CN216328388U - Stacking mechanical arm and detection device - Google Patents
Stacking mechanical arm and detection device Download PDFInfo
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- CN216328388U CN216328388U CN202122949403.9U CN202122949403U CN216328388U CN 216328388 U CN216328388 U CN 216328388U CN 202122949403 U CN202122949403 U CN 202122949403U CN 216328388 U CN216328388 U CN 216328388U
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Abstract
The utility model discloses a stacking mechanical arm and a detection device, which comprise a rotating base internally connected with a rotating motor, wherein the output end of the rotating motor is connected with a first driving motor and one end of a first connecting arm, the output end of the first driving motor is connected with one end of a second driving motor through a connecting arm, the other end of the first connecting arm is hinged with the middle part of a second driving motor, the output end of the second driving motor is connected with the input end of a third driving motor through a second rotating arm, the third driving motor is connected with one end of an electric telescopic rod vertical to the second rotating arm, the other end of the electric telescopic rod is connected with a sucker assembly, the stacking mechanical arm and the detection device also comprise a device platform which is arranged on the ground and is positioned at the bottom of the sucker assembly, and the device platform is sequentially connected with a gravity sensor and a conveyor belt mechanism; through rotating base and connecting rod, even arm and driving motor can realize the adjustment of a plurality of axial of sucking disc subassembly, carry out effectual detection to prefabricated component's on the production line overall dimension and whether the crackle appears, greatly improved prefabricated component's detection efficiency.
Description
Technical Field
The utility model belongs to the technical field of detection equipment of prefabricated parts for buildings, and particularly relates to a stacking mechanical arm and a detection device.
Background
The fabricated building is produced based on the current time background, is built in a novel construction mode, most of components needing to be constructed on site are transferred to a specific assembly factory for prefabrication in advance, and are transported to a construction site for assembly after prefabrication. The assembly type building has the advantages of high construction efficiency, waste reduction, environmental pollution reduction and the like, can effectively solve the problems in the building industry of China, and can become a new direction for realizing the development of the building industry.
The prefabricated part is used as a core link in an assembly type building industrial chain, and the stacking mechanical arm bears various operations such as lifting, moving, descending and the like of the prefabricated part in the production process. In the production of prefabricated parts, the external dimensions are mainly determined by the used mould, and although certain errors are allowed for the external dimensions of the prefabricated parts, the allowed errors are in a certain range. Because the prefabricated components are generally transported to the palletizing mechanical arm through a conveyor belt for palletizing, if the error is too large, the palletizing is unstable, and the quality of the finished components is unstable. Generally, for the detection of the prefabricated part, random spot check and judgment of workers are mainly relied on, and the method has the problems of low recognition efficiency, poor accuracy and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a stacking mechanical arm and a detection device, and solves the problem that manual sampling detection efficiency of existing prefabricated part detection equipment is low.
The utility model adopts the technical scheme that the stacking mechanical arm and the detection device comprise a rotating base internally connected with a rotating motor, the output end of the rotating motor is connected with a first driving motor and one end of a first connecting arm, the output end of the first driving motor is connected with one end of two driving motors through a connecting arm, the other end of the first connecting arm is hinged with the middle part of a second driving motor, the output end of the second driving motor is connected with the input end of a third driving motor through a second rotating arm, the third driving motor is connected with one end of an electric telescopic rod vertical to the second rotating arm, the other end of the electric telescopic rod is connected with a sucker component,
the device comprises a sucker assembly and is characterized by further comprising a device table which is arranged on the ground and located at the bottom of the sucker assembly, and the device table is sequentially connected with a gravity sensor and a conveyor belt mechanism.
The utility model is also characterized in that:
the connecting arm comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged with the first driving motor, the other end of the first connecting rod is hinged with one end of the second connecting rod, and the other end of the second connecting rod is connected with one end of the second driving motor.
The other end of the second connecting rod is connected with a second driving motor through a hinged seat.
The sucking disc subassembly is including connecting the mounting bracket at the electric telescopic handle other end, and vacuum chuck is connected to the mounting bracket bottom.
A rotating base is also connected between the mounting rack and the vacuum chuck.
The vacuum chuck is connected with a laser ranging device.
And the mounting frame is connected with an industrial camera.
The device table is also connected with a first infrared sensor and a second infrared sensor which extend to the upper part of the conveying belt mechanism.
The utility model has the beneficial effects that:
according to the stacking mechanical arm and the detection device, the sucker component can be adjusted in multiple axial directions by rotating the base, the connecting rod, the connecting arm and the driving motor, so that the overall dimension of a prefabricated component on a production line and whether cracks occur can be effectively detected and analyzed, meanwhile, the weight index of the component is rechecked by additionally arranging the weight detection device, abnormal components are identified and recorded, manual sampling inspection is not needed, and the detection efficiency of the prefabricated component is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of a stacking mechanical arm and a detection device of the utility model.
In the figure, 1 is a rotating base, 2 is a first connecting rod, 3 is a first driving motor, 4 is a second connecting rod, and 5 is a rotating base.
The device comprises a first connecting arm, a hinge base, a second driving motor, a second connecting arm, a third driving motor, an electric telescopic rod, a sucker assembly, a mounting frame, an industrial camera, a rotating base, a laser distance measuring device, a vacuum sucker, a conveyor belt mechanism, a first infrared sensor, a second infrared sensor, a gravity sensor and a device platform, wherein the first connecting arm is 6, the hinge base is 7, the second driving motor is 8, the third connecting arm is 9, the electric telescopic rod is 10, the sucker assembly is 11, the mounting frame is 12, the industrial camera is 13, the rotating base is 14, the laser distance measuring device is 15, the vacuum sucker is 16, the conveyor belt mechanism is 17, the first infrared sensor is 18, the second infrared sensor is 19, the gravity sensor is 20, and the device platform is 21.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The utility model discloses a stacking mechanical arm and a detection device, as shown in figure 1, the stacking mechanical arm and the detection device comprise a rotating base 1 internally connected with a rotating motor, the output end of the rotating motor is connected with a first driving motor 3 and one end of a first connecting arm 5, the first driving motor 3 is sequentially hinged with a first connecting rod 2 and a second connecting rod 4, the other end of the second connecting rod 4 is connected with one end of a second driving motor 7, the first connecting rod 2 and the second connecting rod 4 can be driven to rotate 360 degrees around the output shaft of the rotating motor through the rotating motor, the other end of the first connecting rod 2 is fixedly connected with the first driving motor 4, the output end of the rotating motor is connected with the middle part of the second driving motor 7 through the first connecting arm 5, the connecting arm is driven to move through the first driving motor 3, so that the second driving motor 7 is driven to move up and down around the end part of the first connecting arm 5, and the output end of the second driving motor 7 is sequentially connected with a second rotating arm 8, And the third driving motor 9 drives the second rotating arm 8 and the third driving motor 9 to rotate in sequence when the output shaft of the second driving motor 7 rotates, the third driving motor 9 is connected with one end of an electric telescopic rod 10 perpendicular to the second rotating arm 8, and the other end of the electric telescopic rod 10 is connected with the sucker component 11.
Still including setting up in subaerial and being located the device platform 21 of sucking disc subassembly 11 bottom, gravity sensor 20, conveyer belt mechanism 17 are connected gradually on the device platform 21, are convenient for weigh and transport.
According to the utility model, the first connecting rod 2 and the second connecting rod 4 are connected, so that the overall rigidity and the motion stability of the stacking mechanical arm are improved, and the vibration of the mechanical arm can be reduced when the shape and the weight of a prefabricated part are changed due to the design.
The other end of the second connecting rod 4 is connected with a second driving motor 7 through a hinged seat 6. When the position of the end of the second connecting rod 4 is changed, the angle between the second connecting rod 4 and the second driving motor 7 can be adjusted adaptively.
Sucking disc subassembly 11 is including connecting mounting bracket 12 at the electric telescopic handle 10 other end, and vacuum chuck 16 is connected to mounting bracket 12 bottom, and electric telescopic handle 10 can stretch out and draw back the adjustment according to the actual position of prefab to be suitable for the not prefab of equidimension, vacuum chuck 16 can adsorb the prefab, so that to the transportation of prefab.
A rotating base 14 is also connected between the mounting frame 12 and the vacuum chuck 16, and the effect of adjusting the angle of the prefabricated member can be achieved by rotating the rotating base 14.
The vacuum chuck 16 is connected to a laser distance measuring device 15 which is capable of measuring the distance between the vacuum chuck 16 and the bottom conveyor mechanism 17 in order to release the preforms onto the conveyor mechanism 17.
And the mounting frame 12 is connected with an industrial camera 13 for photographing the prefabricated part, recording the size of the prefabricated part, recording whether cracks appear on the surface of the prefabricated part or not, and transmitting the prefabricated part to the control device to prepare for subsequent removal.
The device table 21 is also connected with a first infrared sensor 18 and a second infrared sensor 19 which extend to the upper part of the conveyor belt mechanism 17, and the device on the conveyor belt mechanism 17 comprises a thickness detection device and a weight detection device; the thickness detection device comprises a first infrared sensor 18 and a second infrared sensor 19, the first infrared sensor 18 is arranged on the front side of the second infrared sensor 19, and the horizontal position of the first infrared sensor 18 is arranged on the upper side of the second infrared sensor 19; the weight detecting device includes a gravity sensor 20 disposed directly below the first infrared sensor 18 and the second infrared sensor 19 and above the device table 21.
The height of the first infrared sensor 18 is the upper limit height of the height tolerance of the prefabricated part, the height of the second infrared sensor 19 is the lower limit height of the height tolerance of the prefabricated part, and whether the thickness of the prefabricated part is qualified or not is preliminarily judged by detecting the upper limit height and the lower limit height.
The use method of the stacking mechanical arm and the detection device comprises the following steps:
the utility model relates to a plurality of driving motors, and after the driving rotation of each driving motor, the angles of different amplitudes or positions can be adjusted. In the use, vacuum chuck 16 and prefabricated component's surface contact takes away air between the two, makes atmospheric pressure between the two contact surfaces be less than external atmospheric pressure, and prefabricated component and vacuum chuck 16 firmly combine together this moment, can carry out the pile up neatly, and concrete process is:
adjusting the output of the rotating motor: when the prefab needs to be transported to a large extent, the first connecting rod 2 is adjusted to rotate by adjusting the rotating motor, so that the first connecting arm 5 and the second connecting rod 4 are driven to face different directions, and the position of the prefab to be detected is roughly determined.
Adjusting the output of the first drive motor 3: when needs are to the angular adjustment who adsorbs the prefab, through adjusting 3 output end angles of first driving motor, drive in proper order and link the arm, articulated seat 6, 7 tip of second driving motor, and then drive second driving motor 7 and rotate around the 5 other ends of first connecting arm, reach the purpose that lifts up or pushes down 7 output ends of second driving motor to this realizes the effect of adjustment electric telescopic handle 10, 11 angles of sucking disc subassembly, can adsorb irregular prefab.
Adjusting the output of the second drive motor 7: when the angle measurement is placed to the prefab transform to needs, through the 7 output end angles of adjustment second driving motor, make second linking arm 8 drive third driving motor 9, electric telescopic handle 10 rotate around 8 axes of second linking arm, place the prefab on conveyor belt mechanism 17 after carrying out the angle transform at the in-process that transfers from different heights.
Adjusting the output of the third drive motor 9: can drive electric telescopic handle 10 and extend or stretch out and draw back, and then realize the lift of electric telescopic handle 10 bottom sucking disc subassembly 11.
The transfer process of the prefabricated member is realized by the above driving motor, and after the prefabricated member is placed on the conveyor belt mechanism 17, the prefabricated member is weighed by the weight detection device, namely the gravity sensor 20, so that whether the weight of the prefabricated member is in a qualified range or not is evaluated. The thickness of the prefabricated member is measured by a thickness detection device, the thickness detection device comprises a first infrared sensor 18 and a second infrared sensor 19, the first infrared sensor 18 is arranged on the front side of the second infrared sensor 19, and the horizontal position of the first infrared sensor 18 is arranged on the upper side of the second infrared sensor 19; the height of the first infrared sensor 18 is the upper limit height of the height tolerance of the prefabricated part, the height of the second infrared sensor 19 is the lower limit height of the height tolerance of the prefabricated part, and whether the thickness of the prefabricated part is qualified or not is preliminarily judged by detecting the upper limit height and the lower limit height. After the thickness detection device and the weight detection device finish the primary detection of the prefabricated part, the laser ranging device 15 can accurately detect the distance of the prefabricated part where the bottom of the vacuum chuck 16 is located, the high-definition industrial camera 13 is used for photographing the prefabricated part, recording whether cracks occur on the size and the surface of the prefabricated part or not, and transmitting the prefabricated part to the control device to prepare for subsequent removal.
Through the mode, the stacking mechanical arm and the detection device provided by the utility model relate to a building engineering detection device, and the stacking mechanical arm and the detection device comprise: pile up neatly machinery arm, thickness detection device and weight detection device, the pile up neatly machinery arm carry out the rotation of a plurality of directions through rotating base, connecting rod, linking arm and driving motor, the vacuum chuck of arm bottom and prefabricated component's surface contact take out the air between the two and make prefabricated component and vacuum chuck combine together firmly, can carry out the pile up neatly. The thickness detection device comprises a first infrared sensor and a second infrared sensor, and the weight detection device comprises a gravity sensor. After thickness detection device and weight detection device accomplish the preliminary detection of prefabricated component, laser rangefinder can the accurate distance that detects the prefabricated component that vacuum chuck bottom belongs to, high definition industry camera be used for shooing the prefabricated component, whether crackle etc. appear in record prefabricated component size and surface to convey to controlling means and prepare for follow-up rejection, need not to carry out artifical selective examination through the device, improve the efficiency of inspection.
Claims (8)
1. The stacking mechanical arm and the detection device are characterized by comprising a rotating base (1) internally connected with a rotating motor, wherein the output end of the rotating motor is connected with a first driving motor (3) and one end of a first connecting arm (5), the output end of the first driving motor (3) is connected with one end of a second driving motor (7) through a connecting arm, the other end of the first connecting arm (5) is hinged with the middle part of the second driving motor (7), the output end of the second driving motor (7) is connected with the input end of a third driving motor (9) through a second rotating arm (8), the third driving motor (9) is connected with one end of an electric telescopic rod (10) vertical to the second rotating arm (8), the other end of the electric telescopic rod (10) is connected with a sucker component (11),
the sucker assembly is characterized by further comprising a mounting table (21) which is arranged on the ground and located at the bottom of the sucker assembly (11), wherein the mounting table (21) is sequentially connected with a gravity sensor (20) and a conveyor belt mechanism (17).
2. The palletizing mechanical arm and detection device according to claim 1, wherein the connecting arm comprises a first connecting rod (2) and a second connecting rod (4), one end of the first connecting rod (2) is hinged to the first driving motor (3), the other end of the first connecting rod is hinged to one end of the second connecting rod (4), and the other end of the second connecting rod (4) is connected to one end of the second driving motor (7).
3. The palletizing mechanical arm and detecting device according to claim 2, wherein the other end of the second connecting rod (4) is connected with a second driving motor (7) through a hinge seat (6).
4. The stacking robot arm and detection device according to claim 1, wherein the suction cup assembly (11) comprises a mounting bracket (12) connected to the other end of the electric telescopic rod (10), and a vacuum suction cup (16) is connected to the bottom of the mounting bracket (12).
5. The palletizing robot arm and detecting device according to claim 4, wherein a rotating base (14) is further connected between the mounting frame (12) and the vacuum chuck (16).
6. The palletizing robot arm and detecting device according to claim 4, wherein a laser distance measuring device (15) is connected to the vacuum chuck (16).
7. The palletizing robot arm and detection device according to claim 4, wherein an industrial camera (13) is connected to the mounting frame (12).
8. The palletizing robot arm and detecting device according to claim 1, wherein the device table (21) is further connected with a first infrared sensor (18) and a second infrared sensor (19) which extend to the upper part of the conveyor belt mechanism (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122949403.9U CN216328388U (en) | 2021-11-29 | 2021-11-29 | Stacking mechanical arm and detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122949403.9U CN216328388U (en) | 2021-11-29 | 2021-11-29 | Stacking mechanical arm and detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216328388U true CN216328388U (en) | 2022-04-19 |
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ID=81156171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122949403.9U Active CN216328388U (en) | 2021-11-29 | 2021-11-29 | Stacking mechanical arm and detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216328388U (en) |
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2021
- 2021-11-29 CN CN202122949403.9U patent/CN216328388U/en active Active
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