CN210952696U

CN210952696U - Laser detection system of bearing saddle robot

Info

Publication number: CN210952696U
Application number: CN201922189368.8U
Authority: CN
Inventors: 李建刚; 王子浩; 问国辉
Original assignee: Beijing Tieke Heli Technology Co ltd
Current assignee: Beijing Tieke Heli Technology Co ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-07-07
Anticipated expiration: 2029-12-06

Abstract

The utility model provides a bear saddle robot laser detecting system, including platform mechanism, press from both sides tight centering mechanism, horizontal migration mechanism, rotary mechanism and laser scanning mechanism, platform mechanism includes the frame and is located the platform of frame top, the platform includes the material loading district, detection zone and unloading district, press from both sides tight centering mechanism and be located one side of platform mechanism, the central axis that is used for pressing from both sides the tight saddle that is located the material loading district and will bear the saddle is adjusted well, horizontal migration mechanism connects and presss from both sides tight centering mechanism, be used for pressing from both sides tight centering mechanism along the length direction of platform mechanism on horizontal migration, rotary mechanism fixes in the frame and connects horizontal migration mechanism, be used for rotatory horizontal migration positioning mechanism and the tight centering mechanism of clamp, laser scanning mechanism is located the opposite side of platform mechanism, laser scanning mechanism includes arm and 3D laser scanner. The utility model discloses can improve detection efficiency and the measuring accuracy to bearing the saddle.

Description

Laser detection system of bearing saddle robot

Technical Field

The utility model relates to a bear saddle detection technology field, concretely relates to bear saddle robot laser detecting system.

Background

At present, the detection measurement of the bearing saddle mainly comprises a template comparison measurement method and a manual comparison measurement method. The template comparison measurement detection method is to measure the template and the measuring tool and fill in the measurement record table. The method can only carry out qualitative inspection, has low working efficiency and measurement accuracy, is high in labor intensity, cannot give the actual size of the workpiece, cannot realize real-time acquisition, storage, inquiry and sharing of data, and cannot meet the current detection requirement. When a professional template is used for detection, the template is in direct contact with the detected surface of the bearing saddle for multiple times, so that mechanical abrasion of the template is caused, and the measurement precision of the template is influenced.

In the manual template comparison type detection method, three or four templates are required to be replaced for detecting the bearing saddle, and the detection process is very complicated. And the net weight of the bearing saddle is generally 18 kg/piece, so that the physical consumption of detection workers is serious, and the detection efficiency is seriously influenced. Moreover, the use amount of the bearing saddles is large, the segmental repair task is heavy, each segmental repair worker usually undertakes the maintenance task of dozens of bearing saddles to hundreds of bearing saddles within one day, and the detection accuracy of the bearing saddles is objectively limited.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems in the prior art, i.e. to solve the problems of low detection efficiency and low measurement accuracy of the conventional bearing saddle, the utility model provides a laser detection system for a bearing saddle robot, which comprises a platform mechanism, a clamping and centering mechanism, a horizontal movement mechanism, a rotation mechanism and a laser scanning mechanism, wherein the platform mechanism comprises a frame and a platform located above the frame, the platform comprises a feeding area, a detection area and a discharging area, the clamping and centering mechanism is located at one side of the platform mechanism and is used for clamping the bearing saddle located in the feeding area and aligning the central axis of the bearing saddle, the horizontal movement mechanism is connected with the clamping and centering mechanism and is used for horizontally moving the clamping and centering mechanism along the length direction of the platform mechanism, and the rotation mechanism is fixed on the frame and is connected with the horizontal movement mechanism, be used for rotatoryly horizontal migration mechanism with press from both sides tight centering mechanism, laser scanning mechanism is located platform mechanism's opposite side, laser scanning mechanism includes arm and 3D laser scanner, the one end of arm is connected the frame, the other end is connected 3D laser scanner, 3D laser scanner is located the top of detection zone.

Preferably, press from both sides tight centering mechanism and include boundary beam, fixed arm and press from both sides tight centering subassembly, be equipped with the slide rail on the boundary beam, the fixed arm is connected the boundary beam, press from both sides tight centering subassembly and include gear, first cylinder and two digging arms, the gear with first cylinder is all installed on the boundary beam, the piston rod of first cylinder is connected arbitrary one in two digging arms, the digging arm includes presss from both sides tight pole and is located press from both sides the connecting plate of tight pole afterbody, install slider and rack on the connecting plate, the digging arm passes through the slider can be followed the slide rail removes, the rack of two digging arms all with the gear meshes mutually, so that two digging arms can move mutually or back on the back mutually simultaneously.

Preferably, the two clamping rods and the fixing arm are perpendicular to the edge beam, and the distance between the central axis of the two clamping rods and the fixing arm is fixed.

Preferably, the distance between the central axes of the two clamping rods and the central axis of the detection area is fixed.

Preferably, the distance between the central axes of the two clamping rods and the fixing arm is smaller than the distance between the central axes of the two clamping rods and the central axis of the detection area.

Preferably, the horizontal moving mechanism comprises a rodless cylinder, the rodless cylinder comprises a cylinder body and a sliding block assembly, the cylinder body is connected with the rotating mechanism, and the sliding block assembly is connected with the clamping and centering mechanism.

Preferably, the rotating mechanism comprises a rotating frame and a second air cylinder, the rotating frame is mounted on the rack, one end of the rotating frame is connected with the horizontal moving mechanism, and the other end of the rotating frame is connected with a piston rod of the second air cylinder.

Preferably, platform mechanism the frame is formed by the shaped steel welding, the platform the material loading district, detection zone and unloading district are hollow out construction, just the four corners in material loading district, detection zone and unloading district is all connected through the jackscrew the frame.

Preferably, said robotic arm comprises a UR3 co-operating robot.

Preferably, the system further comprises a PLC controller, by which the operation of the system is controlled.

The utility model has the advantages that:

the utility model provides a bear saddle robot laser detection system, mainly used bear the size detection operation of saddle, and this system can improve detection efficiency and the measuring accuracy to bearing the saddle.

Drawings

Fig. 1 and 2 are schematic diagrams of the main structure of the saddle robot laser detection system of the present invention.

Fig. 3 and 4 are schematic diagrams of the main structure of the clamping and centering mechanism of the present invention.

Fig. 5 is a schematic view of the main structure of the horizontal movement mechanism and the rotation mechanism of the present invention.

Fig. 6 is a schematic view of the use state of the laser detecting system of the saddle-bearing robot of the present invention.

Detailed Description

Referring to fig. 1 and 2, fig. 1 and 2 schematically show the main structure of a saddle-carrying robot laser inspection system, as shown, the system includes a platform mechanism 10, a clamping and centering mechanism 20, a horizontal moving mechanism 30, a rotating mechanism 40, and a laser scanning mechanism 50, the platform mechanism 10 includes a frame 11 and a platform 12 located above the frame 11, the platform 12 includes a loading area 13, a detection area 14, and a blanking area 15, the clamping and centering mechanism 20 is located at one side of the platform mechanism 10, and is used for clamping a saddle 60 located at the loading area 13 and aligning the central axis of the saddle 60, the horizontal moving mechanism 30 is connected with the clamping and centering mechanism 20, and is used for horizontally moving the clamping and centering mechanism 20 along the length direction of the platform mechanism 10, the rotating mechanism 40 is fixed on the frame 11 and connected with the horizontal moving mechanism 30, and is used for rotating the horizontal moving mechanism 30 and the clamping and centering mechanism 20, the laser scanning mechanism 50 is located on the other side of the platform mechanism 10, the laser scanning mechanism 50 includes a robot arm 51 and a 3D laser scanner 52, one end of the robot arm 51 is connected to the rack 11, the other end is connected to the 3D laser scanner 52, and the 3D laser scanner 52 is located above the detection area 14.

Referring to fig. 2, the frame 11 of the platform mechanism 10 is formed by welding profile steels, four vertical legs 16 are disposed at four corners of the frame 11, and the bottom of each vertical leg 16 is provided with an expansion bolt mounting hole 17, so that the frame 11 can be fixed on the ground through the expansion bolt, and the detection result is prevented from being affected by vibration generated in the system operation process. The material loading district 13, the detection district 14 and the unloading district 15 of platform 12 are hollow out construction, can be the steel sheet that the centre is the fretwork, and the convenience is to the detection of bearing saddle 60 bottom half slot. This material loading district 13, detection zone 14 and unloading district 15 are independent separately, all in being equipped with leveling structure, specifically, the frame 11 is all connected through the jackscrew in the four corners in material loading district 13, detection zone 14 and unloading district 15, guarantees the level in material loading district 13, detection zone 14 and unloading district 15 through adjusting the jackscrew.

Referring to fig. 3 and 4, fig. 3 and 4 exemplarily show a main structural schematic diagram of the clamping and centering mechanism, as shown, the clamping and centering mechanism 20 includes an edge beam 21, a fixed arm 22, and a clamping and centering assembly 23, a slide rail 24 is disposed on the edge beam 21, the fixed arm 22 is connected to the edge beam 21, the clamping and centering assembly 23 includes a gear 231, a first air cylinder 232, and two movable arms 233, the gear 231 and the first air cylinder 232 are both mounted on the edge beam 21, a piston rod of the first air cylinder 232 is connected to any one of the two movable arms 233, the movable arm 233 includes a clamping rod 234 and a connecting plate 235 located at a rear end of the clamping rod 234, a slider 236 and a rack 237 are mounted on the connecting plate 235, the movable arm 233 is movable along the slide rail 24 via the slider 236, and the racks 237 of the two movable arms 233 are both engaged with the gear 231, so that the two movable arms 233 can. Specifically, the gear 231 is fixed, the first cylinder 232 pushes any one movable arm 233 of the two movable arms 233, the gear 231 is driven to rotate by the corresponding rack 237, and the other rack 237 is driven to move in the opposite direction by the rotation of the gear 231, so that the two movable arms 233 move towards or away from each other at the same speed, and the two movable arms 233 both move along the slide rail 24 on the side beam 21 through the slider 236, so that the two movable arms 233 are on the same horizontal line when moving towards or away from each other at the same speed. Due to the above structure of the clamping and centering assembly 23, it is possible to adapt to adapter 60 with different specifications, and since different adapter 60 only have different lengths, the central axis of adapter 60 remains unchanged after being clamped by the clamping rod 234, thereby achieving the function of aligning the central axis of adapter 60.

Preferably, the two clamping levers 234 and the fixing arm 22 are perpendicular to the side beam 21, and the distance between the central axis of the two clamping levers 234 and the fixing arm 22 is fixed. The distance between the central axes of the two clamping bars 234 and the central axis of the examination area 14 is fixed. The distance between the central axes of the two clamping levers 234 and the holding arm 22 is smaller than the distance between the central axes of the two clamping levers 234 and the central axis of the examination area 14. In this way, after the clamping and centering mechanism 20 clamps the adapter 60 located in the feeding area 13, the horizontal moving mechanism 30 is moved a fixed distance to drive the clamping and centering mechanism 20 to horizontally move the clamped adapter 60 to the detection area 14, and simultaneously, the adapter 60 located in the detection area 14 is also horizontally moved to the blanking area 15 by the fixing arm 22. It should be noted that the central axes of the two clamping bars 234 can also be understood as the boundary line between the two clamping bars when the two clamping bars are clamped together, and the central axis of the examination area can be understood as the perpendicular bisector of the examination area as a rectangle with its long sides corresponding to the two. The distance between the central axis of two clamp bars 234 and the central axis of detection zone 14 is fixed, so can remove this fixed distance at every turn, can move the saddle 60 after adjusting well to detection zone 14 to make the central axis of saddle 60 and the central axis coincidence of detection zone, the distance between the central axis of two clamp bars 234 and the central axis of detection zone 14 is 920mm in this embodiment, and the distance between the central axis of two clamp bars 234 and fixed arm 22 is 630 mm.

Referring to fig. 5, fig. 5 illustrates the main structure of the horizontal moving mechanism and the rotating mechanism, as shown in the figure, the horizontal moving mechanism 30 includes a rodless cylinder 31, the rodless cylinder 31 includes a cylinder body 32 and a slider assembly 33, the cylinder body 32 is connected with the rotating mechanism 40, and the slider assembly 32 is connected with the clamping and centering mechanism 20. The slider assembly 32 moves along the guide rails of the cylinder 32 and has two stop positions on the guide rails, wherein in the first stop position (as shown in fig. 6), the clamping and centering mechanism 20 can clamp the adapter 60 on the loading area 13, and when moving from the first stop position to the second stop position, the clamping and centering mechanism 20 moves the adapter 60 on the loading area 13 to the detection area 15 and simultaneously moves the adapter 60 on the detection area 14 to the unloading area 15. Thus, when different bearing saddles 60 move to the detection area 14, the bearing saddles 60 are all positioned on the same axial line, and the situation that the front and back deviation errors are overlarge when the bearing saddles 60 are detected is avoided.

With continued reference to fig. 5, the rotating mechanism 40 includes a rotating frame 41 and a second cylinder 42, the rotating frame 41 is mounted on the frame 11, and one end of the rotating frame is connected to the horizontal moving mechanism 30, and the other end of the rotating frame is connected to the piston rod of the second cylinder 42. The rotating frame 41 is pushed by the second air cylinder 42 so that the whole of the clamping and centering mechanism 20 and the horizontal moving mechanism 30 is rotated upward or downward by a certain angle. In the using process, after the bearing saddle 60 is moved to the detection area 14, the clamping and centering mechanism 20 and the horizontal moving mechanism 30 are rotated upwards by a certain angle so as to avoid the detection range of the laser scanning mechanism 50, then the horizontal moving mechanism 30 returns to the initial position, the bearing saddle 60 is waited to be detected by the laser scanning mechanism 50, and after the detection is finished, the laser scanning mechanism 50 exits from the detection position; the rotation mechanism 40 is again activated to rotate the clamp centering mechanism 20 and the horizontal movement mechanism 30 to the horizontal position, and then the clamping centering and movement of the bearing adapter 60 to the inspection area 14 is repeated.

The robotic arm 51 comprises a UR3 co-operating robot, the mounting positioning accuracy and fixed coordinates of UR3 co-operating robot relative to the measuring platform, thereby adapting the range of operation of the UR3 robot to different saddles 60. The 3D laser scanner 52 may be an ECCO series 3D sensor laser scanner, and in particular, may be ECCO 75.200.

The utility model discloses a bear saddle robot laser detecting system can also include the PLC controller, adopts the operation of PLC controller control entire system, and each equipment drive all adopts the cylinder drive, is furnished with pneumatic centralized control cabinet, and outside air supply pressure control is at 0.4-0.8 Mpa.

The utility model discloses a bearing saddle robot laser detection system can improve the detection efficiency and the measuring accuracy to bearing the saddle. The laser detection system of the bearing saddle robot has reasonable structural design, improves the transmission efficiency and the universality, and can adapt to different bearing saddles. The clamping and centering mechanism can realize centering of different carrying saddles in the front and at the back, the centering precision can guarantee the error range of measurement, and the influence on the detection result in the back is avoided. The clamping and centering mechanism can position the central axes of different bearing saddles, so that the measuring accuracy is ensured. With an ECCO75.200 laser scanner, the scanning area can be adapted to different adapter carriers.

The above description is the preferred embodiment of the present invention and the technical principle applied by the preferred embodiment, and for those skilled in the art, without departing from the spirit and scope of the present invention, any obvious changes based on the equivalent transformation, simple replacement, etc. of the technical solution of the present invention all belong to the protection scope of the present invention.

Claims

1. The utility model provides a bear saddle robot laser detecting system, its characterized in that, the system includes platform mechanism, presss from both sides tight centering mechanism, horizontal migration mechanism, rotary mechanism and laser scanning mechanism, platform mechanism includes the frame and is located the platform of frame top, the platform includes material loading district, detection zone and unloading district, press from both sides tight centering mechanism and be located one side of platform mechanism for press from both sides the saddle that is located material loading district and with the central axis of saddle is adjusted well, horizontal migration mechanism connects press from both sides tight centering mechanism for with press from both sides tight centering mechanism and follow the length direction of platform mechanism upward horizontal migration, rotary mechanism fixes in the frame and connect horizontal migration mechanism for rotate horizontal migration mechanism with press from both sides tight centering mechanism, laser scanning mechanism is located the opposite side of platform mechanism, laser scanning mechanism includes arm and 3D laser scanner, the one end of arm is connected the frame, the other end is connected 3D laser scanner, 3D laser scanner is located the top of detection zone.

2. The laser detecting system for bearing saddle robot as claimed in claim 1, wherein said clamping and centering mechanism includes an edge beam, a fixed arm and a clamping and centering assembly, said edge beam is provided with a slide rail, said fixed arm is connected to said edge beam, said clamping and centering assembly includes a gear, a first cylinder and two movable arms, said gear and said first cylinder are both mounted on said edge beam, a piston rod of said first cylinder is connected to any one of said two movable arms, said movable arms include a clamping rod and a connecting plate located at the tail of said clamping rod, said connecting plate is provided with a slide block and a rack, said movable arms can move along said slide rail via said slide block, and said racks of said two movable arms are engaged with said gear, so that said two movable arms can move toward or away from each other at the same time.

3. The laser saddle detection system according to claim 2, wherein both of the clamping bars and the stationary arm are perpendicular to the side beams and the distance between the central axis of both of the clamping bars and the stationary arm is fixed.

4. The laser inspection system of claim 3, wherein the distance between the central axis of the two clamping bars and the central axis of the inspection area is fixed.

5. The laser inspection system of claim 3, wherein the distance between the central axis of the two clamping bars and the stationary arm is less than the distance between the central axis of the two clamping bars and the central axis of the inspection area.

6. The laser inspection system of claim 1, wherein the horizontal displacement mechanism comprises a rodless cylinder, the rodless cylinder comprising a cylinder block and a slider assembly, the cylinder block coupled to the rotation mechanism and the slider assembly coupled to the clamp centering mechanism.

7. The laser inspection system for saddle bearing robots as claimed in claim 1 wherein said rotating mechanism comprises a rotating frame and a second cylinder, said rotating frame is mounted on a frame, one end of said rotating frame is connected to said horizontal moving mechanism, and the other end of said rotating frame is connected to a piston rod of said second cylinder.

8. The laser inspection system of claim 1, wherein the frame of the platform mechanism is welded by steel sections, the loading, inspection and unloading sections of the platform are all hollow structures, and four corners of the loading, inspection and unloading sections are all connected to the frame by screws.

9. The laser inspection system of claim 1, wherein said robotic arm comprises a UR3 co-operating robot.

10. The carriage robot laser inspection system of any of claims 1 to 9, wherein the system further comprises a PLC controller by which operation of the system is controlled.