1. The utility model provides a detecting system based on laser displacement sensor surveys string of beads rope and warp which characterized in that includes: the device comprises a rack, an arc-shaped guide rail, a driving device, a first ball screw linear guide rail and a detection device;

the lower end of the rack is fixedly connected with the upper surface of a rotary table, and the rotary table is a matched rotary table of the robot rope saw processing system;

the arc-shaped guide rail is arranged on the side surface of the rack, and the detection device is connected with the arc-shaped guide rail in a sliding manner; the driving device is used for driving the detection device to move along the height direction of the rack.

2. The detection system for measuring the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 1, wherein: the detection device comprises an elongated cross beam, an adapter plate and a laser displacement sensor; the adapter plate is arranged at intervals along the length direction of the extension beam, and the laser displacement sensors are in one-to-one correspondence with the adapter plate and are arranged on the side face of the adapter plate.

3. The detection system for measuring the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 2, wherein: the adapter plate is provided with an arc-shaped groove, and the angle of the laser displacement sensor is adjusted through the arc-shaped groove.

4. The detection system for measuring the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 3, wherein: the arc-shaped guide rail is connected to one side of the rack through a first connecting plate; the driving device is arranged on the rack and the arc-shaped guide rail through a second connecting plate; the driving device is matched with the first ball screw linear guide rail to drive the detection device to move.

5. The detection system for measuring the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 4, wherein: the first ball screw linear guide rail is installed on the side face of the rack through a third connecting plate, arc-shaped grooves are distributed in the second connecting plate and the third connecting plate, and the arc-shaped guide rail is matched with the second connecting plate and the third connecting plate to enable the driving device, the first ball screw linear guide rail and the detection device to rotate in a variable angle mode.

6. The detection system for measuring the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 5, wherein: the driving device comprises a stepping motor and a second ball screw linear guide rail;

the second ball screw linear guide rail is connected with the extension beam, and the stepping motor is connected with the second ball screw linear guide rail; the arc-shaped guide rail and the first ball screw linear guide rail are respectively arranged on two sides of the rack.

7. The detection system for detecting the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 6, wherein: the lower end of the rack is fixed on the upper surface of the rotary table through a fourth connecting plate.

8. The detection system for detecting the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 7, wherein: the laser displacement sensor is fixedly connected with the arc-shaped groove of the adapter plate through a nut.

9. The detection system for detecting the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 8, wherein: the driving device is fixedly connected with the arc-shaped groove of the second connecting plate through a nut.

10. The detection system for detecting the deformation of the beaded rope based on the laser displacement sensor as claimed in claim 9, wherein: and the first ball screw linear guide rail is fixedly connected with the arc-shaped groove of the third connecting plate through a nut.

Background

Robots are increasingly used for stone processing as an advanced processing apparatus. The diamond bead rope saw cuts and generally is used for mine stone material exploitation, along with the development of processing technology, combines together with the robot gradually, has appeared a neotype equipment of saw cutting, has possessed the wide characteristics of the good and diamond bead rope saw machined surface of robot flexibility simultaneously. However, when the existing equipment is used for processing, the diamond bead string rope generates bow-shaped deformation due to the force, thereby affecting the quality of stone processing.

Disclosure of Invention

The invention aims to solve the main technical problem of providing a detection system for detecting the deformation of a beaded rope based on a laser displacement sensor, which can detect the deformation generated during the processing of the diamond beaded rope.

In order to solve the technical problem, the invention provides a detection system for measuring the deformation of a beaded rope based on a laser displacement sensor, which comprises: the device comprises a rack, an arc-shaped guide rail, a driving device, a first ball screw linear guide rail and a detection device;

the lower end of the rack is fixedly connected with the upper surface of a rotary table, and the rotary table is a matched rotary table of the robot rope saw processing system;

the arc-shaped guide rail is arranged on the side surface of the rack, and the detection device is connected with the arc-shaped guide rail in a sliding manner; the driving device is used for driving the detection device to move along the height direction of the rack.

In a preferred embodiment: the detection device comprises an elongated cross beam, an adapter plate and a laser displacement sensor; the adapter plate is arranged at intervals along the length direction of the extension beam, and the laser displacement sensors are in one-to-one correspondence with the adapter plate and are arranged on the side face of the adapter plate.

In a preferred embodiment: the adapter plate is provided with an arc-shaped groove, and the angle of the laser displacement sensor is adjusted through the arc-shaped groove.

In a preferred embodiment: the arc-shaped guide rail is connected to one side of the rack through a first connecting plate; the driving device is arranged on the rack and the arc-shaped guide rail through a second connecting plate; the driving device is matched with the first ball screw linear guide rail to drive the detection device to move.

In a preferred embodiment: the first ball screw linear guide rail is installed on the side face of the rack through a third connecting plate, arc-shaped grooves are distributed in the second connecting plate and the third connecting plate, and the arc-shaped guide rail is matched with the second connecting plate and the third connecting plate to enable the driving device, the first ball screw linear guide rail and the detection device to rotate in a variable angle mode.

In a preferred embodiment: the driving device comprises a stepping motor;

the first ball screw linear guide rail is connected with the extension beam, and the stepping motor is connected with the first ball screw linear guide rail; the arc-shaped guide rail and the first ball screw linear guide rail are respectively arranged on two sides of the rack.

In a preferred embodiment: the lower end of the rack is fixed on the upper surface of the rotary table through a fourth connecting plate.

In a preferred embodiment: the laser displacement sensor is fixedly connected with the arc-shaped groove of the adapter plate through a nut.

In a preferred embodiment: the driving device is fixedly connected with the arc-shaped groove of the second connecting plate through a nut.

In a preferred embodiment: and the first ball screw linear guide rail is fixedly connected with the arc-shaped groove of the third connecting plate through a nut.

Compared with the prior art, the technical scheme of the invention has the following beneficial effects:

the invention provides a detection system for detecting the deformation of a beaded rope based on a laser displacement sensor, which comprises a driving device, wherein a stepping motor of the driving device can drive a ball screw guide rail to move, and the stepping motor is matched with a first ball screw linear guide rail, so that the detection device connected with the first ball screw linear guide rail and the first ball screw linear guide rail can track and detect the deformation of the diamond beaded rope during the processing of a robot rope saw processing system.

The invention provides a detection system for detecting the deformation of a beaded rope based on a laser displacement sensor, which comprises a third connecting plate which is provided with an arc-shaped groove and used for connecting a first ball screw linear guide rail and a rack, and a second connecting plate and an arc-shaped guide rail which are provided with an arc-shaped groove and used for connecting a detection device and the rack, wherein the arc-shaped guide rail and the connecting plate can enable the detection device and a driving device to rotate at variable angles, so that the deformation detection at different angles is realized.

The invention provides a detection system for detecting the deformation of a beaded rope based on a laser displacement sensor, which is only fixed on one surface, is fixed on a rotary table matched with a robot through three feet, and is connected with the laser displacement sensor through an elongated beam to measure the diamond beaded rope, so that the influence of the deformation detection system on the multi-degree-of-freedom processing of the robot can be reduced.

Drawings

FIG. 1 is a perspective view of a deformation detection system in accordance with a preferred embodiment of the present invention;

FIG. 2 is a right side perspective view of a deformation detection system in accordance with a preferred embodiment of the present invention;

FIG. 3 is a left side perspective view of a deformation detection system in accordance with a preferred embodiment of the present invention;

FIG. 4 is a schematic view of the rotation of the detecting device of the deformation detecting system in the preferred embodiment of the present invention;

fig. 5 is a schematic rotation diagram of a laser displacement sensor of a deformation detection system according to a preferred embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like, are used in a broad sense, and for example, "connected" may be a wall-mounted connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, and those skilled in the art will understand the specific meaning of the terms in the present invention specifically.

Referring to fig. 1 to 5, the present embodiment provides a detection system for measuring deformation of a beaded rope based on a laser displacement sensor, including: the device comprises a rack 1, an arc-shaped guide rail 7, a driving device 8, a first ball screw linear guide rail 14 and a detection device 15;

the lower end of the rack 1 is fixedly connected with the upper surface of a rotary table 6, and the rotary table 6 is a rotary table 6 matched with a robot wire saw processing system;

the arc-shaped guide rail 7 is arranged on the side surface of the rack 1, and the detection device 15 is connected with the arc-shaped guide rail 7 in a sliding manner; the driving device 8 is used for driving the detection device 15 to move along the height direction of the frame 1.

Specifically, the detection device 15 includes an elongated beam 16, an adapter plate 18, and a laser displacement sensor 17; the adapter plates 18 are arranged at intervals along the length direction of the elongated beam 16, and the laser displacement sensors 17 correspond to the adapter plates 18 one by one and are arranged on the side surfaces of the adapter plates 18.

In order to adjust the detection angle of the laser displacement sensor 17, the adapter plate 18 is provided with an arc-shaped groove, and the angle of the laser displacement sensor 17 is adjusted through the arc-shaped groove.

In order to install the arc-shaped guide rail 7, the arc-shaped guide rail 7 is connected to one side of the frame 1 through a first connecting plate 9; the driving device 8 is arranged on the rack 1 and the arc-shaped guide rail 7 through a second connecting plate 10; the driving device 8 is matched with the first ball screw linear guide rail 14 to drive the detection device 15 to move.

In order to mount the first ball screw linear guide rail 14, the first ball screw linear guide rail 14 is mounted on the side surface of the frame 1 through a third connecting plate 9, arc-shaped grooves are distributed on the second connecting plate 10 and the third connecting plate 9, and the arc-shaped guide rail 7 is matched with the second connecting plate 10 and the third connecting plate 9 to enable the driving device 8, the first ball screw linear guide rail 14 and the detection device 15 to rotate in a variable angle mode.

In this embodiment, the driving device 8 includes a stepping motor 13 and a second ball screw linear guide 12; the second ball screw linear guide rail 12 is connected with the extension beam 16, and the stepping motor 13 is connected with the second ball screw linear guide rail 12; the arc-shaped guide rail 7 and the first ball screw linear guide rail 14 are respectively arranged at two sides of the frame 1.

In this embodiment, in order to fix the frame 1, the lower end of the frame 1 is fixed to the upper surface of the turntable 6 by a fourth connecting plate 5. The rack 1 further comprises an oblique beam 2, a connecting beam 3 and two upright posts 4, wherein the upright posts 3 are respectively connected to two sides of the connecting beam 3, and the oblique beam 2 is connected to the middle of the connecting beam 3.

In addition, the laser displacement sensor 17 is fixedly connected with the arc-shaped groove of the adapter plate 18 through a nut. The driving device 8 is fixedly connected with the arc-shaped groove of the second connecting plate 10 through a nut. The first ball screw linear guide rail 14 is fixedly connected with the arc-shaped groove of the third connecting plate 9 through a nut.

Through the design, the laser displacement sensor 17 is used for detecting the deformation of the bead string of the robot wire saw processing system when cutting a stone workpiece, the extension beam 16 is used for facilitating the laser displacement sensor 17 to measure the deformation of the bead string during processing, and meanwhile, the influence of the deformation detection system on the multi-degree-of-freedom processing of the robot is reduced. The adapter plate 18 is provided with an arc-shaped groove, so that the laser displacement sensor 17 can rotate within the range from zero to ninety degrees, multi-angle measurement is realized, when the measurement angle is to be changed, the nut for fixing the laser displacement sensor 17 is unscrewed, the position of the bolt in the arc-shaped groove is changed, and the nut is screwed after the angle is selected, so that the measurement angle of the laser displacement sensor 17 can be changed.

The stepping motor 13 drives the second ball screw linear guide rail 14 to move, and drives the detection device 15 to move by matching with the first ball screw linear guide rail 14, and the stepping motor 13 drives the detection device 15 to move up and down through positive rotation and negative rotation. When the measurement is started, the stepping motor 13 is started, the detection device 15 moves along with the movement of the robot wire saw processing system, and the deformation of the bead string rope during the processing of the wire saw machine is measured in real time. This connecting plate and connecting plate 11 are equipped with the arc wall, and cooperation arc guide 7 can make detection device 15 at zero to sixty degrees within range internal rotations, realizes the multi-angle measurement, when will changing measurement angle, loosens the nut of fixed first ball screw linear guide 14 and drive arrangement 8 soon, changes detection device 15's angle, screws the nut again, just so can change detection device 15 and measure the angle.

The detection system for detecting the deformation of the bead string rope based on the laser displacement sensor 17 comprises a driving device 8, wherein a stepping motor 13 of the driving device 8 can drive a ball screw guide rail to move, and the detection device 15 connected to the first ball screw linear guide rail 14 and the first ball screw linear guide rail 14 can track and detect the deformation of the diamond bead string rope when the robot rope saw processing system is used for processing in a matching manner by matching with the first ball screw linear guide rail 14.

In addition, foretell detecting system based on laser displacement sensor 17 surveys string of beads rope deformation, including the third connecting plate 9 that is equipped with the arc wall of connecting first ball screw linear guide 14 and frame 1, connect detection device 15 and frame 1's second connecting plate 10 and the arc guide rail 7 that is equipped with the arc wall, arc guide rail 7 and connecting plate can make detection device 15 and drive arrangement 8 change the rotation of angle, realize the deformation detection of different angles.

Finally, the detection system for measuring the deformation of the beaded rope based on the laser displacement sensor 17 is only fixed on one surface, is fixed on the rotary table 6 matched with the robot through three feet, and is connected with the laser displacement sensor 17 through the extension beam 16 to measure the diamond beaded rope, so that the influence of the deformation detection system on the multi-degree-of-freedom processing of the robot can be reduced.

The above description is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any person skilled in the art can make insubstantial changes in the technical scope of the present invention within the technical scope of the present invention, and the actions infringe the protection scope of the present invention are included in the present invention.