Industrial robot for detecting tubular parts

Abstract

The application relates to the technical field of industrial robots, and discloses an industrial robot for detecting pipe parts, which comprises a material conveying frame, a material conveying slide rail, an external supporting device, a visual detector, an air tightness detection device and a gas sensing device. The air tightness detection device and the gas sensing device are additionally arranged, gas is transmitted to the telescopic pipe through the driving of an air pump, the gas is then transmitted into the pipe part through the telescopic pipe, the pipe part is filled with the gas, the movement of the gear frame is driven by the half-tooth gear, the push rod is driven to reciprocate leftward and rightward, the piston cylinder is extruded to generate piston movement to generate air pressure, the air pressure is discharged into the pipe part through the pressure pipe, the gas in the pipe part is pressurized, the flow rate of the gas is increased, if there is a gap in the pipe part, the gap can be more easily detected, and when the pipe part rotates on the external supporting unit, the gas sensor can comprehensively detect the air tightness of the pipe part.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of industrial robots, and particularly relates to an industrial robot for detecting pipe parts. BACKGROUND

[0002] An industrial robot is a multi-joint mechanical hand or a multi-degree-of-freedom machine device widely used in the industrial field, and has certain automaticity, and can realize various industrial processing and manufacturing functions by relying on its own power source and control ability.

[0003] For example, the industrial robot for detecting pipes in patent document CN114750180A comprises a material conveying part and a detection part connected with the material conveying part; the material conveying part comprises a base assembly and clamping assemblies arranged at both ends of the base assembly; the clamping assembly comprises a sliding unit arranged on the base assembly and an outer supporting unit installed on the sliding unit; the outer supporting unit comprises a clamping rod fixedly connected with the sliding unit, two groups of stabilizing members installed on the peripheral part of the clamping rod, each group of stabilizing members comprising an outer supporting cylinder arranged on the peripheral part of the clamping rod, an outer supporting telescopic rod arranged at the output end of the outer supporting cylinder, and an outer supporting block connected with the outer supporting telescopic rod.

[0004] However, the prior art has the following disadvantages:

[0005] (1) The outer supporting unit cannot rotate, so that the visual detection of the tubular parts on the outer supporting unit cannot detect all the tubular parts, and there is a blind area defect in the detection of the tubular parts.

[0006] (2) Some pipe parts, such as fire-fighting pipes and automobile exhaust pipes, need to be detected for air tightness before being put into use, because some pipe parts are processed by welding, and the air tightness of the welds needs to be ensured, so the pipe parts need to be detected for air tightness.

[0007] Therefore, the present application proposes an industrial robot for detecting pipe parts to improve the above defects. SUMMARY

[0008] The technical problem to be solved by the present application is to overcome the disadvantages of the prior art and provide an industrial robot for detecting pipe parts, which has the function of detecting the air tightness of the pipe parts.

[0009] To solve the above technical problems, the present application adopts the following technical solutions:

[0010] An industrial robot for pipe part detection, which comprises a material conveying frame, a material conveying slide rail, an external supporting device, a visual detector, a gas tightness detection device and a gas sensing device, the material conveying frame is a left-right symmetrical structure, the material conveying slide rail is installed on the material conveying frame, the external supporting device is connected to the material conveying slide rail, the visual detector is installed on one side of the material conveying frame, the gas sensing device is installed on the visual detector, and the gas tightness detection device is arranged on one side of the visual detector.

[0011] In a specific implementation, the external supporting device comprises a supporting pipe, an external supporting unit, a through hole groove and a roller, one end of the supporting pipe is connected to the external supporting unit, the external supporting unit is annularly arrayed with the through hole grooves, and the roller is movably connected to the through hole grooves.

[0012] The roller can rotate the pipe part on the external supporting unit.

[0013] In a specific implementation, the material conveying slide rail comprises a triangular seat and a pneumatic power wheel, the triangular seat is installed on the material conveying slide rail, and the pneumatic power wheel is movably connected to the triangular seat.

[0014] The pneumatic power wheel can drive the pipe part to rotate on the external supporting unit.

[0015] In a specific implementation, the pneumatic power wheel comprises a push block and a circular arc chamfer, the push block is annularly arrayed on the pneumatic power wheel, and the circular arc chamfers are arranged on both sides of the push block.

[0016] In a specific implementation, the gas tightness detection device comprises a gas pump, a gas conveying pipe, a connecting seat and an extension pipe, one end of the gas pump is connected to the gas conveying pipe, the other end of the gas conveying pipe is connected to the connecting seat, and the extension pipe is connected to the other side of the connecting seat.

[0017] The extension pipe can be extended or retracted with the movement of the material conveying slide rail, so that the gas conveying pipe can continuously convey gas to the pipe part.

[0018] In a specific implementation, the gas sensing device comprises a half-tooth gear, a gear frame, a limiting frame, a push rod, a piston cylinder, a supporting frame, a pressure pipe and a gas sensor, the half-tooth gear is movably connected to the gear frame through gear engagement, the gas sensor is installed at the bottom of the gear frame, the push rod is connected to both ends of the gear frame, the push rod is slidably connected to the limiting frame, the piston cylinder is installed at the other end of the push rod, the supporting frame is connected to the piston cylinder, and the pressure pipe is connected to the gas outlet end of the piston cylinder.

[0019] The limiting frame can limit the movement of the gear frame.

[0020] The piston cylinder can pressurize the gas in the tubular part and increase the flow rate of the gas.

[0021] According to the technical scheme, the industrial robot for detecting a tubular part has the following beneficial effects:

[0022] (1) The rolling wheel and the pneumatic power wheel are arranged, the pneumatic power wheel is driven to rotate by the air pipe connected with the air pump, the tubular part in contact with the surface of the pneumatic power wheel can roll on the external supporting unit along with the rotation of the pneumatic power wheel, the rolling wheel supports the inner wall of the tubular part, the rotation of the tubular part on the external supporting unit can be lubricated, and the visual detector can detect the tubular part in all aspects.

[0023] (2) The air-tightness detection device and the gas sensing device are arranged, the air pump is driven to transmit the gas to the telescopic pipe, the gas is then transmitted to the tubular part through the telescopic pipe, the tubular part is filled with the gas, the gear frame is driven to move by the half-tooth gear, the push rod is driven to reciprocate left and right to extrude the piston cylinder to generate air pressure, the air pressure is discharged into the tubular part through the pressure pipe, the gas in the tubular part is pressurized, the flow rate of the gas is increased, the gap in the tubular part can be more easily detected, and the gas sensor can detect the tubular part in all aspects along with the rotation of the tubular part on the external supporting unit. BRIEF DESCRIPTION OF DRAWINGS

[0024] Other characteristics, objects and advantages of the present application will become more apparent from the following detailed description of non-restrictive embodiments, made with reference to the attached drawings:

[0025] Figure 1 FIG. 1 is a structural schematic view of an industrial robot for detecting a tubular part in an embodiment of the present application;

[0026] Figure 2 FIG. 2 is a structural schematic view of an external supporting device in an embodiment of the present application;

[0027] Figure 3 FIG. 3 is a structural schematic view of a rolling wheel on the external supporting device in an embodiment of the present application;

[0028] Figure 4 FIG. 4 is an enlarged structural schematic view of A in an embodiment of the present application;

[0029] Figure 5 FIG. 5 is a structural schematic view of a pneumatic power wheel in an embodiment of the present application;

[0030] Figure 6A structure schematic view of the air tightness detection device in the embodiment of the present application;

[0031] Figure 7 A structure schematic view of the first angle state of the gas sensing device in the embodiment of the present application;

[0032] Figure 8 A structure schematic view of the second angle state of the gas sensing device in the embodiment of the present application.

[0033] In the figure: 1 is a material conveying frame, 2 is a material conveying slide rail, 3 is an external supporting device, 4 is a visual detector, 5 is an air tightness detection device, 6 is a gas sensing device, 31 is a supporting pipe, 32 is an external supporting unit, 33 is a through hole groove, 34 is a roller, 21 is a triangular seat, 22 is a pneumatic power wheel, 51 is an air pump, 52 is a gas conveying pipe, 53 is a connecting seat, 54 is an extension pipe, 61 is a half-tooth gear, 62 is a gear frame, 63 is a limiting frame, 64 is a push rod, 65 is a piston cylinder, 66 is a supporting frame, 67 is a pressure pipe, and 68 is a gas sensor. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in combination with specific embodiments.

[0035] Embodiment one: please refer to Figures 1-6 The specific embodiments of the present application are as follows:

[0036] An industrial robot for detecting tubular parts, which structure comprises a material conveying frame 1, a material conveying slide rail 2, an external supporting device 3, a visual detector 4, an air tightness detection device 5, and a gas sensing device 6. The material conveying frame 1 is a left-right symmetrical structure, and the material conveying slide rail 2 is installed on the material conveying frame 1. The external supporting device 3 is connected to the material conveying slide rail 2. The visual detector 4 is installed on one side of the material conveying frame 1. The gas sensing device 6 is installed on the visual detector 4. The air tightness detection device 5 is arranged on one side of the visual detector 4.

[0037] Please refer to Figures 2-3 The external supporting device 3 comprises a supporting pipe 31, an external supporting unit 32, a through hole groove 33, and a roller 34. The external supporting unit 32 is connected to one end of the supporting pipe 31. The through hole grooves 33 are annularly arranged on both sides of the supporting blocks of the external supporting unit 32. The roller 34 is movably connected to the through hole grooves 33 through a rotating shaft. The roller 34 is a flexible rubber wheel.

[0038] The above-mentioned roller 34 can support the tubular parts and cooperate with the pneumatic power wheel 22 to enable the tubular parts to rotate on the external supporting unit 32.

[0039] Please refer to Figures 4-5The material conveying slide rail 2 comprises a triangular seat 21 and a pneumatic power wheel 22, the triangular seat 21 is installed on the material conveying slide rail 2, the pneumatic power wheel 22 is movably connected to the triangular seat 21, the pneumatic power wheel 22 is connected to the air pump on the air tightness detection device 5 through an air pipe, and the pneumatic power wheel 22 can contact the tubular part installed on the external supporting device 3.

[0040] The pneumatic power wheel 22 is driven to rotate by the air pump 51, so that the tubular part rotates on the external supporting unit 32.

[0041] Please refer to Figure 6 The pneumatic power wheel (22) comprises a push block (221) and a circular arc chamfer (222), the pneumatic power wheel (22) is annularly arranged with the push block (221), and the two sides of the push block (221) are provided with the circular arc chamfer (222).

[0042] The push block (221) is made of soft rubber, which can drive the tubular part to rotate by the air pump 51, and the soft rubber can protect the tubular part from being damaged by the pneumatic power wheel (22).

[0043] The circular arc chamfer (222) can make the contact surface of the push block (221) and the tubular part more smooth and labor-saving.

[0044] Based on the above embodiment, the specific working principle is as follows:

[0045] When the tubular part is installed on the external supporting device 3, the tubular part is supported by the external supporting unit 32, and then the air pump on the air tightness detection device 5 is driven, the pneumatic power wheel 22 on the triangular seat 21 is driven to rotate through the air pipe connected to the air pump, since the pneumatic power wheel 22 contacts the surface of the tubular part, the tubular part can be rolled on the external supporting unit 32 by the rotation of the pneumatic power wheel 22, a plurality of rollers 34 are symmetrically installed on the supporting blocks of the external supporting unit 32, the rollers 34 support the inner wall of the tubular part, when the tubular part rotates on the external supporting unit 32 due to the external force of the pneumatic power wheel 22, the rotation of the tubular part can be lubricated, and then the tubular part is detected by the visual detector 4.

[0046] Embodiment two: please refer to Figures 1-7 The specific embodiment of the present application is as follows:

[0047] Please refer to Figure 6The airtightness detection device 5 includes a gas pump 51, a gas conveying pipe 52, a connecting seat 53, and an extension pipe 54. One end of the gas pump 51 is connected with the gas conveying pipe 52, and the other end of the gas conveying pipe 52 is connected with the connecting seat 53. The bottom of the connecting seat 53 is fixed with the material conveying frame 1. The connecting seat 53 is a hollow structure. The other side of the connecting seat 53 is connected with the extension pipe 54, and the side, away from the connecting seat 53, of the extension pipe 54 is connected with the supporting pipe 31.

[0048] The gas pump 51 is arranged to convey gas into the tubular part through the gas conveying pipe 52.

[0049] The extension pipe 54 is arranged to be telescopic, so that the gas conveying pipe 52 can continuously convey gas into the tubular part when the material conveying slide rail 2 moves.

[0050] Referring to Figure 7 The airtightness detection device 5 is a left-right symmetrical structure.

[0051] Referring to Figures 7-8 The gas sensing device 6 includes a half-tooth gear 61, a gear frame 62, a limiting frame 63, a push rod 64, a piston cylinder 65, a supporting frame 66, a pressure pipe 67, and a gas sensor 68. The half-tooth gear 61 is movably connected with the gear frame 62 through gear engagement. The bottom of the gear frame 62 is provided with the gas sensor 68. The two ends of the gear frame 62 are connected with the push rod 64. The push rod 64 is movably connected with the limiting frame 63. The limiting frame 63 is fixed with the visual detector 4. The other end of the push rod 64 is provided with the piston cylinder 65. The piston cylinder 65 is connected with the supporting frame 66. The supporting frame 66 is connected with the visual detector 4. The gas outlet end of the piston cylinder 65 is connected with the pressure pipe 67. The other end of the pressure pipe 67 is connected with the supporting pipe 31. The gas sensing device 6 is a symmetrical structure.

[0052] The limiting frame 63 is arranged to limit the movement of the gear frame 62, so that the gear frame 62 can only move left and right.

[0053] The piston cylinder 65 is arranged to generate pressure through the reciprocating movement of the push rod 64, so that the gas in the tubular part can be pressurized, and the flow rate of the gas can be increased.

[0054] The gas sensor 68 is arranged to detect the airtightness of the tubular part through the volume and concentration of the gas in the area and the principle that the sensor generates a corresponding potential difference.

[0055] Based on the above embodiment, the specific working principle is as follows:

[0056] When the tubular part needs to be air-tightness detected after visual detection is completed, the air pump 51 is driven to enable the gas to be transmitted to the telescopic pipe 54 through the gas pipe 52, and then transmitted to the tubular part through the telescopic pipe 54, and then the half-tooth gear 61 is driven to rotate to drive the gear frame 62 engaged with the gear to move, since the two sides of the gear frame 62 are movably matched with the limiting frame 63 through the push rod 64, the movement of the gear frame 62 can be limited, so that the gear frame 62 can only drive the push rod 64 to reciprocate left and right, and the gear frame 62 can drive the gas sensor 68 to move together, and the reciprocating movement of the push rod 64 can extrude the piston cylinder 65 to generate air pressure, and the air pressure is discharged into the support pipe 31 on the external support device 3 through the pressure pipe 67, so that the gas in the tubular part is pressurized, the flow rate of the gas can be increased, so that the gap in the tubular part can be more easily detected, and as the tubular part rotates on the external support unit 32, the gas sensor 68 can perform all-around air-tightness detection on the tubular part.

[0057] The present application solves the problem that the external support unit cannot rotate, so that the tubular part cannot be detected when the tubular part is visually detected on the external support unit, and there is a blind area defect in the detection of the tubular part, and some pipe parts such as fire-fighting pipes and automobile exhaust pipes need to be detected for air-tightness before use, because some pipe parts are processed by welding, and the air-tightness of the weld needs to be ensured, so the pipe parts need to be detected for air-tightness when detected, the present application can rotate the pneumatic power wheel through the gas pipe connected with the air pump, so that the tubular part in contact with the surface of the pneumatic power wheel can roll on the external support unit with the rotation of the pneumatic power wheel, and the roller supports the inner wall of the tubular part, and the rotation of the tubular part on the external support unit can lubricate the rotation of the tubular part, so that the visual detector can detect the tubular part in all directions;

[0058] Meanwhile, the air pump is driven to transmit the gas to the telescopic pipe, and then the gas is transmitted to the tubular part through the telescopic pipe, so that the tubular part is filled with gas, and then the half-tooth gear drives the movement of the gear frame, so that the push rod reciprocates left and right to extrude the piston cylinder to generate air pressure, and the air pressure is discharged into the tubular part through the pressure pipe, so that the gas in the tubular part is pressurized, the flow rate of the gas can be increased, so that the gap in the tubular part can be more easily detected, and as the tubular part rotates on the external support unit, the gas sensor can perform all-around air-tightness detection on the tubular part.

[0059] In the description of the application, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0060] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An industrial robot for detecting tubular parts, comprising a material conveying frame (1), an air tightness detection device (5) located on one side of the material conveying frame (1), a gas sensing device (6) located on one side of the material conveying frame (1), a material conveying slide rail (2) mounted on the material conveying frame (1), and an external supporting device (3) connected to the material conveying slide rail (2). characterized in that The external supporting device (3) comprises a supporting tube (31), an external supporting unit (32) located at one end of the supporting tube (31), a through hole slot (33) arranged on the external supporting unit (32), and a roller (34) used for active cooperation with the through hole slot (33), wherein the roller (34) is a flexible rubber wheel, and the roller (34) can support the tubular part and rotate the tubular part on the external supporting unit (32) in cooperation with a pneumatic power wheel (22). The air tightness detection device (5) comprises an air pump (51), a gas conveying pipe (52) located at one end of the air pump (51), a connecting seat (53) located at one end of the gas conveying pipe (52), and an extension pipe (54) located on the other side of the connecting seat (53), wherein the extension pipe (54) is connected to the supporting tube (31) away from the connecting seat (53), and the air pump (51) can convey gas to the inside of the tubular part through the gas conveying pipe (52). The gas sensing device (6) comprises a half-tooth gear (61), a gear frame (62) used for active cooperation with the half-tooth gear (61), a gas sensor (68) located at the bottom of the gear frame (62), a push rod (64) located at both ends of the gear frame (62), a limiting frame (63) used for active cooperation with the push rod (64), a piston cylinder (65) located at one end of the push rod (64), a supporting frame (66) mounted on the piston cylinder (65), and a pressure pipe (67) located at the gas outlet end of the piston cylinder (65), wherein the other end of the pressure pipe (67) is connected to the supporting tube (31).

2. The industrial robot for detecting a tubular part according to claim 1, characterized in that: The gas sensing device (6) has a symmetrical structure.

3. The industrial robot for inspecting a tubular part according to claim 1, characterized in that: The material conveying slide rail (2) comprises a triangular seat (21) and a pneumatic power wheel (22) used for active cooperation with the triangular seat (21).

4. The industrial robot for inspecting a tubular part according to claim 3, characterized in that: The pneumatic power wheel (22) is connected to the air pump of the air tightness detection device (5) through a gas pipe, and the pneumatic power wheel (22) can contact the tubular part mounted on the external supporting device (3).

5. The industrial robot for inspecting a tubular part according to claim 3, characterized in that: The pneumatic power wheel (22) comprises a push block (221) and a circular arc chamfer (222), wherein the push block (221) is arranged in an annular array on the pneumatic power wheel (22), and the circular arc chamfer (222) is arranged on both sides of the push block (221).

6. The industrial robot for detecting a tubular part according to claim 5, characterized in that: The push block (221) is made of soft rubber, which can be driven by the air pump (51) to rotate the tubular part, and the soft rubber can protect the tubular part from being damaged by the pneumatic power wheel (22).

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