CN112676833A - Detection device and cantilever production line - Google Patents

Abstract

The invention relates to the technical field of wrist arm assembly, in particular to a detection device and a wrist arm production line. A detection device, comprising: the lug detection module is used for positioning lugs on an object to be detected; the hole detection module is used for positioning a mark hole on a measured object; the measuring module can measure the length of the measured object. The technical problem that wrists of different specifications cannot be produced on a cantilever production line in the prior art is solved.

Description

Detection device and cantilever production line

Technical Field

The invention relates to the technical field of wrist arm assembly, in particular to a detection device and a wrist arm production line.

Background

The invention discloses a high-efficiency cantilever preassembling production line, which is characterized in that a passenger dedicated line and a common-speed railway steel cantilever system are adopted in a large number of overhead lines of an electrified railway, the cantilever is used as an important part in a steel cantilever system supporting structure and needs to be matched with other parts of the cantilever system in terms of specification, material, performance, interface mode and the like, the safety performance of the cantilever system is guaranteed while the installation is required to be simple, the demand of the cantilever is large, a cantilever preassembling production line is adopted to produce the cantilever, for example, the invention of No. CN201921052028.4 and named as a high-efficiency cantilever preassembling production line discloses the high-efficiency cantilever preassembling production line, a feeding rack is arranged on a cantilever feeding device, a feeding groove is arranged on one side of the feeding rack, two ends of the feeding groove are connected with feeding strips, one end of the feeding strip is fixed on the outer edge of the feeding groove, the other end of the feeding strip is wound on a rotating roller positioned on the inner edge of the feeding, the conveying chain for transporting the wrists to the production line is arranged beside the rotating roller, the feeding belt is tightened to lift the wrists to the conveying chain, and the cantilever pre-assembly production line in the prior art has the following problems:

1. the loading device cannot produce the wrists with different specifications and shapes in an uninterrupted and random switching mode, so that the whole production line cannot produce the wrists with different specifications and shapes in an uninterrupted mode according to actual requirements.

2. Because the measuring device is not arranged to accurately measure the length of the cantilever, the whole production line cannot uninterruptedly produce the cantilevers with different specifications and lengths according to actual requirements.

3. The tightening device on the wrist arm production line performs tightening action on the firm piece from the lower end of the production line.

4. For the wrists which do not need to be processed by some work stations on the wrists production line, the wrists also need to be conveyed to the tail end of the production line to be moved away from the production line, so that the production efficiency is low.

Disclosure of Invention

In order to solve the technical problem that wrists with different specifications cannot be produced on a cantilever production line in the prior art, the invention provides a cantilever pretreatment device and a cantilever production line, and solves the technical problem. The technical scheme of the invention is as follows:

a detection device, comprising: the lug detection module can be used for positioning lugs on an object to be detected; the hole detection module can be used for positioning a mark hole on a detected object; the measuring module can measure the length of the measured object.

According to one embodiment of the invention, the two groups of measuring modules are arranged, each measuring module comprises a blocking module and a position detecting module, the blocking modules are configured to be installed in a sliding mode, the blocking modules are located on one side of a walking path of a measured object in an initial state, the blocking modules move to the walking path to limit the measured object when the measuring modules work, and meanwhile the position detecting modules detect and feed back position information of the measured object.

According to one embodiment of the invention, the blocking module comprises: the fixing piece is fixedly assembled on the sliding seat, and a through sliding channel is formed on the fixing piece; the first end of the blocking piece is provided with a limiting bulge, the limiting bulge is larger than the caliber of the sliding channel, and the second end of the blocking piece penetrates through the sliding channel and can protrude out of the fixing piece; the elastic piece is located in the sliding channel and is configured on the blocking piece to provide a resetting force for the blocking piece.

According to an embodiment of the present invention, the two sets of modules are a first measurement module and a second measurement module, respectively, the first measurement module is disposed on the fixed base, the second measurement module is disposed on the sliding table, and the sliding table is further disposed with a rotating chuck.

According to one embodiment of the invention, the rotary chuck is located between the hole detection module and the lug detection module, and the rotary chuck is configured on a walking path of the object to be measured in a sliding manner.

According to an embodiment of the invention, a lug detection module is further slidably mounted on the fixed seat, and the lug detection module comprises at least two laser ranging sensors, wherein the two laser ranging sensors are arranged on the same horizontal plane, and emitted light can be incident on the surface of the lug.

According to one embodiment of the present invention, the mobile phone further comprises a hole detection module including a laser sensor arranged in a circumferential direction of the walking path, the laser sensor emitting light capable of passing through the marking hole on the wrist arm.

According to an embodiment of the invention, the device further comprises a clamping module, wherein the clamping module is used for clamping the object to be measured, and the clamping module is configured to slide along the walking path of the object to be measured.

A wrist arm production line comprises the detection device and a feeding module, wherein the feeding module comprises at least one transfer carrier and a conveying assembly, an object to be detected moves to the tail end through the head end of the transfer carrier, and the conveying assembly conveys the object to be detected to the detection device from the transfer carrier.

According to an embodiment of the invention, the transfer carrier further comprises a feeding assembly for feeding the object to be measured to the head end of the transfer carrier.

According to one embodiment of the invention, the loading assembly comprises: the transmission parts comprise driving wheels, driven wheels and chains, the driving wheels and the driven wheels are vertically arranged, and the chains move under the driving of the driving wheels and the driven wheels; the supporting seat is assembled on the chain; the feeding driving part drives all driving wheels to synchronously rotate through the rotating shaft.

According to one embodiment of the invention, the device further comprises a measured object processing module, wherein the measured object processing module comprises a drilling assembly and a cutting assembly, the drilling assembly and the cutting assembly are sequentially arranged along the traveling path direction of the measured object, and the drilling assembly and the cutting assembly are integrally installed together.

According to one embodiment of the invention, the device further comprises a tightening device arranged downstream of the object under test processing module.

According to one embodiment of the invention, the tightening device comprises a clamp unit and a robot end structure, the clamp unit and the robot end structure are positioned on two sides of the wrist arm production line, the clamp unit performs a pressing and/or isolating action on a fastener penetrating on a measured object, and the robot end structure conveys the fastener to the clamp unit and performs a tightening action.

According to one embodiment of the invention, the robot tip structure comprises: the rotary base is fixed at an execution end of the robot, at least two fixing plates are arranged on the periphery of the rotary base, and the two fixing plates are respectively provided with a clamping claw assembly and an upper screwing assembly.

According to one embodiment of the invention, the tightening device is further provided with at least one lower tightening assembly which performs a tightening action on the fastener from the lower end of the wrist-arm production line.

According to one embodiment of the invention, the device further comprises a discharging module, and the discharging module is used for moving the workpiece processed by the measured object processing module and the workpiece screwed by the screwing device away from a production line.

Based on the technical scheme, the invention can realize the following technical effects:

1. the detection device comprises a lug detection module, a hole detection module, a rotary chuck and two groups of measurement modules, wherein the lug detection module can be used for positioning a lug on a detected object so as to lock a clamp according to the positioned lug to meet the actual requirement; the hole detection module can position the mark hole on the object to be detected so as to conveniently drill the object to be detected according to the positioned mark hole to meet the actual requirement; the rotating chuck is located between hole detection module and lug detection module, the rotating chuck is disposed on the walking path of the measured object by sliding, the measurement module comprises a blocking module and a position detection module, and thus the rotating chuck drives the measured object to reciprocate along the walking path, so that the two ends of the measured object are respectively blocked and limited after colliding with the blocking modules of the two sets of measurement modules, and meanwhile, the position detection module detects the position information of the feedback cantilever, so that the length of the cantilever can be measured as required, and the cantilever can be processed and used in later work stations. Further, the blocking module is configured to be installed in a sliding mode, specifically, the blocking module is located on one side of a walking path of the cantilever in an initial state, the blocking module moves to the walking path to block the limiting cantilever in work, and after the position detection module transmits detection information, the blocking module leaves the walking path, so that the blocking module cannot interfere the movement of the cantilever to a next work station.

2. The cantilever pretreatment device further comprises a feeding module, wherein the feeding module conveys the measured object to the detection device, specifically, the feeding module comprises at least one transfer carrier and a conveying assembly, the measured object moves to the tail end through the head end of the transfer carrier, and the conveying assembly conveys the measured object from the transfer carrier to the detection device. In addition, the material loading subassembly is with the cantilever material loading of difference to the head end of transferring the carrier, specifically, the material loading subassembly includes at least two sets of driving medium, supporting seat and material loading driving piece, two at least driving medium parallel arrangement, the driving medium includes the action wheel, from driving wheel and chain, action wheel and vertical the arranging from the driving wheel, the chain is at the action wheel and the drive downstream from the driving wheel, the supporting seat assembly is on the chain, different cantilevers are put to the supporting seat, the material loading driving piece passes through the axis of rotation and drives all action wheels synchronous rotation, the action wheel passes through the chain and drives from the driving wheel rotation, and then drive the supporting seat on the chain and the cantilever motion on it, until the cantilever is put to.

3. The invention discloses a wrist arm preprocessing device which comprises a lug detecting module and a rotary chuck, wherein the lug detecting module comprises at least two laser ranging sensors, the two laser ranging sensors are arranged on the same horizontal plane, emitted light can be incident on the surface of a lug, the wrist arm is driven to rotate by the rotary chuck, and when the two laser ranging sensors are detected to be equal in distance from the lug surface, the lug is positioned.

4. The wrist arm preprocessing device comprises a hole detection module and a rotary chuck, wherein the hole detection module comprises a laser sensor, the laser sensor is arranged in the circumferential direction of a walking path, light emitted by the laser sensor can penetrate through a hole in the wrist arm to detect the distance between the laser sensor and the surface of the wrist arm, the rotary chuck drives the wrist arm to rotate within the range of the distance between the laser sensor and the wrist arm set by a background monitor, the light emitted by the laser sensor can penetrate through the hole in the wrist arm to detect the exceeding range, the rotary chuck drives the wrist arm to rotate and then rotate, the distance between the laser sensor and the wrist arm is detected to be within the set range, and the background monitor records the rotating angle so that a subsequent work station can rapidly assemble a workpiece and the wrist arm by using the rotating angle.

5. The wrist arm production line comprises a tightening device, the tightening device can simultaneously perform tightening actions on two wrist arms, specifically, the tightening device is arranged at the downstream of the measured object processing module and comprises a clamp unit and a robot tail end structure, the clamp unit and the robot tail end structure are positioned at two sides of the wrist arm production line, the clamp unit performs and/or isolates actions on fasteners penetrating through the wrist arms, the robot tail end structure conveys the fasteners to the clamp unit and performs tightening actions on the wrist arms, in addition, the tightening device also comprises at least one lower tightening assembly, and the lower tightening assembly can perform tightening actions on the fasteners from the lower end of the wrist arm production line.

Drawings

FIG. 1 is a schematic structural diagram of a lug detection module;

FIG. 2 is a schematic view of the structure of the lug detection module engaged with the wrist;

FIG. 3 is a schematic view of the structure of the lug detection module, the spin chuck, and the clamping module;

FIG. 4 is a schematic structural diagram of a measurement module;

FIG. 5 is a cross-sectional view of FIG. 4;

FIG. 6 is a schematic structural view of a clamping module;

FIG. 7 is a schematic view of a measuring path of a measured object;

FIG. 8 is a schematic illustration of the steps of marking hole location;

FIG. 9 is a schematic structural diagram of a loading module;

FIG. 10 is a partial junction schematic of FIG. 9;

FIG. 11 is a schematic structural view of a feeding assembly;

FIG. 12 is a partial junction schematic of FIG. 11;

FIG. 13 is a schematic view of the configuration of the engagement of the transfer carrier with the loading assembly;

FIG. 14 is a schematic view of the structure of the measured object processing module;

FIG. 15 is a schematic view of the mounting base;

FIG. 16 is a schematic structural view of an isolation assembly;

FIG. 17 is a schematic view of a hold-down assembly;

FIG. 18 is a schematic view of the assembly of the vertical linear module and the horizontal linear module;

FIG. 19 is a schematic view showing the structure of the end of the robot

FIG. 20 is a schematic view of the engagement of the jaw assembly with the workpiece

FIG. 21 is a schematic view of a robot configuration;

FIG. 22 is a schematic view of the configuration of the slide plate, lower tightening drive module and lower tightening sleeve in cooperation;

FIG. 23 is a schematic view of the tightening device;

fig. 24 is a partial structural view of the tightening device;

FIG. 25 is a schematic view of the lower tightening assembly;

fig. 26 is a schematic structural view of the wrist production line.

In the figure:

1-lug detection module; 11-laser ranging sensor; 12-a mounting frame; 13-a fixed seat; 2-a well detection module; 3-a measuring module; 31-a blocking module; 311-a fixing member; 3111-sliding channels; 312-a barrier; 3121-a limit projection; 3122-a limit piece; 313-an elastic member; 32-a position detection module; 4-rotating the chuck; 41-rotating chuck driving module; 42-a slide table; 421-a sliding table driving module; 5-a clamping module; 51-a support assembly; 511-vertical support bar; 512-transverse support bar; 52-a jaw; 521-a mounting plate; 53-jaw drive module; 6-a feeding module; 61-a transfer vector; 62-a transport assembly; 621-a clamping member; 622-linear module; 63-a feeding assembly; 631-a transmission; 6311-driving wheel; 6312-driven wheel; 6313-chain; 632-a support base; 6321-card slot; 633-a transmission assembly; 64-a rotating shaft; 7-processing the module; 71-a drilling assembly; 72-a cutting assembly; 8-a tightening device; 81-a gripper unit; 811-a mount; 8111-mounting groove; 8112-avoidance holes; 812-an isolation component; 8121-spacer blocks; 8122-isolation driving module; 813-a hold down assembly; 8131-briquetting; 8132-pressing driving module; 814-vertical straight line module; 815 a horizontal straight line module; 82-robot end structure; 821-rotating the susceptor; 8211-fixed plate; 822-a gripper jaw assembly; 8221-adapting member; 8222-gripper jaw drive module; 8223-gripper jaw; 82231-projection; 823-screwing the assembly; 83-lower tightening assembly; 831-lower tightening drive module; 832-a skateboard; 833-screwing down the sleeve; 84-first tightening chuck; 85-a second tightening chuck; 9-a discharge assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1 to 26, the detecting device of the present invention includes a lug detecting module 1, a hole detecting module 2, and a measuring module 3, where the lug detecting module 1 is used to position, such as angularly position, a lug on an object to be detected, so that a subsequent station can lock a clamp according to the positioned lug, thereby meeting practical requirements; the hole detection module 2 is used for positioning, such as angle positioning, a mark hole on a measured object, so that a subsequent work station can determine the installation relative angle of the cantilever according to the angle of the positioned mark hole and then lock the clamp, and therefore the actual requirement is met; the measuring module 3 is used for measuring the length of the measured object, so that the subsequent work station can conveniently cut according to the measured length, and the actual requirement can be met.

The cantilever pre-assembly production line in the prior art is not provided with a detection device to measure the length of the cantilever, position the lug and position the marking hole, so that the wrists with different lengths and specifications cannot be accurately produced according to requirements, the clamp cannot be locked according to the position of the lug, and holes cannot be drilled according to the position of the marking hole. This embodiment sets up detection device through the upstream at the locking of cantilever, drilling and cutting work station to be used for carrying out length measurement, lug location and mark hole location to the cantilever, be convenient for follow-up work station according to the processing cantilever of detection data, produce the cantilever of different specifications like this, thereby solved the technical problem that can not produce the cantilever of different specifications on the cantilever production line.

As shown in fig. 3 and 4, the measurement module 3 of this embodiment includes a blocking module 31 and a position detection module 32, the blocking module 31 and the position detection module 32 cooperate with each other to detect the position of the object, specifically, the external driving member drives the wrist to move along the walking path, when one end of the wrist contacting the blocking module 31 is blocked and limited, the other end of the blocking module 31 enters the detection range of the position detection module 32, and the position detection module 32 detects and feeds back the position information of the wrist.

Further, the blocking module 31 is configured to be installed in a sliding manner, specifically, the blocking module 31 is located on one side of a walking path of the cantilever in an initial state, the blocking module 31 moves to the walking path to block the limiting cantilever in operation, and after the blocking module 32 transmits the detection information, the blocking module 31 leaves the walking path, so that the blocking module 31 does not interfere with the movement of the cantilever to a next work station.

As shown in fig. 4, the blocking module 31 of the present embodiment includes a fixing part 311, a blocking part 312 and an elastic part 313, the fixing part 311 and the blocking part 312 form a sliding fit, specifically, a sliding channel 3111 is formed on the fixing part 311, a limiting protrusion 3121 is formed at a first end of the blocking part 312, the limiting protrusion 3121 is larger than the caliber of the sliding channel 3111, and a second end of the blocking part 312 passes through the sliding channel 3111 and can protrude out of the fixing part 311, preferably, a limiting part 3122 is provided at a second end of the blocking part 312, so that the blocking part 312 cannot be separated from the sliding channel 3111 when sliding along the sliding channel 3111, further, the elastic part 313 of the present embodiment is disposed in the sliding channel 3111 and on the blocking part 312, preferably, the elastic part 313 is a spring and is disposed on the blocking part 312, and the spring can provide a force to reset.

Further, the blocking module 31 and the blocking module 32 of this embodiment cooperate with each other to continuously detect the position information of the wrist arm, specifically, the blocking module 32 is disposed at one side of the fixing member 311, and is close to the second end of the blocking member 312, under the action of external force, after the wrist arm collides with the limiting protrusion 3121, the blocking member 312 slides in the sliding channel 3111, so that the second end of the blocking member 312 can move to the detection range of the blocking module 32, the blocking module 32 feeds back the position information of the wrist arm, and after the wrist arm and the limiting protrusion 3121 are out of contact, the spring provides a reset force to reset the blocking member 312 to the initial position, so as to measure the position of the next wrist arm. The blocking module 32 is not limited to an inductive sensor, and may be configured to record the position of the wrist arm in a feedback manner.

As shown in fig. 2, 3, 6 and 7, the detecting device of this embodiment can also complete the length measurement of the wrist arm by matching two sets of measuring modules 3 and the clamping module 5, specifically, the two sets of measuring modules 3 are respectively a first measuring module and a second measuring module, the first measuring module is disposed on the fixed base 13, the second measuring module is disposed on the sliding table 42, the clamping module 5 is configured as a gripper, the external driving member clamps the object to be measured to move toward the second measuring module, the first measuring module is set to be abdicating so that the first end of the object to be measured first contacts with the second measuring module, then the second measuring module is set to be abdicating, the object to be measured travels along the traveling path by the distance L1, so that the object to be measured is clamped by the gripper; then the wrist continues to travel the distance L2 along the travel path until the second end of the wrist passes the first measuring module; then the mechanical claw clamps the cantilever to move towards the first measuring module, the cantilever travels reversely until the second end of the cantilever is contacted with the first measuring module, and the reverse travel distance L3 of the cantilever is calculated; this allows the calculation of the length of the wrist L, L-L1 + L2-L3. The length of cantilever is measured to accurate like this, and the work station of being convenient for the low reaches cuts out the cantilever of different length according to actual need to satisfy the production needs.

Further, the clamping module 5 of the present embodiment may also be in other forms, for example, as shown in the figures and shown in the drawings, the clamping module 5 includes a supporting assembly 51, a clamping jaw 52 and a clamping jaw driving module 53, the supporting assembly 51 includes at least two vertical supporting rods 511 and at least three horizontal supporting rods 512, two ends of the horizontal supporting rods 512 are respectively fixedly connected with the two vertical supporting rods 511, the three horizontal supporting rods 512 are arranged on the two vertical supporting rods 511 at intervals, so that the supporting assembly 51 forms a frame structure, the clamping jaw 52 and the clamping jaw driving module 53 are arranged in at least two groups, the two groups of clamping jaws 52 and the clamping jaw driving module 53 are arranged oppositely by the two vertical supporting rods 511 and are in the same straight line in the vertical direction, the telescopic ends of the clamping jaw driving module 53 are fixedly connected by the bearing part and the vertical supporting rods 511, the telescopic ends of the clamping jaw driving module 53 pass through the vertical, the two clamping jaws 52 are driven by the two clamping jaw driving modules 53 to move relatively to clamp the wrist arm. The clamping jaw driving module 53 is not limited to be motor-driven, and can drive the clamping jaw 52 to clamp the object to be measured.

According to an embodiment of the present invention, as shown in fig. 3, the sliding table 42 of the present embodiment is further provided with a rotating chuck 4, specifically, the rotating chuck 4 is located between the hole detection module 2 and the lug detection module 1, the rotating chuck 4 is slidably arranged on the traveling path of the object to be measured, and the rotating chuck 4 is fixedly assembled on the sliding table 42.

Further, as shown in fig. 1, 2, 3, 6 and 7, the detecting device of this embodiment further includes a lug detecting module 1, the lug detecting module 1 and the rotating chuck 4 are matched to position the lug, specifically, the lug detecting module 1 includes at least two laser ranging sensors 11 and an installation frame 12, the at least two laser ranging sensors 11 are respectively and fixedly assembled on the two installation frames 12, the two installation frames 12 are arranged in parallel, the two laser ranging sensors 11 are arranged on the same horizontal plane, light emitted from the laser ranging sensors 11 can be incident on the surface of the lug to feed back data, when the position of the lug is positioned, the wrist is clamped by the rotating chuck 4, light emitted from the two laser ranging sensors 11 is incident on the wrist, the background monitor detects that distances from the two laser ranging sensors 11 to the surface of the lug are not equal, the rotating chuck driving module 41 drives the rotating chuck 4 and the wrist thereon to rotate, when the background monitor detects that the distances from the two laser ranging sensors 11 to the surfaces of the lugs are equal, the spin chuck driving module 41 stops driving the spin chuck 4 and the upper wrist arm thereof to rotate, and meanwhile, the servo motor of the spin chuck driving module 41 records the rotating angle, namely the first quadrant angle, and feeds the rotating angle back to the background monitor so that the subsequent work station can use the data. The spin chuck driving module 41 is optionally, but not limited to, a motor, and can drive the spin chuck 4 to rotate.

Further, as shown in fig. 3, 6, 7 and 8, the apparatus of this embodiment further includes a hole detection module 2, the spin chuck 4 and the clamping module 5 cooperate to position the marked hole, specifically, the spin chuck 4 is disposed on the sliding table 42, the hole detection module 2 includes a laser sensor, the laser sensor is disposed in the circumferential direction of the walking path, the hole detection module 2 can detect the marked hole position through the laser sensor, the laser sensor is fixedly mounted on the transverse support rod 512, after the wrist is clamped by the spin chuck 4, the wrist moves towards the clamping module 5 under the action of the sliding table driving module 421, as shown in fig. 8, for easy understanding, fig. 8 is a cross-sectional view of the wrist as seen from the right side, and the hole detection steps are as follows: the rotating chuck driving module 41 drives the rotating chuck 4 and the upper wrist arm thereof to rotate, and when the light emitted by the laser sensor passes through the position of the upper hole of the wrist arm, the distance between the laser sensor and the wrist arm is detected and exceeds a set range; step two: the rotating chuck driving module 41 then drives the rotating chuck 4 and the upper wrist arm thereof to rotate counterclockwise, detects a critical point that the distance between the laser sensor and the wrist arm is within a set range, and indicates that the laser sensor has rotated to the edge position of one side of the hole, and in the process, calculates a rotation angle α 1 according to the revolution number of the servo motor of the rotating chuck driving module 41; step three: the spin chuck driving module 41 then drives the spin chuck 4 and the upper arm thereof to rotate clockwise, detects the distance between the laser sensor and the upper arm, and indicates that the laser sensor has rotated to the edge position on the other side of the hole again at the critical point within the set range, and in the process, calculates the rotation angle α 2 according to the number of revolutions of the servo motor of the spin chuck driving module 41; step four: the angle of the hole is calculated to be α 2 according to the data fed back by the servo motor, and then the spin chuck 4 only needs to rotate by α 2/2 counterclockwise, which is the central axis position of the hole, and at the same time, the servo motor of the spin chuck driving module 41 records the rotation angle, i.e. the second quadrant angle, and feeds back the rotation angle to the background monitor, so that the subsequent station can use the data. The sliding table driving module 421 can be selected from, but not limited to, a motor, and can drive the spin chuck 4 to move.

The embodiment further provides a wrist arm production line, as shown in fig. 9-13, which includes the above-mentioned detection device and the feeding module 6, the feeding module 6 can uninterruptedly convey wrists of different specifications to the detection device, specifically, the feeding module 6 includes at least one transfer carrier 61 and a conveying assembly 62, the transfer carrier 61 is disposed obliquely, a head end of the transfer carrier 61 is higher than a tail end, after the wrist arm is conveyed to the head end of the transfer carrier 61, the wrist arm rolls to the tail end of the transfer carrier 61 along the oblique bearing surface of the transfer carrier 61 under the action of its own gravity, the conveying assembly 62 is disposed near the tail end of the transfer carrier 61, the conveying assembly 62 includes a clamping member 621 and a linear module 622, after the clamping member 621 clamps the wrist arm from the tail end of the transfer carrier 61, the linear module 622 drives the clamping member 621 and the wrist arm thereon to move to the detection device in the feeding direction, the clamp 621 may be selected from, but not limited to, pneumatic jaws 52; the linear module 622 may alternatively, but not exclusively, be a motor rack and pinion assembly.

Further, the feeding module 6 of the present embodiment further includes a feeding assembly 63, and the feeding assembly 63 transports the wrist arm to the head end of the transfer carrier 61. Specifically, the feeding assembly 63 comprises transmission pieces 631, a support seat 632 and feeding driving pieces, the transmission pieces 631 are arranged in at least two groups, the transmission pieces 631 are arranged in parallel, the wrist arm can keep balance when being conveyed by the two groups of transmission pieces 631, the transmission pieces 631 comprise a driving wheel 6311, a driven wheel 6312 and a chain 6313, the driving wheel 6311 and the driven wheel 6312 are vertically arranged, and the chain 6313 moves under the driving of the driving wheel 6311 and the driven wheel 6312; the feeding driving member drives all the driving wheels 6311 to rotate synchronously through the rotating shaft 634. Specifically, all the driving wheels 6311 are mounted on the rotating shaft 634, the feeding driving member drives the rotating shaft 634 to rotate, and the rotating shaft 634 can drive all the driving wheels 6311 thereon to rotate synchronously. For convenience of assembly, the feeding driving member may be configured to drive the rotating shaft 634 to rotate via the transmission assembly 633, and the transmission assembly 633 may be selected from, but not limited to, a gear transmission assembly and a pulley transmission assembly. The supporting seat 632 is provided with a plurality of supporting seats, one end of each supporting seat 632 is fixedly assembled through a locking piece and a chain 6313, and a clamping groove 6321 is formed in each supporting seat 632 to accommodate a wrist arm, so that the wrist arm is conveyed to the head end of the transfer carrier 61.

As shown in fig. 14, the cantilever preprocessing device of the present embodiment further includes a cantilever processing module 7, and the cantilever processing module 7 performs drilling and cutting operations on the cantilever positioned by length measurement. Specifically, the wrist processing module 7 includes a drilling assembly 71 and a cutting assembly 72, the drilling assembly 71 and the cutting assembly 72 are sequentially arranged along the traveling path of the wrist, the drilling assembly 71 and the cutting assembly 72 can adopt conventional devices in the prior art, and in addition, the drilling assembly 71 adjusts the position of the wrist according to a second quadrant angle recorded when the hole detection module 2 locates the hole during drilling, so as to drill the hole quickly.

Further, the drilling assembly 71 and the cutting assembly 72 are integrally installed together, the integrated installation relative position is fixed, debugging is not needed to be carried out when the drilling assembly and the cutting assembly are moved every time, and the debugging progress and the production precision are effectively guaranteed.

As shown in fig. 23, 24 and 25, the tightening device 8 of the present embodiment includes a gripper unit 81 and a robot end structure 82, the gripper unit 81 and the robot end structure 82 are located on both sides of the wrist production line, the gripper unit 81 performs a pressing and/or separating action on a fastener threaded on an object to be measured, and the robot end structure 82 conveys the fastener to the gripper unit 81 and performs a tightening action.

As shown in fig. 15 to 18, the tightening device 8 of the present embodiment includes a clamp unit 81, in the present embodiment, a fastened member is configured as a clamp, the clamp includes a first fastening portion and a second fastening portion, a clamp is configured on a fastening member 813, the clamp unit 81 includes a mounting seat 811 and a spacer assembly 812, the mounting seat 811 and the spacer assembly 812 cooperate to separate and expand the first fastening portion and the second fastening portion, specifically, a mounting groove 8111 for accommodating the fastened member is formed on one side of the mounting seat 811, so that the clamp can be placed in the mounting groove 8111, the spacer assembly 812 includes a spacer driving module 8122 and a spacer block 8121 fixed to the mounting seat 811, the spacer block 8121 is connected to a telescopic end of the spacer driving module 8122, the spacer block 8121 can slide relative to the mounting seat 811, after the clamp is placed in the mounting groove 8111, the spacer driving module 8122 drives the spacer block 8121 to move toward the bolt rod, so that the spacer block 8121 extends between the first fastening portion and the second fastening portion, and then keep apart first fastening portion and second fastening portion, keep apart drive module 8122 optional but the cylinder, can drive the motion of spacing block 8121.

The clamp unit 81 of this embodiment further includes a pressing component 813, the pressing component 813 can press the bolt from the top of the hoop, specifically, the pressing block 8131 and the pressing drive module 8132 are connected in a telescopic manner, when the bolt needs to be pressed, the pressing drive module 8132 drives the pressing block 8131 to move towards the bolt, so that the pressing block 8131 presses the bolt, and when the bolt needs to be disengaged, the pressing drive module 8132 drives the pressing block 8131 to move away from the bolt, so that the pressing block 8131 is disengaged from the bolt. The pressing driving module 8132 can be selected from, but not limited to, an air cylinder and can drive the pressing block 8131 to move.

The clamp unit 81 of the present embodiment further includes a vertical straight line module 814 and a horizontal straight line module 815, and the vertical and horizontal positions of the clamp are adjusted by the vertical and horizontal straight line modules 815 so that the wrist can pass through the band and then the tightening action is performed.

In order to perform a tightening operation of a clamp inserted in a wrist arm from an upper end, as shown in fig. 19 to 21, the clamp unit 81 of the present embodiment further includes a robot end structure 82, a rotary base 821 is fixedly mounted to an execution end of the robot end structure 82, at least two fixing plates 8211 are disposed in a circumferential direction of the rotary base 821, two fixing plates 8211 are respectively provided with a gripper assembly 822 and an upper tightening assembly 823, the gripper assembly 822 is detachably mounted to one of the fixing plates 8211 by an adapter member 8221, and the upper tightening assembly 823 is detachably mounted to the other fixing plate 8211, so that only a damaged part can be replaced, thereby saving cost, and further, with the rotating base 821 unchanged, only different gripper jaw assemblies 822 and adapter members 8221, different upper tightening assemblies 823 and securing plates 8211 can be exchanged as desired, thus increasing the versatility of the robot tip structure 82.

The cooperation of gripper jaw subassembly 822 and isolation component 812 of this implementation can realize the transport and screw up to the clamp, specifically, gripper jaw 8223's one end and gripper jaw drive module 8222's flexible end are connected, when needing the centre gripping to hold the work piece, arm drive gripper jaw subassembly 822 swings to the assigned position, gripper jaw drive module 8222 drives two gripper jaws 8223 synchronous phase to phase motion, thus, arch 82231 on gripper jaw 8223 stretches into from the both sides of clamp between first fastening portion and the second fastening portion with the clamp tightly struts the clamp, the arm drives gripper jaw subassembly 822 and the clamp motion on it behind the assigned position, place the mounting groove 8111 with the clamp in, then, keep apart drive module 8122 drive spacing block 8121 and stretch into between first fastening portion and the second fastening portion with the isolation and strut the clamp, gripper jaw drive module 8222 drives two gripper jaws 8223 synchronous motion that deviates from, in order to loosen the clamp. The robot arm drives the spin base 821 to align the upper tightening unit 823 with the bolt, and performs a tightening operation. The clamping claw driving module 8222 can be selected and is not limited to an air cylinder, and the clamping claw 8223 can be driven to move.

The specific structure of the upper screwing assembly 823 of the embodiment adopts a structure form in a patent named as a thread pair automatic screwing device by special name "CN 108907691".

As shown in fig. 25, the tightening device 8 of the present embodiment is further provided with at least one lower tightening unit 83, the lower tightening unit 83 performs a tightening action on a fastener from the lower end of the wrist production line, specifically, after the tightening unit 813 presses the nut, the mounting seat 811 is provided with an avoiding hole 8112 penetrating through to the mounting groove 8111, the lower tightening unit 83 includes a sliding plate 832, a lower tightening driving module 831 and a lower tightening sleeve 833, the sliding plate 832 is movable relative to the mounting seat 811, and the sliding plate 832 is provided with the lower tightening driving module 831, so that the lower tightening driving module 831 can move together with the sliding plate 832 relative to the mounting seat 811 to allow the lower tightening sleeve 833 to penetrate through the avoiding hole 8112, and then perform a tightening action under the driving of the lower tightening driving module 831.

As shown in fig. 26, the present embodiment further includes a discharging module 9, the discharging module 9 includes a first discharging assembly and a second discharging assembly, the first discharging assembly is disposed between the measured object processing module 7 and the first fixture unit 81 and is located on one side of the traveling path of the cantilever, the cantilever processed by the measured object processing module 7 does not need to be provided with a hoop, the first discharging assembly moves the cantilever away from the cantilever production line, the second discharging assembly is disposed downstream of the second fixture unit 81, the cantilever is screwed by the screwing device 8, and the second discharging assembly moves the cantilever with the hoop away from the cantilever production line.

Based on the above structure, the working principle of the cantilever pretreatment device and the cantilever production line of the embodiment is as follows:

an operator places wrists of different specifications in the clamping groove 6321 of the supporting seat 632, the feeding driving piece drives the rotating shaft 634 to rotate through the transmission component 633, the driving wheel 6311 is driven to rotate, the driving wheel 6311 rotates to drive the chain 6313 and the supporting seat 632 to rotate accordingly, the direction of the clamping groove 6321 faces upwards at the moment, when the wrists are conveyed to the upper portion of the driven wheel 6312, the clamping groove 6321 of the supporting seat 632 faces downwards, the wrists fall to the head end of the transfer carrier 61, the wrists roll towards the tail end of the transfer carrier 61 along the bearing surface under the action of gravity of the wrists, clamping jaws of the clamping pieces 621 clamp one end of the wrists, and the wrists are conveyed to the detection device along the feeding direction under the driving of the linear module 622, so that automatic feeding of the wrists is.

The measuring module of the embodiment sequentially measures the length, positions the lug and positions the hole of the measured object, and the specific process is as follows

Measuring length: the linear module 622 clamps the conveying cantilever to pass through the rotating chuck 4, and the first end of the cantilever contacts the second measuring module, so that the second measuring module acquires first position information of the cantilever; then the second measuring module moves away, the linear module 622 continues to clamp and convey the wrist to the clamping module 5 and is clamped by the clamping module 5, the linear module 622 loosens the wrist, meanwhile, the revolution of a servo motor of the linear module 622 can be converted into the walking distance L1 of the wrist, the clamping module 5 clamps the wrist and continues to walk along the walking path until the second end of the wrist passes through the first measuring module, and meanwhile, the revolution of a motor driving the clamping module 5 to walk is converted into the walking distance L2 of the wrist; the clamping module 5 clamps and drives the cantilever to reversely walk again until the second end of the cantilever contacts with the first measuring module, the first measuring module acquires the second position information of the cantilever, and meanwhile, the revolution number of the motor of the clamping module 5 for clamping the cantilever to reversely walk is converted into the distance L3 for reversely walking of the cantilever, and the length of the cantilever can be obtained through formula calculation.

Lug positioning: after the length measurement is finished, the wrist still stays at the original position, the first measuring module moves to the way, the second mounting seat driving module drives the second mounting seat and the lug detection module 1 thereon to move to the detection position facing the lug, the rotating chuck 4 clamps the wrist, the clamping module 5 loosens the wrist, the light emitted by the laser ranging sensor 11 of the lug detection module 1 is incident on the surface of the lug, the rotating chuck driving module 41 drives the rotating chuck 4 and the upper wrist thereof to rotate, when the background monitor detects that the distances from the two laser ranging sensors 11 to the surfaces of the lugs are equal, the rotating chuck driving module 41 stops driving the rotating chuck 4 and the upper wrist arm thereof to rotate, while the servo motor of the spin chuck drive module 41 records the angle of rotation i.e. the quadrant angle, and fed back to the background monitor for subsequent stations to use the data so that the positioning of the lug position is completed.

Hole positioning: after the lug is positioned, the rotating chuck driving module 41 drives the rotating chuck 4 and the upper wrist arm thereof to rotate, light emitted by the laser sensor fixedly assembled on the transverse supporting rod 512 is emitted to the surface of the wrist arm, the laser sensor detects and feeds back the distance between the laser sensor and the wrist arm, along with the rotation of the rotating chuck 4, the distance between the laser sensor and the wrist arm is monitored by the background monitor within a set range firstly, then the distance exceeds the set range and is within the set range, meanwhile, the servo motor of the rotating chuck driving module 41 records the rotation angle, namely the quadrant angle, and feeds back the rotation angle to the background monitor, so that the subsequent work station uses the data, and thus, the position positioning of the hole of the positioning wrist arm is completed. The rotary chuck 4 loosens the clamped cantilever, the clamping module 5 clamps the cantilever and walks along the walking path of the cantilever until one end of the cantilever is clamped by the clamping jaw assembly, the clamping module 5 loosens the cantilever, and the clamping jaw assembly clamps and conveys the cantilever to the processing module 7 under the action of the external driving module.

The drilling assembly 71 and the cutting assembly 72 of the processing module 7 drill and cut the cantilever, then the claw assembly loosens the cantilever, the clamping module 5 clamps the cantilever, the processed cantilever does not need to be provided with a hoop, the first unloading assembly moves the cantilever away from a cantilever production line, and for the cantilever needing to be provided with the hoop, the cantilever is driven by the driving piece of the clamping module 5 to move along a walking path until the cantilever passes through the first screwing chuck 84, the first screwing chuck 84 clamps the cantilever tightly, and the cantilever is driven by the first screwing chuck driving module to walk along the walking path to the first clamp unit 81 so as to be conveniently screwed up

One end of gripper 8223 of robot end structure 82 is connected with the flexible end of gripper drive module 8222, when needing to centre gripping the work piece, arm drive gripper subassembly 822 swings to the assigned position, gripper drive module 8222 drives two gripper 8223 synchronous phase motion, so, arch 82231 on gripper 8223 stretches into from the both sides of clamp between first fastening portion and the second fastening portion with the clamp that presss from both sides and struts, the arm drives gripper subassembly 822 and the clamp on it and moves behind the assigned position, place the mounting groove 8111 with the clamp in, then, keep apart drive module 8122 drive spacing block 8121 and stretch into between first fastening portion and the second fastening portion with the separation and strut the clamp, gripper drive module 8222 drives two gripper 8223 synchronous motion that deviates from, in order to loosen the clamp.

The position of the clamp in the vertical and horizontal directions is then adjusted by the vertical line module 814 and the horizontal line module 815 so that the wrist can pass through the yoke, the first tightening chuck 84 drives the wrist through the yoke, the isolation drive module 8122 then drives the isolation block 8121 to move to disengage between the first fastening portion and the second fastening portion, the robot arm drives the rotating base 821 to align the upper tightening assembly 823 with the bolt, and a tightening action is performed. The compression assembly 813 and the robot end structure 82 return to the initial position. The first tightening chuck 84 drives the wrist to continue to travel along the travel path until one end of the wrist passes through the second tightening chuck 85, and then the first tightening chuck 84 loosens the wrist, and the second tightening chuck 85 holds the wrist and moves toward the second clamp unit 81 under the driving of the driving module of the second tightening chuck.

The second clamping unit 81 tightens the bolt from both upper and lower sides, and thus the pressing driving module 8132 drives the pressing block 8131 to move toward the bolt, so that the pressing block 8131 presses the bolt, the sliding plate 832 moves relative to the mounting seat, and the lower tightening driving module 831 is disposed on the sliding plate 832, so that the lower tightening driving module 831 can move relative to the mounting seat along with the sliding plate 832 to allow the lower tightening sleeve 833 to pass through the escape hole 8112, and then perform a tightening action under the driving of the lower tightening driving module 831. After the tightening is finished, the other clamp unit 81 and the robot end structure 82 return to the initial position, the second tightening chuck 85 continues to drive the arm to travel along the travel path, the second discharging assembly clamps the arm first, while the second tightening chuck 85 releases the arm, and then the second discharging assembly 9 moves the arm away from the arm production line.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (17)

1. A detection device, comprising:

the device comprises a lug detection module (1), a positioning module and a control module, wherein the lug detection module (1) is used for positioning lugs on an object to be tested;

the hole detection module (2), the said hole detection module (2) is used for positioning the mark hole on the testee;

the measuring module (3), measuring module (3) can advance the length measurement to the testee.

2. A testing device according to claim 1, characterized in that the measuring modules (3) are arranged in two groups, the measuring modules (3) include a blocking module (31) and a position detecting module (32), the blocking module (31) is configured to be installed in a sliding manner, the blocking module (31) is located on one side of a walking path of the tested object in an initial state, the blocking module (31) moves to the walking path to limit the tested object during operation, and the position detecting module (32) detects and feeds back position information of the tested object.

3. A detection device as claimed in claim 2, characterized in that said blocking module (31) comprises:

the fixing piece (311) is fixedly assembled on the sliding seat, and a through sliding channel (3111) is formed in the fixing piece (311);

a stopping piece (312), wherein a first end of the stopping piece (312) is provided with a limiting bulge (3121), the limiting bulge (3121) is larger than the caliber of the sliding channel (3111), and a second end of the stopping piece (312) passes through the sliding channel (3111) and can protrude out of the fixing piece (311);

the elastic piece (313), elastic piece (313) is located in slide channel (3111), elastic piece (313) configuration is in block (312) provides the reset force for block (312).

4. A testing device according to claim 1, wherein two sets of measuring modules (3) are respectively a first measuring module and a second measuring module, the first measuring module is disposed on the fixed base (13), the second measuring module is disposed on the sliding table (42), and the sliding table (42) is further disposed with the rotating chuck (4).

5. A testing device according to claim 4, characterized in that the rotating chuck (4) is located between the hole testing module (2) and the lug testing module (1), the rotating chuck (4) being slidably arranged in the path of the object to be tested.

6. A detection device according to claim 4, characterized in that the fixed seat (13) is also provided with a lug detection module (1) in a sliding manner, the lug detection module (1) comprises at least two laser distance measuring sensors (11), the two laser distance measuring sensors (11) are arranged on the same horizontal plane, and emitted light can be incident on the surface of the lug.

7. The detection device according to claim 4, further comprising a hole detection module (2), wherein the hole detection module (2) comprises a laser sensor arranged in a circumferential direction of the walking path, and wherein the laser sensor emits light capable of passing through the marked hole in the wrist arm.

8. A testing device according to claim 1, characterized by further comprising a gripping module (5), said gripping module (5) being adapted to grip an object to be tested, said gripping module (5) being configured to slide along a path of travel of said object to be tested.

9. A wrist arm production line, comprising:

the detection apparatus according to any one of claims 1 to 8;

the loading module (6) comprises at least one transfer carrier (61) and a conveying assembly (62), an object to be tested moves to the tail end through the head end of the transfer carrier (61), and the conveying assembly (62) conveys the object to be tested to the detection device from the transfer carrier (61).

10. A wrist-arm production line according to claim 9, further comprising a loading assembly (63), said loading assembly (63) loading the object to be tested to the head end of the transfer carrier (61).

11. A wrist-arm production line according to claim 10, characterised in that said loading assembly (63) comprises:

the transmission pieces (631) are arranged in parallel, each transmission piece (631) comprises a driving wheel (6311), a driven wheel (6312) and a chain (6313), the driving wheels (6311) and the driven wheels (6312) are vertically arranged, and the chains (6313) are driven by the driving wheels (6311) and the driven wheels (6312) to move;

a support block (632), the support block (632) being assembled on the chain (6313);

the feeding driving piece drives all driving wheels (6311) to synchronously rotate through the rotating shaft (64).

12. The wrist arm production line according to claim 9, further comprising a measured object processing module (7), wherein the measured object processing module comprises a drilling assembly (71) and a cutting assembly (72), the drilling assembly (71) and the cutting assembly (72) are sequentially arranged along the traveling path direction of the measured object, and the drilling assembly (71) and the cutting assembly (72) are integrally installed together.

13. A wrist-arm production line according to claim 9 or 12, further comprising a tightening device (8), said tightening device (8) being arranged downstream of the measured object processing module (7).

14. A wrist-arm production line according to claim 13, characterized in that the tightening device (8) comprises a gripper unit (81) and a robot end structure (82), the gripper unit (81) and the robot end structure (82) being located on both sides of the wrist-arm production line, the gripper unit (81) performing a pressing and/or separating action on a fastener threaded on the object to be tested, the robot end structure (82) delivering a fastener to the gripper unit (81) and performing a tightening action.

15. A wrist arm production line according to claim 14, wherein said robot end structure (82) comprises: the rotary base (821), rotary base (821) is fixed in the execution end of the robot, at least two fixed plates (8211) are arranged on the periphery of rotary base (821), and clamping jaw assemblies (822) and upper screwing assemblies (823) are respectively arranged on the two fixed plates (8211).

16. A wrist-arm production line according to claim 14, characterised in that the tightening device (8) is further provided with at least one lower tightening unit (83), the lower tightening unit (83) acting to tighten the fastener from the lower end of the wrist-arm production line.

17. The wrist arm production line according to claim 9, further comprising a discharging module (9), wherein the discharging module (9) moves the workpiece processed by the object-to-be-measured processing module (7) and the workpiece screwed by the tightening device (8) away from the production line.

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