CN218974141U - Triaxial detects snatchs mechanism - Google Patents
Triaxial detects snatchs mechanism Download PDFInfo
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- CN218974141U CN218974141U CN202221877692.4U CN202221877692U CN218974141U CN 218974141 U CN218974141 U CN 218974141U CN 202221877692 U CN202221877692 U CN 202221877692U CN 218974141 U CN218974141 U CN 218974141U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The utility model discloses a triaxial detection grabbing mechanism, which belongs to the technical field of automatic detection systems and has the technical key points that: including X axle removal arm set spare, X axle removal arm set spare is used for detecting the removal in the X axial direction of camera and clamping jaw, still includes: the Y-axis movable arm assembly is connected with the X-axis movable arm assembly, the Y-axis movable arm assembly is arranged on the left support leg at the bottom of the three-axis detection grabbing mechanism, and one side of the Y-axis movable arm assembly is provided with an X-axis movable pair assembly; the Z-axis moving arm assembly is connected with the Y-axis moving arm assembly, and is arranged on the back of the three-axis detection grabbing mechanism and used for moving the clamping jaw in the Z-axis direction; and the glue width detection camera assembly is connected with the Y-axis movable arm assembly, and the Z-axis movable arm assembly is connected with the grabbing electric claw assembly, so that the intelligent glue width detection camera has the advantage of being intelligent.
Description
Technical Field
The utility model relates to the technical field of automatic detection systems, in particular to a triaxial detection grabbing mechanism.
Background
At present, three-axis detection grabbing mechanisms (a mechanical clamping hand is driven by a three-axis module, a detection camera moves to a proper detection position, and then the detection camera is carried by the mechanical clamping hand after detection), wherein equipment for detecting and carrying the camera is very few, but at present, three-axis detection is carried generally by adopting modes of manual carrying and detection, or carrying and detection by a single mechanical hand. And the product is easy to be polluted by manual feeding and discharging of the product with the requirement of cleanliness.
The triaxial detects snatchs mechanism and belongs to the indispensable component in automatic detecting system, and it is a equipment, and triaxial detects snatchs the mode that the mechanism replaced artifical manual detection transport, and stable performance optimizes space utilization, and efficient, low cost, stability are strong, advantage such as intelligent.
Disclosure of Invention
Aiming at the defects existing in the prior art, the embodiment of the utility model aims to provide a triaxial detection grabbing mechanism so as to solve the problems in the background art.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
the utility model provides a triaxial detects snatchs mechanism, includes X axle removal arm set spare, X axle removes arm set spare and is used for detecting the removal in the X axial direction of camera and clamping jaw, still includes:
the Y-axis movable arm assembly is connected with the X-axis movable arm assembly, the Y-axis movable arm assembly is arranged on a left support leg at the bottom of the three-axis detection grabbing mechanism, one side of the Y-axis movable arm assembly is provided with an X-axis movable auxiliary assembly, and the Y-axis movable arm assembly is used for moving a product to a next work station through a clamping jaw;
the Z-axis moving arm assembly is connected with the Y-axis moving arm assembly, is arranged on the back of the three-axis detection grabbing mechanism and is connected with the locating pin through a screw, and the Z-axis moving arm assembly is used for moving the clamping jaw in the Z-axis direction; and
the glue width detection camera assembly is connected with the Y-axis movable arm assembly, and the Z-axis movable arm assembly is connected with the grabbing electric claw assembly.
As a further aspect of the present utility model, the X-axis moving arm assembly includes:
the first drag chain sheet metal is used for connecting the X-axis moving screw rod with a clamping jaw mounting plate on an X-axis moving slide rail, and the X-axis moving slide rail is used for guaranteeing the moving stability of the mechanism in the X-axis direction;
the X-axis moving assembly fixing corner piece is used for fixing the X-axis moving auxiliary assembly on one side of an X-axis moving screw rod base on the Y-axis moving arm assembly; and
and the first drag chain is used for wiring the electric wires and the air pipes of the X-axis moving pair assembly.
As a further aspect of the present utility model, the Y-axis moving arm assembly includes:
the Y-axis kinematic pair assembly bracket is used for supporting the whole mechanism, and one side of the Y-axis kinematic pair assembly bracket is provided with a Y-axis movable screw rod;
the second drag chain sheet metal is arranged on one side of the Y-axis moving screw rod and is connected with a second drag chain, and the second drag chain is used for wiring wires and air pipes of the X-axis moving pair assembly; and
the Y-axis moving slide rail is used for guaranteeing the stability of movement of the mechanism in the Y-axis direction.
As a further aspect of the present utility model, the adhesive width detection camera assembly includes:
the camera light source bracket fixing plate is provided with a detection camera at one side, and the detection camera is used for photographing a product and identifying the width of the photo; and
the light source bracket is connected with the camera light source bracket fixing plate, and a light source is arranged on one side of the light source bracket.
As a further aspect of the present utility model, the grabbing electric gripper assembly includes:
the clamping jaw electric cylinder is connected with the clamping jaw; and
the sensor support is arranged on one side of the clamping jaw electric cylinder, and a photoelectric sensor is arranged on one side of the sensor support.
In summary, compared with the prior art, the embodiment of the utility model has the following beneficial effects:
the product is fixed a position through installing the tool at the mobile module, is located the camera of Y axle mobile pair subassembly, detects through servo removal to product top, and the back is accomplished in the detection with the product clamp to another mobile module through electric claw on, at this in-process with the visual detection of product, with the action fusion of transport together, compare in current detection and the separate equipment of transport action, promoted work efficiency.
In order to more clearly illustrate the structural features and efficacy of the present utility model, the present utility model will be described in detail below with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the utility model.
Fig. 2 is a side view of an apparatus in an embodiment of the utility model.
Fig. 3 is a left side view of the device in an embodiment of the utility model.
Fig. 4 is a schematic structural diagram of an X-axis moving arm assembly according to an embodiment of the utility model.
FIG. 5 is a side view of an X-axis moving arm assembly in an embodiment of the utility model.
FIG. 6 is a schematic diagram of a Y-axis moving arm assembly according to an embodiment of the utility model.
Fig. 7 is a schematic structural diagram of a glue width detecting camera assembly according to an embodiment of the utility model.
Fig. 8 is a schematic structural view of a grabbing electric claw assembly in an embodiment of the utility model.
Reference numerals: 1-X axis moving arm assembly, 11-first drag chain sheet metal, 12-X axis moving servo motor, 13-X axis moving screw rod, 14-first drag chain, 15-clamping jaw mounting plate, 16-X axis moving slide rail, 17-X axis moving assembly fixed angle piece, 2-X axis moving auxiliary assembly, 3-Y axis moving arm assembly, 31-Y axis moving auxiliary assembly bracket, 32-Y axis moving screw rod, 33-second drag chain sheet metal, 34-second drag chain, 35-X axis moving screw rod base, 36-Y axis moving slide rail, 4-Z axis moving arm assembly, 5-glue width detecting camera assembly, 51-camera light source bracket fixing plate, 52-detecting camera, 53-light source bracket, 54-light source, 6-grabbing electric claw assembly, 61-clamping jaw electric cylinder, 62-sensor bracket, 63-photoelectric sensor and 64-clamping jaw.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
Specific implementations of the utility model are described in detail below in connection with specific embodiments.
In one embodiment, referring to fig. 1 to 8, a three-axis detection grabbing mechanism includes an X-axis moving arm assembly 1, where the X-axis moving arm assembly 1 is used to detect movement of a camera 52 and a clamping jaw 64 in an X-axis direction, and further includes:
the Y-axis movable arm assembly 3 is connected with the X-axis movable arm assembly 1, the Y-axis movable arm assembly 3 is arranged on a left side support leg at the bottom of the three-axis detection grabbing mechanism, one side of the Y-axis movable arm assembly 3 is provided with an X-axis movable auxiliary assembly 2, and the Y-axis movable arm assembly 3 is used for moving a product to a next work station through a clamping jaw 64;
the Z-axis moving arm assembly 4 is connected with the Y-axis moving arm assembly 3, the Z-axis moving arm assembly 4 is arranged on the back of the three-axis detection grabbing mechanism and is connected with the locating pin through a screw, and the Z-axis moving arm assembly 4 is used for moving the clamping jaw 64 in the Z-axis direction; and
the glue width detection camera assembly 5 is connected with the Y-axis moving arm assembly 3, and the Z-axis moving arm assembly 4 is connected with the grabbing electric claw assembly 6.
Further, referring to fig. 1 to 8, the X-axis moving arm assembly 1 includes:
the first drag chain sheet metal 11, wherein the first drag chain sheet metal 11 connects the X-axis moving screw rod 13 with a clamping jaw mounting plate 15 on an X-axis moving slide rail 16, and the X-axis moving slide rail 16 is used for guaranteeing the moving stability of the mechanism in the X-axis direction;
an X-axis moving assembly fixing corner piece 17, wherein the X-axis moving assembly fixing corner piece 17 is used for fixing the X-axis moving sub-assembly 2 on one side of an X-axis moving screw base 35 on the Y-axis moving arm assembly 3; and
a first drag chain 14, the first drag chain 14 is used for the wiring of the electric wire and the air pipe of the X-axis moving sub-assembly 2.
Further, referring to fig. 1 to 8, the Y-axis moving arm assembly 3 includes:
the Y-axis kinematic pair assembly bracket 31, wherein the Y-axis kinematic pair assembly bracket 31 is used for supporting the whole mechanism, and one side of the Y-axis kinematic pair assembly bracket 31 is provided with a Y-axis movable screw rod 32;
the second drag chain metal plate 33, the second drag chain metal plate 33 is arranged on one side of the Y-axis moving screw rod 32, the second drag chain metal plate 33 is connected with the second drag chain 34, and the second drag chain 34 is used for wiring of the electric wire and the air pipe of the X-axis moving auxiliary assembly 2; and
the Y-axis moving slide 36, the Y-axis moving slide 36 is used to ensure the stability of the movement of the mechanism in the Y-axis direction.
Further, referring to fig. 1 to 8, the adhesive width detection camera assembly 5 includes:
a camera light source bracket fixing plate 51, wherein a detection camera 52 is arranged on one side of the camera light source bracket fixing plate 51, and the detection camera 52 is used for photographing a product and identifying the width of the photo; and
the camera light source support fixing plate 51 is connected with the light source support 53, and a light source 54 is arranged on one side of the light source support 53.
Further, referring to fig. 1 to 8, the grabbing electric gripper assembly 6 includes:
a jaw cylinder 61, the jaw cylinder 61 being connected to the jaw 64; and
the sensor support 62, the sensor support 62 sets up clamping jaw jar 61 one side, one side of sensor support 62 is provided with photoelectric sensor 63.
In the embodiment, a Y-axis movable arm assembly 3 and an X-axis movable arm assembly 1 are positioned on the left side support leg at the bottom of the triaxial detection grabbing mechanism and are connected with a positioning pin through screws; the X-axis movable auxiliary assembly 2 is connected with the Y-axis movable arm assembly 3, is positioned on a side supporting leg at the bottom of the triaxial detection grabbing mechanism and is connected with a positioning pin through a screw; the Z-axis movable arm assembly 4 is connected with the Z-axis movable arm assembly 4, is positioned at the back of the triaxial detection grabbing mechanism and is connected with the positioning pin by a screw; the glue width detection camera assembly 5 is connected with the Y-axis movable arm assembly 3 and is positioned on the front surface of the three-axis detection grabbing mechanism, and is connected with the positioning pin through a screw; the grabbing electric claw assembly 6 is connected with the Z-axis movable arm assembly 4 and is positioned at the back of the triaxial detection grabbing mechanism and connected with the positioning pin through a screw;
the actions are completed: 1. the 1 group of conveying lines conveys the jig below the required position of the adhesive width detection camera assembly 5, the X-axis moving servo motor 12 records the pulse position, the jig stops, the signal is fed back to the detection camera 52, and the action is completed. 2. The X-axis moving arm assembly 1 moves along the guiding position of the X-axis moving pair assembly 2, the Y-axis moving arm assembly 3 drives the glue width detecting camera assembly 5 to move above a product, in-place signal triggering is carried out, glue width detection is started, and the action is completed. 3. The clamping jaw electric cylinder 61 assembly of the Z-axis moving arm assembly 4 moves to a corresponding position above a product through the three-axis moving module assembly, the product is clamped through interaction of the Z-axis moving wall and the clamping jaw electric cylinder 61, and the action is completed. 4. The product is carried by the clamping jaw 64 to the position above the other conveying line corresponding to the jig, and the interaction between the clamping jaw 64 and the servo completes the action of putting the product into the jig. 5. The product is carried by the clamping jaw 64 to the position above the other conveying line corresponding to the jig, and the product is placed into the jig through interaction between the clamping jaw 64 and the servo, so that the action is completed.
The X-axis movable auxiliary assembly 2 comprises a mechanism theme framework, mainly plays a role in supporting the relative movement of the whole triaxial servo module, is connected with all the partial assemblies and can move to a required work station; in order to enable the visual detection mechanism to detect the products on the jig at the corresponding positions, the detected products are transported to the next work station through the clamping jaws
The Z-axis moving screw rod is used for moving the clamping jaw 64 in the Z-axis direction, the screw rod serves as a transmission element and has the function of converting rotary motion into linear motion, and meanwhile, the lifting driving motor is a 750W servo motor, so that the lifting device has the characteristics of high precision, reversibility and high efficiency in lifting action
The X-axis moving screw 13 is used for detecting the movement of the camera 52 and the clamping jaw 64 in the X-axis direction, and the X-axis moving slide rail 16 enables the clamping jaw assembly and the camera assembly to keep the same relative position on the X-axis, and also ensures the relative stability of the movement of the clamping jaw assembly and the camera assembly in the X-axis direction.
The Y-axis moving screw 32 is used to move the product to the next station via the clamping jaw 64, while the Y-axis slide rails also ensure the stability of the components on the Y-axis during movement.
The wire harness sheet metal is used for stabilizing and reliable electrical performance of equipment, and the appearance is tidier and attractive. So that the engineering personnel are more efficient in maintaining and repairing the equipment.
The Y-axis moving screw rod 32 is used for moving a product to a next work station through the clamping jaw 64, meanwhile, the Y-axis moving sliding rail 36 also ensures the stability of an assembly on the Y axis in the moving process, the Y-axis moving sliding rail 36 mainly has the function of ensuring the stability of a mechanism moving in the Y-axis direction, ensuring the average stress of the mechanism on a Y-axis moving pair assembly in the moving process, the Y-axis moving pair assembly bracket 31 is used for supporting the whole mechanism and ensuring the stability in the running process, the X-axis moving screw rod base 35 is used for installing an X-axis moving pair assembly, and the second drag chain 34 is used for wiring of wires and air pipes of the X-axis moving pair assembly 2.
The first drag chain sheet metal 11 connects the X-axis moving screw rod 13 with the clamping jaw mounting plate 15 on the X-axis moving slide rail 16, so that the camera component and the clamping jaw component can move simultaneously, the action process is reduced, the efficiency is improved, the X-axis moving auxiliary component 2 is fixed on the X-axis moving screw rod base 35 on the Y-axis moving arm component 3 by the X-axis moving auxiliary component 2 fixing corner piece 17, the first drag chain 14 is used for wiring wires and air pipes of the X-axis moving auxiliary component 2, the main function of the X-axis moving slide rail 16 is to ensure the stability of the mechanism moving in the X-axis direction, and the mechanism on the X-axis moving auxiliary component 2 is ensured to be stressed evenly in the moving process.
The main body function of the glue width detection camera assembly 5 is to perform visual detection and identification on a product to judge whether the product meets the qualification requirement, the detection camera 52 is used for photographing the product, whether the product meets the technological requirement is judged by identifying the glue width of the photo, the unqualified product can be distinguished in the next workstation, the light source 54 supplements light for the product when the camera photographs, so that a clearer photo can be taken when the camera photographs, the accuracy of a detection result is higher, the detection camera 52 is positioned and fixed through the groove on the camera light source support fixing plate 51, the relative position of the detection camera 52 in the moving process is not deviated, the accuracy of the result is ensured, and the stability of the detection camera 52 relative to a mechanism is ensured.
The main body function of the grabbing electric claw assembly 6 is to detect whether a product exists or not, clamp and carry the product, the maximum clamping force of the clamping claw electric cylinder 61 is 72N, the mechanism can be better ensured to adapt to most small parts, the stability of the product is ensured in the process of clamping the product, the repeated precision of the clamping claw electric cylinder 61 reaches +/-0.02 mm, the positioning and carrying of the clamping claw 64 to the high-precision product can be met, the clamping claw 64 is positioned according to the outline of the product, and a buffer block of polyurethane is arranged at the head of the clamping claw, so that the damage of the clamping claw to the product in the clamping process is reduced.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (5)
1. A three-axis detection grasping mechanism including an X-axis moving arm assembly (1), the X-axis moving arm assembly (1) being for detecting movement in an X-axis direction of a camera (52) and a jaw (64), characterized by further comprising:
the Y-axis movable arm assembly (3) is connected with the X-axis movable arm assembly (1), the Y-axis movable arm assembly (3) is arranged on a left support leg at the bottom of the three-axis detection grabbing mechanism, one side of the Y-axis movable arm assembly (3) is provided with an X-axis movable auxiliary assembly (2), and the Y-axis movable arm assembly (3) is used for moving a product to a next work station through a clamping jaw (64);
the Z-axis moving arm assembly (4) is connected with the Y-axis moving arm assembly (3), the Z-axis moving arm assembly (4) is arranged on the back of the three-axis detection grabbing mechanism and is connected with the locating pin through a screw, and the Z-axis moving arm assembly (4) is used for moving the clamping jaw (64) in the Z-axis direction; and
the glue width detection camera assembly (5), the glue width detection camera assembly (5) is connected with the Y-axis movable arm assembly (3), and the Z-axis movable arm assembly (4) is connected with the grabbing electric claw assembly (6).
2. The three-axis detection grasping mechanism according to claim 1, wherein the X-axis moving arm assembly (1) includes:
the device comprises a first drag chain metal plate (11), wherein the first drag chain metal plate (11) is used for connecting an X-axis moving screw rod (13) with a clamping jaw mounting plate (15) on an X-axis moving slide rail (16), and the X-axis moving slide rail (16) is used for guaranteeing the moving stability of a mechanism in the X-axis direction;
the X-axis moving assembly fixing corner fitting (17), the X-axis moving assembly fixing corner fitting (17) is used for fixing the X-axis moving auxiliary assembly (2) on one side of an X-axis moving screw rod base (35) on the Y-axis moving arm assembly (3); and
the first drag chain (14) is used for wiring of electric wires and air pipes of the X-axis moving pair assembly (2).
3. The three-axis detection grasping mechanism according to claim 1, wherein the Y-axis moving arm assembly (3) includes:
the Y-axis kinematic pair assembly bracket (31), the Y-axis kinematic pair assembly bracket (31) is used for supporting the whole mechanism, and one side of the Y-axis kinematic pair assembly bracket (31) is provided with a Y-axis movable screw rod (32);
the second drag chain metal plate (33), the second drag chain metal plate (33) is arranged on one side of the Y-axis moving screw rod (32), the second drag chain metal plate (33) is connected with a second drag chain (34), and the second drag chain (34) is used for wiring of wires and air pipes of the X-axis moving auxiliary assembly (2); and
and the Y-axis moving slide rail (36) is used for ensuring the stability of the mechanism moving in the Y-axis direction.
4. The three-axis detection grabbing mechanism as claimed in claim 1, wherein the glue width detection camera assembly (5) comprises:
a camera light source bracket fixing plate (51), wherein a detection camera (52) is arranged on one side of the camera light source bracket fixing plate (51), and the detection camera (52) is used for photographing a product and identifying the width of the photo; and
the camera light source support comprises a light source support (53), wherein the light source support (53) is connected with the camera light source support fixing plate (51), and a light source (54) is arranged on one side of the light source support (53).
5. The three-axis inspection gripping mechanism according to claim 1, wherein the gripping electric gripper assembly (6) comprises:
a clamping jaw electric cylinder (61), wherein the clamping jaw electric cylinder (61) is connected with the clamping jaw (64); and
the sensor support (62), sensor support (62) set up clamping jaw jar (61) one side, one side of sensor support (62) is provided with photoelectric sensor (63).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221877692.4U CN218974141U (en) | 2022-07-21 | 2022-07-21 | Triaxial detects snatchs mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221877692.4U CN218974141U (en) | 2022-07-21 | 2022-07-21 | Triaxial detects snatchs mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218974141U true CN218974141U (en) | 2023-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221877692.4U Active CN218974141U (en) | 2022-07-21 | 2022-07-21 | Triaxial detects snatchs mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN218974141U (en) |
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2022
- 2022-07-21 CN CN202221877692.4U patent/CN218974141U/en active Active
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