CN115569861A

CN115569861A - Bearing and gear part detection and classification device

Info

Publication number: CN115569861A
Application number: CN202110911420.5A
Authority: CN
Inventors: 郑彬; 甫圣焱
Original assignee: Panzhihua University
Current assignee: Panzhihua University
Priority date: 2021-08-10
Filing date: 2021-08-10
Publication date: 2023-01-06

Abstract

The invention discloses a bearing and gear part detection and classification device, which relates to the field of automatic detection and classification and comprises a general mounting table, an XYZ three-axis motion mechanism, a mechanical gripper, a conveyor belt for parts to be detected, a classification and transmission mechanism, an adjustable clamp, a rotatable camera shooting mechanism, a support frame and a controller, wherein the rotatable camera shooting mechanism comprises a first rotating arm, a support arm, a second rotating arm and a camera; the adjustable fixture 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 device can carry out comprehensive detection to the part, and work efficiency is high, and it is more accurate to detect the classification result, the cost is reduced.

Description

Bearing and gear part detection and classification device

Technical Field

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

Background

Nowadays, scientific technology is more mature, the production and processing speed and efficiency of bearings and gear parts are higher and higher, but certain errors of parts produced by machines need to be detected. However, manual detection has certain limitations. People can not directly distinguish the quality of the parts by naked eyes at the fine parts of the parts by detecting the parts by the naked eyes, and the parts which are difficult to detect are even stranded. And the existence of a certain subjectivity in manual detection and the existence of personal intention can cause misjudgment due to personal reasons, if the part is used at a precise part of an instrument, the incomplete detection can bring inevitable harm, and the loss of manpower or financial resources can be brought to enterprises or individuals. The manual detection requires a certain working experience of an over-hard theoretical basis for detection personnel, and the repeated detection manual detection has low efficiency, high error rate and high cost, so that the income of enterprises or individuals can be reduced.

Disclosure of Invention

In order to solve the technical problems, the invention provides the bearing and gear part detection and classification device which can be used for comprehensively detecting parts, has high working efficiency and more accurate detection and classification results and reduces the cost.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a bearing and gear part detection and classification device, which comprises 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 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 supporting arm is installed at the other end of the first rotating arm, the second rotating arm is installed at the end, far away from the first rotating arm, of the supporting arm, the second rotating arm is located at one side, far away from the supporting frame, of the supporting arm, and the camera is installed at the end, far away from the supporting arm, of the second rotating arm; 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.

Preferably, the support comprises a base and a plurality of stand 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 disc, a hollow hemisphere, a semi-gear ring, a supporting bottom plate, two supporting vertical plates and two pulleys, the outer ring of the bearing is fixed at the top ends of the stand columns, the middle part of the bottom surface of the supporting disc is provided with a cylindrical block, the cylindrical block is fixedly sleeved in the inner ring of the bearing, and the first bevel gear is horizontally fixed on the supporting disc; 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 supporting base plate is fixed at the top end of the output shaft of the first motor, the two supporting vertical plates are respectively fixed at two ends of the upper part of the supporting base 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, a 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 the 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.

Preferably, 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.

Preferably, the first rotating arm includes a second motor and a first arm main body, the second motor is fixed to one side of the top of the supporting frame, and the first arm main body is fixed to 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, the first arm main part with the second arm main part is parallel to each other and equal level sets up, the 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.

Preferably, the support frame comprises a mounting plate and two L-shaped support rods, one end of each L-shaped support rod is fixed to the main mounting table, the other end of each L-shaped support rod is fixed to the mounting plate, and the second motor is fixed to the mounting plate.

Preferably, the XYZ three-axis motion mechanism further comprises an illumination component, wherein the illumination component is arranged on one side of the mounting plate close to the XYZ three-axis motion mechanism.

Preferably, the XYZ three-axis movement mechanism includes 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 connection plate, a second connection plate and a connection bracket, the X-axis direction electric linear motion slide rail is horizontally fixed on the main mounting table, the X-axis direction slide block is disposed 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 connection 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 connection plate, the Y-axis direction sliding block is arranged on the Y-axis direction electric direct-acting sliding rail, the Y-axis direction motor is connected with the Y-axis direction electric direct-acting sliding rail, the second connecting plate is fixed on the Y-axis direction sliding block, the Z-axis direction electric direct-acting sliding rail is horizontally fixed on the second connecting plate, the Z-axis direction electric direct-acting sliding rail is perpendicular to the X-axis direction electric direct-acting sliding rail, the Z-axis direction sliding block is arranged on the Z-axis direction electric direct-acting sliding rail, the Z-axis direction motor is connected with the Z-axis direction electric direct-acting sliding rail, one end of the connecting support is fixed on the Z-axis direction sliding block, the mechanical gripper is arranged at the other end of the connecting support, and the X-axis direction motor, the Y-axis direction motor and the Z-axis direction motor are connected with the controller.

Preferably, the gripper comprises a housing, a fourth motor, output gears, an idler wheel, an inner jaw 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 symmetrically arranged outer jaw mechanisms, wherein the outer jaw mechanisms comprise 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 jaw fixing clip, a push rod motor, and an outer jaw moving clip, the upper end of the housing is mounted on the XYZ three-axis movement mechanism, the upper and lower ends of the housing are both open structures, the support plates are respectively disposed on the front and rear sides of the lower end of the housing, the fourth motor is fixed on the upper part outside of the housing, the fourth motor and the push rod motor are both connected to the controller, the output shaft of the fourth motor extends into the housing and is mounted with the output gears, the idler wheel is mounted on the lower part of the housing by the first mounting bolt, the idler wheel is meshed with the output gears, the drive gear is mounted on the two support plates by one second mounting bolt, the two drive gears are mounted on the outer sides of the support plates, the two support plates, the driving gear is mounted on the outer side of the support plates, the driving gear is mounted on the outer side of the support plates, the driving gear, the driving rod mechanism, the driving rod is mounted on the support plates, the driving rod, and the driving rod, and the driving rod is mounted on the driving rod; 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 fixedly provided with the outer claw movable clamping piece, and the length direction of the push rod motor is perpendicular 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 inner side of the upper portion of one inner claw arm is provided with the connecting circular plate, the upper portion of the other inner claw arm is installed 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, the lower portion of each auxiliary connecting rod is provided with one connecting block, the upper end of each inner claw driving arm is hinged to one connecting block, the 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.

Preferably, the part detection device further comprises an infrared sensor, wherein the infrared sensor is arranged on one side of the output end of the part conveyor belt to be detected and is connected with the controller.

Preferably, the sorting and conveying mechanism comprises a plurality of sorting and conveying belts arranged in parallel, and the sorting and conveying belts are connected with the controller.

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

the invention provides a bearing and gear part detection and classification device which comprises a general mounting table, an XYZ three-axis motion mechanism, a mechanical gripper, a part conveyor belt to be detected, a classification conveying mechanism, an adjustable clamp, a rotatable camera shooting mechanism, a support frame and a controller. The part conveying belt is used for conveying the part to the area to be detected, the part is grabbed by the mechanical gripper, the part is installed on the clamping part of the detection area, the clamping part has the characteristic of being capable of rotating in different directions, the part can be observed in different positions, the position of the part does not need to be adjusted in other modes, and the detection efficiency is improved. The camera can rotate under the drive of first swinging boom and second swinging boom, and then can detect the part bottom as required, and the camera passes to the controller with the relevant data of part. And after the detection is finished, the mechanical gripper takes the part off the adjustable clamp, compares the data recorded by the detection with the data set in the controller, places the part on the classification conveying mechanism for classification conveying according to the comparison result, and enters the next step of processing. Therefore, the bearing and gear part detection and classification device can comprehensively detect parts, is high in working efficiency, accurate in detection and classification result, low in error rate and low in cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of a bearing and gear part detecting and sorting device provided by the invention;

FIG. 2 is a front view of the bearing and gear part detecting and sorting device provided by the invention;

FIG. 3 is a top view of the bearing and gear part detecting and sorting device provided by the invention;

FIG. 4 is a schematic view of a three-dimensional structure of an adjustable clamp in the bearing and gear part detecting and sorting device provided by the invention;

FIG. 5 is a schematic perspective view of a mechanical gripper in the bearing and gear part detecting and sorting device provided by the invention;

fig. 6 is a schematic view of the internal structure of a mechanical gripper in the bearing and gear part detection and classification device provided by the invention.

Description of reference numerals: 100. a bearing and gear part detection and classification device; 1. a general mounting table; 2. an adjustable clamp; 201. a base; 202. a column; 203. a first motor; 204. a bearing; 205. a support tray; 206. a first bevel gear; 207. a support base plate; 208. supporting a vertical plate; 209. a drive shaft; 2010. a transmission gear; 2011. a second bevel gear; 2012. a hollow hemisphere; 2013. a half gear ring; 2014. an arc-shaped chute; 2015. an electric three-jaw chuck; 20151. a chuck body; 20152. a movable jaw; 3. a mechanical gripper; 301. a housing; 302. a support plate; 303. a fourth motor; 304. an output gear; 305. a first mounting bolt; 306. a second mounting bolt; 307. a third mounting bolt; 308. a fourth mounting bolt; 309. A fifth mounting bolt; 3010. fixing the bolt; 3011. an idler pulley; 3012. a drive gear; 3013. a drive link; 3014. an auxiliary link; 3015. a first outer robot arm; 3016. a strip-shaped mounting groove; 3017. a second outer mechanical arm; 3018. a fixing pin; 3019. the outer claw fixes the clamping piece; 3020. an outer jaw movable clamp sheet; 3021. Connecting blocks; 3022. an inner jaw driving arm; 3023. an inner claw arm; 3024. connecting the circular plate; 3025. a connecting pin; 3026. a flexible compensation shim; 3027. an auxiliary return spring; 4. a conveying belt for parts to be detected; 5. A sorting conveyor belt; 6. an L-shaped strut; 7. mounting a plate; 8. an illumination component; 9. a first rotating arm; 10. A support arm; 11. a second rotating arm; 12. a camera; 13. an infrared sensor; 14. an X-axis direction slider; 15. an electric direct-acting sliding rail in the X-axis direction; 16. an X-axis direction motor; 17. a Y-axis direction slider; 18. A slide rail is driven by an electric direct-acting motor in the Y-axis direction; 19. a Y-axis direction motor; 20. a Z-axis direction slider; 21. a Z-axis direction electric direct-acting slide rail; 22. a Z-axis direction motor; 23. a first connecting plate; 24. a second connecting plate; 25. And connecting the bracket.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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. 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.

The invention aims to provide a bearing and gear part detection and classification device which can be used for comprehensively detecting parts, is high in working efficiency, has more accurate detection and classification results and reduces the cost.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1-6, the present embodiment provides a bearing and gear part detecting and classifying device 100, which includes a main mounting platform 1, an XYZ three-axis motion mechanism, a mechanical gripper 3, a to-be-detected part conveyor belt 4, a classification conveying mechanism, an adjustable fixture 2, a rotatable imaging mechanism, a support frame and a controller, wherein the XYZ three-axis motion mechanism and the support frame are respectively disposed at left and right ends of the main mounting platform 1, the to-be-detected part conveyor belt 4 and the classification conveying mechanism are respectively disposed at front and rear ends of an upper surface of the main mounting platform 1, the to-be-detected part conveyor belt 4 and the classification conveying mechanism are both disposed at one side close to the XYZ three-axis motion mechanism, the mechanical gripper 3 is mounted at one side close to the support frame of the XYZ three-axis motion mechanism, the XYZ three-axis motion mechanism can drive the mechanical gripper 3 to perform three-coordinate omnidirectional movement, the three-axis rotatable imaging mechanism is disposed at one side close to the support frame, and the adjustable fixture 2 is disposed on the main mounting platform 1 and located at one side close to the support frame; the rotatable camera shooting mechanism comprises a first rotating arm 9, a supporting arm 10, a second rotating arm 11 and a camera 12, one end of the first rotating arm 9 is installed on the supporting frame, the other end of the first rotating arm 9 is provided with the supporting arm 10, one end, far away from the first rotating arm 9, of the supporting arm 10 is provided with the second rotating arm 11, the second rotating arm 11 is located on one side, far away from the supporting frame, of the supporting arm 10, one end, far away from the supporting arm 10, of the second rotating arm 11 is provided with the camera 12, the first rotating arm 9 and the second rotating arm 11 are both horizontally arranged and are parallel to each other, the first rotating arm 9 and the second rotating arm 11 can both rotate by 360 degrees, and further the camera 12 can observe parts in multiple directions; the adjustable fixture 2 comprises a support, a driving mechanism and a clamping component, the support is arranged on the general mounting table 1, the driving mechanism is arranged on the support and is used for driving the clamping component to rotate and swing, the middle parts of the bearing and the gear part are of hollow structures, and the clamping component is used for being supported on the inner wall of the part so as to clamp the part; the XYZ three-axis motion mechanism, the mechanical gripper 3, the part conveyor belt 4 to be detected, the classification conveying mechanism, the first rotating arm 9, the second rotating arm 11, the camera 12, the driving mechanism and the clamping component are all connected with the controller.

The part conveying belt 4 is used for conveying the part to the area to be detected, the mechanical gripper 3 is used for grabbing the part, the part is installed on the clamping part of the detection area, the controller controls the clamping part to clamp the part, the clamping part has the characteristic of rotation in different directions, the clamping part can be used for observing different positions of the part, the position of the part does not need to be adjusted through other modes, and the detection efficiency is improved. The camera 12 can rotate under the drive of first swinging boom 9 and second swinging boom 11, and then can detect the part bottom as required, and the relevant data of the part that camera 12 was observed reach the controller, specifically, the during operation is rotated according to the adjustable anchor clamps 2 of detection order and is switched different position and camera 12 cooperates it to adjust the detection simultaneously. After the detection is finished, the mechanical gripper 3 takes the part off the adjustable clamp 2, compares the data recorded by the detection with the data set in the controller, places the part on the classification conveying mechanism for classification conveying according to the comparison result, and enters the next step of processing. Therefore, the bearing and gear part detection and classification device 100 in the embodiment can comprehensively detect parts, is high in working efficiency, accurate in detection and classification result, low in error rate and low in cost. The embodiment provides an all-round intellectual detection system sorter of bearing and gear class part, can replace artifical detection and carry out classification to its artificial different requirements of stipulating.

Specifically, total mount table 1 is for including the horizontal stand and setting up in the vertical platform of horizontal stand one side, and XYZ triaxial movement mechanism sets up in vertical bench portion, and it all sets up on the horizontal stand to detect part conveyer belt 4, categorised transport mechanism, adjustable anchor clamps 2 and support frame. The adjustable clamp 2 and the rotatable camera shooting mechanism are correspondingly arranged one by one, and two adjustable clamps 2 and two rotatable camera shooting mechanisms are arranged in the embodiment.

As shown in fig. 4, the support includes a base 201 and a plurality of columns 202 disposed on the base 201, the driving mechanism includes a first motor 203, a bearing 204, a first bevel gear 206, a second bevel gear 2011, a transmission gear 2010, a transmission shaft 209, a support plate 205, a hollow hemisphere 2012, a half gear ring 2013, a support bottom plate 207, two support vertical plates 208, and two pulleys, an outer ring of the bearing 204 is fixed to top ends of the plurality of columns 202, a cylindrical block is disposed in a middle portion of a bottom surface of the support plate 205, the cylindrical block is fixedly sleeved in an inner ring of the bearing 204, and the first bevel gear 206 is horizontally fixed on the support plate 205; the first motor 203 is fixed on the base 201 and located between the multiple columns 202, an output shaft of the first motor 203 sequentially passes through the cylindrical block, the supporting disk 205 and the first bevel gear 206, the cylindrical block, the supporting disk 205 and the first bevel gear 206 are in clearance fit with the output shaft of the first motor 203, specifically, the middle parts of the cylindrical block, the supporting disk 205 and the first bevel gear 206 are all hollow structures, the top end of the output shaft of the first motor 203 is fixed with the supporting base plate 207, the two supporting upright plates 208 are respectively fixed at two ends of the upper part of the supporting base plate 207, the transmission shaft 209 is rotatably installed on the two supporting upright plates 208, one end of the transmission shaft 209 passes through one supporting upright plate 208 to extend to the outside, the transmission gear 2010 and the second bevel gear 2011 are both fixedly sleeved on the transmission shaft 209, the transmission gear 2010 is located between the two supporting upright plates 208, the gear 2011 is located at the outside of one supporting upright plate 208, and the second bevel gear 2011 is meshed with the first bevel gear 206; an arc-shaped opening is formed in the middle of the hollow hemisphere 2012, the half gear ring 2013 is fixed to the hollow hemisphere 2012, the half gear ring 2013 is located in the middle of the arc-shaped opening, the half gear ring 2013 is meshed with the transmission gear 2010, arc-shaped sliding grooves 2014 are formed in two sides of the arc-shaped opening, a pulley is arranged on the outer side of the top end of each supporting vertical plate 208, each pulley is installed in one arc-shaped sliding groove 2014 in a sliding mode, the hollow hemisphere 2012 can swing smoothly relative to the supporting vertical plate 208 through the fact that the pulleys are matched with the arc-shaped grooves, and the clamping component is fixed to the top of the hollow hemisphere 2012; the first motor 203 is connected with the controller, the first motor 203 can drive the support base plate 207, the support vertical plate 208, the transmission gear 2010, the second bevel gear 2011, the half gear ring 2013, the hollow hemisphere 2012 and the clamping component to 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 arranged between an outer ring and an inner ring of the bearing 204, friction between the outer ring and the inner ring of the bearing 204 is increased by the rubber ring, so that the first bevel gear 206 can rotate when a certain force is applied, 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 force required for driving the first bevel gear 206 to rotate is not reached, the first bevel gear 206 is in a stationary state, at the moment, the first bevel gear 206 serves as a motion track of the second bevel gear 2011, the second bevel gear 2011 rotates around the axis of the output shaft of the first motor 203 while rotating around the axis of the output shaft, and further drives the transmission shaft 209 and the transmission gear 2010 to rotate, under the action of the transmission gear 2010, the half gear ring 2013 drives the hollow hemisphere 2012 and the clamping component to swing, and further the clamping component swings around the axis of the output shaft of the first motor 203 while rotating, so that a part installed on the clamping component can perform multi-directional position change. Two ends of the half gear ring 2013 are limiting positions, when the hollow hemispheroid 2012 swings to the limiting position, the transmission gear 2010 cannot rotate, the second bevel gear 2011 cannot rotate, the force required for driving the first bevel gear 206 to rotate is exceeded at the moment, the first bevel gear 206 starts to rotate, the adjustable clamp 2 is not damaged by excessive rotation, and the observation position is increased. In addition to the rubber ring, an excessive amount of grease may be injected between the outer ring and the inner ring of the bearing 204 to increase the friction between the outer ring and the inner ring of the bearing 204.

In this embodiment, the clamping member is an electric three-jaw chuck 2015, 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 blocks. When needing electric three-jaw chuck 2015 to carry out the centre gripping, earlier through three activity jack catch 20152 of controller control relative motion, locate three activity jack catch 20152 with bearing and gear class part cover on, deviate from the motion mutually through three activity jack catch 20152 of controller control again, make three activity jack catch 20152 support on the inner wall of bearing and gear class part, and then realize the centre gripping to the part.

The first rotating arm 9 comprises 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 11 includes third motor and second arm main part, the third motor is fixed in the one side that the support frame was kept away from to support arm 10, the second arm main part is fixed in on the output shaft of third motor, camera 12 sets up in the one end that support arm 10 was kept away from to the second arm main part, first arm main part and second arm main part are parallel to each other and the equal level sets up, first arm main part and second arm main part all set up with support arm 10 is perpendicular, second motor and third motor all are connected with the controller. During operation, the second motor can drive the first arm main body, 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, the third motor can drive the second arm main body and the camera 12 to rotate around the axis of the output shaft of the third motor, the position of the camera 12 can be fully changed, and the second motor and the third motor are matched to rotate to the lower portion to observe the bottom surface of a part.

The support frame includes mounting panel 7 and two L shape branches 6, and the one end of each L shape branch 6 is fixed in on the total mount table 1, and the other end of each L shape branch 6 is fixed with mounting panel 7, and the second motor is fixed in on the mounting panel 7. Specifically, the L-shaped supporting rod 6 comprises a cross rod and a vertical rod fixed at one end of the cross rod, one end, away from the vertical rod, of the cross rod is fixed on the main mounting table 1, and the mounting plate 7 is fixed at the top ends of the two vertical rods.

The embodiment further comprises an illuminating component 8, the illuminating component 8 is arranged on one side of the mounting plate 7 close to the XYZ three-axis movement mechanism, and good visual conditions are provided for the camera 12 by arranging the illuminating component 8.

The XYZ three-axis movement mechanism comprises an X-axis direction slide block 14, an X-axis direction electric direct-acting slide rail 15, an X-axis direction motor 16, a Y-axis direction slide block 17, a Y-axis direction electric direct-acting slide rail 18, a Y-axis direction motor 19, a Z-axis direction slide block 20, a Z-axis direction electric direct-acting slide rail 21, a Z-axis direction motor 22, a first connecting plate 23, a second connecting plate 24 and a connecting support 25, wherein the X-axis direction electric direct-acting slide rail 15 is horizontally fixed on the main mounting table 1, specifically, the X-axis direction electric direct-acting slide rail 15 is horizontally fixed on the upper portion of the vertical table, the X-axis direction slide block 14 is arranged on the X-axis direction electric direct-acting slide rail 15, the X-axis direction motor 16 is connected with the X-axis direction electric direct-acting slide rail 15, the X-axis direction motor 16 is used for driving the X-axis direction slide block 14 to reciprocate on the X-axis direction electric direct-acting slide rail 15, the first connecting plate 23 is fixed on the X-axis direction slide block 14, the Y-axis direction electric direct-axis direction slide rail 18 is vertically fixed on the first connecting plate 23, the Y-axis direction slide rail 18 is vertically fixed on the first connecting plate 21, the Y-axis direction electric direct-axis direction slide rail 18 is connected with the Z-axis direction electric direct-axis direction slide rail 21, the Z-axis direction slide rail 21 is connected with the Z-axis direction electric direct-axis direction slide rail 21, the Z-axis direction electric direct-axis direction slide rail 17, the Z-axis direction slide rail 17 is connected with the Z-axis direction electric direct-axis direction slide rail 21, the Z-axis direction slide rail 17, the Z-axis direction slide rail 21 and the Z-axis direction slide rail 21, one end of a connecting support 25 is fixed on the Z-axis direction sliding block 20, the other end of the connecting support 25 is provided with the mechanical claw 3, the X-axis direction motor 16, the Y-axis direction motor 19 and the Z-axis direction motor 22 are all connected with a controller, and the mechanical claw 3 can move in three-coordinate all-around directions by controlling the X-axis direction motor 16, the Y-axis direction motor 19 and the Z-axis direction motor 22, so that the mechanical claw 3 can grab and move parts conveniently.

As shown in fig. 5 and 6, the gripper 3 includes a housing 301, a fourth motor 303, an output gear 304, an idler 3011, an inner gripper mechanism, a fixing bolt 3010, a first mounting bolt 305, two second mounting bolts 306, two third mounting bolts 307, two fourth mounting bolts 308, two fifth mounting bolts 309, two support plates 302, and two symmetrically disposed outer gripper mechanisms, where the outer gripper mechanisms include a driving link 3013, an auxiliary link 3014, a driving gear 3012, a first outer robot 3015, a second outer robot 3017, a fixing pin 3018, an outer gripper fixing card 3019, a push rod motor, and an outer gripper moving card 3020, an upper end of the housing 301 is mounted on the XYZ three-axis movement mechanism, specifically, an upper end of the housing 301 is mounted on the connecting bracket 25, upper and lower ends of the housing 301 are both open, a support plate 302 is disposed on each of front and rear sides of a lower end of the housing 301, the fourth motor 303 is fixed on the upper portion outside the casing 301, the fourth motor 303 and the push rod motor are both connected with the controller, the output shaft of the fourth motor 303 extends into the casing 301 and is provided with an output gear 304, an idle gear 3011 is arranged on the lower portion of the casing 301 through a first mounting bolt 305, the idle gear 3011 can rotate relative to the first mounting bolt 305, the idle gear 3011 is meshed with the output gear 304, each driving gear 3012 is arranged on two support plates 302 through a second mounting bolt 306, the driving gear 3012 can rotate relative to the second mounting bolt 306, the two driving gears 3012 are meshed, the idle gear 3011 is meshed with one driving gear 3012, a driving link 3013 is fixed on the outer side of each driving gear 3012, the upper end of each auxiliary link 3014 is arranged on the two support plates 302 through a third mounting bolt 307, the upper end of the auxiliary link 3014 can rotate relative to the third mounting bolt 307, each third mounting bolt 307 is positioned below one second mounting bolt 306, and the fixing bolt 3010 is mounted in the middle of the bottom ends of the two support plates 302; a bar-shaped mounting groove 3016 is formed in the inner side of the first outer mechanical arm 3015, the lower end of each driving link 3013 is located at the upper portion of the bar-shaped mounting groove 3016 and is mounted on the first outer mechanical arm 3015 through a fourth mounting bolt 308, the lower end of each driving link 3013 can rotate relative to the fourth mounting bolt 308, the lower end of each auxiliary link 3014 is located at the lower portion of the bar-shaped mounting groove 3016 and is mounted on the first outer mechanical arm 3015 through a fifth mounting bolt 309, the lower end of each auxiliary link 3014 can rotate relative to the fifth mounting bolt 309, the second outer mechanical arm 3017 penetrates through the bottom surface of the first outer mechanical arm 3015 and extends into the bar-shaped mounting groove 3016, a fixing pin 3018 is used for fixing the second outer mechanical arm 3017 on the first outer mechanical arm 3015, when the extending length of the second outer mechanical arm 3017 relative to the first outer mechanical arm 3015 needs to be adjusted, the fixing pin 3018 is removed, the second outer mechanical arm 3017 is moved to a required position and then a fixing pin 3018 is mounted, so that the second outer mechanical arm 3017 can be used for clamping parts with different sizes, the push mechanical arm 3017 is arranged on the inner side of the push rod 3017, a push rod 3019 is arranged on the inner side of the bottom end of the second outer mechanical arm 3017, a push rod 3017, a card is perpendicular to the push motor, a card is arranged on the push rod 3010, and a push motor is arranged on the push rod 3017; the inner jaw mechanism comprises a connecting pin 3025, an auxiliary return spring 3027, a connecting circular plate 3024, two inner jaw arms 3023, two inner jaw driving arms 3022, two connecting blocks 3021 and two flexible compensating shims 3026, the connecting circular plate 3024 is disposed inside the upper portion of one inner jaw arm 3023, the upper portion of the other inner jaw arm 3023 is mounted on the connecting circular plate 3024 through the connecting pin 3025, one inner jaw driving arm 3022 is disposed outside the upper portion of each inner jaw arm 3023, one connecting block 3021 is disposed below each auxiliary connecting rod 3014, the upper end of each inner jaw driving arm 3022 is hinged to one connecting block 3021, the two ends of the auxiliary return spring 3027 are respectively connected to the middle portions of the two inner jaw driving arms 3022, the inner jaw driving arm 3022 and the inner jaw arm 3023 can be completely reset by disposing the auxiliary return spring 3027, one flexible compensating shim 3026 is disposed at the bottom end of each inner jaw arm 3023, and the flexible compensating shims 3026 are components directly contacting the clamped components.

When a part needs to be grabbed, the two inner claw arms 3023 are located in a hollow structure in the middle of the bearing and gear type part, the two second outer mechanical arms 3017 are located on two sides of the outside of the part respectively, the fourth motor 303 and the push rod motor are controlled to work through the controller, the driving gear 3012 drives the driving connecting rod 3013 to rotate downwards, at the moment, the two first outer mechanical arms 3015 and the two second outer mechanical arms 3017 move towards each other, meanwhile, the auxiliary connecting rod 3014 also rotates downwards, the two inner claw driving arms 3022 hinged on the auxiliary connecting rod 3014 move towards each other so as to drive the two inner claw arms 3023 to open, two flexible compensation gaskets 3026 at the lower ends of the two inner claw arms 3023 are supported on the inner wall of the part, under the combined action of the opposite movement of the two second outer mechanical arms 3017 and the push rod motor driving the outer claw 3020 to move towards the outer wall of the part, the outer claw fixing card 3029 and the outer claw movable 3020 are clamped on the outer wall of the part, and the part can be grabbed by controlling the fourth motor 303 and the part to move backwards under the action of the control action of the fourth push rod motor when the part needs to be grabbed.

The part detection device further comprises an infrared sensor 13, the infrared sensor 13 is arranged on one side of the output end of the part conveyor belt 4 to be detected, and the infrared sensor 13 is connected with the controller. The infrared sensor 13 is arranged to avoid operation failure caused by excessive accumulation of parts, and the operation of the conveyor belt 4 for the parts to be detected is stopped when the infrared sensor detects that the position of the parts is equal to a given position.

Specifically, the sorting conveyor mechanism includes a plurality of sorting conveyor belts 5 arranged in parallel, and the sorting conveyor belts 5 are connected to the controller. The controller divides the parts into standard parts and non-standard parts according to the visual detection result, further classifies the standard parts according to the size, and controls the mechanical gripper 3 to place the parts on the corresponding classification conveyor belts 5 after the classification result is compared in the controller.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; also, for those skilled in the art, variations can be made in the detailed description and the application range according to the idea of the present invention. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

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.