Bearing and gear-like part inspection and classification device

Abstract

The present invention discloses a bearing and gear parts inspection and classification device, which relates to the field of automatic inspection and classification. The device comprises a main mounting platform, an XYZ three-axis motion mechanism, a robotic gripper, a conveyor belt for parts to be inspected, a classification and conveying mechanism, an adjustable fixture, a rotatable camera mechanism, a support frame, and a controller. The rotatable camera mechanism comprises a first rotating arm, a support arm, a second rotating arm, and a camera. One end of the first rotating arm is mounted on the support frame, the other end of the first rotating arm is mounted with the support arm, the end of the support arm away from the first rotating arm is mounted with the second rotating arm, and the end of the second rotating arm away from the support arm is mounted with the camera. The adjustable fixture comprises a support, a drive mechanism, and a clamping component. The support is arranged on the main mounting platform, and the drive mechanism is arranged on the support. The drive mechanism is used to drive the clamping component to rotate and swing. The device can perform comprehensive inspection of parts, has high work efficiency, more accurate inspection and classification results, and reduces costs.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic detection classification, in particular to a bearing and gear type part detection and classification device. BACKGROUND

[0002] Nowadays, the science and technology is more and more mature, the production and processing speed and efficiency of bearing and gear parts are also higher and higher, but the mechanical parts may have certain errors and need to be detected. However, manual detection has certain limitations. People detect parts by naked eyes, and the fine parts cannot be directly distinguished by naked eyes, and it is helpless for difficult detection parts. Moreover, manual detection has certain subjectivity, and personal will may cause misjudgment due to personal reasons, if the part is used in a precise part of an instrument, such inevitable harm will be caused by the incomplete detection, and the enterprise or individual will suffer loss of manpower or cost. Manual detection requires that the detection personnel have excellent theoretical basis and certain working experience, and the efficiency of manual detection is low, the error rate is high, and the cost is high, which leads to the reduction of the income of enterprises or individuals. SUMMARY

[0003] In order to solve the above technical problems, the present application provides a bearing and gear type part detection and classification device, which can comprehensively detect the parts, has high working efficiency, and the detection and classification result is more accurate, and the cost is reduced.

[0004] In order to achieve the above purpose, the present application provides the following scheme:

[0005] The present invention provides a bearing and gear parts detection and classification device, comprising a general mounting platform, an XYZ three-axis motion mechanism, a manipulator, a conveyor belt for parts to be detected, a classification and transmission mechanism, an adjustable fixture, a rotatable camera mechanism, a support frame and a controller, wherein the XYZ three-axis motion mechanism and the support frame are respectively arranged at the left and right ends of the general mounting platform, the conveyor belt for parts to be detected and the classification and transmission mechanism are respectively arranged at the front and rear ends of the upper surface of the general mounting platform, the conveyor belt for parts to be detected and the classification and transmission mechanism are both arranged on a side close to the XYZ three-axis motion mechanism, the manipulator is installed on a side of the XYZ three-axis motion mechanism close to the support frame, the rotatable camera mechanism is arranged on a side of the support frame close to the XYZ three-axis motion mechanism, the adjustable fixture is arranged on the general mounting platform and is located on a side close to the support frame; the rotatable camera mechanism The cam is mounted on a pivotal position within the frame, and the pivotal position is located on a side of the support arm away from the support frame, and the camera is mounted on an end of the second rotating arm away from the support arm. The cam is mounted on an end of the second rotating arm away from the support arm. The cam is mounted on an end of the second rotating arm away from the support arm. The cam is mounted on an end of the second rotating arm away from the support arm. The adjustable clamp includes a support, a driving mechanism and a clamping component. The support is arranged on the general mounting table, and the driving mechanism is arranged on the support, and the driving mechanism is used to drive the clamping component to rotate and swing. The XYZ three-axis motion mechanism, the robotic gripper, the conveyor belt for parts to be inspected, the classification conveying mechanism, the first rotating arm, the second rotating arm, the camera, the driving mechanism and the clamping component are all connected to the controller.

[0006] Preferably, the support comprises a base and a plurality of columns arranged on the base, the driving mechanism comprises a first motor, a bearing, a first bevel gear, a second bevel gear, a transmission gear, a transmission shaft, a support disc, a hollow hemisphere, a half tooth ring, a support bottom plate, two support vertical plates and two pulleys, the outer ring of the bearing is fixed to the top end of the plurality of columns, the middle of the bottom surface of the support disc is provided with a cylindrical block, the cylindrical block is fixedly sleeved in the inner ring of the bearing, and the first bevel gear is horizontally fixed to the support disc; the first motor is fixed to the base and located between the plurality of columns, the output shaft of the first motor sequentially penetrates through the cylindrical block, the support disc and the first bevel gear, and the cylindrical block, the support disc and the first bevel gear are in gap cooperation with the output shaft of the first motor, the top end of the output shaft of the first motor is fixed with the support bottom plate, two support vertical plates are respectively fixed to the two ends of the upper part of the support bottom plate, the transmission shaft is rotatably installed on the two support vertical plates, one end of the transmission shaft penetrates through one of the support vertical plates and extends to the outside, the transmission gear and the second bevel gear are fixedly sleeved on the transmission shaft, the transmission gear is located between the two support vertical plates, and the second bevel gear is located outside one of the support vertical plates, the second bevel gear is in meshing connection with the first bevel gear; the middle of the hollow hemisphere is provided with an arc-shaped opening, the half tooth ring is fixed to the hollow hemisphere, and the half tooth ring is located in the middle of the arc-shaped opening, the half tooth ring is in meshing connection with the transmission gear, and the two sides of the arc-shaped opening are provided with arc-shaped sliding grooves, one of the pulleys is arranged on the outside of the top end of each support vertical plate, and each pulley is slidingly installed in one of the arc-shaped sliding grooves, and the clamping component is fixed to the top of the hollow hemisphere; the first motor is connected with the controller, the first motor can drive the support bottom plate, the support vertical plate, the transmission gear, the second bevel gear, the half tooth ring, the hollow hemisphere and the clamping component to rotate around the axis line of the output shaft of the first motor, and the first motor can drive the second bevel gear to rotate the transmission shaft and the transmission gear.

[0007] Preferably, a rubber ring is arranged between the outer ring and the inner ring of the bearing, and the clamping component is an electric three-jaw chuck.

[0008] Preferably, the first rotating arm comprises a second motor fixed to one side of the top of the support frame and a first arm body fixed to the output shaft of the second motor; the second rotating arm comprises a third motor fixed to one side of the support arm away from the support frame and a second arm body fixed to the output shaft of the third motor, and the camera is arranged at one end of the second arm body away from the support arm; the first arm body and the second arm body are parallel to each other and are both arranged horizontally; the first arm body and the second arm body are both arranged perpendicularly to the support arm; and the second motor and the third motor are both connected to the controller.

[0009] Preferably, the support frame comprises a mounting plate and two L-shaped support rods, one end of each L-shaped support rod is fixed to the general mounting table, and the other end of each L-shaped support rod is fixed with the mounting plate, and the second motor is fixed to the mounting plate.

[0010] Preferably, the illumination component is arranged on one side of the mounting plate close to the XYZ three-axis motion mechanism.

[0011] Preferably, the XYZ three-axis motion mechanism comprises an X-axis direction sliding block, an X-axis direction electric direct sliding rail, an X-axis direction motor, a Y-axis direction sliding block, a Y-axis direction electric direct sliding rail, a Y-axis direction motor, a Z-axis direction sliding block, a Z-axis direction electric direct sliding rail, a Z-axis direction motor, a first connecting plate, a second connecting plate and a connecting support, the X-axis direction electric direct sliding rail is fixed horizontally to the general mounting table, the X-axis direction sliding block is arranged on the X-axis direction electric direct sliding rail, the X-axis direction motor is connected to the X-axis direction electric direct sliding rail, the first connecting plate is fixed to the X-axis direction sliding block, the Y-axis direction electric direct sliding rail is fixed vertically to the first connecting plate, the Y-axis direction sliding block is arranged on the Y-axis direction electric direct sliding rail, the Y-axis direction motor is connected to the Y-axis direction electric direct sliding rail, the second connecting plate is fixed to the Y-axis direction sliding block, the Z-axis direction electric direct sliding rail is fixed horizontally to the second connecting plate, the Z-axis direction electric direct sliding rail is perpendicular to the X-axis direction electric direct sliding rail, the Z-axis direction sliding block is arranged on the Z-axis direction electric direct sliding rail, the Z-axis direction motor is connected to the Z-axis direction electric direct sliding rail, one end of the connecting support is fixed to the Z-axis direction sliding block, and the other end of the connecting support is provided with the mechanical gripper, and the X-axis direction motor, the Y-axis direction motor and the Z-axis direction motor are all connected to the controller.

[0012] Preferably, the mechanical gripper comprises a shell, a fourth motor, an output gear, an idler gear, an inner gripper mechanism, a fixing bolt, a first mounting bolt, two second mounting bolts, two third mounting bolts, two fourth mounting bolts, two fifth mounting bolts, two supporting plates and two symmetrically arranged outer gripper mechanisms, the outer gripper mechanism comprises a driving link, an auxiliary link, a driving gear, a first outer mechanical arm, a second outer mechanical arm, a fixing pin, an outer gripper fixing card, a push rod motor and an outer gripper movable card, the upper end of the shell is mounted on the XYZ three-axis motion mechanism, the upper and lower ends of the shell are both open structures, the front and rear sides of the lower end of the shell are respectively provided with a supporting plate, the fourth motor is fixed to the upper part outside the shell, the fourth motor and the push rod motor are connected with the controller, the output shaft of the fourth motor extends into the shell and is provided with the output gear, the idler gear is mounted on the lower part of the shell through the first mounting bolt, the idler gear is engaged with the output gear, each driving gear is mounted on the two supporting plates through a second mounting bolt, the two driving gears are engaged, the idler gear is engaged with a driving gear, the outer side of each driving gear is fixed with a driving link, the upper end of each auxiliary link is mounted on the two supporting plates through a third mounting bolt, the third mounting bolt is located below the second mounting bolt, and the fixing bolt is mounted in the middle of the bottom end of the two supporting plates; the inner side of the first outer mechanical arm is provided with a strip-shaped mounting groove, the lower end of each driving link is located in the upper part of the strip-shaped mounting groove and is mounted on the first outer mechanical arm through a fourth mounting bolt, the lower end of each auxiliary link is located in the lower part of the strip-shaped mounting groove and is mounted on the first outer mechanical arm through a fifth mounting bolt, the second outer mechanical arm extends into the strip-shaped mounting groove through the bottom surface of the first outer mechanical arm, the fixing pin is used for fixing the second outer mechanical arm to the first outer mechanical arm, the inner side of the bottom end of the second outer mechanical arm is provided with the outer gripper fixing card, the inner side of the upper part of the second outer mechanical arm is provided with the push rod motor, the push rod of the push rod motor is fixed with the outer gripper movable card, and the length direction of the push rod of the push rod motor is perpendicular to the length direction of the second outer mechanical arm; the inner gripper mechanism comprises a connecting pin, an auxiliary reset spring, a connecting disc, two inner gripper arms, two inner gripper driving arms, two connecting blocks and two flexible compensation washers, the inner side of the upper part of one inner gripper arm is provided with the connecting disc, the upper part of the other inner gripper arm is mounted on the connecting disc through the connecting pin, the outer side of the upper part of each inner gripper arm is provided with an inner gripper driving arm, the lower part of each auxiliary link is provided with a connecting block, the upper end of each inner gripper driving arm is hinged to the connecting block, the two ends of the auxiliary reset spring are connected to the middle parts of the two inner gripper driving arms, and the bottom end of each inner gripper arm is provided with a flexible compensation washer.

[0013] Preferably, an infrared sensor is further included, which is arranged at one side of the output end of the part-to-be-detected conveying belt and connected with the controller.

[0014] Preferably, the sorting conveying mechanism comprises a plurality of parallelly arranged sorting conveying belts, which are connected with the controller.

[0015] The present application has the following technical effects relative to the prior art:

[0016] The bearing and gear part detection and sorting device provided by the present application comprises a general mounting table, an XYZ three-axis movement mechanism, a mechanical gripper, a part-to-be-detected conveying belt, a sorting conveying mechanism, an adjustable clamp, a rotatable camera mechanism, a support frame and a controller. The mechanical gripper is installed on one side of the XYZ three-axis movement mechanism close to the support frame. The rotatable camera mechanism is arranged on one side of the support frame close to the XYZ three-axis movement mechanism. The adjustable clamp comprises a support base, a driving mechanism and a clamping part. The driving mechanism is used to drive the clamping part to rotate and swing. The rotatable camera mechanism comprises a first rotating arm, a support arm, a second rotating arm and a camera. The part-to-be-detected conveying belt is used to convey the parts to the detection area. The mechanical gripper is used to grab the parts and install the parts on the clamping part in the detection area. The clamping part can rotate in different directions and is used to observe different positions of the parts without adjusting the positions of the parts by other ways, thereby increasing the detection efficiency. The camera can rotate under the driving of the first rotating arm and the second rotating arm, thereby detecting the bottom of the part as needed. The camera transmits the relevant data of the part to the controller. After the detection is completed, the mechanical gripper takes the part off the adjustable clamp. According to the comparison between the recorded data and the data set in the controller, the parts are placed on the sorting conveying mechanism according to the comparison result for classification and conveying, and enter the next step of processing. It can be seen that the bearing and gear part detection and sorting device in the present application can comprehensively detect the parts, has high working efficiency, more accurate detection and classification result, low error rate and reduced cost. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.

[0018] Figure 1 The figure shows the three-dimensional structure of the bearing and gear part detection and sorting device provided by the present application.

[0019] Figure 2A front view of the bearing and gear part detection and classification device provided by the present application;

[0020] Figure 3 A top view of the bearing and gear part detection and classification device provided by the present application;

[0021] Figure 4 A perspective view of the adjustable clamp in the bearing and gear part detection and classification device provided by the present application;

[0022] Figure 5 A perspective view of the mechanical hand claw in the bearing and gear part detection and classification device provided by the present application;

[0023] Figure 6 An internal structure diagram of the mechanical hand claw in the bearing and gear part detection and classification device provided by the present application.

[0024] Explanation of reference numerals: 100, bearing and gear type part detection and classification device; 1, general mounting table; 2, adjustable clamp; 201, base; 202, stand; 203, first motor; 204, bearing; 205, support disc; 206, first bevel gear; 207, support bottom plate; 208, support vertical plate; 209, transmission shaft; 2010, transmission gear; 2011, second bevel gear; 2012, hollow hemisphere; 2013, half tooth ring; 2014, arc-shaped sliding groove; 2015, electric three-jaw chuck; 20151, chuck body; 20152, movable jaw; 3, mechanical gripper; 301, housing; 302, support plate; 303, fourth motor; 304, output gear; 305, first mounting bolt; 306, second mounting bolt; 307, third mounting bolt; 308, fourth mounting bolt; 309, fifth mounting bolt; 3010, fixing bolt; 3011, idler; 3012, drive gear; 3013, drive link; 3014, auxiliary link; 3015, first outer mechanical arm; 3016, strip-shaped mounting groove; 3017, second outer mechanical arm; 3018, fixing pin; 3019, outer gripper fixed card; 3020, outer gripper movable card; 3021, connecting block; 3022, inner gripper drive arm; 3023, inner gripper arm; 3024, connecting round plate; 3025, connecting pin; 3026, flexible compensation gasket; 3027, auxiliary return spring; 4, part to be detected conveying belt; 5, classification conveying belt; 6, L-shaped support rod; 7, mounting plate; 8, lighting component; 9, first rotary arm; 10, support arm; 11, second rotary arm; 12, camera; 13, infrared sensor; 14, X-axis direction sliding block; 15, X-axis direction electric direct drive sliding rail; 16, X-axis direction motor; 17, Y-axis direction sliding block; 18, Y-axis direction electric direct drive sliding rail; 19, Y-axis direction motor; 20, Z-axis direction sliding block; 21, Z-axis direction electric direct drive sliding rail; 22, Z-axis direction motor; 23, first connecting plate; 24, second connecting plate; 25, connecting support. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0026] The purpose of the present application is to provide a bearing and gear type part detection and classification device, which can comprehensively detect parts, has high work efficiency, and has more accurate detection and classification results, thereby reducing costs.

[0027] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0028] As shown in Figures 1-6 The present embodiment provides a bearing and gear type part detection and classification device 100, which comprises a general mounting table 1, an XYZ three-axis motion mechanism, a mechanical gripper 3, a part to be detected conveying belt 4, a classification conveying mechanism, an adjustable clamp 2, a rotatable camera mechanism, a support frame and a controller. The XYZ three-axis motion mechanism and the support frame are respectively arranged at the left and right ends of the general mounting table 1. The part to be detected conveying belt 4 and the classification conveying mechanism are respectively arranged at the front and rear ends of the upper surface of the general mounting table 1. The part to be detected conveying belt 4 and the classification conveying mechanism are both arranged on the side close to the XYZ three-axis motion mechanism. The mechanical gripper 3 is installed on the side of the XYZ three-axis motion mechanism close to the support frame. The XYZ three-axis motion mechanism can drive the mechanical gripper 3 to move in three coordinates in all directions. The rotatable camera mechanism is arranged on the side of the support frame close to the XYZ three-axis motion mechanism. The adjustable clamp 2 is arranged on the general mounting table 1 and located on the side close to the support frame. The rotatable camera mechanism comprises a first rotating arm 9, a support arm 10, a second rotating arm 11 and a camera 12. One end of the first rotating arm 9 is installed on the support frame. The other end of the first rotating arm 9 is installed with the support arm 10. The end of the support arm 10 away from the first rotating arm 9 is installed with the second rotating arm 11, which is located on the side of the support arm 10 away from the support frame. The end of the second rotating arm 11 away from the support arm 10 is installed with the camera 12. The first rotating arm 9 and the second rotating arm 11 are both horizontally arranged and parallel to each other. The first rotating arm 9 and the second rotating arm 11 can both rotate 360 degrees, so that the camera 12 can observe the parts in multiple directions. The adjustable clamp 2 comprises a support, a driving mechanism and a clamping part. The support is arranged on the general mounting table 1. The driving mechanism is arranged on the support. The driving mechanism is used to drive the clamping part to rotate and swing. The middle part of the bearing and gear type part is a hollow structure. The clamping part is used to support on the inner wall of the part to realize the clamping of the part. The XYZ three-axis motion mechanism, the mechanical gripper 3, the part to be detected conveying belt 4, the classification conveying mechanism, the first rotating arm 9, the second rotating arm 11, the camera 12, the driving mechanism and the clamping part are all connected with the controller.

[0029] The parts are conveyed to the detection area by the part conveying belt 4, grabbed by the mechanical gripper 3, and installed on the clamping part of the detection area. The controller controls the clamping part to clamp the part. The clamping part has the feature of rotating in different directions, which can be used to observe different positions of the part without adjusting the position of the part through other means, thereby increasing the detection efficiency. The camera 12 can be rotated under the drive of the first rotating arm 9 and the second rotating arm 11, and can detect the bottom of the part as needed. The relevant data of the part observed by the camera 12 is transmitted to the controller. Specifically, during operation, the adjustable clamp 2 can be adjusted to rotate and switch different directions according to the detection sequence, and the camera 12 can be adjusted and detected in cooperation. After detection is completed, the mechanical gripper 3 takes the part off the adjustable clamp 2. According to the comparison of the recorded data during detection and the data set in the controller, the part is placed on the classification conveying mechanism according to the comparison result for classification and conveying, and enters the next step of processing. It can be seen that the bearing and gear part detection and classification device 100 in the embodiment can comprehensively detect the part, has high work efficiency, the detection and classification result is more accurate, the error rate is low, and the cost is reduced. The embodiment provides a bearing and gear part omnibearing intelligent detection and classification device, which can replace manual detection and classify different requirements specified by humans.

[0030] Specifically, the total installation table 1 is composed of a water platform and a vertical table arranged on one side of the water platform. The XYZ three-axis motion mechanism is arranged on the upper part of the vertical table. The part conveying belt 4, the classification conveying mechanism, the adjustable clamp 2, and the support frame are all arranged on the water platform. The adjustable clamp 2 and the rotatable camera mechanism are arranged one by one. In the embodiment, two adjustable clamps 2 and two rotatable camera mechanisms are arranged.

[0031] As Figure 4As shown, the support base comprises a base 201 and a plurality of columns 202 arranged on the base 201, and the driving mechanism comprises a first motor 203, a bearing 204, a first bevel gear 206, a second bevel gear 2011, a transmission gear 2010, a transmission shaft 209, a support disc 205, a hollow hemisphere 2012, a half-tooth ring 2013, a support bottom plate 207, two support vertical plates 208 and two pulleys. The outer ring of the bearing 204 is fixed to the top end of the plurality of columns 202, the middle part of the bottom surface of the support disc 205 is provided with a cylindrical block, the cylindrical block is fixedly sleeved in the inner ring of the bearing 204, and the first bevel gear 206 is horizontally fixed on the support disc 205. The first motor 203 is fixed on the base 201 and located between the plurality of columns 202, the output shaft of the first motor 203 passes through the cylindrical block, the support disc 205 and the first bevel gear 206 in sequence, and the cylindrical block, the support disc 205 and the first bevel gear 206 are gap-fitted with the output shaft of the first motor 203. Specifically, the middle part of the cylindrical block, the support disc 205 and the first bevel gear 206 are all hollow structures, the top end of the output shaft of the first motor 203 is fixed with the support bottom plate 207, the two support vertical plates 208 are respectively fixed to the two ends of the upper part of the support bottom plate 207, the transmission shaft 209 is rotatably installed on the two support vertical plates 208, and one end of the transmission shaft 209 extends to the outside through one support vertical plate 208. The transmission gear 2010 and the second bevel gear 2011 are both fixedly sleeved on the transmission shaft 209, the transmission gear 2010 is located between the two support vertical plates 208, the second bevel gear 2011 is located outside one support vertical plate 208, and the second bevel gear 2011 is engaged with the first bevel gear 206. The middle part of the hollow hemisphere 2012 is provided with an arc-shaped opening, the half-tooth ring 2013 is fixed on the hollow hemisphere 2012, and the half-tooth ring 2013 is located in the middle part of the arc-shaped opening. The half-tooth ring 2013 is engaged with the transmission gear 2010, arc-shaped sliding grooves 2014 are formed on both sides of the arc-shaped opening, one pulley is arranged on the outside of the top end of each support vertical plate 208, and each pulley is slidingly installed in one arc-shaped sliding groove 2014. The pulley cooperates with the arc-shaped groove to enable the hollow hemisphere 2012 to smoothly swing relative to the support vertical plate 208, and the clamping component is fixed to the top of the hollow hemisphere 2012. The first motor 203 is connected with the controller, the first motor 203 can drive the support bottom plate 207, the support vertical plate 208, the transmission gear 2010, the second bevel gear 2011, the half-tooth ring 2013, the hollow hemisphere 2012 and the clamping component to rotate around the axis of the output shaft of the first motor 203, and the first motor 203 can drive the second bevel gear 2011 to rotate the transmission shaft 209 and the transmission gear 2010.

[0032] Specifically, a rubber ring is arranged between the outer ring and the inner ring of the bearing 204, so as to increase the friction between the outer ring and the inner ring of the bearing 204, so that the first bevel gear 206 can rotate only when a certain force is applied, i.e., when the second bevel gear 2011 is rotated around the axis of the output shaft of the first motor 203, the force required to drive the first bevel gear 206 to rotate is not reached, and the first bevel gear 206 is in a stationary state. At this time, the first bevel gear 206 acts as the movement track of the second bevel gear 2011, and the second bevel gear 2011 rotates around its own axis while rotating around the axis of the output shaft of the first motor 203, thereby driving the transmission shaft 209 and the transmission gear 2010 to rotate, so that the half-toothed ring 2013 drives the hollow hemisphere 2012 and the clamping part to swing under the action of the transmission gear 2010, thereby enabling the clamping part to swing while rotating around the axis of the output shaft of the first motor 203, so that the part mounted on the clamping part can change position in multiple directions. The two ends of the half-toothed ring 2013 are limit positions, and when the hollow hemisphere 2012 swings to the limit position, the transmission gear 2010 cannot rotate, so that the second bevel gear 2011 cannot rotate, at this time, the force required to drive the first bevel gear 206 to rotate is exceeded, so that the first bevel gear 206 starts to rotate, so that the adjustable clamp 2 is not damaged by excessive rotation, and the observation position is increased. It should be noted that, in addition to the method of arranging a rubber ring, the method of injecting excess lubricating grease between the outer ring and the inner ring of the bearing 204 can also be used to increase the friction between the outer ring and the inner ring of the bearing 204.

[0033] In the embodiment, the clamping part is an electric three-jaw chuck 2015, which includes a chuck body 20151 and three movable jaws 20152. The movable jaws 20152 in the embodiment are arc-shaped blocks. When the electric three-jaw chuck 2015 needs to clamp, the controller is used to control the three movable jaws 20152 to move towards each other, so as to set the bearing and gear parts on the three movable jaws 20152, and then the controller is used to control the three movable jaws 20152 to move away from each other, so that the three movable jaws 20152 are supported on the inner wall of the bearing and gear parts, thereby achieving clamping of the parts.

[0034] The first rotating arm 9 comprises a second motor and a first arm body, the second motor is fixed on one side of the top of the support frame, and the first arm body is fixed on the output shaft of the second motor; the second rotating arm 11 comprises a third motor and a second arm body, the third motor is fixed on the side of the support arm 10 away from the support frame, and the second arm body is fixed on the output shaft of the third motor, the camera 12 is arranged on the end of the second arm body away from the support arm 10, the first arm body and the second arm body are parallel to each other and are horizontally arranged, the first arm body and the second arm body are vertically arranged with the support arm 10, and the second motor and the third motor are connected with the controller. When working, the second motor can drive the first arm body, the support arm 10, the second rotating arm 11 and the camera 12 to rotate around the axis of the output shaft of the second motor, the third motor can drive the second arm body and the camera 12 to rotate around the axis of the output shaft of the third motor, so that the camera 12 can fully change position, and the second motor and the third motor can be matched to rotate to the bottom of the part to be observed.

[0035] The support frame comprises a mounting plate 7 and two L-shaped supporting rods 6, one end of each L-shaped supporting rod 6 is fixed on the general mounting table 1, the other end of each L-shaped supporting rod 6 is fixed with the mounting plate 7, and the second motor is fixed on the mounting plate 7. Specifically, the L-shaped supporting rod 6 comprises a horizontal rod and a vertical rod fixed on one end of the horizontal rod, one end of the horizontal rod away from the vertical rod is fixed on the general mounting table 1, and the mounting plate 7 is fixed on the top end of the two vertical rods.

[0036] The embodiment also comprises an illuminating part 8, the illuminating part 8 is arranged on one side of the mounting plate 7 close to the XYZ three-axis motion mechanism, and the illuminating part 8 provides good visual conditions for the camera 12.

[0037] The XYZ three-axis movement mechanism comprises an X-axis direction sliding block 14, an X-axis direction electric direct sliding rail 15, an X-axis direction motor 16, a Y-axis direction sliding block 17, a Y-axis direction electric direct sliding rail 18, a Y-axis direction motor 19, a Z-axis direction sliding block 20, a Z-axis direction electric direct sliding rail 21, a Z-axis direction motor 22, a first connecting plate 23, a second connecting plate 24 and a connecting support 25, the X-axis direction electric direct sliding rail 15 is horizontally fixed on the general mounting table 1, specifically, the X-axis direction electric direct sliding rail 15 is horizontally fixed on the upper part of the vertical table, the X-axis direction sliding block 14 is arranged on the X-axis direction electric direct sliding rail 15, the X-axis direction motor 16 is connected with the X-axis direction electric direct sliding rail 15, the X-axis direction motor 16 is used for driving the X-axis direction sliding block 14 to reciprocate on the X-axis direction electric direct sliding rail 15, the first connecting plate 23 is fixed on the X-axis direction sliding block 14, the Y-axis direction electric direct sliding rail 18 is vertically fixed on the first connecting plate 23, the Y-axis direction sliding block 17 is arranged on the Y-axis direction electric direct sliding rail 18, the Y-axis direction motor 19 is connected with the Y-axis direction electric direct sliding rail 18, the Y-axis direction motor 19 is used for driving the Y-axis direction sliding block 17 to reciprocate on the Y-axis direction electric direct sliding rail 18, the second connecting plate 24 is fixed on the Y-axis direction sliding block 17, the Z-axis direction electric direct sliding rail 21 is horizontally fixed on the second connecting plate 24, the Z-axis direction electric direct sliding rail 21 is perpendicular to the X-axis direction electric direct sliding rail 15, the Z-axis direction sliding block 20 is arranged on the Z-axis direction electric direct sliding rail 21, the Z-axis direction motor 22 is connected with the Z-axis direction electric direct sliding rail 21, the Z-axis direction motor 22 is used for driving the Z-axis direction sliding block 20 to reciprocate on the Z-axis direction electric direct sliding rail 21, one end of the connecting support 25 is fixed on the Z-axis direction sliding block 20, the other end of the connecting support 25 is provided with the mechanical hand claw 3, the X-axis direction motor 16, the Y-axis direction motor 19 and the Z-axis direction motor 22 are connected with the controller, the mechanical hand claw 3 can move in three coordinates through controlling the X-axis direction motor 16, the Y-axis direction motor 19 and the Z-axis direction motor 22, so that the mechanical hand claw 3 is convenient for grabbing and moving the parts.

[0038] As Figure 5 and Figure 6As shown, the mechanical gripper 3 comprises a shell 301, a fourth motor 303, an output gear 304, an idler gear 3011, an inner gripper mechanism, a fixing bolt 3010, a first mounting bolt 305, two second mounting bolts 306, two third mounting bolts 307, two fourth mounting bolts 308, two fifth mounting bolts 309, two support plates 302 and two symmetrically arranged outer gripper mechanisms, each outer gripper mechanism comprising a driving link 3013, an auxiliary link 3014, a driving gear 3012, a first outer mechanical arm 3015, a second outer mechanical arm 3017, a fixing pin 3018, an outer gripper fixing card 3019, a push rod motor and an outer gripper movable card 3020, the upper end of the shell 301 is mounted on the XYZ three-axis motion mechanism, specifically, the upper end of the shell 301 is mounted on the connecting bracket 25, both the upper end and the lower end of the shell 301 are open structures, one support plate 302 is arranged on each of the front and rear sides of the lower end of the shell 301, the fourth motor 303 is fixed to the upper part outside the shell 301, the fourth motor 303 and the push rod motor are connected with the controller, the output shaft of the fourth motor 303 extends into the shell 301 and is provided with the output gear 304, the idler gear 3011 is mounted on the lower part of the shell 301 through the first mounting bolt 305, the idler gear 3011 can rotate relative to the first mounting bolt 305, the idler gear 3011 is engaged with the output gear 304, each driving gear 3012 is mounted on the two support plates 302 through a second mounting bolt 306, the driving gear 3012 can rotate relative to the second mounting bolt 306, the two driving gears 3012 are engaged with each other, the idler gear 3011 is engaged with one driving gear 3012, one driving link 3013 is fixed to the outer side of each driving gear 3012, the upper end of each auxiliary link 3014 is mounted on the two support plates 302 through a third mounting bolt 307, the upper end of the auxiliary link 3014 can rotate relative to the third mounting bolt 307, each third mounting bolt 307 is located below one second mounting bolt 306, and the fixing bolt 3010 is mounted in the middle of the bottom ends of the two support plates 302.The inner side of the first outer mechanical arm 3015 is provided with a strip-shaped mounting slot 3016, the lower end of each driving connecting rod 3013 is located at the upper part in the strip-shaped mounting slot 3016 and is mounted on the first outer mechanical arm 3015 through a fourth mounting bolt 308, the lower end of the driving connecting rod 3013 can rotate relative to the fourth mounting bolt 308, the lower end of each auxiliary connecting rod 3014 is located at the lower part in the strip-shaped mounting slot 3016 and is mounted on the first outer mechanical arm 3015 through a fifth mounting bolt 309, the lower end of the auxiliary connecting rod 3014 can rotate relative to the fifth mounting bolt 309, the second outer mechanical arm 3017 penetrates through the bottom surface of the first outer mechanical arm 3015 to the strip-shaped mounting slot 3016, the fixed pin 3018 is used for fixing the second outer mechanical arm 3017 on the first outer mechanical arm 3015, when it is needed to adjust the extension length of the second outer mechanical arm 3017 relative to the first outer mechanical arm 3015, the fixed pin 3018 is removed, the second outer mechanical arm 3017 is moved to the required position and then the fixed pin 3018 is installed, thereby being capable of being used for clamping parts of different sizes, the inner side of the bottom end of the second outer mechanical arm 3017 is provided with an outer claw fixed card 3019, the inner side of the upper part of the second outer mechanical arm 3017 is provided with a push rod motor, the push rod of the push rod motor is fixed with an outer claw movable card 3020, the length direction of the push rod of the push rod motor is perpendicular to the length direction of the second outer mechanical arm 3017; the inner claw mechanism comprises a connecting pin 3025, an auxiliary reset spring 3027, a connecting circular plate 3024, two inner claw arms 3023, two inner claw driving arms 3022, two connecting blocks 3021 and two flexible compensation gaskets 3026, the inner side of the upper part of one inner claw arm 3023 is provided with the connecting circular plate 3024, the upper part of the other inner claw arm 3023 is mounted on the connecting circular plate 3024 through the connecting pin 3025, the outer side of the upper part of each inner claw arm 3023 is provided with an inner claw driving arm 3022, the lower part of each auxiliary connecting rod 3014 is provided with a connecting block 3021, the upper end of each inner claw driving arm 3022 is hinged to a connecting block 3021, the two ends of the auxiliary reset spring 3027 are connected to the middle parts of the two inner claw driving arms 3022 respectively, through the setting of the auxiliary reset spring 3027, it can be ensured that the inner claw driving arm 3022 and the inner claw arm 3023 can be completely reset, the bottom end of each inner claw arm 3023 is provided with a flexible compensation gasket 3026, and the flexible compensation gasket 3026 is a component directly contacting the clamped part.

[0039] The two inner claw arms 3023 are in a closed state in the initial state. When it is necessary to grab a part, the two inner claw arms 3023 are first located in the hollow structure at the middle of the bearing and gear part, and the two second outer mechanical arms 3017 are respectively located at the two sides outside the part. The fourth motor 303 and the push rod motor are controlled by the controller to work, so that the drive gear 3012 drives the drive connecting rod 3013 to rotate downward. At this time, the two first outer mechanical arms 3015 and the two second outer mechanical arms 3017 are moved towards each other, and the auxiliary connecting rod 3014 also rotates downward, so that the two inner claw drive arms 3022 hinged on the auxiliary connecting rod 3014 move towards each other, so as to drive the two inner claw arms 3023 to open, so that the two flexible compensation pads 3026 at the lower ends of the two inner claw arms 3023 are supported on the inner wall of the part. Under the joint action of the movement of the two second outer mechanical arms 3017 towards each other and the movement of the outer claw movable clamping plate 3020 towards the outer wall of the part driven by the push rod motor, the outer claw fixed clamping plate 3019 and the outer claw movable clamping plate 3020 clamp the outer wall of the part, thereby completing the grabbing of the part. When it is necessary to put down the part, the fourth motor 303 and the push rod motor can be controlled by the controller to move reversely.

[0040] The infrared sensor 13 is arranged on one side of the output end of the part conveying belt 4 to be detected, and is connected with the controller. The infrared sensor 13 is arranged to avoid running failure caused by excessive accumulation of parts. When the infrared sensor 13 detects that the position of the part is equal to the given position, the part conveying belt 4 to be detected stops running.

[0041] Specifically, the classification conveying mechanism includes a plurality of parallel classification conveying belts 5, which are connected with the controller. The controller divides the parts into qualified parts and unqualified parts according to the visual detection result, and further classifies the qualified parts according to the size. After comparing the classification results in the controller, the controller controls the mechanical gripper 3 to place the parts on the corresponding classification conveying belt 5.

[0042] The principles and implementation manners of the present application are described by using specific examples in the specification. The above description of the embodiments is only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A bearing and gear parts detection and classification device, characterized in that: The control panel comprises a first rotating arm, a second rotating arm and a camera, wherein one end of the first rotating arm is mounted on the support frame, the other end of the first rotating arm is mounted on the support frame, and the second rotating arm is mounted on the support frame. The second rotating arm is located on the side of the support arm away from the support frame, and the camera is installed on the end of the second rotating arm away from the support arm; the adjustable clamp includes a support, a driving mechanism and a clamping component, the support is arranged on the general mounting table, the driving mechanism is arranged on the support, and the driving mechanism is used to drive the clamping component to rotate and swing; the XYZ three-axis motion mechanism, the robotic gripper, the conveyor belt of the parts to be inspected, the classification conveying mechanism, the first rotating arm, the second rotating arm, the camera, the driving mechanism and the clamping component are all connected to the controller; the support includes a base and a plurality of columns arranged on the base, the driving mechanism includes a first motor, a bearing, a first bevel gear, a second bevel gear, a transmission gear, a transmission shaft, a support plate, a hollow hemisphere, a half gear ring, a support bottom plate, two support vertical plates and two pulleys, the outer ring of the bearing is fixed to the top of the plurality of columns, a cylindrical block is provided in the middle of the bottom surface of the support plate, the cylindrical block is fixedly sleeved in the inner ring of the bearing, and the first bevel gear is horizontally fixed on the support plate;The first motor is fixed on the base and located between the plurality of columns, the output shaft of the first motor passes through the cylindrical block, the support plate and the first bevel gear in sequence, and the cylindrical block, the support plate and the first bevel gear are all clearance-matched with the output shaft of the first motor, the top end of the output shaft of the first motor is fixed with the support base plate, the two support vertical plates are respectively fixed at both ends of the upper part of the support base plate, the transmission shaft is rotatably mounted on the two support vertical plates, and one end of the transmission shaft passes through one of the support vertical plates and extends to the outside, the transmission gear and the second bevel gear are both fixedly sleeved on the transmission shaft, the transmission gear is located between the two support vertical plates, the second bevel gear is located on the outer side of one of the support vertical plates, and the second bevel gear is meshed with the first bevel gear; an arc opening is provided in the middle of the hollow hemisphere, and the half gear ring is fixed The gear is fixed on the hollow hemisphere, and the half gear ring is located in the middle of the arc-shaped opening. The half gear ring is meshed with the transmission gear. Arc-shaped slots are provided on both sides of the arc-shaped opening. A pulley is provided on the outer side of the top of each support vertical plate. Each pulley is slidably installed in one of the arc-shaped slots. The clamping component is fixed to the top of the hollow hemisphere. The first motor is connected to the controller. The first motor can drive the support base plate, the support vertical plate, the transmission gear, the second bevel gear, the half gear ring, the hollow hemisphere and the clamping component to rotate around the axis of the output shaft of the first motor. The first motor can drive the second bevel gear to drive the transmission shaft and the transmission gear to rotate. The gear also includes an infrared sensor, which is provided on one side of the output end of the conveyor belt of parts to be detected and is connected to the controller.

2. The bearing and gear parts detection and classification device according to claim 1, characterized in that: A rubber ring is provided between the outer ring and the inner ring of the bearing, and the clamping component is an electric three-jaw chuck.

3. The bearing and gear parts detection and classification device according to claim 1, characterized in that: The first rotating arm includes a second motor and a first arm body, the second motor is fixed to one side of the top of the support frame, and the first arm body is fixed to the output shaft of the second motor; the second rotating arm includes a third motor and a second arm body, the third motor is fixed to the side of the support arm away from the support frame, the second arm body is fixed to the output shaft of the third motor, the camera is arranged at one end of the second arm body away from the support arm, the first arm body and the second arm body are parallel to each other and are both arranged horizontally, the first arm body and the second arm body are both arranged perpendicular to the support arm, and the second motor and the third motor are both connected to the controller.

4. The bearing and gear parts detection and classification device according to claim 3, characterized in that: The support frame includes a mounting plate and two L-shaped support rods, one end of each L-shaped support rod is fixed to the general mounting platform, the other end of each L-shaped support rod is fixed to the mounting plate, and the second motor is fixed to the mounting plate.

5. The bearing and gear parts detection and classification device according to claim 4, characterized in that: It also includes a lighting component, which is arranged on a side of the mounting plate close to the XYZ three-axis motion mechanism.

6. The bearing and gear parts detection and classification device according to claim 1, characterized in that: The XYZ three-axis motion mechanism includes an X-axis slider, an X-axis electric linear slide, an X-axis motor, a Y-axis slider, a Y-axis electric linear slide, a Y-axis motor, a Z-axis slider, a Z-axis electric linear slide, a Z-axis motor, a first connecting plate, a second connecting plate and a connecting bracket. The X-axis electric linear slide is horizontally fixed on the total mounting table, the X-axis slider is arranged on the X-axis electric linear slide, the X-axis motor is connected to the X-axis electric linear slide, the first connecting plate is fixed on the X-axis slider, the Y-axis electric linear slide is vertically fixed on the first connecting plate, and the Y-axis slider is arranged on the On the Y-axis electric linear slide, the Y-axis motor is connected to the Y-axis electric linear slide, the second connecting plate is fixed on the Y-axis slider, the Z-axis electric linear slide is horizontally fixed on the second connecting plate, the Z-axis electric linear slide and the X-axis electric linear slide are perpendicular to each other, the Z-axis slider is arranged on the Z-axis electric linear slide, the Z-axis motor is connected to the Z-axis electric linear slide, one end of the connecting bracket is fixed on the Z-axis slider, and the other end of the connecting bracket is equipped with the robotic gripper, and the X-axis motor, the Y-axis motor and the Z-axis motor are all connected to the controller.

7. The bearing and gear parts detection and classification device according to claim 1, characterized in that: The robotic claw includes a shell, a fourth motor, an output gear, an idler wheel, an inner claw mechanism, a fixing bolt, a first mounting bolt, two second mounting bolts, two third mounting bolts, two fourth mounting bolts, two fifth mounting bolts, two support plates and two symmetrically arranged outer claw mechanisms, the outer claw mechanism includes a driving link, an auxiliary link, a driving gear, a first outer robotic arm, a second outer robotic arm, a fixing pin, an outer claw fixing card, a push rod motor and an outer claw movable card, the upper end of the shell is installed on the XYZ three-axis motion mechanism, the upper and lower ends of the shell are both open structures, the front and rear sides of the lower end of the shell are respectively provided with a support plate, the fourth motor is fixed to the upper part outside the shell, the fourth motor and the push rod motor The first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the second outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the second outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first outer mechanical arm is a gear shifting device, and the first A strip mounting groove is provided on the inner side, the lower end of each driving connecting rod is located at the upper part of the strip mounting groove and is mounted on the first outer robotic arm through the fourth mounting bolt, the lower end of each auxiliary connecting rod is located at the lower part of the strip mounting groove and is mounted on the first outer robotic arm through the fifth mounting bolt, the second outer robotic arm passes through the bottom surface of the first outer robotic arm and extends into the strip mounting groove, the fixing pin is used to fix the second outer robotic arm to the first outer robotic arm, the outer claw fixing card is provided on the inner side of the bottom end of the second outer robotic arm, the push rod motor is provided on the inner side of the upper part of the second outer robotic arm, the outer claw movable card is fixed on the push rod of the push rod motor, The length direction of the push rod is perpendicular to the length direction of the second outer robotic arm; the inner claw mechanism includes a connecting pin, an auxiliary reset spring, a connecting circular plate, two inner claw arms, two inner claw driving arms, two connecting blocks and two flexible compensation gaskets. The inner side of the upper part of one of the inner claw arms is provided with the connecting circular plate, and the upper part of the other inner claw arm is installed on the connecting circular plate through the connecting pin. An inner claw driving arm is provided on the outer side of the upper part of each inner claw arm, and a connecting block is provided at the lower part of each auxiliary connecting rod. The upper end of each inner claw driving arm is hinged to one of the connecting blocks, and the two ends of the auxiliary reset spring are respectively connected to the middle parts of the two inner claw driving arms, and the bottom end of each inner claw arm is provided with a flexible compensation gasket.

8. The bearing and gear parts detection and classification device according to claim 1, characterized in that: The classification conveying mechanism includes a plurality of classification conveying belts arranged in parallel, and the classification conveying belts are connected to the controller.

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