-extraction unit, fixture mounting rod is installed on industrial robot end flange, sensor mounting plate is installed on fixture mounting rod, and sensor guard and sensor dust-extraction unit are mounted on sensor mounting plate.The present invention is suitable for cast tube sockets automatic detection device, and the automatic detection to cast tube sockets circularity is realized with industrial robot cooperation.In addition, structure of the invention is reliable and stable, sensor guard effect is good, effectively avoids interference of the external dust to roundness measurement.)

1. a kind of cast tube sockets detection device robot clamp, including fixture mounting rod (11), sensor mounting plate (1), sensing Device protective device and sensor dust-extraction unit, it is characterised in that: sensor mounting plate (1) is installed on fixture mounting rod (11), Sensor guard and sensor dust-extraction unit are mounted on sensor mounting plate (1).

2. a kind of cast tube sockets detection device robot clamp according to claim 1, it is characterised in that: the sensing Device protective device includes sensor protective shield (3), folding cylinder (4), magnetic switch (5), laser range sensor (6), sensing Device dust excluding plate (7) and side limit plate (8)；The laser range sensor (6) is fixed on sensor mounting plate (1), described Sensor protective shield (3) be installed on sensor mounting plate (1), sensor protective shield (3) is wrapped in laser range sensor (6)；The folding cylinder (4) is installed on sensor mounting plate (1) side, and the magnetic switch (5) is installed on folding gas On cylinder (4), the pickup dust-proofing plate (7) is installed on the piston rod of folding cylinder (4), side limit plate (8) peace Mounted in pickup dust-proofing plate (7) side.

3. a kind of cast tube sockets detection device robot clamp according to claim 2, it is characterised in that: the sensing Device dust-extraction unit includes pickup dust-proofing nozzle (9) and external Spray-nozzle for removing dust (10)；The pickup dust-proofing nozzle (9) and outer Portion's Spray-nozzle for removing dust (10) is all installed on sensor mounting plate (1), and pickup dust-proofing nozzle (9) and external Spray-nozzle for removing dust (10) are equal It is connected with gas-tpe fitting (2).

4. a kind of cast tube sockets detection device robot clamp according to claim 3, it is characterised in that: the sensing The nozzle of device Dust-proof nozzle (9) is directed at laser range sensor (6).

5. a kind of cast tube sockets detection device robot clamp according to claim 3, it is characterised in that: the sensing Device shield (3), folding cylinder (4), magnetic switch (5), laser range sensor (6), pickup dust-proofing plate (7), lateral confinement position Plate (8), pickup dust-proofing nozzle (9) and external Spray-nozzle for removing dust (10) are uniformly distributed 3 in sensor mounting plate (1) circumferencial direction Group, 120 ° of every two adjacent groups interval.

Technical field

The present invention relates to a kind of cast tube sockets automatic detection device, specifically a kind of cast tube sockets detection device machine People's fixture.

Background technique

Current cast tube sockets measurement, mainly operator carry out manual inspection using cubing, to instruct polishing work Position polishing amount, re-measured after polishing, then carry out secondary reconditioning, with guarantee bellmouth key junction scale error and Circularity form error controls within the specified scope.And the polishing amount that operator controls by rule of thumb is there is certain error and not Certainty is easy to cause useless pipe phenomenon, and detection accuracy is not high, low efficiency.Bellmouth end face is casting plane, without machining Processing cannot function as unified measuring basis and use.There are different degrees of casting flaws for bellmouth inner wall, to manual measurement precision Very big interference is generated, these problems all form certain restriction to the measurement of cast tube sockets.

Summary of the invention

Main problem existing for status and cast tube measurement aspect for the above cast tube detection process, the present invention devise one Kind cast tube sockets detection device robot clamp, is suitable for cast tube sockets automatic detection device, cooperates with industrial robot and realizes Automatic detection to cast tube sockets circularity.

The technical problems to be solved by the invention are realized using following technical scheme:

A kind of cast tube sockets detection device robot clamp, including fixture mounting rod, sensor mounting plate, sensor guard Device and sensor dust-extraction unit, fixture mounting rod are installed on industrial robot end flange, and sensor mounting plate is installed on On fixture mounting rod, sensor guard and sensor dust-extraction unit are mounted on sensor mounting plate.

The sensor guard includes sensor protective shield, folding cylinder, magnetic switch, laser ranging sensing Device, pickup dust-proofing plate and side limit plate；The laser range sensor is fixed on sensor mounting plate, the sensing Device shield is installed on sensor mounting plate, and sensor protective shield is wrapped in laser range sensor；The folding cylinder It is installed on sensor mounting plate side, the magnetic switch is installed on folding cylinder, the pickup dust-proofing plate installation In on the piston rod of folding cylinder, the side limit plate is mounted on pickup dust-proofing plate side, to the fortune of pickup dust-proofing plate It is dynamic to be limited.

The sensor dust-extraction unit includes pickup dust-proofing nozzle and external Spray-nozzle for removing dust；The pickup dust-proofing Nozzle and external Spray-nozzle for removing dust are all installed on sensor mounting plate, and pickup dust-proofing nozzle and external Spray-nozzle for removing dust are respectively connected with Gas-tpe fitting；The nozzle of the pickup dust-proofing nozzle is directed at laser range sensor, the nozzle of the external Spray-nozzle for removing dust It is directed at externally measured inner wall of the pipe.

Described fixture mounting rod one end is connected with sensor mounting plate, and the other end is connected with robot end's ring flange.

The sensor protective shield, folding cylinder, magnetic switch, laser range sensor, pickup dust-proofing plate, lateral confinement Position plate, pickup dust-proofing nozzle and external Spray-nozzle for removing dust are uniformly distributed 3 groups in sensor mounting plate circumferencial direction, every two adjacent groups 120 ° of interval.

The pickup dust-proofing plate rises and declines with folding cylinder movement, and guarantee does not influence laser when detecting Distance measuring sensor emits laser, protects laser range sensor after detection, avoids the influence of dust.

The beneficial effects of the present invention are:

The present invention is suitable for cast tube sockets automatic detection device, realizes with industrial robot cooperation to cast tube sockets circularity Automatic detection.In addition, structure of the invention is reliable and stable, sensor guard effect is good, effectively avoids external dust to circle Spend the interference of measurement.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 is perspective view of the invention.

In figure: 1-sensor mounting plate, 2-gas-tpe fittings, 3-sensor protective shields, 4-folding 5-magnetism of cylinder are opened Pass, 6-laser range sensors, 7-pickup dust-proofing plates, 8-side limit plates, 9-pickup dust-proofing nozzles, 10-outsides are removed Dirt nozzle, 11-fixture mounting rods

Specific embodiment

In order to make those skilled in the art better understand technical solution of the present invention, below in conjunction in embodiment Attached drawing, the present invention is become apparent from, it is more complete illustrate, certain described embodiment be a part of the invention rather than All, it is based on the present embodiment, those skilled in the art are obtained other real without any creative labor Example is applied, is within the scope of the invention.

As shown in Figure 1, a kind of cast tube sockets detection device robot clamp, including the installation of fixture mounting rod 11, sensor Plate 1, sensor guard and sensor dust-extraction unit, fixture mounting rod 11 are installed on industrial robot end flange, are passed Sensor mounting plate 1 is installed on fixture mounting rod 11, and sensor guard and sensor dust-extraction unit are mounted on sensor On mounting plate 1.

The sensor guard includes sensor protective shield 3, folding cylinder 4, magnetic switch 5, laser ranging biography Sensor 6, pickup dust-proofing plate 7 and side limit plate 8；The laser range sensor 6 is fixed on sensor mounting plate 1, institute The sensor protective shield 3 stated is installed on sensor mounting plate 1, and sensor protective shield 3 is wrapped in laser range sensor 6；Institute The folding cylinder 4 stated is installed on 1 side of sensor mounting plate, and the magnetic switch 5 is installed on folding cylinder 4, described Pickup dust-proofing plate 7 is installed on the piston rod of folding cylinder 4, and the side limit plate 8 is mounted on 7 side of pickup dust-proofing plate Face limits the movement of pickup dust-proofing plate 7.

The sensor dust-extraction unit includes pickup dust-proofing nozzle 9 and external Spray-nozzle for removing dust 10；The sensor Dust-proof nozzle 9 and external Spray-nozzle for removing dust 10 are all installed on sensor mounting plate 1, pickup dust-proofing nozzle 9 and external dedusting spray Mouth 10 is respectively connected with gas-tpe fitting 2；The nozzle of the pickup dust-proofing nozzle 9 is directed at laser range sensor 6, the outside The nozzle of Spray-nozzle for removing dust 10 is directed at externally measured inner wall of the pipe.

Described 11 one end of fixture mounting rod is connected with sensor mounting plate 1, the other end and robot end's ring flange phase Even.

The sensor protective shield 3, folding cylinder 4, magnetic switch 5, laser range sensor 6, pickup dust-proofing plate 7, side limit plate 8, pickup dust-proofing nozzle 9 and external Spray-nozzle for removing dust 10 are uniformly distributed 3 in 1 circumferencial direction of sensor mounting plate Group, 120 ° of every two adjacent groups interval.

The pickup dust-proofing plate 7 rises with the movement of folding cylinder 4 and decline, guarantee do not influence to swash when detecting Ligh-ranging sensor 6 emits laser, and laser range sensor 6 is protected after detection, avoids the influence of dust.

In use, when not carrying out cast tube sockets detection, folding cylinder 4 retracts to home position, and magnetism is opened at this time Close 5 it is electric, laser range sensor 6 is wrapped in, together by pickup dust-proofing plate 7 and side limit plate 8 and sensor protective shield 3 When pickup dust-proofing nozzle 9 high pressure gas is blown to 6 surface of laser range sensor with keeping so that laser ranging senses 6 surface of device is not by the interference of polishing flue dust.

When carrying out cast tube sockets detection, the solenoid valve that control folding cylinder 4 acts obtains electric, 5 power loss of magnetic switch at this time, It opens and closes cylinder 4 to act, sensor dust board 7 is jacked up, 6 measuring surface of laser range sensor exposes at this time, while external Each laser range sensor 6 iron filings for pointing out of measurement and attachment etc. are dispelled and are come by the high pressure gas in Spray-nozzle for removing dust 10, Cooperate industrial robot and counterpart external device movement, completes the detection of cast tube sockets, while pickup dust-proofing nozzle 9 continues not High pressure gas is blown to 6 surface of laser range sensor by disconnected ground, so that 6 surface of laser range sensor is not done by polishing flue dust It disturbs.After to be detected, the rollback of cylinder 4, pickup dust-proofing plate 7 and side limit plate 8 and sensor protective shield 3 are opened and closed, again Laser range sensor 6 is wrapped in.

The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle It is fixed.