CN115569861A - Bearing and gear part detection and classification device - Google Patents

Abstract

The invention discloses a detection and classification device for bearings and gear parts, which relates to the field of automatic detection and classification, including a general installation platform, an XYZ three-axis motion mechanism, a mechanical claw, a conveyor belt for parts to be detected, a classification transmission mechanism, an adjustable clamp, and a rotatable camera. Mechanism, supporting frame and controller, the rotatable camera mechanism includes a first rotating arm, a supporting arm, a second rotating arm and a camera, one end of the first rotating arm is installed on the supporting frame, and the other end of the first rotating arm is installed with a support arm, the end of the supporting arm away from the first rotating arm is equipped with a second rotating arm, and the end of the second rotating arm away from the supporting arm is equipped with a camera; the adjustable clamp includes a support, a driving mechanism and a clamping part, and the support is arranged in the On the installation platform, the driving mechanism is arranged on the support, and the driving mechanism is used to drive the clamping part to rotate and swing. The device can perform comprehensive detection on parts, has high work efficiency, more accurate detection and classification results, and reduces costs.

Description

Bearing and gear parts detection and classification device

technical field

The invention relates to the field of automatic detection and classification, in particular to a detection and classification device for bearing and gear parts.

Background technique

Nowadays, science and technology are becoming more and more mature, and the production and processing speed and efficiency of bearings and gear parts are also getting higher and higher, but there may be certain errors in mechanically produced parts that need to be tested. However, manual detection has certain limitations. Humans inspect the parts with the naked eye, and they cannot directly distinguish the quality of the parts with the naked eye in the subtle parts of the parts, and they are helpless for difficult parts to detect. Moreover, there is a certain degree of subjectivity in manual detection, and personal will will cause misjudgment due to personal reasons. If the part is used in a precise part of an instrument, this incomplete detection will bring inevitable harm, which will bring harm to the enterprise or Personal loss of human or financial resources. Manual inspection requires inspection personnel to have a solid theoretical foundation and certain work experience, and for repeated inspections, the efficiency of manual inspection is low, the error rate is high, and the cost is high, which leads to a decrease in the income of enterprises or individuals.

Contents of the invention

In order to solve the above technical problems, the present invention provides a detection and classification device for bearing and gear parts, which can perform comprehensive detection on the parts, with high work efficiency, more accurate detection and classification results, and reduced costs.

To achieve the above object, the present invention provides the following scheme:

The invention provides a detection and classification device for bearing and gear parts, which includes a general installation platform, an XYZ three-axis motion mechanism, a mechanical gripper, a conveyor belt for parts to be detected, a classification transmission mechanism, an adjustable clamp, a rotatable camera mechanism, a support frame and a control The XYZ three-axis motion mechanism and the support frame are respectively arranged at the left and right ends of the general installation platform, and the parts conveyor belt to be detected and the classification transmission mechanism are respectively arranged on the upper surface of the general installation platform. At the front and rear ends, the parts conveyor belt to be detected and the sorting transmission mechanism are both arranged on the side close to the XYZ three-axis motion mechanism, and the mechanical claw is installed on the side of the XYZ three-axis motion mechanism close to the support frame On one side, the rotatable camera mechanism is set on the side of the support frame close to the XYZ three-axis motion mechanism, and the adjustable clamp is set on the general installation platform and is located on the side close to the support frame The rotatable camera mechanism includes a first rotating arm, a support arm, a second rotating arm and a camera, one end of the first rotating arm is installed on the support frame, and the other end of the first rotating arm is installed with The supporting arm, the second rotating arm is installed on the end of the supporting arm away from the first rotating arm, and the second rotating arm is located on the side of the supporting arm away from the supporting frame, the The camera head is installed on the end of the second rotating arm away from the support arm; the adjustable clamp includes a support, a driving mechanism and a clamping part, the support is arranged on the general installation platform, and the driving mechanism Set on the support, the driving mechanism is used to drive the clamping part to rotate and swing; the XYZ three-axis motion mechanism, the mechanical gripper, the conveyor belt of the parts to be detected, the classification transmission mechanism, The first rotating arm, the second rotating arm, the camera, the driving mechanism and the clamping component are all connected to the controller.

Preferably, the support includes a base and a plurality of columns arranged on the base, and the driving mechanism includes a first motor, a bearing, a first bevel gear, a second bevel gear, a transmission gear, a transmission shaft, and a support plate , a hollow hemisphere, a half ring gear, a support base plate, two support vertical plates and two pulleys, the outer ring of the bearing is fixed on the top of a plurality of the columns, and the middle part of the bottom surface of the support plate is provided with a cylindrical block, The cylindrical block is fixedly sleeved in the inner ring of the bearing, the first bevel gear is horizontally fixed on the support plate; the first motor is fixed on the base and is located between the plurality of columns During the interval, the output shaft of the first motor passes through the cylindrical block, the support plate and the first bevel gear sequentially, and the cylindrical block, the support plate and the first bevel gear They are all in clearance fit with the output shaft of the first motor, the top end of the output shaft of the first motor is fixed with the support base plate, and the two support vertical plates are respectively fixed on the two ends of the upper part of the support base plate, so The transmission shaft is rotatably mounted on the two support vertical plates, and one end of the transmission shaft extends to the outside through one of the support vertical plates, and the transmission gear and the second bevel gear are fixedly sleeved on the On the transmission shaft, the transmission gear is located between the two support vertical plates, the second bevel gear is located on the outside of one support vertical plate, and the second bevel gear and the first bevel gear The middle part of the hollow hemisphere is provided with an arc opening, the half ring gear is fixed on the hollow hemisphere, and the half ring gear is located in the middle part of the arc opening, the half ring gear Mesh with the transmission gear, both sides of the arc-shaped opening are provided with arc-shaped chute, the outer side of the top of each of the support vertical plates is provided with one of the pulleys, and each of the pulleys is slidably installed on one of the In the arc-shaped chute, the clamping part is fixed on the top of the hollow hemisphere; the first motor is connected to the controller, and the first motor can drive the supporting bottom plate and the supporting vertical plate , the transmission gear, the second bevel gear, the half ring gear, the hollow hemisphere and the clamping member rotate around the axis of the output shaft of the first motor, and the first motor can drive The second bevel gear drives the transmission shaft and the transmission gear to rotate.

Preferably, a rubber ring is arranged between the outer ring and the inner ring of the bearing, and the clamping part is an electric three-jaw chuck.

Preferably, the first rotating arm includes a second motor and a first arm main body, the second motor is fixed on one side of the top of the support frame, the first arm main body is fixed on the second motor On the output shaft; the second rotating arm includes a third motor and a second arm main body, the third motor is fixed on the side of the support arm away from the support frame, and the second arm main body is fixed on the On the output shaft of the third motor, the camera is arranged at an end of the second arm body away from the support arm, the first arm body and the second arm body are parallel to each other and are horizontally arranged, and the first arm body is arranged horizontally. Both the main body of the first arm and the main body of the second arm are arranged perpendicularly to the support arm, and both the second motor and the third motor are connected to the controller.

Preferably, the support frame includes a mounting plate and two L-shaped struts, one end of each L-shaped strut is fixed on the general installation platform, and the other end of each L-shaped strut is fixed with the A mounting plate, the second motor is fixed on the mounting plate.

Preferably, a lighting component is also included, and the lighting component is arranged on a side of the mounting plate close to the XYZ three-axis motion mechanism.

Preferably, the XYZ three-axis motion mechanism includes a slider in the X-axis direction, an electric linear slide rail in the X-axis direction, a motor in the X-axis direction, a slider in the Y-axis direction, an electric linear motion slide rail in the Y-axis direction, and a motor in the Y-axis direction , the Z-axis direction slider, the Z-axis direction electric linear slide rail, the Z-axis direction motor, the first connecting plate, the second connecting plate and the connecting bracket, and the X-axis electric linear motion slide rail is horizontally fixed on the assembly On the installation platform, the X-axis direction slider is arranged on the X-axis direction electric linear slide rail, the X-axis direction motor is connected with the X-axis direction electric linear motion slide rail, and the first connecting plate fixed on the X-axis direction slider, the Y-axis direction electric linear slide rail is vertically fixed on the first connecting plate, and the Y-axis direction slider is arranged on the Y-axis direction electric linear motion On the slide rail, the Y-axis direction motor is connected to the Y-axis direction electric linear motion slide rail, the second connecting plate is fixed on the Y-axis direction slider, and the Z-axis direction electric linear motion slide rail Horizontally fixed on the second connecting plate, the Z-axis direction electric linear slide rail and the X-axis direction electric linear slide rail are perpendicular to each other, and the Z-axis direction slider is arranged on the Z-axis direction electric slide rail. On the straight-moving slide rail, the motor in the Z-axis direction is connected to the electric straight-moving slide rail in the Z-axis direction, one end of the connecting bracket is fixed on the slider in the Z-axis direction, and the other end of the connecting bracket is installed with The mechanical gripper, the X-axis direction motor, the Y-axis direction motor and the Z-axis direction motor are all connected to the controller.

Preferably, the manipulator claw includes a housing, a fourth motor, an output gear, an idler gear, an inner claw mechanism, a fixing bolt, a first mounting bolt, two second mounting bolts, two third mounting bolts, two second Four mounting bolts, two fifth mounting bolts, two support plates and two symmetrically arranged outer claw mechanisms, the outer claw mechanisms include a drive link, an auxiliary link, a drive gear, a first outer mechanical arm, a second The outer mechanical arm, the fixed pin, the fixed card of the outer claw, the push rod motor and the movable card of the outer claw, the upper end of the housing is installed on the XYZ three-axis motion mechanism, and the upper and lower ends of the housing are open structures, The front and rear sides of the lower end of the housing are respectively provided with a support plate, the fourth motor is fixed on the upper part outside the housing, and both the fourth motor and the push rod motor are connected to the controller , the output shaft of the fourth motor extends into the housing and the output gear is installed, the idler gear is installed on the lower part of the housing through the first mounting bolt, the idler gear and the The above output gears are meshed, each of the driving gears is installed on the two support plates through one of the second mounting bolts, the two driving gears are meshing, and the idler gear is meshing with one of the driving gears , the outer side of each of the drive gears is fixed with one of the drive links, the upper end of each of the auxiliary links is installed on the two support plates through one of the third mounting bolts, and each of the third mounting bolts Located below one of the second mounting bolts, the fixing bolts are installed in the middle of the bottom ends of the two support plates; a bar-shaped mounting groove is provided on the inner side of the first outer mechanical arm, and each of the driving links The lower end is located in the upper part of the bar-shaped installation groove and is installed on the first outer mechanical arm through one of the fourth installation bolts, and the lower end of each auxiliary link is located in the lower part of the bar-shaped installation groove and Installed on the first outer mechanical arm through one of the fifth mounting bolts, the second outer mechanical arm passes through the bottom surface of the first outer mechanical arm and extends into the bar-shaped installation groove, the fixing The pin is used to fix the second outer mechanical arm on the first outer mechanical arm, the inner side of the bottom end of the second outer mechanical arm is provided with the outer claw fixing card, and the upper part of the second outer mechanical arm is The inside is provided with the push rod motor, the push rod of the push rod motor is fixed with the movable card of the outer claw, and the length direction of the push rod of the push rod motor is the same as the length direction of the second outer mechanical arm. Vertical; the inner claw mechanism includes a connecting pin, an auxiliary return spring, a connecting circular plate, two inner claw arms, two inner claw driving arms, two connecting blocks and two flexible compensation pads, and one inner claw arm The inner side of the upper part is provided with the connecting circular plate, the upper part of the other inner claw arm is installed on the connecting circular plate through the connecting pin, and the outer side of the upper part of each inner claw arm is provided with one inner claw Drive arm, the bottom of each auxiliary connecting rod is provided with a connecting block, the upper end of each inner jaw driving arm is hinged on one of the connecting blocks, and the two ends of the auxiliary return spring are respectively connected to the two described middle part of the inner jaw drive arm, each of the inner The bottom end of the claw arm is provided with a said flexible compensating gasket.

Preferably, an infrared sensor is also included, the infrared sensor is arranged on one side of the output end of the conveyor belt of the parts to be detected, and the infrared sensor is connected with the controller.

Preferably, the sorting conveyor mechanism includes a plurality of sorting conveyor belts arranged in parallel, and the sorting conveyor belts are connected to the controller.

Compared with the prior art, the present invention has achieved the following technical effects:

The detection and classification device for bearing and gear parts provided by the present invention includes a general installation platform, an XYZ three-axis motion mechanism, a mechanical gripper, a conveyor belt for parts to be detected, a classification transmission mechanism, an adjustable fixture, a rotatable camera mechanism, a support frame and a controller. , the mechanical gripper is installed on the side of the XYZ three-axis motion mechanism close to the support frame, and the rotatable camera mechanism is set on the side of the support frame close to the XYZ three-axis motion mechanism. The adjustable clamp includes a support, a driving mechanism and a clamping part. The mechanism is used to drive the clamping part to rotate and swing, and the rotatable camera mechanism includes a first rotating arm, a supporting arm, a second rotating arm and a camera. The parts to be inspected are conveyed to the area to be inspected by the conveyor belt of the parts to be inspected, grasped by the mechanical claws, and the parts are installed on the clamping parts of the inspection area. The clamping parts have the characteristics of being able to rotate in different directions and can be used to observe different positions of the parts. Instead of adjusting the position of the parts by other means, the detection efficiency is increased. The camera can rotate under the drive of the first rotating arm and the second rotating arm, and then can detect the bottom of the part as required, and the camera transmits the relevant data of the part to the controller. After the inspection is completed, the mechanical claw will take the parts from the adjustable fixture, compare the data recorded in the inspection with the data set in the controller, and place the parts on the sorting transmission mechanism according to the comparison results for classification and transportation, and then enter the next step processing. It can be seen that the detection and classification device for bearing and gear parts in the present invention can perform comprehensive detection on the parts, has high work efficiency, more accurate detection and classification results, low error rate, and reduced cost.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is the schematic diagram of the three-dimensional structure of the detection and classification device for bearings and gear parts provided by the present invention;

Fig. 2 is the front view of the bearing and gear parts detection and classification device provided by the present invention;

Fig. 3 is the top view of the detection and classification device for bearing and gear parts provided by the present invention;

Fig. 4 is the schematic diagram of the three-dimensional structure of the adjustable clamp in the bearing and gear parts detection and classification device provided by the present invention;

Fig. 5 is the schematic diagram of the three-dimensional structure of the mechanical claw in the bearing and gear parts detection and classification device provided by the present invention;

Fig. 6 is a schematic diagram of the internal structure of the manipulator in the detection and classification device for bearing and gear parts provided by the present invention.

Explanation of reference signs: 100, bearing and gear parts detection and classification device; 1, general installation platform; 2, adjustable fixture; 201, base; 202, column; 203, first motor; 204, bearing; 205, support plate ; 206, the first bevel gear; 207, the support base plate; 208, the support vertical plate; 209, the transmission shaft; 2010, the transmission gear; 2011, the second bevel gear; 2012, the hollow hemisphere; Arc chute; 2015, electric three-jaw chuck; 20151, chuck body; 20152, movable claw; 3, mechanical claw; 301, shell; 302, support plate; 303, fourth motor; 304, output gear ; 305, the first mounting bolt; 306, the second mounting bolt; 307, the third mounting bolt; 308, the fourth mounting bolt; 309, the fifth mounting bolt; ; 3013, drive link; 3014, auxiliary link; 3015, the first outer mechanical arm; 3016, bar-shaped installation groove; 3017, the second outer mechanical arm; 3021, connecting block; 3022, inner claw drive arm; 3023, inner claw arm; 3024, connecting circular plate; 3025, connecting pin; 3026, flexible compensation gasket; 3027, auxiliary return spring; Detecting parts conveyor belt; 5. Sorting conveyor belt; 6. L-shaped support rod; 7. Mounting plate; 8. Lighting component; 9. First rotating arm; 10. Support arm; 11. Second rotating arm; 12. Camera; 13 , Infrared sensor; 14, X-axis direction slider; 15, X-axis direction electric linear slide rail; 16, X-axis direction motor; 17, Y-axis direction slider; 18, Y-axis direction electric linear motion slide rail; 19 , Y-axis direction motor; 20, Z-axis direction slider; 21, Z-axis direction electric linear slide rail; 22, Z-axis direction motor; 23, first connecting plate; 24, second connecting plate; 25, connecting bracket .

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts all belong to the protection scope of the present invention.

The object of the present invention is to provide a detection and classification device for bearing and gear parts, which can perform comprehensive detection on the parts, has high work efficiency, more accurate detection and classification results, and reduces costs.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 to 6, this embodiment provides a bearing and gear parts detection and classification device 100, including a general installation platform 1, an XYZ three-axis motion mechanism, a mechanical gripper 3, a conveyor belt for parts to be detected 4, and a classification transmission mechanism , adjustable fixture 2, rotatable camera mechanism, support frame and controller, the XYZ three-axis motion mechanism and support frame are respectively arranged at the left and right ends of the general installation platform 1, and the parts conveyor belt 4 to be detected and the sorting transmission mechanism are respectively arranged on the general assembly platform. At the front and rear ends of the upper surface of the installation platform 1, the parts conveyor belt 4 to be detected and the classification transmission mechanism are all arranged on the side close to the XYZ three-axis motion mechanism, and the mechanical claw 3 is installed on the side of the XYZ three-axis motion mechanism close to the support frame. The three-axis motion mechanism can drive the manipulator claw 3 to move in three coordinates in all directions. The rotatable camera mechanism is set on the side of the support frame close to the XYZ three-axis motion mechanism. The adjustable clamp 2 is set on the general installation platform 1 and is located near the support frame. One side; the rotatable camera mechanism comprises a first rotating arm 9, a support arm 10, a second rotating arm 11 and a camera 12, one end of the first rotating arm 9 is installed on the support frame, and the other end of the first rotating arm 9 is installed with Support arm 10, the second rotating arm 11 is installed on the end of supporting arm 10 away from the first rotating arm 9, and the second rotating arm 11 is positioned at the side of supporting arm 10 away from the support frame, and the second rotating arm 11 is away from the side of supporting arm 10 A camera 12 is installed at one end, and the first rotating arm 9 and the second rotating arm 11 are arranged horizontally and parallel to each other. Both the first rotating arm 9 and the second rotating arm 11 can rotate 360 degrees, so that the camera 12 can observe parts in multiple directions ; The adjustable fixture 2 includes a support, a driving mechanism and a clamping part. The support is arranged on the general installation platform 1, and the driving mechanism is arranged on the support. The driving mechanism is used to drive the rotation and swing of the clamping part. Bearings and gears The middle part of the part is a hollow structure, and the clamping part is used to support the inner wall of the part to realize the clamping of the part; XYZ three-axis motion mechanism, mechanical gripper 3, part conveyor belt 4 to be detected, classification transmission mechanism, the first rotation The arm 9, the second swivel arm 11, the camera 12, the driving mechanism and the clamping parts are all connected with the controller.

The parts to be detected are conveyed to the area to be detected by the conveyor belt 4 of the parts to be detected, grasped by the manipulator claw 3, and the parts are installed on the clamping parts in the detection area, and the controller controls the clamping parts to clamp the parts, and the clamping parts It has the characteristics of being able to rotate in different directions, and can be used to observe different positions of parts without adjusting the position of parts by other means to increase detection efficiency. The camera 12 can rotate under the drive of the first rotating arm 9 and the second rotating arm 11, and then can detect the bottom of the part as required, and the relevant data of the part observed by the camera 12 is transmitted to the controller. The adjustment jig 2 rotates to switch between different orientations, and at the same time the camera 12 cooperates with it to perform adjustment and detection. After the detection is completed, the manipulator claw 3 takes the parts from the adjustable fixture 2, compares the data recorded in the detection with the data set in the controller, and places the parts on the classification transmission mechanism according to the comparison results for classification and transportation. Next processing. It can be seen that the bearing and gear parts detection and classification device 100 in this embodiment can perform comprehensive detection of parts, with high work efficiency, more accurate detection and classification results, low error rate, and reduced costs. This embodiment provides an all-round intelligent detection and classification device for bearings and gear parts, which can replace manual detection and perform classification processing for different requirements artificially specified.

Specifically, the general installation platform 1 is composed of a horizontal platform and a vertical platform arranged on one side of the horizontal platform. The XYZ three-axis motion mechanism is arranged on the upper part of the vertical platform. The supporting frames are all arranged on the horizontal platform. The adjustable clamp 2 and the rotatable camera mechanism are provided in a one-to-one correspondence, and in the present embodiment, two adjustable clamps 2 and two rotatable camera mechanisms are provided.

As shown in Figure 4, the support includes a base 201 and a plurality of columns 202 arranged on the base 201, and the drive mechanism includes a first motor 203, a bearing 204, a first bevel gear 206, a second bevel gear 2011, a transmission gear 2010, Drive shaft 209, support plate 205, hollow hemisphere 2012, half ring gear 2013, support base plate 207, two support vertical plates 208 and two pulleys, the outer ring of bearing 204 is fixed on the top of a plurality of columns 202, support plate 205 The middle part of the bottom surface is provided with a cylindrical block, and the cylindrical block is fixedly sleeved in the inner ring of the bearing 204, and the first bevel gear 206 is horizontally fixed on the support plate 205; During this period, the output shaft of the first motor 203 passes through the cylindrical block, the support plate 205 and the first bevel gear 206 in turn, and the cylindrical block, the support plate 205 and the first bevel gear 206 are all in clearance fit with the output shaft of the first motor 203, specifically Ground, the middle part of cylinder block, support disc 205 and first bevel gear 206 is all hollow structure, and the top of the output shaft of first motor 203 is fixed with support base plate 207, and two support vertical plates 208 are respectively fixed on the top of support base plate 207. At both ends, the transmission shaft 209 is rotatably mounted on two support vertical plates 208, and one end of the transmission shaft 209 extends to the outside through a support vertical plate 208, and the transmission gear 2010 and the second bevel gear 2011 are fixedly sleeved on the transmission shaft 209, the transmission gear 2010 is positioned between two support vertical plates 208, the second bevel gear 2011 is positioned at the outside of a support vertical plate 208, and the second bevel gear 2011 is meshed with the first bevel gear 206; the middle part of the hollow hemisphere 2012 An arc-shaped opening is provided, the half-gear 2013 is fixed on the hollow hemisphere 2012, and the half-gear 2013 is located in the middle of the arc-shaped opening, the half-gear 2013 is meshed with the transmission gear 2010, and both sides of the arc-shaped opening are provided Arc-shaped chute 2014, a pulley is arranged on the outside of each support vertical plate 208 top, and each pulley is slidably installed in an arc-shaped chute 2014, and the hollow hemisphere 2012 can be supported relative to the support by the pulley and the arc-shaped groove. The vertical plate 208 swings smoothly, and the clamping parts are fixed on the top of the hollow hemisphere 2012; the first motor 203 is connected with the controller, and the first motor 203 can drive the support base plate 207, the support vertical plate 208, the transmission gear 2010, the second The bevel gear 2011, the half ring gear 2013, the hollow hemisphere 2012 and the clamping part rotate around the axis of the output shaft of the first motor 203, and the first motor 203 can drive the second bevel gear 2011 to drive the transmission shaft 209 and the transmission gear 2010 to rotate.

Specifically, a rubber ring is provided between the outer ring and the inner ring of the bearing 204, and the friction force between the outer ring and the inner ring of the bearing 204 is increased by arranging the rubber ring, so that the first bevel gear 206 can only rotate when a certain force is applied. Can be rotated, that is, when the first motor 203 drives the second bevel gear 2011 to rotate around the axis of the output shaft of the first motor 203, the power needed to drive the first bevel gear 206 to rotate does not reach, and the first bevel gear 206 is stationary At this time, the first bevel gear 206 is used as the motion track of the second bevel gear 2011, and the second bevel gear 2011 will rotate around its own axis while rotating around the axis of the output shaft of the first motor 203, thereby driving the transmission The shaft 209 and the transmission gear 2010 rotate, and under the action of the transmission gear 2010, the half ring gear 2013 drives the hollow hemisphere 2012 and the clamping part to swing, so that the clamping part rotates around the axis of the output shaft of the first motor 203 Swinging enables the parts mounted on the clamping parts to change in multiple directions. Both ends of the half ring gear 2013 are limit positions. When the hollow hemispherical body 2012 swings to the limit position, the transmission gear 2010 cannot rotate, so that the second bevel gear 2011 cannot rotate. At this time, the first bevel gear 206 needs to be driven to rotate. The force makes the first bevel gear 206 start to rotate, so that the adjustable clamp 2 will not be damaged by excessive rotation, and at the same time, the viewing position is increased. It should be noted that, instead of arranging the rubber ring, it is also possible to inject excess grease between the outer ring and the inner ring of the bearing 204 to increase the frictional force between the outer ring and the inner ring of the bearing 204.

In this specific embodiment, the clamping part is an electric three-jaw chuck 2015, and the electric three-jaw chuck 2015 includes a chuck body 20151 and three movable jaws 20152, and the movable jaws 20152 in this embodiment are arc-shaped blocks . When the electric three-jaw chuck 2015 is needed for clamping, the controller first controls the three movable jaws 20152 to move toward each other, sets bearings and gear parts on the three movable jaws 20152, and then controls the three movable jaws 20152 through the controller. The movable claws 20152 move away from each other, so that the three movable claws 20152 are supported on the inner walls of bearings and gear parts, thereby realizing the clamping of the parts.

The first rotating arm 9 includes a second motor and a first arm main body, the second motor is fixed on one side of the top of the support frame, and the first arm main body is fixed on the output shaft of the second motor; the second rotating arm 11 includes a third The motor and the second arm main body, the third motor is fixed on the side of the support arm 10 away from the support frame, the second arm main body is fixed on the output shaft of the third motor, and the camera 12 is arranged on the end of the second arm main body away from the support arm 10 , the main body of the first arm and the main body of the second arm are parallel to each other and arranged horizontally, the main body of the first arm and the main body of the second arm are arranged perpendicular to the support arm 10, and both the second motor and the third motor are connected to the controller. During work, the second motor can drive the main body of the first arm, the support arm 10, the second rotating arm 11 and the camera 12 to rotate around the axis of the output shaft of the second motor, and the third motor can drive the main body of the second arm and the camera 12 to rotate around the axis of the second motor. The axes of the output shafts of the three motors rotate, so that the camera 12 can fully change its position, and through the cooperation of the second motor and the third motor, it can rotate to the bottom to observe the bottom surface of the part.

The support frame includes a mounting plate 7 and two L-shaped struts 6, one end of each L-shaped strut 6 is fixed on the general installation platform 1, the other end of each L-shaped strut 6 is fixed with a mounting plate 7, and the second motor is fixed on the mounting plate 7. Specifically, the L-shaped strut 6 includes a cross bar and a vertical bar fixed on one end of the cross bar, and the end of the cross bar away from the vertical bar is fixed on the general installation platform 1, and the mounting plate 7 is fixed on the tops of the two vertical bars.

In this embodiment, an illumination component 8 is also included. The illumination component 8 is arranged on the side of the mounting plate 7 close to the XYZ three-axis motion mechanism, and provides good visual conditions for the camera 12 by arranging the illumination component 8 .

XYZ three-axis motion mechanism includes X-axis direction slider 14, X-axis direction electric linear slide rail 15, X-axis direction motor 16, Y-axis direction slider 17, Y-axis direction electric linear motion slide rail 18, Y-axis direction motor 19. Z-axis direction slider 20, Z-axis direction electric linear slide rail 21, Z-axis direction motor 22, first connection plate 23, second connection plate 24 and connection bracket 25, X-axis direction electric linear motion slide rail 15 It is horizontally fixed on the general installation platform 1. Specifically, the electric linear motion slide rail 15 in the X-axis direction is horizontally fixed on the upper part of the vertical platform, and the X-axis direction slider 14 is arranged on the X-axis direction electric linear motion slide rail 15. The axis direction motor 16 is connected with the electric linear motion slide rail 15 in the X axis direction, the X axis direction motor 16 is used to drive the X axis direction slider 14 to reciprocate on the X axis direction electric linear motion slide rail 15, and the first connecting plate 23 is fixed On the slider 14 in the X-axis direction, the electric linear slide rail 18 in the Y-axis direction is vertically fixed on the first connecting plate 23, and the Y-axis slide block 17 is arranged on the electric linear slide rail 18 in the Y-axis direction. The direction motor 19 is connected with the Y-axis direction electric linear slide rail 18, the Y-axis direction motor 19 is used to drive the Y-axis direction slider 17 to reciprocate on the Y-axis direction electric linear motion slide rail 18, and the second connecting plate 24 is fixed on On the slider 17 in the Y-axis direction, the electric linear slide rail 21 in the Z-axis direction is horizontally fixed on the second connecting plate 24, and the electric linear slide rail 21 in the Z-axis direction is perpendicular to the electric linear slide rail 15 in the X-axis direction. The axial direction slider 20 is arranged on the Z-axis direction electric linear slide rail 21, the Z-axis direction motor 22 is connected with the Z-axis direction electric linear motion slide rail 21, and the Z-axis direction motor 22 is used to drive the Z-axis direction slide block 20 in the Z-axis direction. Z-axis direction electric direct-moving slide rail 21 reciprocates, one end of connecting bracket 25 is fixed on Z-axis direction slider 20, the other end of connecting bracket 25 is equipped with manipulator claw 3, X-axis direction motor 16, Y-axis direction motor 19 and the Z-axis direction motor 22 are all connected to the controller. By controlling the X-axis direction motor 16, the Y-axis direction motor 19 and the Z-axis direction motor 22, the manipulator gripper 3 can move in three coordinates in all directions, so that the manipulator gripper 3 is convenient for parts. to grab and move.

As shown in Figures 5 and 6, the manipulator claw 3 includes a housing 301, a fourth motor 303, an output gear 304, an idler wheel 3011, an inner jaw mechanism, a fixing bolt 3010, a first mounting bolt 305, and two second mounting bolts 306, two third installation bolts 307, two fourth installation bolts 308, two fifth installation bolts 309, two support plates 302 and two symmetrically arranged outer claw mechanisms, the outer claw mechanisms include drive links 3013, Auxiliary link 3014, drive gear 3012, first outer mechanical arm 3015, second outer mechanical arm 3017, fixed pin 3018, outer claw fixed card 3019, push rod motor and outer claw movable card 3020, the upper end of the housing 301 is installed on the XYZ On the three-axis motion mechanism, specifically, the upper end of the housing 301 is installed on the connecting bracket 25, the upper and lower ends of the housing 301 are open structures, and the front and rear sides of the lower end of the housing 301 are respectively provided with a support plate 302, the fourth The motor 303 is fixed on the top outside the housing 301, the fourth motor 303 and the push rod motor are connected to the controller, the output shaft of the fourth motor 303 extends into the housing 301 and an output gear 304 is installed, and the idler gear 3011 passes through the first A mounting bolt 305 is mounted on the bottom of the housing 301, the idler gear 3011 can rotate relative to the first mounting bolt 305, the idler gear 3011 is meshed with the output gear 304, each driving gear 3012 is mounted on two On the support plate 302, the driving gear 3012 can rotate relative to the second mounting bolt 306, the two driving gears 3012 are meshed, the idler gear 3011 is meshed with one driving gear 3012, and a driving link 3013 is fixed on the outside of each driving gear 3012 , the upper end of each auxiliary connecting rod 3014 is installed on the two support plates 302 through a third mounting bolt 307, the upper end of the auxiliary connecting rod 3014 can rotate relative to the third mounting bolt 307, each third mounting bolt 307 is located on a second Below the mounting bolts 306, the fixing bolts 3010 are installed in the middle of the bottom ends of the two support plates 302; the inner side of the first outer mechanical arm 3015 is provided with a strip-shaped installation groove 3016, and the lower ends of each driving link 3013 are located in the strip-shaped installation groove 3016 and is installed on the first outer mechanical arm 3015 through a fourth mounting bolt 308, the lower end of the driving link 3013 can rotate relative to the fourth mounting bolt 308, and the lower end of each auxiliary connecting rod 3014 is located in the bar-shaped mounting groove 3016 and is installed on the first outer mechanical arm 3015 through a fifth mounting bolt 309, the lower end of the auxiliary link 3014 can rotate relative to the fifth mounting bolt 309, and the second outer mechanical arm 3017 passes through the first outer mechanical arm 3015 The bottom surface of the bottom extends into the bar-shaped installation groove 3016, and the fixing pin 3018 is used to fix the second outer mechanical arm 3017 on the first outer mechanical arm 3015. When it is necessary to adjust the second outer mechanical arm 3017 relative to the first outer mechanical arm When the extension length of the mechanical arm 3015 is reached, remove the fixed pin 3018, move the second outer mechanical arm 3017 to the desired position and then install the fixed pin 3018, which can be used for clamping parts of different sizes. The second outer mechanical arm The inner side of the 3017 bottom end is provided with an outer claw fixed card 3019, and the inner side of the second outer mechanical arm 3017 top is provided with a push rod motor, and the push rod of the push rod motor is fixed with an outer claw movable card 3020, the length of the push rod of the push rod motor The direction is perpendicular to the length direction of the second outer mechanical arm 3017; the inner claw mechanism includes a connecting pin 3025, an auxiliary return spring 3027, a connecting circular plate 3024, two inner claw arms 3023, two inner claw driving arms 3022, two connecting Block 3021 and two flexible compensating pads 3026, the inner side of an inner claw arm 3023 top is provided with a connecting circular plate 3024, and the top of the other inner claw arm 3023 is installed on the connecting circular plate 3024 through a connecting pin 3025, each inner claw arm The outer side of the 3023 top is provided with an inner claw driving arm 3022, and the bottom of each auxiliary link 3014 is provided with a connecting block 3021, and the upper end of each inner claw driving arm 3022 is hinged on a connecting block 3021, and the two ends of the auxiliary return spring 3027 They are respectively connected to the middle of the two inner jaw driving arms 3022, and the inner jaw driving arm 3022 and the inner jaw arm 3023 can be fully reset by setting the auxiliary return spring 3027, and a flexible compensation pad is provided at the bottom of each inner jaw arm 3023 3026, the flexible compensating spacer 3026 is the component that directly contacts the clamped part.

In the initial state, the two inner claw arms 3023 are closed. When parts need to be grasped, the two inner claw arms 3023 are first positioned in the hollow structure in the middle of bearings and gear parts, and the two second outer mechanical arms 3017 Respectively located on both sides of the part outside, the fourth motor 303 and the push rod motor are controlled by the controller to work, so that the drive gear 3012 drives the drive link 3013 to rotate downwards, and at this time the two first outer mechanical arms 3015 and the two The second outer mechanical arms 3017 all move towards each other, and the auxiliary link 3014 will also rotate downwards at the same time, so that the two inner claw driving arms 3022 hinged on the auxiliary link 3014 move towards each other to drive the two inner claw arms 3023 Open, so that the two flexible compensating pads 3026 at the lower ends of the two inner claw arms 3023 are supported on the inner wall of the part, and when the two second outer mechanical arms 3017 move toward each other and the push rod motor drives the outer claw movable card 3020 towards the outer wall of the part Under the joint action of the movement, the clamping of the outer wall of the part by the fixed card 3019 of the outer claw and the movable card 3020 of the outer claw is realized, thereby completing the grasping of the part. When the part needs to be put down, the controller controls the fourth motor 303 and The push rod motor moves in reverse.

Also comprise infrared sensor 13 in the present embodiment, infrared sensor 13 is arranged on the side of the output end of parts conveyor belt 4 to be detected, and infrared sensor 13 is connected with controller. Infrared sensor 13 is set to be used to avoid excessive accumulation of parts and cause operation failure, when it detects that the parts position is equal to a given position, stop the parts conveyor belt 4 to be detected and run.

Specifically, the sorting conveyor mechanism includes multiple sorting conveyor belts 5 arranged in parallel, and the sorting conveyor belts 5 are connected to the controller. The controller distinguishes the parts into standard parts and non-standard parts according to the visual detection results, and further classifies the standard parts according to the size. After comparing the classification results in the controller, the controller controls the manipulator claw 3 to place the parts in the corresponding Sorting on conveyor belt 5.

In this description, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention; meanwhile, for those of ordinary skill in the art, according to this The idea of the invention will have changes in the specific implementation and scope of application. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims (10)

1. The bearing and gear part detection and classification device is characterized by comprising a main mounting table, an XYZ three-axis motion mechanism, a mechanical gripper, a to-be-detected part conveyor belt, a classification conveying mechanism, an adjustable clamp, a rotatable camera shooting mechanism, a support frame and a controller, wherein the XYZ three-axis motion mechanism and the support frame are respectively arranged at the left end and the right end of the main mounting table, the to-be-detected part conveyor belt and the classification conveying mechanism are respectively arranged at the front end and the rear end of the upper surface of the main mounting table, the to-be-detected part conveyor belt and the classification conveying mechanism are both arranged at one side close to the XYZ three-axis motion mechanism, the mechanical gripper is arranged at one side, close to the support frame, of the XYZ three-axis motion mechanism, the rotatable camera shooting mechanism is arranged at one side, close to the XYZ motion mechanism, and the adjustable clamp is arranged on the main mounting table and is positioned at one side close to the support frame; the rotatable camera shooting mechanism comprises a first rotating arm, a supporting arm, a second rotating arm and a camera, wherein one end of the first rotating arm is installed on the supporting frame, the other end of the first rotating arm is provided with the supporting arm, one end, far away from the first rotating arm, of the supporting arm is provided with the second rotating arm, the second rotating arm is located on one side, far away from the supporting frame, of the supporting arm, and one end, far away from the supporting arm, of the second rotating arm is provided with the camera; the adjustable clamp comprises a support, a driving mechanism and a clamping component, wherein the support is arranged on the general mounting table, the driving mechanism is arranged on the support, and the driving mechanism is used for driving the clamping component to rotate and swing; the XYZ three-axis motion mechanism, the mechanical gripper, the part conveyor belt to be detected, the classification conveying mechanism, the first rotating arm, the second rotating arm, the camera, the driving mechanism and the clamping component are all connected with the controller.

2. The device for detecting and classifying bearings and gear parts according to claim 1, wherein the support comprises a base and a plurality of columns arranged on the base, the driving mechanism comprises a first motor, a bearing, a first bevel gear, a second bevel gear, a transmission shaft, a supporting plate, a hollow hemisphere, a half gear ring, a supporting bottom plate, two supporting vertical plates and two pulleys, an outer ring of the bearing is fixed at the top ends of the columns, a cylindrical block is arranged in the middle of the bottom surface of the supporting plate, the cylindrical block is fixedly sleeved in an inner ring of the bearing, and the first bevel gear is horizontally fixed on the supporting plate; the first motor is fixed on the base and located among the plurality of stand columns, an output shaft of the first motor sequentially penetrates through the cylindrical block, the supporting disc and the first bevel gear, the cylindrical block, the supporting disc and the first bevel gear are in clearance fit with the output shaft of the first motor, the top end of the output shaft of the first motor is fixedly provided with the supporting bottom plate, the two supporting vertical plates are respectively fixed at two ends of the upper part of the supporting bottom plate, the transmission shaft is rotatably installed on the two supporting vertical plates, one end of the transmission shaft penetrates through one supporting vertical plate to extend to the outside, the transmission gear and the second bevel gear are fixedly sleeved on the transmission shaft, the transmission gear is located between the two supporting vertical plates, the second bevel gear is located on the outer side of one supporting vertical plate, and the second bevel gear is meshed with the first bevel gear; an arc-shaped opening is formed in the middle of the hollow hemisphere, the half gear ring is fixed to the hollow hemisphere and located in the middle of the arc-shaped opening, the half gear ring is meshed with the transmission gear, arc-shaped sliding grooves are formed in two sides of the arc-shaped opening, one pulley is arranged on the outer side of the top end of each supporting vertical plate, each pulley is slidably mounted in one arc-shaped sliding groove, and the clamping part is fixed to the top of the hollow hemisphere; the first motor is connected with the controller, the first motor can drive the supporting base plate, the supporting vertical plate, the transmission gear, the second bevel gear, the half gear ring, the hollow hemisphere and the clamping component to rotate around the axis of an output shaft of the first motor, and the first motor can drive the second bevel gear to drive the transmission shaft and the transmission gear to rotate.

3. The device for detecting and classifying bearing and gear parts according to claim 2, wherein a rubber ring is arranged between the outer ring and the inner ring of the bearing, and the clamping component is an electric three-jaw chuck.

4. The bearing and gear part detecting and sorting device according to claim 1, wherein the first rotating arm includes a second motor and a first arm main body, the second motor is fixed on one side of the top of the supporting frame, and the first arm main body is fixed on an output shaft of the second motor; the second swinging boom includes third motor and second arm main part, the third motor is fixed in the support arm is kept away from one side of support frame, the second arm main part is fixed in on the output shaft of third motor, the camera set up in the second arm main part is kept away from the one end of support arm, first arm main part with the second arm main part is parallel to each other and equal level sets up, first arm main part with the second arm main part all with the support arm sets up perpendicularly, the second motor with the third motor all with the controller is connected.

5. The device for detecting and classifying bearing and gear parts according to claim 4, wherein the supporting frame comprises a mounting plate and two L-shaped supporting rods, one end of each L-shaped supporting rod is fixed on the general mounting table, the other end of each L-shaped supporting rod is fixed with the mounting plate, and the second motor is fixed on the mounting plate.

6. The bearing and gear part detecting and sorting device according to claim 5, further comprising an illumination component disposed on a side of the mounting plate adjacent to the XYZ three-axis motion mechanism.

7. The device for detecting and sorting bearing and gear parts according to claim 1, wherein the XYZ three-axis motion mechanism comprises an X-axis direction slide block, an X-axis direction electric linear motion slide rail, an X-axis direction motor, a Y-axis direction slide block, a Y-axis direction electric linear motion slide rail, a Y-axis direction motor, a Z-axis direction slide block, a Z-axis direction electric linear motion slide rail, a Z-axis direction motor, a first connecting plate, a second connecting plate and a connecting bracket, the X-axis direction electric linear motion slide rail is horizontally fixed on the general mounting table, the X-axis direction slide block is arranged on the X-axis direction electric linear motion slide rail, the X-axis direction motor is connected with the X-axis direction electric linear motion slide rail, the first connecting plate is fixed on the X-axis direction slide block, the Y-axis direction electric linear motion slide rail is vertically fixed on the first connecting plate, Y axle direction slider set up in on the electronic direct-action slide rail of Y axle direction, Y axle direction motor with the electronic direct-action slide linkage of Y axle direction, the second connecting plate is fixed in on the Y axle direction slider, the electronic direct-action slide rail level of Z axle direction is fixed in on the second connecting plate, the electronic direct-action slide rail of Z axle direction with the electronic direct-action slide rail mutually perpendicular of X axle direction, Z axle direction slider set up in on the electronic direct-action slide rail of Z axle direction, Z axle direction motor with the electronic direct-action slide linkage of Z axle direction, linking bridge one end is fixed in on the Z axle direction slider, the other end of linking bridge is installed the gripper, X axle direction motor Y axle direction motor with Z axle direction motor all with the controller is connected.

8. The bearing and gear part detecting and sorting device as claimed in claim 1, the mechanical paw comprises a shell, a fourth motor, an output gear, an idler wheel, an inner paw mechanism, a fixing bolt, a first mounting bolt, two second mounting bolts, two third mounting bolts, two fourth mounting bolts, two fifth mounting bolts, two support plates and two outer paw mechanisms which are symmetrically arranged, the outer claw mechanism comprises a driving connecting rod, an auxiliary connecting rod, a driving gear, a first outer mechanical arm, a second outer mechanical arm, a fixing pin, an outer claw fixing clamping piece, a push rod motor and an outer claw movable clamping piece, the upper end of the shell is arranged on the XYZ three-axis motion mechanism, the upper end and the lower end of the shell are both of an opening structure, the front side and the rear side of the lower end of the shell are respectively provided with the support plate, the fourth motor is fixed at the upper part outside the shell, the fourth motor and the push rod motor are both connected with the controller, an output shaft of the fourth motor extends into the shell and is provided with the output gear, the idler gears are mounted on the lower portion of the shell through the first mounting bolts and are meshed with the output gears, each driving gear is mounted on the two support plates through one second mounting bolt, the two driving gears are meshed with each other, the idler wheel is meshed with one driving gear, one driving connecting rod is fixed on the outer side of each driving gear, the upper end of each auxiliary connecting rod is mounted on the two support plates through one third mounting bolt, each third mounting bolt is located below one second mounting bolt, and the fixing bolt is mounted in the middle of the bottom ends of the two support plates; the inner side of the first outer mechanical arm is provided with a strip-shaped mounting groove, the lower end of each driving connecting rod is positioned at the upper part of the strip-shaped mounting groove and is mounted on the first outer mechanical arm through one fourth mounting bolt, the lower end of each auxiliary connecting rod is positioned at the lower part of the strip-shaped mounting groove and is mounted on the first outer mechanical arm through one fifth mounting bolt, the second outer mechanical arm penetrates through the bottom surface of the first outer mechanical arm and extends into the strip-shaped mounting groove, the fixing pin is used for fixing the second outer mechanical arm on the first outer mechanical arm, the inner side of the bottom end of the second outer mechanical arm is provided with the outer claw fixing clamping piece, the inner side of the upper part of the second outer mechanical arm is provided with the push rod motor, the push rod of the push rod motor is fixed with the outer claw movable clamping piece, and the length direction of the push rod motor is vertical to the length direction of the second outer mechanical arm; the inner claw mechanism comprises a connecting pin, an auxiliary reset spring, a connecting circular plate, two inner claw arms, two inner claw driving arms, two connecting blocks and two flexible compensating gaskets, the connecting circular plate is arranged on the inner side of the upper portion of one inner claw arm, the upper portion of the other inner claw arm is mounted on the connecting circular plate through the connecting pin, one inner claw driving arm is arranged on the outer side of the upper portion of each inner claw arm, one connecting block is arranged on the lower portion of each auxiliary connecting rod, the upper end of each inner claw driving arm is hinged to one connecting block, two ends of the auxiliary reset spring are connected to the middle portions of the two inner claw driving arms respectively, and one flexible compensating gasket is arranged at the bottom end of each inner claw arm.

9. The bearing and gear part detecting and classifying device according to claim 1, further comprising an infrared sensor, wherein the infrared sensor is disposed at one side of the output end of the conveyor belt for the parts to be detected, and the infrared sensor is connected to the controller.

10. The bearing and gear part detecting and sorting device as claimed in claim 1, wherein the sorting conveyor comprises a plurality of parallel sorting conveyors, and the sorting conveyors are connected to the controller.

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