CN217050562U

CN217050562U - Proofreading manipulator

Info

Publication number: CN217050562U
Application number: CN202123069205.XU
Authority: CN
Inventors: 刘春学; 刘贵祥; 赵越超; 姚芮芮; 樊嘉颖; 朱纬; 蔡林衡; 江锐明; 王琦玮
Original assignee: Shanghai Institute of Quality Inspection and Technical Research
Current assignee: Shanghai Institute of Quality Inspection and Technical Research
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2022-07-26
Anticipated expiration: 2031-12-08

Abstract

The utility model provides a calibration manipulator, a rotary joint is fixed on the upper end of a manipulator base, the upper end of the rotary joint is hinged with one end of a big arm of a manipulator on a transverse plane, the other end of the big arm of the manipulator is hinged with the lower end of a small arm of the manipulator on a transverse plane, one side of the small arm of the manipulator is fixedly connected with one end of an extension arm, the other end of the extension arm is hinged with one end of a mechanical wrist on a longitudinal plane, the other end of the mechanical wrist is hinged with one end of a mechanical finger, and the other end of the mechanical finger clamps an electric spindle; the checking manipulator of the utility model can grab the checking gauge to move transversely and longitudinally, and has simple structure and convenient operation; the calibration operation is completed by matching the calibration manipulator, the ring gauge manipulator and the stress detection sensor, so that the calibration efficiency is improved, and the labor cost is saved.

Description

Proofreading manipulator

Technical Field

The utility model relates to a screw thread automated inspection field especially relates to a proofreading manipulator.

Background

Most of the existing thread detection methods rely on manual operation to screw in and screw out a thread gauge to inspect the thread machining condition of a product, the method is low in efficiency, high in labor intensity and free of detection leakage and false detection risks, and although some automatic thread detection devices are provided, the automatic thread detection devices are not suitable for establishing an automatic correction assembly line.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a proofreading manipulator has improved screw thread proofreading efficiency, has saved the labour cost.

In order to realize the purpose, the technical scheme of the utility model is that:

the calibration manipulator is characterized by comprising a manipulator base, a rotary joint, a manipulator big arm, a manipulator small arm, an extension arm, a manipulator wrist, a manipulator finger and an electric spindle, wherein the rotary joint is fixed at the upper end of the manipulator base, the upper end of the rotary joint is hinged to one end of the manipulator big arm on a transverse plane, the other end of the manipulator big arm is hinged to the lower end of the manipulator small arm on the transverse plane, one side of the manipulator small arm is fixedly connected with one end of the extension arm, the other end of the extension arm is hinged to one end of the manipulator wrist on a longitudinal plane, the other end of the manipulator wrist is hinged to one end of the manipulator finger, and the other end of the manipulator finger clamps the electric spindle.

Further, the large arm of the manipulator comprises a first arm part, a second arm part and a third arm part which are sequentially arranged from one end to the other end, the first arm part and the third arm part extend in a transverse plane, and the middle part of the second arm part is bent along the longitudinal direction.

Further, rotary joint includes rotating part and the fixed part that sets gradually from top to bottom, the rotating part is equipped with first pivot along vertically lining up, the one end of the big arm of manipulator is articulated with the rotating part through first pivot.

Furthermore, one side of the rotating part is sunken relative to the fixing part, the upper edge of the fixing part is in a sunken arc shape, one end of the large arm of the manipulator is in an arc shape, and the one end of the large arm of the manipulator is matched with the upper edge of the fixing part in shape when rotating.

Further, the manipulator forearm comprises a cylindrical part and a triangular part, the cylindrical part is coaxially connected with the extension arm, the triangular part comprises an outer triangular plate and an inner triangular plate which are longitudinally connected, a second rotating shaft is longitudinally arranged on the outer triangular plate in a penetrating mode, and the other end of the manipulator forearm is hinged to the outer triangular plate through the second rotating shaft.

The proofreading manipulator of the utility model can grab the proofreading gauge to move transversely and longitudinally, and has simple structure and convenient operation; the calibration operation is completed by matching the calibration manipulator, the ring gauge manipulator and the stress detection sensor, so that the calibration efficiency is improved, and the labor cost is saved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is another overall structure diagram of the present invention;

fig. 3 is a schematic structural view of the automatic thread proofreading apparatus.

Reference numerals:

1 vibration disc, 2 belt conveyors, 3 trumpet, 4 multi-unit storage bins, 5 electric mechanical fingers,

6 slide rails, 7 slide rail motor driving devices, 8 ring gauge manipulators, 9 industrial cameras, 10 ring gauge detection tables,

11 a calibration gauge, 12 a calibration manipulator, 13 a motor driving device of a conveyor,

14 robot base, 15 rotary joint, 151 rotary part, 152 fixed part,

16 robot arm, 161 first arm part, 162 second arm part, 163 third arm part,

17 arm, cylindrical portion 171, triangular portion 172,

18 extension arms, 19 mechanical wrists, 20 mechanical fingers and 21 electric spindles.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model discloses a proofreading manipulator, as shown in figure 1, including manipulator base 14, rotary joint 15, the big arm 16 of manipulator, manipulator forearm 17, extension arm 18, manipulator wrist 19, mechanical finger 20 and electric main shaft 21, rotary joint 15 is fixed in the upper end of manipulator base 14, rotary joint 15's upper end is articulated at horizontal plane with the one end of the big arm 16 of manipulator, the other end of the big arm 16 of manipulator is articulated at horizontal plane with the lower extreme of manipulator forearm 17, one side of manipulator forearm 17 and extension arm 18's one end fixed connection, extension arm 18's the other end is articulated at vertical plane with the one end of manipulator wrist 19, manipulator wrist 19's the other end is articulated with the one end of manipulator finger 20, manipulator finger 20's other end centre gripping electric main shaft 21.

As shown in fig. 2, the large robot arm 16 includes a first arm 161, a second arm 162, and a third arm 163 sequentially arranged from one end to the other end, the first arm 161 and the third arm 163 extend in a transverse plane, and a middle portion of the second arm 162 is bent in a longitudinal direction, so that the strength of the large robot arm 16 is increased by the bent structure.

As shown in fig. 2, the rotary joint 15 includes a rotating portion 151 and a fixing portion 152 sequentially disposed from top to bottom, the rotating portion 151 is provided with a first rotating shaft extending through the rotating portion 151 in a longitudinal direction, one end of the robot arm 16 is hinged to the rotating portion 151 via the first rotating shaft, one side of the rotating portion 151 is recessed with respect to the fixing portion 152, an upper edge of the fixing portion 152 is in a recessed arc shape, one end of the robot arm 16 is also in an arc shape, and one end of the robot arm 16 is matched with a shape of the upper edge of the fixing portion 152 when rotating.

As shown in fig. 2, the robot arm 17 includes a cylindrical portion 171 and a triangular portion 172, the cylindrical portion 171 is coaxially connected to the extension arm 18, the triangular portion 172 includes an outer triangular plate and an inner triangular plate connected in a longitudinal direction, the outer triangular plate is provided with a second rotation shaft in a longitudinal direction, and the other end of the robot arm 16 is hinged to the outer triangular plate through the second rotation shaft.

The calibration manipulator can move transversely and longitudinally, the electric spindle 21 is clamped through the mechanical fingers 20, and the electric spindle 21 is vertically arranged in the clamping process.

This proofreading manipulator is applied to automatic screw thread proofreading device when in actual use, and the proofreading device includes screw thread gauge conveyer, screw thread gauge snatchs recognition device and screw thread work piece proofreading device.

As shown in fig. 3, the thread gauge conveying apparatus includes a vibration plate 1, a belt conveyor 2, a conveyor motor driving device 13, and a multi-unit storage silo 4, the vibration plate 1 is installed at the left side of the belt conveyor 2, a trumpet 3 is installed at the end of the belt conveyor 2, the multi-unit storage silo 4 is installed at the right side of the belt conveyor 2, and the multi-unit storage silo 4 is connected with the belt conveyor 2 through the trumpet 3.

The thread gauge standard part is placed in a vibration disc 1 and sent into a belt conveyor 2, a conveyor motor driving device 13 drives a belt to rotate, the thread gauge is sent into a horn 3, and finally the thread gauge standard part is stored in a multi-unit storage bin 4.

The thread gauge grabbing and identifying device comprises a slide rail motor driving device 7, a ring gauge manipulator 8 and an industrial camera 9, two horizontal slide rails 6 are installed on the front side and the rear side of the multi-unit storage bin 4, the two horizontal slide rails 6 are parallel to each other, a cross rod is vertically installed between the two slide rails 6, a vertical guide rail is fixedly arranged on one side of the cross rod along the vertical direction, and the horizontal slide rails 6, the cross rod and the vertical guide rail form a three-axis slide rail assembly.

The electromechanical finger 5 is installed on the slider of vertical guide rail, drives the slider then and drives electromechanical finger 5 and remove by slide rail motor drive 7 drive slider, and 5 ends of electromechanical finger are claw column structures, can snatch the screw thread rule, and the polycell storage storehouse 4 is equipped with a platform that highly is close, and the ring gauge is installed according to front and back position on this platform and is examined platform 10 and ring gauge manipulator 8.

An industrial camera 9 is installed above the ring gauge detection table 10, the lens direction of the industrial camera is perpendicular to the ring gauge detection table 10, pictures on the ring gauge detection table 10 can be completely shot, an electric mechanical finger 5 grabs a thread gauge delivery ring gauge manipulator 8 from a storage bin, the ring gauge manipulator 8 places the ring thread gauge on the ring gauge detection table 10, and the industrial camera 9 shoots a thread gauge model number image.

The thread proofreading device comprises a ring gauge manipulator 8 and a proofreading manipulator 12, the gripping device at the tail end of the proofreading manipulator 12 can rotate the proofreading gauge 11 along the axis, at least three rotations of the proofreading gauge 11 in the left and right directions are met, and in the proofreading process, the two manipulators ensure that the axes of the proofreading gauge 11 and the thread gauge coincide.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the scope of the invention in its corresponding aspects.

Claims

1. The calibration manipulator is characterized by comprising a manipulator base, a rotary joint, a manipulator big arm, a manipulator small arm, an extension arm, a manipulator wrist, a manipulator finger and an electric spindle, wherein the rotary joint is fixed at the upper end of the manipulator base, the upper end of the rotary joint is hinged to one end of the manipulator big arm on a transverse plane, the other end of the manipulator big arm is hinged to the lower end of the manipulator small arm on the transverse plane, one side of the manipulator small arm is fixedly connected with one end of the extension arm, the other end of the extension arm is hinged to one end of the manipulator wrist on a longitudinal plane, the other end of the manipulator wrist is hinged to one end of the manipulator finger, and the other end of the manipulator finger clamps the electric spindle.

2. A proofreading manipulator according to claim 1, wherein said manipulator arm comprises a first arm part, a second arm part and a third arm part arranged in sequence from one end to the other end, said first arm part and said third arm part extend in a transverse plane, and a middle part of said second arm part is bent in a longitudinal direction.

3. The calibration manipulator of claim 1, wherein the rotary joint comprises a rotating part and a fixing part which are sequentially arranged from top to bottom, the rotating part is longitudinally provided with a first rotating shaft in a penetrating manner, and one end of the large arm of the manipulator is hinged to the rotating part through the first rotating shaft.

4. A calibration manipulator according to claim 3, wherein one side of the rotatable portion is recessed relative to the stationary portion, the upper edge of the stationary portion is in the form of a recessed arc, and the one end of the arm is in the form of an arc, the one end of the arm engaging the upper edge of the stationary portion when rotated.

5. The calibration manipulator according to claim 1, wherein the small manipulator arm comprises a cylindrical portion and a triangular portion, the cylindrical portion is coaxially connected with the extension arm, the triangular portion comprises an outer triangular plate and an inner triangular plate which are longitudinally connected, a second rotating shaft is longitudinally arranged on the outer triangular plate in a penetrating mode, and the other end of the large manipulator arm is hinged to the outer triangular plate through the second rotating shaft.