CN111633641A - Robot for industrial part detection - Google Patents
Robot for industrial part detection Download PDFInfo
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- CN111633641A CN111633641A CN202010380943.7A CN202010380943A CN111633641A CN 111633641 A CN111633641 A CN 111633641A CN 202010380943 A CN202010380943 A CN 202010380943A CN 111633641 A CN111633641 A CN 111633641A
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- Prior art keywords
- rod
- clamping
- sleeve
- robot
- bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot for detecting industrial parts, which comprises a base, a support rod, a cross rod, a detection mechanism, a moving mechanism and a clamping mechanism, wherein the cross rod is arranged above the base through the support rod, the detection mechanism is arranged on the base, the moving mechanism is arranged on the support rod, the clamping mechanism is arranged on the moving mechanism, the robot for detecting industrial parts realizes the online detection of workpieces through the detection mechanism, the moving mechanism realizes the moving of the clamping mechanism, the clamping mechanism realizes the clamping of unqualified workpieces, then the workpieces fall into a recycling box through a baffle plate after being moved to the recycling box through the moving mechanism, the recycling and the reprocessing are carried out, compared with the existing clamping mechanism, the clamping mechanism adopts a flexible clamping mode, the scratch of the surfaces of the workpieces caused by rigid clamping is avoided, and meanwhile, the clamping mechanism realizes the effects of positioning and then clamping on the workpieces, the phenomenon that the workpiece cannot be clamped due to deviation is avoided, and the practicability is improved.
Description
Technical Field
The invention relates to a robot for industrial part detection.
Background
Industry part inspection robot is the intelligent device that carries out automated inspection to the outward appearance of industry part, size, integrality and functionality, and current inspection robot is because fixture is comparatively fixed, and the centre gripping to not unidimensional part needs special fixture to carry out the centre gripping, and the suitability is relatively poor, and current fixture generally adopts the gripper jaw to carry out the centre gripping, under the effect of rigidity centre gripping, cause the fish tail to the workpiece surface very easily, to plastic products, can make the work piece warp even.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, a robot for industrial part detection is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: a robot for industrial part detection comprises a base, a support rod, a cross rod, a detection mechanism, a moving mechanism and a clamping mechanism, wherein the cross rod is arranged above the base through the support rod;
the detection mechanism comprises a detector and a conveying assembly, the conveying assembly comprises a driving unit and a driven unit, the driving unit comprises a first motor, a driving wheel and a driven wheel, the first motor is arranged on the base, the driving wheel is mounted on the motor, the driven wheel is arranged above the driving wheel, the driven wheel is in transmission connection with the driving wheel through a belt, the driven unit comprises a rotating shaft, a driving roller, a driven roller and a conveying belt, the rotating shaft penetrates through the driven wheel, the rotating shaft is in key connection with the driven wheel, the driving roller is arranged on the rotating shaft, the driven roller is parallel to the driving roller, the driven roller is in transmission connection with the driving roller through the conveying belt, and the detector is arranged above the conveying belt;
the moving mechanism comprises a second motor, a screw rod, a moving rod and an air cylinder, the second motor is arranged on a support rod, the screw rod is arranged on the motor, the moving rod is sleeved on the screw rod, the screw rod drives the moving rod to move, and the air cylinder is vertically arranged on the moving rod downwards;
the clamping mechanism comprises a sleeve, a leaning component and a clamping component, one end of the sleeve is connected with a gas rod of the air cylinder, the other end of the sleeve is provided with a fixed block, the leaning component comprises a pressing rod, a pressing plate, a spring, a sliding block and a connecting rod, the pressing plate is arranged below the sleeve, one end of the pressing rod is located in the sleeve, the other end of the pressing rod extends out of the sleeve and is connected with the pressing plate, the sliding block is arranged in the sleeve, the sliding block is connected with the sleeve in a sliding mode, the spring is arranged between the pressing rod and the sliding block, one end of the spring is connected with the sliding block, the other end of the spring is connected with the pressing rod, a vertical sliding groove is formed in the sleeve, the connecting rod extends into the sleeve and is connected with the sliding block, the connecting rod is connected with the sliding groove in a sliding mode, the clamping component, Stay cord, fixed pulley, gag lever post and slide bar, the one end of clamping bar is articulated with the fixed block, the cross-section of clamping bar is the arc, the centre of a circle of the arc cross-section of clamping bar is located the sheathed tube axis, the fixed pulley sets up on the fixed block, be equipped with vertical bar groove on the sleeve pipe, the slide bar is located the bar inslot, slide bar and bar groove sliding connection, the gag lever post sets up outside the cover pipe, the one end of gag lever post is connected with the one end that the bar groove was kept away from to the slide bar, the other end of gag lever post supports and leans on with the clamping bar, the locating wheel is located the sleeve pipe, the one end of stay cord is connected with the one end that the depression bar is located the sleeve pipe, the other end of stay cord is walked around the fixed pulley and is connected with the slide bar, be equipped with spacing unit on the fixed block, the glass bead screws are arranged in the clamping blocks, the pressure rod is provided with a plurality of grooves, the grooves are uniformly arranged along the axial direction of the pressure rod, and the glass bead screws are positioned in one of the clamping grooves;
the improved multifunctional detector is characterized in that a recovery box is arranged on the base, a baffle is arranged on the supporting rod and is hinged to the supporting rod, the baffle is located above the recovery box, a torsion spring is arranged at the hinged position of the baffle and the supporting rod, a PLC is arranged in the base, and the detector, the first motor and the second motor are all electrically connected with the PLC.
In order to limit the movement of the moving rod, a sliding groove is formed in the cross rod, one end of the moving rod is located in the sliding groove, and the moving rod is connected with the sliding groove in a sliding mode.
In order to carry out spacingly to the removal of slide bar, the both sides in slide bar groove are equipped with the spacing groove, the both sides of slide bar are equipped with the stopper, the stopper is located the spacing inslot, stopper and spacing groove sliding connection.
In order to limit the movement of the limiting rod, a clamping groove is formed in the clamping rod, and one end of the limiting rod is located in the clamping groove.
In order to reduce friction and enable the limiting rod to move more stably, one end, located in the clamping groove, of the limiting rod is provided with a roller, and the roller is connected with the clamping groove in a rolling mode.
In order to realize better spacing, the glass bead screw has two, and two glass bead screws set up respectively in the both sides of fixture block, the both sides of depression bar all are equipped with the recess, the glass bead screw corresponds the setting with the recess.
In order to enable the clamping rod to return to the initial position better, a torsional spring is arranged at the hinged position of the clamping rod and the fixed block.
In order to avoid collision between the clamping rod and the recovery box, the maximum distance between the recovery box and the base is smaller than the maximum distance between the conveyor belt and the base.
In order to realize support along with the screw rod, the cross rod is provided with a bearing seat, and one end of the screw rod, which is far away from the motor, is positioned in the bearing seat.
In order to provide a flexible driving force, the pulling rope is an elastic rope.
The robot for detecting industrial parts has the advantages that the robot for detecting industrial parts realizes online detection of workpieces through the detection mechanism, realizes movement of the clamping mechanism through the moving mechanism, clamps unqualified workpieces through the clamping mechanism, moves to the recycling bin through the moving mechanism, enables the workpieces to fall into the recycling bin through the baffle plate, and carries out recycling and reprocessing.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of the construction of a robot for industrial part inspection of the present invention;
FIG. 2 is a schematic diagram of the construction of the transfer assembly of the robot for industrial part inspection of the present invention;
FIG. 3 is a schematic diagram of the configuration of the gripping mechanism of the robot for industrial parts inspection of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is a schematic structural diagram of a spacing unit of the robot for industrial part inspection of the present invention;
FIG. 6 is a schematic view of a connection structure of a slide bar and a sleeve of the robot for industrial part inspection according to the present invention;
in the figure: 1. the automatic glass bead recycling device comprises a base, 2 parts of supporting rods, 3 parts of cross rods, 4 parts of a first motor, 5 parts of driving wheels, 6 parts of driven wheels, 7 parts of rotating shafts, 8 parts of driving rollers, 9 parts of driven rollers, 10 parts of a conveying belt, 11 parts of a detector, 12 parts of a second motor, 13 parts of a screw rod, 14 parts of a moving rod, 15 parts of an air cylinder, 16 parts of a sleeve, 17 parts of a fixed block, 18 parts of a pressure rod, 19 parts of a pressure plate, 20 parts of a spring, 21 parts of a sliding block, 22 parts of a connecting rod, 23 parts of a clamping rod, 24 parts of a stretching part, 25 parts of a fixed pulley, 26 parts of a limiting rod, 27 parts of a sliding rod, 28 parts of a clamping block.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, a robot for detecting industrial parts comprises a base 1, a support rod 2, a cross rod 3, a detection mechanism, a moving mechanism and a clamping mechanism, wherein the cross rod 3 is arranged above the base 1 through the support rod 2, the detection mechanism is arranged on the base 1, the moving mechanism is arranged on the support rod 2, and the clamping mechanism is arranged on the moving mechanism;
the device realizes the conveying and the on-line measuring of work piece through detection mechanism, moves the work piece directly over through moving mechanism, presss from both sides through fixture and gets the unqualified work piece that detects, then the rethread moving mechanism moves the work piece to the collection box 30 top, then falls into in the collection box 30.
As shown in fig. 2, the detection mechanism includes a detector 11 and a conveying assembly, the conveying assembly includes a driving unit and a driven unit, the driving unit includes a first motor 4, a driving wheel 5 and a driven wheel 6, the first motor 4 is disposed on the base 1, the driving wheel 5 is mounted on the motor, the driven wheel 6 is disposed above the driving wheel 5, the driven wheel 6 is in transmission connection with the driving wheel 5 through a belt, the driven unit includes a rotating shaft 7, a driving roller 8, a driven roller 9 and a conveying belt 10, the rotating shaft 7 penetrates through the driven wheel 6, the rotating shaft 7 is in key connection with the driven wheel 6, the driving roller 8 is disposed on the rotating shaft 7, the driven roller 9 is parallel to the driving roller 8, the driven roller 9 is in transmission connection with the driving roller 8 through the conveying belt 10, and the detector 11 is disposed above the conveying belt 10;
when a workpiece needs to be detected, the first motor 4 is operated, the first motor 4 drives the driving wheel 5 to rotate, the driving wheel 5 drives the driven wheel 6 to rotate through the belt, the driven wheel 6 drives the rotating shaft 7 to rotate, the rotating shaft 7 drives the driving roller 8 to rotate, the driving roller 8 drives the driven roller 9 to rotate through the conveying belt 10, the workpiece on the conveying belt 10 is conveyed, then the workpiece is detected through the detector 11, and the workpiece detection is realized.
As shown in fig. 1, the moving mechanism includes a second motor 12, a screw 13, a moving rod 14 and an air cylinder 15, the second motor 12 is disposed on the supporting rod 2, the screw 13 is mounted on the motor, the moving rod 14 is sleeved on the screw 13, the screw 13 drives the moving rod 14 to move, and the air cylinder 15 is disposed on the moving rod 14 vertically downward;
when the workpiece detects that the workpiece is unqualified, the PLC controls the first motor 4 to stop running, the second motor 12 is operated at the same time, the second motor 12 drives the screw rod 13 to rotate, the screw rod 13 drives the moving rod 14 to move, and the moving rod 14 drives the air cylinder 15 to move, so that the air cylinder 15 moves to the position right above the workpiece.
In order to realize support along with the screw rod 13, a bearing seat is arranged on the cross rod 3, and one end of the screw rod 13, which is far away from the motor, is positioned in the bearing seat.
As shown in fig. 3-6, the clamping mechanism includes a sleeve 16, an abutting assembly and a clamping assembly, one end of the sleeve 16 is connected to an air rod of the air cylinder 15, the other end of the sleeve 16 is provided with a fixed block 17, the abutting assembly includes a press rod 18, a press plate 19, a spring 20, a slider 21 and a connecting rod 22, the press plate 19 is disposed below the sleeve 16, one end of the press rod 18 is located inside the sleeve 16, the other end of the press rod 18 extends out of the sleeve 16 and is connected to the press plate 19, the slider 21 is disposed inside the sleeve 16, the slider 21 is slidably connected to the sleeve 16, the spring 20 is disposed between the press rod 18 and the slider 21, one end of the spring 20 is connected to the slider 21, the other end of the spring 20 is connected to the press rod 18, the sleeve 16 is provided with a vertical sliding slot, the connecting rod 22 extends into the sleeve 16 and is connected to the slider, the clamping assembly comprises four clamping units, the included angle formed by two adjacent clamping units is 90 degrees, each clamping unit comprises a clamping rod 23, a pull rope 24, a fixed pulley 25, a limiting rod 26 and a sliding rod 27, one end of each clamping rod 23 is hinged to the corresponding fixed block 17, the cross section of each clamping rod 23 is arc-shaped, the circle center of the arc-shaped cross section of each clamping rod 23 is located on the axis of the corresponding sleeve 16, the fixed pulley 25 is arranged on the corresponding fixed block 17, the corresponding sleeve 16 is provided with a vertical strip-shaped groove, the corresponding sliding rod 27 is located in the corresponding strip-shaped groove, the corresponding sliding rod 27 is in sliding connection with the corresponding strip-shaped groove, the limiting rod 26 is arranged outside the corresponding sleeve 16, one end of the limiting rod 26 is connected with one end, away from the corresponding strip-shaped groove, of the corresponding clamping rod 26 is abutted to the other end of the corresponding limiting rod 26, the corresponding positioning wheel is located inside the corresponding, the other end of the pull rope 24 bypasses the fixed pulley 25 to be connected with the sliding rod 27, the fixed block 17 is provided with a limiting unit, the limiting unit comprises a fixture block 28 and a glass bead screw 29, the fixture block 28 is arranged on the fixed block 17, the fixture block 28 is positioned in the sleeve 16, the glass bead screw 29 is arranged in the fixture block 28, the pressure rod 18 is provided with a plurality of grooves, the grooves are uniformly arranged along the axial direction of the pressure rod 18, and the glass bead screw 29 is positioned in one of the clamping grooves;
the air cylinder 15 moves to drive the clamping mechanism to move until the clamping mechanism moves right above the workpiece, then the air cylinder 15 is operated, the air rod of the air cylinder 15 extends, the sleeve 16 is driven to move downwards, the sleeve 16 drives the fixing block 17 to move downwards, the fixing block 17 drives the pressure rod 18 to move downwards, the pressure rod 18 drives the pressure plate 19 to move downwards, so that the pressure plate 19 abuts against the top of the workpiece, the bead screw 29 on the fixing block 17 is clamped in the groove on the pressure rod 18, the pressure rod 18 moves downwards along with the fixing block 17, the workpiece abuts against the pressure plate 19 along with the continuous operation of the air cylinder 15, the pressure rod 18 is subjected to upward thrust, when the thrust is greater than the elastic force of the spring 20 in the bead screw 29, the pressure rod 18 moves upwards to pull the pull rope 24, the pull rope 24 pulls the slide rod 27 to move downwards, the slide rod 27 drives the limiting rod 26 to move downwards, and the limiting rod 26 drives the, the clamping of the workpiece is realized, meanwhile, the compression rod 18 compresses the spring 20, the spring 20 pushes the slide block 21 to move upwards, the slide block 21 drives the connecting rod 22 to move upwards, so that the connecting rod 22 abuts against the top of the sliding chute, at the moment, the restoring force of the spring 20 in the two glass bead screws 29 is larger than the restoring force of the spring 20 and the elastic rope, namely the glass bead screws 29 are clamped in the grooves on the compression rod 18, and the pressing plate 19 keeps a fixed state, so that the workpiece is kept in a clamped state.
In order to limit the movement of the moving rod 14, a sliding groove is formed in the cross rod 3, one end of the moving rod 14 is located in the sliding groove, and the moving rod 14 is connected with the sliding groove in a sliding mode.
In order to limit the movement of the slide bar 27, two sides of the strip-shaped groove of the slide bar 27 are provided with limit grooves, two sides of the slide bar 27 are provided with limit blocks 32, the limit blocks 32 are positioned in the limit grooves, and the limit blocks 32 are connected with the limit grooves in a sliding manner.
In order to limit the movement of the limiting rod 26, a clamping groove is formed in the clamping rod 23, and one end of the limiting rod 26 is located in the clamping groove.
In order to reduce friction and enable the limiting rod 26 to move more stably, a roller is arranged at one end, located in the clamping groove, of the limiting rod 26, and the roller is connected with the clamping groove in a rolling mode.
In order to realize better limiting, two bead screws 29 are provided, the two bead screws 29 are respectively arranged on two sides of the fixture block 28, grooves are respectively arranged on two sides of the pressure lever 18, and the bead screws 29 are arranged corresponding to the grooves.
In order to enable the clamping rod 23 to return to the initial position well, a torsion spring is arranged at the hinged position of the clamping rod 23 and the fixed block 17.
To provide a flexible driving force, the pull cord 24 is an elastic cord.
As shown in fig. 1, be equipped with collection box 30 on base 1, be equipped with baffle 31 on branch 2, baffle 31 is articulated with branch 2, baffle 31 is located the top of collection box 30, baffle 31 is equipped with the torsional spring with the articulated department of branch 2, be equipped with PLC in the base 1, detector 11, first motor 4 and second motor 12 all are connected with the PLC electricity.
When the workpiece is clamped, the second motor 12 is operated to move the workpiece to the position above the recovery box 30, the connecting rod 22 is positioned below the baffle plate 31, the air cylinder 15 is operated to contract the air rod of the air cylinder 15, so that the whole clamping mechanism moves upwards, when the connecting rod 22 abuts against the baffle plate 31, the connecting rod 22 moves upwards to generate thrust on the baffle plate 31, the torsion spring in the baffle plate 31 deforms, and the connecting rod 22 generates downward thrust, at the moment, the thrust generated by the restoring force of the torsion spring, the thrust generated by the deformation restoring force of the spring 20 and the restoring force of the elastic rope are greater than the restoring force of the spring 20 in the bead screw 29, so that the balls of the bead screw 29 are pressed down, the pressure rod 18 moves downwards, the pressure rod 18 pushes the pressure plate 19 to move, the pressure plate 19 pushes the workpiece outwards, and the pressure rod 18 moves downwards, so that the pressure rod 18 is not abutted by the limiting rod 26 when the, under the restoring force of the torsion spring, the torsion spring is opened, so that the workpiece falls off and falls into the recovery box 30 below.
In order to avoid collision of the clamping bar 23 with the recycling bin 30, the maximum distance between the recycling bin 30 and the base 1 is smaller than the maximum distance between the conveyor belt 10 and the base 1.
The device realizes the transmission of workpieces by controlling the operation of a first motor 4 through a PLC, the transmitted workpieces are detected one by one through a detector 11, the detector 11 converts the detection result into an electric signal and sends the electric signal to the PLC, when the detection is qualified, the PLC controls the first motor 4 to continue to operate, when the detection is unqualified, the PLC stops operating the first motor 4, simultaneously, the second motor 12 is operated, the clamping mechanism is moved to the position right above the workpiece through the moving mechanism, then the air cylinder 15 is driven, the air cylinder 15 drives the clamping mechanism to clamp the unqualified workpiece, then, after the second motor 12 is operated to move the workpiece to above the recovery tank 30, the cylinder 15 of the cylinder 15 is contracted, so that the connecting rod 22 abuts against the baffle 31, the workpiece falls into the recycling bin 30, the clamping mechanism returns to the initial position, and meanwhile, the PLC operates the first motor 4 again to realize the detection of the next workpiece.
Compared with the prior art, this a robot for industrial part detects, realize the on-line measuring of work piece through detection mechanism, realize fixture's removal through moving mechanism, realize the centre gripping to unqualified work piece through fixture, then moving to collection box 30 department through moving mechanism, make the work piece fall into collection box 30 through baffle 31, retrieve and reprocess, compare with current fixture, this fixture adopts comparatively flexible centre gripping mode, the fish tail on workpiece surface has been avoided the rigidity centre gripping to cause, and simultaneously, this fixture has realized the effect of location earlier to the work piece and then the centre gripping, avoid the skew of work piece to cause unable centre gripping, and the practicality is improved.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The robot for detecting industrial parts is characterized by comprising a base (1), a support rod (2), a cross rod (3), a detection mechanism, a moving mechanism and a clamping mechanism, wherein the cross rod (3) is arranged above the base (1) through the support rod (2), the detection mechanism is arranged on the base (1), the moving mechanism is arranged on the support rod (2), and the clamping mechanism is arranged on the moving mechanism;
the detection mechanism comprises a detector (11) and a conveying assembly, the conveying assembly comprises a driving unit and a driven unit, the driving unit comprises a first motor (4), a driving wheel (5) and a driven wheel (6), the first motor (4) is arranged on a base (1), the driving wheel (5) is installed on the motor, the driven wheel (6) is arranged above the driving wheel (5), the driven wheel (6) is in transmission connection with the driving wheel (5) through a belt, the driven unit comprises a rotating shaft (7), a driving roller (8), a driven roller (9) and a conveying belt (10), the rotating shaft (7) penetrates through the driven wheel (6), the rotating shaft (7) is in key connection with the driven wheel (6), the driving roller (8) is arranged on the rotating shaft (7), the driven roller (9) is parallel to the driving roller (8), the driven roller (9) is in transmission connection with the driving roller (8) through the conveying belt (10), the detector (11) is arranged above the conveyor belt (10);
the moving mechanism comprises a second motor (12), a screw rod (13), a moving rod (14) and an air cylinder (15), the second motor (12) is arranged on the support rod (2), the screw rod (13) is installed on the motor, the moving rod (14) is sleeved on the screw rod (13), the screw rod (13) drives the moving rod (14) to move, and the air cylinder (15) is vertically arranged on the moving rod (14) downwards;
the clamping mechanism comprises a sleeve (16), an abutting component and a clamping component, one end of the sleeve (16) is connected with an air rod of the air cylinder (15), a fixing block (17) is arranged at the other end of the sleeve (16), the abutting component comprises a pressing rod (18), a pressing plate (19), a spring (20), a sliding block (21) and a connecting rod (22), the pressing plate (19) is arranged below the sleeve (16), one end of the pressing rod (18) is located in the sleeve (16), the other end of the pressing rod (18) extends out of the sleeve (16) and is connected with the pressing plate (19), the sliding block (21) is arranged in the sleeve (16), the sliding block (21) is connected with the sleeve (16) in a sliding manner, the spring (20) is arranged between the pressing rod (18) and the sliding block (21), one end of the spring (20) is connected with the sliding block (21), and the other end of the spring (20) is connected with the pressing rod (18, be equipped with vertical spout on sleeve pipe (16), connecting rod (22) stretch into sleeve pipe (16) in be connected with slider (21), connecting rod (22) and spout sliding connection, the centre gripping subassembly includes four clamping unit, and two adjacent clamping unit are 90 at the contained angle that forms, the clamping unit includes clamping bar (23), stay cord (24), fixed pulley (25), gag lever post (26) and slide bar (27), the one end and fixed block (17) of clamping bar (23) are articulated, the cross-section of clamping bar (23) is the arc, the centre of a circle of clamping bar (23) arc cross-section is located the axis of sleeve pipe (16), fixed pulley (25) set up on fixed block (17), be equipped with vertical bar groove on sleeve pipe (16), slide bar (27) are located the bar inslot, slide bar (27) and bar groove sliding connection, gag lever post (26) set up outside sleeve pipe (16), one end of the limiting rod (26) is connected with one end of the sliding rod (27) far away from the strip-shaped groove, the other end of the limiting rod (26) is abutted against the clamping rod (23), the positioning wheel is positioned in the sleeve (16), one end of the pull rope (24) is connected with one end of the pressure lever (18) positioned in the sleeve (16), the other end of the pull rope (24) is connected with a sliding rod (27) by passing through a fixed pulley (25), the fixed block (17) is provided with a limiting unit which comprises a clamping block (28) and a glass bead screw (29), the fixture block (28) is arranged on the fixing block (17), the fixture block (28) is positioned in the sleeve (16), the glass bead screws (29) are arranged in the clamping blocks (28), the pressing rod (18) is provided with a plurality of grooves, the grooves are uniformly arranged along the axial direction of the pressing rod (18), and the glass bead screws (29) are positioned in one clamping groove;
be equipped with collection box (30) on base (1), be equipped with baffle (31) on branch (2), baffle (31) are articulated with branch (2), baffle (31) are located the top of collection box (30), baffle (31) are equipped with the torsional spring with the articulated department of branch (2), be equipped with PLC in base (1), detector (11), first motor (4) and second motor (12) all are connected with the PLC electricity.
2. The robot for industrial part inspection according to claim 1, characterized in that the cross bar (3) is provided with a sliding slot, one end of the moving rod (14) is located in the sliding slot, and the moving rod (14) is slidably connected with the sliding slot.
3. The robot for industrial part detection according to claim 1, wherein the two sides of the strip-shaped groove of the slide rod (27) are provided with limiting grooves, the two sides of the slide rod (27) are provided with limiting blocks (32), the limiting blocks (32) are located in the limiting grooves, and the limiting blocks (32) are connected with the limiting grooves in a sliding manner.
4. The robot for industrial part inspection according to claim 1, wherein a slot is provided on the clamping bar (23), and one end of the limiting bar (26) is located in the slot.
5. The robot for industrial part inspection according to claim 4, characterized in that the end of the limiting rod (26) located inside the slot is provided with a roller, and the roller is connected with the slot in a rolling manner.
6. The robot for industrial part inspection according to claim 1, wherein there are two bead screws (29), the two bead screws (29) are respectively disposed on both sides of the block (28), both sides of the pressing rod (18) are provided with grooves, and the bead screws (29) are disposed corresponding to the grooves.
7. The robot for industrial part inspection according to claim 1, characterized in that a torsion spring is provided at the hinge of the clamping bar (23) and the fixed block (17).
8. Robot for industrial parts inspection according to claim 1, characterized in that the maximum distance of the recovery box (30) from the base (1) is smaller than the maximum distance of the conveyor belt (10) from the base (1).
9. The robot for industrial part inspection according to claim 1, characterized in that a bearing seat is provided on the cross bar (3), and one end of the screw rod (13) remote from the motor is located in the bearing seat.
10. The robot for industrial part inspection according to claim 1, characterized in that the pull rope (24) is an elastic rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010380943.7A CN111633641A (en) | 2020-05-08 | 2020-05-08 | Robot for industrial part detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010380943.7A CN111633641A (en) | 2020-05-08 | 2020-05-08 | Robot for industrial part detection |
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| Publication Number | Publication Date |
|---|---|
| CN111633641A true CN111633641A (en) | 2020-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010380943.7A Withdrawn CN111633641A (en) | 2020-05-08 | 2020-05-08 | Robot for industrial part detection |
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| CN (1) | CN111633641A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223329A (en) * | 2020-12-14 | 2021-01-15 | 烟台工程职业技术学院(烟台市技师学院) | Feeding manipulator convenient to use |
| CN112374443A (en) * | 2020-10-30 | 2021-02-19 | 江西龙威环保科技发展有限公司 | Precious production of car fuel is put things in good order equipment |
| CN112497106A (en) * | 2020-11-25 | 2021-03-16 | 张家港台达机械制造有限公司 | Quick clamping device for machine manufacturing |
| CN112792823A (en) * | 2021-01-19 | 2021-05-14 | 王晶晶 | Intelligent coating industrial robot |
| CN113441934A (en) * | 2021-07-15 | 2021-09-28 | 嘉善逸桐科技股份有限公司 | Micro-control clamping device for assembly of communication industry components |
| CN113619662A (en) * | 2021-08-16 | 2021-11-09 | 广州纵横同舟科技有限公司 | Workshop circulating vehicle for automobile manufacturing |
| CN113858246A (en) * | 2021-09-30 | 2021-12-31 | 昆山普勒希精密元件有限公司 | Grabbing and shifting device for assembly line type processing of electrical precision elements |
| CN114347081A (en) * | 2021-12-27 | 2022-04-15 | 江苏哈工药机科技股份有限公司 | Industrial robot's clamping device |
| CN114772272A (en) * | 2022-06-16 | 2022-07-22 | 江苏凤坡工程机械有限公司 | Ore snatchs manipulator for mining |
| CN114872071A (en) * | 2021-02-05 | 2022-08-09 | 江西华派光电科技有限公司 | Glass substrate centre gripping manipulator |
| CN115739652A (en) * | 2022-11-19 | 2023-03-07 | 南京博克纳自动化系统有限公司 | Nut seat groove detection device |
| CN116197935A (en) * | 2022-12-23 | 2023-06-02 | 江苏三铭智达科技有限公司 | Intelligent robot centre gripping fixing device |
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2020
- 2020-05-08 CN CN202010380943.7A patent/CN111633641A/en not_active Withdrawn
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112374443A (en) * | 2020-10-30 | 2021-02-19 | 江西龙威环保科技发展有限公司 | Precious production of car fuel is put things in good order equipment |
| CN112374443B (en) * | 2020-10-30 | 2022-02-11 | 江西龙威环保科技发展有限公司 | Precious production of car fuel is put things in good order equipment |
| CN112497106A (en) * | 2020-11-25 | 2021-03-16 | 张家港台达机械制造有限公司 | Quick clamping device for machine manufacturing |
| CN112223329A (en) * | 2020-12-14 | 2021-01-15 | 烟台工程职业技术学院(烟台市技师学院) | Feeding manipulator convenient to use |
| CN112792823A (en) * | 2021-01-19 | 2021-05-14 | 王晶晶 | Intelligent coating industrial robot |
| CN114872071A (en) * | 2021-02-05 | 2022-08-09 | 江西华派光电科技有限公司 | Glass substrate centre gripping manipulator |
| CN113441934A (en) * | 2021-07-15 | 2021-09-28 | 嘉善逸桐科技股份有限公司 | Micro-control clamping device for assembly of communication industry components |
| CN113619662A (en) * | 2021-08-16 | 2021-11-09 | 广州纵横同舟科技有限公司 | Workshop circulating vehicle for automobile manufacturing |
| CN113858246A (en) * | 2021-09-30 | 2021-12-31 | 昆山普勒希精密元件有限公司 | Grabbing and shifting device for assembly line type processing of electrical precision elements |
| CN114347081A (en) * | 2021-12-27 | 2022-04-15 | 江苏哈工药机科技股份有限公司 | Industrial robot's clamping device |
| CN114772272A (en) * | 2022-06-16 | 2022-07-22 | 江苏凤坡工程机械有限公司 | Ore snatchs manipulator for mining |
| CN114772272B (en) * | 2022-06-16 | 2022-08-26 | 江苏凤坡工程机械有限公司 | Ore snatchs manipulator for mining |
| CN115739652A (en) * | 2022-11-19 | 2023-03-07 | 南京博克纳自动化系统有限公司 | Nut seat groove detection device |
| CN115739652B (en) * | 2022-11-19 | 2023-12-26 | 南京博克纳自动化系统有限公司 | Nut seat slot detection device |
| CN116197935A (en) * | 2022-12-23 | 2023-06-02 | 江苏三铭智达科技有限公司 | Intelligent robot centre gripping fixing device |
| CN116197935B (en) * | 2022-12-23 | 2023-10-20 | 江苏三铭智达科技有限公司 | Intelligent robot centre gripping fixing device |
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