A steel ball multi-degree-of-freedom clamping detection device and a detection method

Abstract

The application discloses a kind of steel ball multi-degree-of-freedom clamping detection device and detection method, including base and detection component, first jaw pair and second jaw pair are equipped on base, detection component is fixed on base for obtaining the detection signal of steel ball clamped by first jaw pair or second jaw pair, the clamping panel of first jaw in first jaw pair is equipped with several ball bearings, first jaw pair clamps steel ball when limiting steel ball and making steel ball have rotational freedom, the two ends of the clamping surface of second jaw in second jaw pair are equipped with power contact wheel, when second jaw pair clamps steel ball, steel ball is driven to rotate by power contact wheel, base is equipped with lifting adsorption table, lifting adsorption table includes lifting pipe, rotating motor and suction cup, the bottom of lifting pipe is connected with rotating motor, rotating motor drives suction cup to rotate, lifting adsorption table is located between first jaw for driving the rotation of steel ball adsorbed.The application can directly drive steel ball to rotate while clamping steel ball, and then complete steel ball detection.

Description

Technical Field

[0001] This invention relates to a steel ball detection device and method, and particularly to a steel ball multi-degree-of-freedom clamping detection device and method. Background Technology

[0002] Steel balls are the most important component of bearings and the most widely used rolling elements in the bearing industry. The quality of the steel balls directly affects the bearing's precision, motion performance, and service life.

[0003] Automated inspection of steel balls primarily involves acquiring information from various directions on the surface of the steel ball, including but not limited to images, ultrasonic echoes, and electromagnetic feedback. To achieve comprehensive inspection, it is often necessary to control the rotation of the steel ball in the required direction. However, current technologies typically involve setting up a separate inspection device, sorting the steel balls to be inspected, resulting in numerous inspection steps, a slow cycle time, and difficulty in aligning with the production line's pace. The steel balls require multiple clamping and transfers during the process from production to inspection, and the changing of tooling can easily cause bumps and damage, increasing the defect rate. Furthermore, a separate inspection device requires dedicated space. Summary of the Invention

[0004] To address the shortcomings of the prior art, this invention provides a steel ball multi-degree-of-freedom clamping and detection device and a steel ball multi-degree-of-freedom clamping and detection method, solving the problem that existing sorting and clamping devices require a separate detection device and cannot directly drive the steel ball for detection.

[0005] The technical solution of this invention is as follows: A multi-degree-of-freedom steel ball clamping and detection device includes a base and a detection component. The base is provided with a first pair of grippers and a second pair of grippers. The detection component is fixed on the base to acquire detection signals of the steel ball clamped by the first pair of grippers or the second pair of grippers. The clamping panel of the first gripper in the first pair of grippers is provided with a plurality of balls. When the first pair of grippers clamps the steel ball, it limits the position of the steel ball and gives the steel ball a rotational degree of freedom. The clamping surfaces of the second grippers in the second pair of grippers are provided with power contact wheels at both ends. When the second pair of grippers clamps the steel ball, the power contact wheels drive the steel ball to rotate. The base is provided with a lifting adsorption platform. The lifting adsorption platform includes a lifting tube, a rotary motor and a suction cup. The bottom of the lifting tube is connected to the rotary motor. The rotary motor drives the suction cup to rotate. The lifting adsorption platform is located between the first grippers to drive the adsorbed steel ball to rotate.

[0006] Furthermore, the first pair of grippers and the second pair of grippers are located in two orthogonal vertical planes, and the rotation surface of the suction cup is a horizontal plane.

[0007] Furthermore, the base is equipped with a lifting drive platform, which is connected to the first jaw of the first jaw pair via a first connecting rod, and to the second jaw of the second jaw pair via a second connecting rod. The lifting drive platform has a first height position and a second height position. When the lifting drive platform is at the first height position, it drives the first jaw pair to a clamping state and the second jaw pair to a releasing state. When the lifting drive platform is at the second height position, it drives the second jaw pair to a clamping state and the first jaw pair to a releasing state. This solution uses a single driving source, the lifting drive platform, to synchronously drive the two jaw pairs to alternately clamp and release, eliminating the need for separate motion sensors for each jaw pair, preventing interference between the jaw pairs, and simplifying the mechanism.

[0008] Further, the first gripper includes a first rotating arm, a first damping spring assembly, a first support arm, and a panel. The first rotating arm is hinged to the base, and the first support arm is hinged to the end of the first rotating arm. The two ends of the first damping spring assembly are respectively connected to the first rotating arm and the first support arm. The panel is the gripping surface of the first gripper and is connected to the first support arm. The second gripper includes a second rotating arm, a second damping spring assembly, a second support arm, and a powered gripper. The second rotating arm is hinged to the base, and the second support arm is hinged to the end of the second rotating arm. The two ends of the second damping spring assembly are respectively connected to the second rotating arm and the second support arm. The powered gripper forms the gripping surface of the second gripper and is connected to the second support arm.

[0009] Furthermore, the panel is arc-shaped and is connected to the first support arm via a follower spring.

[0010] Furthermore, the power gripper includes a connecting seat, gripping arms, and an electric cylinder. The gripping arms are provided with two arms and are hinged to the connecting seat. The ends of the two gripping arms are engaged by teeth. The two ends of the electric cylinder are respectively connected to the two gripping arms and drive the gripping arms to rotate and change the angle. The power contact wheel is located at the head end of the gripping arms.

[0011] Furthermore, the connecting seat is connected to the second support arm via a spring connector.

[0012] Furthermore, the power contact wheels are arranged in pairs at the head end of the clamping arm, and the power gripper is equipped with a drive motor, which drives the power contact wheels to rotate through a pulley transmission mechanism.

[0013] Furthermore, an elastic element and a tension / compression sensor are provided between the rotary motor and the suction cup, and the tension / compression sensor detects the pressure received by the suction cup.

[0014] Another technical solution of the present invention is as follows: a method for detecting multi-degree-of-freedom clamping of steel balls, based on the aforementioned multi-degree-of-freedom clamping detection device for steel balls, comprising: With both the first and second gripper pairs partially open, the lifting adsorption platform descends to allow the suction cup to adsorb the steel ball. The lifting adsorption platform rises, causing the steel ball to enter the clamping range of the first pair of grippers, where the steel ball is clamped by the first pair of grippers. A rotary motor drives a suction cup to rotate, which in turn drives a steel ball to rotate under the clamping limit of the first gripper, and the detection component obtains the detection signal of the steel ball; The second gripper pair replaces the first gripper pair in holding the steel ball. The power contact wheel of the second gripper pair drives the steel ball to rotate, and the detection component obtains the detection signal of the steel ball.

[0015] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows: Two grippers alternately hold the steel ball, and a rotary motor, suction cup, and power contact wheel drive the ball to rotate vertically and horizontally. The detection component then acquires detection signals across the entire surface of the steel ball. The gripping and rotation are integrated; once gripped, rotation and detection are initiated immediately, eliminating the need for secondary clamping, secondary positioning, and mechanism switching. This significantly shortens the detection cycle for a single steel ball and improves overall efficiency. The grippers remain in place throughout the entire process, without shifting or loosening, reducing contact and transport steps, effectively preventing surface damage and increasing yield. This fundamentally solves the problems of low efficiency, susceptibility to damage, complex structure, and high cost associated with traditional solutions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the multi-degree-of-freedom clamping and detection device for steel balls, as shown in the embodiment.

[0017] Figure 2 This is a schematic diagram of the cooperation structure between the base and the lifting drive platform of the multi-degree-of-freedom steel ball clamping and detection device in an embodiment.

[0018] Figure 3 This is a schematic diagram of the lifting adsorption platform of the multi-degree-of-freedom clamping and detection device for steel balls, as shown in the embodiment.

[0019] Figure 4 This is a schematic diagram of the first gripper pair structure of the multi-degree-of-freedom steel ball clamping and detection device according to an embodiment.

[0020] Figure 5 This is a schematic diagram of the second gripper pair structure of the multi-degree-of-freedom steel ball clamping and detection device in an embodiment.

[0021] Figure 6 This is a schematic diagram of the power gripper structure of the multi-degree-of-freedom steel ball clamping and detection device in an embodiment.

[0022] Figure 7 This is a schematic diagram of the clamping arm motion structure of the power gripper of the multi-degree-of-freedom steel ball clamping and detection device in an embodiment.

[0023] Figure 8 This is a schematic diagram of the power contact wheel drive structure of the power gripper of the multi-degree-of-freedom steel ball clamping and detection device in the embodiment.

[0024] Figure 9 This is a schematic diagram of the structure of the multi-degree-of-freedom steel ball clamping and detection device in an embodiment when clamping a steel ball. Detailed Implementation

[0025] The present invention will be further described below with reference to embodiments. It should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention. After reading this description, any modifications of this description in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.

[0026] Please combine Figure 1 As shown in Figure 9, the multi-degree-of-freedom steel ball clamping and detection device of this embodiment includes a base 1, on which a lifting adsorption platform 10, a first pair of grippers, a second pair of grippers, and a detection component 9 are provided. The first and second pairs of grippers alternately clamp the steel ball 11. When the first pair of grippers clamps the steel ball 11, the lifting adsorption platform 10 drives the steel ball 11 to rotate. When the second pair of grippers clamps the steel ball 11, the second pair of grippers directly drives the steel ball 11 to rotate. The detection component 9 can collect detection signals from the entire surface of the steel ball 11 while the steel ball 11 is rotating, thereby performing detection on the steel ball 11.

[0027] The specific structure is as follows: a fixed detection component 9 is installed on the lower part of the base 1, and the detection component 9 can be in an eccentric position. A gear transmission group 7 is provided on the upper part of the base 1. A first drive motor 7-1 drives a small gear in the gear transmission group 7, which in turn drives the vertically arranged lead screw 2 to rotate through an intermediate gear. A lead screw nut 3-1, which mates with the lead screw 2, is installed on the base 3-3 of the lifting drive platform 3. The gear transmission group 7 drives the lead screw 2 to rotate, thereby realizing the lifting and lowering of the lifting drive platform 3. The lifting and lowering of the lifting drive platform 3 will drive the alternating clamping and loosening of the first and second gripper pairs.

[0028] The first gripper pair includes two opposing first grippers 4, and the second gripper pair includes two opposing second grippers 5. The first grippers 4 are distributed in one vertical plane, and the second grippers 5 are distributed in another vertical plane. In a preferred embodiment, the two vertical planes are orthogonal. The ends of both the first grippers 4 and the second grippers 5 are hinged to the base 1.

[0029] The lifting drive platform 3 has a lower support 3-4 extending below the base 1. The lower support 3-4 is hinged to a first connecting rod 8-1, which in turn is hinged to a first gripper 4. The hinge point of the first gripper 4 is closer to the inner side (gripping side) of the first gripper 4 than the hinge point between the first gripper 4 and the base 1. The lower support 3-4, the first connecting rod 8-1, and the first gripper 4 form a linkage mechanism. Connecting platforms 3-5 are provided on both sides of the base 3-3 of the lifting drive platform 3. A second connecting rod 8-2 is hinged to the connecting platform 3-5, which in turn is hinged to a second gripper 5. The hinge point of the second gripper 5 is closer to the outer side (the side facing away from the gripping side) of the second gripper 5 than the hinge point between the second gripper 5 and the base 1. The connecting platform 3-5, the second connecting rod 8-2, and the second gripper 5 also form a linkage mechanism. Thus, the lifting (lowering) of the lifting drive platform 3 achieves the closing (opening) of the first gripper 4 and the opening (closing) of the second gripper 5.

[0030] The first gripper 4 consists of a first rotating arm 4-1, a first damping spring assembly 4-2, a first support arm 4-3, a follower spring 4-4, a panel 4-5, and an elastic ball bearing 4-6. The head end of the first rotating arm 4-1 is hinged to the lower bracket 3-4 and the first connecting rod 8-1, respectively. The first gripper 4 closes (opens) by raising (lowering) the lifting drive platform 3, thus achieving initial clamping or release of the steel ball 11. The end of the first rotating arm 4-1 is hinged to the first support arm 4-3. A damping spring assembly 4-2 is also connected between the first rotating arm 4-1 and the first support arm 4-3, allowing the angle between them to be passively adjusted according to the size of the steel ball 11. The panel 4-5 is fixed to the first support arm 4-3 by the follower spring 4-4, its purpose being to further make the panel's arc shape fit the surface of the steel ball 11 more closely. A certain number of elastic balls 4-6 are distributed on the panel 4-5. The purpose is to have the balls inside the elastic balls 4-6 contact the steel ball 11, which serves to fix the steel ball 11 and prevent it from falling. On the other hand, the balls can rotate so that the steel ball 11 still has rotational freedom after the first gripper 4 clamps the steel ball 11. The rotation of the steel ball 11 is driven by the lifting adsorption platform 10.

[0031] The lifting adsorption platform 10 includes a lifting tube 10-1, a tension / compression sensor 10-2, a suction cup 10-3, and a rotary motor 10-4. The lifting tube 10-1 is slidably connected to the lifting drive platform 3 and the base 1 via a linear bearing 12. A second drive motor 3-2 is fixedly mounted on the base 1. The second drive motor 3-2 forms a gear engagement with the lifting tube 10-1 via a drive gear 3-2-1, thereby realizing the lifting and lowering of the lifting adsorption platform 10. The rotary motor 10-4, the tension / compression sensor 10-2, and the suction cup 10-3 are sequentially mounted on the lower part of the lifting tube 10-1. The rotary motor 10-4 drives the tension / compression sensor 10-2 and the suction cup 10-3 to rotate about the axis of the lifting tube 10-1, thereby causing the steel ball 11 to rotate horizontally. In a preferred embodiment, an elastic element can be provided between the suction cup 10-3 and the tension / compression sensor 10-2 to buffer the impact during adsorption.

[0032] The second gripper 5 consists of a second rotating arm 5-1, a second damping spring assembly 5-2, a second support arm 5-3, and a power gripper 6. The head end of the second rotating arm 5-1 is hinged to the base 1 and the second connecting rod 8-2. The second gripper 5 opens (closes) by raising (lowering) the lifting drive platform 3, thus achieving initial clamping or release of the steel ball 11. The end of the second rotating arm 5-1 is hinged to the second support arm 5-3. A second damping spring assembly 5-2 is also connected between the second rotating arm 5-1 and the second support arm 5-3, allowing the angle between them to be passively adjusted according to the size of the steel ball 11. The power gripper 6 is fixed to the second support arm 5-3. Raising (lowering) the lifting drive platform 3 drives the second support arm 5-3, enabling the power gripper 6 to release (clamp) the steel ball 11.

[0033] The purpose of the powered gripper 6 is twofold: first, to adaptively adhere to the curved surface of steel balls 11 of different diameters; and second, to drive the steel balls 11 to rotate in the vertical plane. The powered gripper 6 comprises a powered contact wheel 6-1, a gripping arm 6-2, a drive motor 6-3, a spring connector 6-4, a connecting seat 6-5, an electric cylinder 6-6, and a pulley transmission mechanism 6-7. The powered contact wheels 6-1 are arranged in pairs at the ends of the gripping arms 6-2, contacting the steel balls 11 and driving their rotation. To improve friction and prevent scratching the steel balls 11, the surface of the powered contact wheels 6-1 is covered with rubber.

[0034] The clamping arms 6-2 are rotatably connected to the connecting seat 6-5 via node 6-2-1, and the two clamping arms 6-2 are provided with meshing teeth at node 6-2-1. The two ends of the electric cylinder 6-6 are respectively connected to the two clamping arms 6-2. The extension and retraction of the electric cylinder 6-6 realizes the rotation of the two clamping arms 6-2 around node 6-2-1. Through the meshing of the teeth, the rotation of the two clamping arms 6-2 is symmetrical and synchronous, thereby completing the opening or retraction of the power contact wheel 6-1 at the ends of the two clamping arms 6-2 to adapt to the contact of different steel ball 11 radii.

[0035] The rotation of the power contact wheel 6-1 is driven by the drive motor 6-3, which is fixedly connected to the connecting seat 6-5. The pulley transmission mechanism 6-7 includes a drive gear 6-7-4, a driven gear 6-7-3, a first pulley 6-7-2, and a second pulley 6-7-1. The drive motor 6-3 drives the drive gear 6-7-4 to rotate, which transmits power through the driven gear 6-7-3 to the first pulley 6-7-2, and then to the second pulley 6-7-1, ultimately transmitting the power of the drive motor 6-3 to the power contact wheel 6-1.

[0036] The spring connector 6-4 comprises a connecting plate 6-4-1 and a guide spring 6-4-2. One end of the guide spring 6-4-2 is hinged to the connecting plate 6-4-1, and the other end is hinged to the connecting seat 6-5. The entire power gripper 6 is fixed to the second support arm 5-3 via the connecting plate 6-4-1. Its purpose is to finely adjust the posture of the power gripper 6 to ensure that both power contact wheels 6-1 maintain contact with the steel ball 11.

[0037] The method for performing the detection using the multi-degree-of-freedom clamping and detection device for steel balls in this embodiment is as follows: First, the first drive motor 7-1 operates, transmitting power to the lead screw 2 via a gear set. The rotation of the lead screw 2 adjusts the height of the lifting drive platform 3, which in turn drives the first connecting rod 8-1 and the second connecting rod 8-2 to open or retract the first gripper 4 and the second gripper 5 into a space where a steel ball 11 can fit. (Note that the lifting of the lifting drive platform 3 has a reverse effect on the opening or closing of the first gripper 4 and the second gripper 5).

[0038] Then, the second drive motor 3-2 lowers the lifting suction platform 10. When the suction cup 10-3 touches the workpiece, it generates pressure, the value of which is detected by the tension / compression sensor 10-2. When the set threshold is reached, the suction cup 10-3 generates suction to adsorb the workpiece. The purpose of the spring in the suction cup 10-3 is to prevent excessive contact force and to form a buffer, so as not to damage the suction cup by the workpiece.

[0039] Then, the second drive motor 3-2 raises the lifting adsorption platform 10 to remove the adsorbed workpiece from the accumulation area, in order to provide operating space for the next step of gripper clamping.

[0040] Next, as the lifting adsorption platform 10 rises, the steel ball 11 enters the gripping area of ​​the first gripper 4 or the second gripper 5. At this time, the first drive motor 7-1 operates, driving the lifting drive platform 3 to rise via the lead screw 2, causing the first gripper 4 to retract until the panel 4-5 and the elastic ball bearing 4-6 fix the steel ball 11, ensuring reliable gripping and preventing it from falling. Then, the rotary motor 10-4 rotates, causing the steel ball 11 to rotate horizontally, allowing the detection component 9 to perform multi-surface detection on the steel ball 11.

[0041] Then, the first drive motor 7-1 operates, driving the lifting drive platform 3 downwards via the lead screw 2. At this time, the first gripper 4 releases, and the second gripper 5 retracts until the power contact wheel 6-1 fixes the steel ball 11. Next, the suction cup 10-3 stops adsorption, and the second drive motor 3-2 raises the lifting adsorption platform 10. The drive motor 6-3 operates, driving the power contact wheel 6-1 to rotate via the pulley transmission mechanism 6-7, thereby realizing the vertical rotation of the steel ball 11, allowing the detection component 9 to perform multi-surface detection on the steel ball 11.

[0042] Finally, after the inspection is completed, based on the inspection results of steel ball 11, steel ball 11 is sorted to the target station through the reverse process.

Claims

1. A multi-degree-of-freedom clamping and detection device for steel balls, characterized in that, The device includes a base and a detection component. The base is equipped with a first pair of grippers and a second pair of grippers. The detection component is fixed to the base and is used to acquire detection signals of steel balls held by the first or second pair of grippers. The gripping panel of the first gripper in the first pair of grippers is provided with several ball bearings. When the first pair of grippers holds the steel ball, it limits the position of the steel ball and gives the steel ball rotational freedom. The two ends of the gripping surface of the second gripper in the second pair of grippers are provided with power contact wheels. When the second pair of grippers holds the steel ball, the power contact wheels drive the steel ball to rotate. The base is equipped with a lifting adsorption platform. The lifting adsorption platform includes a lifting tube, a rotary motor, and a suction cup. The bottom of the lifting tube is connected to the rotary motor, and the rotary motor drives the suction cup to rotate. The lifting adsorption platform is located between the first grippers and is used to drive the adsorbed steel ball to rotate.

2. The multi-degree-of-freedom clamping and detection device for steel balls according to claim 1, characterized in that, The first pair of grippers and the second pair of grippers are located in two orthogonal vertical planes, and the rotating surface of the suction cup is a horizontal plane.

3. The multi-degree-of-freedom clamping and detection device for steel balls according to claim 1, characterized in that, The base is provided with a lifting drive platform. The lifting drive platform is connected to the first jaw of the first jaw pair via a first connecting rod. The lifting drive platform is connected to the second jaw of the second jaw pair via a second connecting rod. The lifting drive platform has a first height position and a second height position. When the lifting drive platform is in the first height position, it drives the first jaw pair to clamp and the second jaw pair to release. When the lifting drive platform is in the second height position, it drives the second jaw pair to clamp and the first jaw pair to release.

4. The multi-degree-of-freedom clamping and detection device for steel balls according to claim 1, characterized in that, The first gripper includes a first rotating arm, a first damping spring assembly, a first support arm, and a panel. The first rotating arm is hinged to the base, and the first support arm is hinged to the end of the first rotating arm. The two ends of the first damping spring assembly are respectively connected to the first rotating arm and the first support arm. The panel is the gripping surface of the first gripper and is connected to the first support arm. The second gripper includes a second rotating arm, a second damping spring assembly, a second support arm, and a powered gripper. The second rotating arm is hinged to the base, and the second support arm is hinged to the end of the second rotating arm. The two ends of the second damping spring assembly are respectively connected to the second rotating arm and the second support arm. The powered gripper forms the gripping surface of the second gripper and is connected to the second support arm.

5. The multi-degree-of-freedom clamping and detection device for steel balls according to claim 4, characterized in that, The panel is arc-shaped and is connected to the first support arm via a follow-up spring.

6. The multi-degree-of-freedom clamping and detection device for steel balls according to claim 4, characterized in that, The power gripper includes a connecting seat, gripping arms, and an electric cylinder. The gripping arms are provided with two arms and are hinged to the connecting seat. The ends of the two gripping arms are engaged by teeth. The two ends of the electric cylinder are respectively connected to the two gripping arms and drive the gripping arms to rotate and change the angle. The power contact wheel is located at the head end of the gripping arms.

7. The multi-degree-of-freedom clamping and detection device for steel balls according to claim 6, characterized in that, The connecting seat is connected to the second support arm via a spring connector.

8. The multi-degree-of-freedom clamping and detection device for steel balls according to claim 6, characterized in that, The power contact wheels are arranged in pairs at the head end of the clamping arm, and the power gripper is equipped with a drive motor. The drive motor drives the power contact wheels to rotate through a pulley transmission mechanism.

9. The multi-degree-of-freedom clamping and detection device for steel balls according to claim 1, characterized in that, An elastic element and a tension / compression sensor are provided between the rotary motor and the suction cup, and the tension / compression sensor detects the pressure received by the suction cup.

10. A method for detecting multi-degree-of-freedom clamping of steel balls, characterized in that, The steel ball multi-degree-of-freedom clamping and detection device according to any one of claims 1 to 6 includes: With both the first and second gripper pairs partially open, the lifting adsorption platform descends to allow the suction cup to adsorb the steel ball. The lifting adsorption platform rises, causing the steel ball to enter the clamping range of the first pair of grippers, where the steel ball is clamped by the first pair of grippers. A rotary motor drives a suction cup to rotate, which in turn drives a steel ball to rotate under the clamping limit of the first gripper, and the detection component obtains the detection signal of the steel ball; The second gripper pair replaces the first gripper pair in holding the steel ball. The power contact wheel of the second gripper pair drives the steel ball to rotate, and the detection component obtains the detection signal of the steel ball.

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