Composite robot bottom plate flatness detection device and detection method

Abstract

The invention discloses a composite robot bottom plate flatness detection device and detection method, relates to the technical field of flatness detection, and aims to solve the problems that an existing robot bottom plate flatness detection device excessively relies on manpower and is low in integration degree, so that the detection process is more time-consuming and tedious, and the detection efficiency is high. The device comprises a device base and a detection table arranged above the device base, and the detection table is arranged above the device base. In the detection process, the device can automatically stop, the composite robot is detected by moving the laser detector, manual interference is reduced, the accuracy of planeness detection data of the bottom plate of the composite robot is improved, meanwhile, the device can be directly in butt joint with an external machining module of the composite robot, and the detection efficiency is improved. The integration degree of the device is improved, and the detection efficiency of the device on the composite robot is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flatness detection, and more specifically to a composite robot bottom plate flatness detection device and detection method. Background Art

[0002] The working principle of the robot base plate flatness detection device is mainly based on measurement and recording by measuring sensors, which are usually divided into contact sensors and non-contact sensors. Among them, the contact sensor uses a needle probe or slider on the table to contact the surface of the robot base plate, and calculates the flatness error by measuring the distance between the contact surface and the surface. The non-contact sensor mainly uses optical or laser sensors to detect the geometric shape of the base plate surface. The optical sensor determines the surface shape by receiving the light reflected from the surface to generate an image, while the laser sensor uses the phase difference when the laser beam is reflected to calculate the flatness error.

[0003] However, the degree of automation of the detection devices currently on the market still needs to be improved, especially it is difficult to efficiently integrate the various steps of detecting the robot's bottom plate plane. Due to the lack of integrated design and optimization, the various detection modules and sensors may not be able to achieve seamless connection and close cooperation, which will undoubtedly increase the measurement error and affect the final detection results. At the same time, manual operation or decentralized control systems will not only reduce the detection efficiency, but also make the whole process cumbersome and time-consuming. More importantly, the reliance on a large amount of human resources not only easily leads to errors in the detection data due to human factors, but also seriously limits the efficiency and popularity of the detection device in practical applications. In view of this, we propose a composite robot bottom plate flatness detection device and detection method. Summary of the invention

[0004] The purpose of the present invention is to provide a composite robot base plate flatness detection device and detection method to solve the technical problems that the existing robot base plate flatness detection device relies too much on manpower and has a low degree of integration, resulting in a more time-consuming and cumbersome detection process, and the data that is easy to detect is prone to errors due to human factors.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a composite robot bottom plate flatness detection device and detection method.

[0006] A composite robot bottom plate flatness detection device, comprising: A control mechanism, including an equipment base, a detection platform arranged above the equipment base, a protective cover located above the detection platform, a control panel and a switch, wherein the switch is arranged above the protective cover and the control panel is located above the protective cover; and a detection mechanism, including a conveying component, a transmission component arranged on one side of the conveying component, a guide component connected to the transmission component, an adjustment component located below the guide component, a collecting component, a pipe component and a sealing component, wherein the collecting component is arranged below the pipe component and the sealing component slides inside the pipe component.

[0007] During the process of detecting the flatness of the bottom plate of the composite robot, the present invention only needs to transmit the parameters of the bottom plate height to the control panel in advance to control the height of the laser detector in advance, and the device can stop automatically during the detection process, and detect the composite robot by moving the laser detector, thereby reducing human interference and improving the accuracy of the device's detection data of the composite robot's bottom plate flatness. At the same time, the device can be directly connected to the external processing module of the composite robot, thereby improving the degree of integration of the device and further improving the device's detection efficiency of the composite robot.

[0008] Preferably, the top of the equipment base is fixedly connected to the bottom of the testing platform, the top of the testing platform is fixedly connected to the bottom of the protective cover, several switches and control panels are fixedly connected to the protective cover, the four corners of the bottom of the equipment base are respectively fixedly connected to the tops of four supporting legs, and a sensor is fixedly connected to the top of the inner wall of the protective cover.

[0009] Preferably, one side of the conveying assembly is in driving connection with the transmission assembly, the conveying assembly is in driving connection with the guide assembly through the transmission assembly, the guide assembly is in driving connection with the fan, the fan is connected with the pipeline assembly, the lower part of the pipeline assembly is connected with the collecting assembly, the lower part of the guide assembly is fixedly connected with the adjusting assembly, and a sealing assembly is slidably connected in the pipeline assembly; The fan is fixedly connected above the testing platform through an arc-shaped telescopic frame, the conveying assembly is fixedly connected above the testing platform, the guiding assembly is fixedly connected to the testing platform, the collecting assembly is slidably connected to the testing platform, and the bottom end of the adjusting assembly is fixedly connected to the testing platform.

[0010] Preferably, the conveying assembly includes four mounting frames, two mounting frames at corresponding positions are clamped with the same rotator, two rotators located in the same axial direction are fixedly connected to the same conveying roller, and the outer shells of the two conveying rollers are connected with the same conveyor belt, and the rotator is composed of a bearing and a rotating shaft; The mounting frame is fixedly connected to the detection table, and one of the rotators is in transmission connection with the transmission assembly; The transmission assembly includes a motor, one end of which is fixedly connected to a driving shaft, and an outer wall of the driving shaft is drivingly connected to one of the transmission wheels, the number of the transmission wheels is two, and the two transmission wheels are connected by a transmission belt; The other end of the driving shaft is drivingly connected to one of the rotators, and the motor is fixedly connected outside the protective cover.

[0011] Preferably, the guide assembly comprises a limit plate, a limit groove is provided in the limit plate, the limit groove is arc-shaped, a sleeve is slidably connected in the limit groove, and a rotating rod is sleeved in the sleeve; The outer wall of the rotating rod is fixedly connected to another transmission wheel, the other end of the rotating rod is transmission-connected to the fan, and the lower part of the limiting plate is fixedly connected to the upper part of the detection platform.

[0012] Preferably, the adjustment assembly comprises a ball sleeve, a ball block is sleeved in the ball sleeve, an electric push rod is fixedly connected below the ball block, a pin is fixedly connected to the bottom end of the electric push rod, and the electric push rod is hinged to a positioning frame through the pin; The upper part of the ball sleeve is fixedly connected to the lower part of the sleeve, and the lower part of the positioning frame is fixedly connected to the upper part of the detection platform.

[0013] Preferably, the pipeline assembly includes a first pipeline, the first pipeline is connected to the second pipeline, the diameter of the inner wall of the first pipeline is larger than the diameter of the inner wall of the second pipeline, the lower part of the inner wall of the first pipeline is fixedly connected to a plurality of elastic paddles, and the plurality of elastic paddles are all arranged in an arc-shaped inclined manner, the inner wall of the first pipeline is fixedly connected to a frame, one side of the frame is fixedly connected to a filter screen, the other side of the frame is fixedly connected to a spring, a sliding rod is slidably connected in the second pipeline, one end of the sliding rod is fixedly connected to a laser detector, the other end of the sliding rod is fixedly connected to a first sealing sheet, and the shape of the first sealing sheet is adapted to the shape of the inner wall of the second pipeline; The other end of the second pipeline is connected to the fan, and the lower part of the second pipeline is connected to the collection component.

[0014] Preferably, the collection assembly includes a plurality of control valves, and a conduit is fixedly connected to the bottom of each of the control valves, and each of the conduits is clamped on the top of the collection box, a plurality of guide grooves are provided on the top of the collection box, and the bottom ends of the conduits are clamped and connected in the plurality of guide grooves respectively, and the bottom ends of the conduits are connected to the collection box through the guide grooves, and the conduits are hoses; The control valve is fixedly connected to the lower part of the first pipeline, and the control valve is arranged between two adjacent elastic paddles.

[0015] Preferably, the sealing assembly comprises a second sealing sheet, a plurality of through holes are formed on one side of the second sealing sheet, and elastic gaskets are fixedly connected in the plurality of through holes, two connecting sleeves are clamped below the second sealing sheet, and connecting rods are sleeved in the two connecting sleeves, and the two connecting rods are fixedly connected in the mounting holes, and the two mounting holes are respectively formed in front of and behind the baffle sheet, and inclined grooves are formed above the baffle sheet and below the second sealing sheet, a coil spring is fixedly connected to the outside of the connecting rod, and the other end of the coil spring is fixedly connected to the connecting sleeve; The second sealing sheet is fixedly connected to the first sealing sheet via a rod body, the second sealing sheet is slidably connected in the first pipe, the diameter of the inner wall of the first pipe matches the diameter of the second sealing sheet, and the height of the baffle is greater than the height of the arc-shaped paddle.

[0016] A detection method for a composite robot bottom plate flatness detection device comprises the following steps: S1. When in use, the external conveying module processed by the composite robot is connected to the detection mechanism, so that the processed composite robot can directly enter the detection mechanism for detection; S2. When the transmission component is running, the transmission component will synchronously drive the conveying component and the fan to operate, so that the fan extracts air from the pipeline component and cleans the conveying component and the composite robot through the sealing component. When the composite robot moves above the inspection table with the conveying component, it will trigger the sensor under the protective cover. At this time, the sensor will control the shutdown of the motor. When the motor is turned off, the conveying component stops running and stops moving the composite robot. At the same time, the fan no longer extracts air from the pipeline component, so that the internal components of the pipeline component are reset and the laser detectors on both sides move quickly toward each other, thereby completing the detection of the flatness of the bottom plate of the composite robot. Then the motor will run again to detect the subsequent composite robots, and the position of the laser detector will be adjusted again through the operation of the fan. S2.1. When adjusting the height of the laser detector, it is only necessary to adjust the height of the electric push rod through the control panel. When the electric push rod is extended, the electric push rod will push the sleeve to slide in the limit slide groove. At this time, the fan, the transmission wheel outside the rotating rod, the laser detector and the first pipeline will all turn up with the driving shaft as the center of the circle. Similarly, when moving downward, it will turn downward. After the height adjustment is completed, the motor will run. At this time, the motor will drive the conveyor roller and the fan to run respectively through the transmission wheel, the transmission belt and the driving shaft, so that the conveyor belt pushes the composite robot to move while the fan cleans the surface of the composite robot and the conveyor belt. The fan will extract the air in the first pipeline and the second pipeline, and pull the position of the laser detector through the sealing assembly and the first sealing sheet. When sensing that the motor of the composite robot is turned off, the laser detectors on both sides will move toward each other, thereby detecting the flatness of the bottom plate of the composite robot, reducing the human intervention required for the device; S2.2. When the fan extracts air from the first and second pipes, the second sealing sheet and the baffle will move toward the filter screen in the first pipe under the action of pressure, and the baffle will gradually squeeze the elastic paddle and deform downward during the movement. When the second sealing sheet moves to the extreme position in the first pipe, due to the operation of the fan, the elastic gasket will deform so that the fan can continue to extract air from the second and first pipes through the through holes, and extract impurities from the conveyor belt and the surface of the composite robot through the second pipe. When the fan is turned off, the spring will squeeze the second sealing sheet to reset. At this time, the baffle will flip along the connecting rod due to the impact with the elastic paddle and will fit the second sealing sheet again under the elastic force of the coil spring after reset. Part of the extracted dust will be retained between the two adjacent elastic paddles, and part of it will lose adsorption force due to the closure of the fan and fall under the filter screen. At this time, the control valve will open automatically, and a large amount of impurities will fall directly into the collection box.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention designs a pipeline component, an adjustment component and a sealing component. When the transmission component is running, the transmission component will synchronously drive the conveying component and the fan to run. When the motor is turned off, the conveying component stops running and stops moving the composite robot. While the internal components of the pipeline component are reset, the laser detectors on both sides will quickly move toward each other, thereby completing the detection of the flatness of the bottom plate of the composite robot. In the process of detecting the flatness of the bottom plate of the composite robot, the device only needs to transmit the parameters of the bottom plate height to the control panel in advance to control the height of the laser detector in advance. In the detection process, the device can stop automatically and detect the composite robot by moving the laser detector, thereby reducing human interference and improving the accuracy of the device's detection data of the composite robot's bottom plate flatness. At the same time, the device can be directly connected to the external processing module of the composite robot, thereby improving the degree of integration of the device and further improving the detection efficiency of the composite robot by the device.

[0018] 2. The present invention also designs a pipeline assembly and a fan. When in use, the motor will drive the conveyor roller and the fan respectively through the transmission wheel, the transmission belt, and the drive shaft, so that the conveyor belt pushes the composite robot to move while the fan cleans the surface of the composite robot and the conveyor belt. The fan draws air from the first pipeline and the second pipeline, and pulls the position of the laser detector through the sealing assembly and the first sealing sheet. When it is sensed that the motor of the composite robot is turned off, the laser detectors on both sides will move toward each other, thereby detecting the flatness of the bottom plate of the composite robot, reducing the human intervention required for the device. On the one hand, it can ensure the accuracy of the detection data of the device, and on the other hand, it reduces the demand for human resources of the device and reduces the cost of detecting the composite robot.

[0019] 3. The present invention also designs a pipe component and a collection component. When the fan draws air from the first pipe and the second pipe, the second sealing plate and the baffle will move toward the filter in the first pipe under the action of pressure, and part of the extracted dust will be retained between the two adjacent elastic paddles, and part of it will lose adsorption force due to the closure of the fan and fall under the filter. At this time, the control valve opens automatically, and a large amount of impurities will fall directly into the collection box. The device can adjust the position of the laser detector by turning the fan off and on to ensure the convenience of composite robot detection. At the same time, the dust can be collected by the operation of the fan, and after the fan is turned off, the collected dust will automatically fall into the collection box, which improves the environmental protection effect of the device, avoids affecting the storage and use environment of the device, and further improves the accuracy of the device in detecting composite robot data. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the control mechanism structure of the present invention; Figure 3 It is a schematic diagram of the structure of the detection mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of the conveying assembly of the present invention; Figure 5 It is a schematic diagram of the structure of the guide assembly of the present invention; Figure 6 For the present invention Figure 5 The enlarged structural diagram at A in the middle; Figure 7 It is a schematic diagram of the cross-sectional structure of the pipeline assembly of the present invention; Figure 8 It is a schematic diagram of the explosion structure of the sealing component of the present invention.

[0021] Description of the numbers in the figure: 1. Control agency; 2. Testing agency; 101. Equipment base; 102. Protective cover; 103. Testing table; 104. Control panel; 105. Support leg; 106. Switch; 201, conveying assembly; 202, transmission assembly; 203, guide assembly; 204, fan; 205, collection assembly; 206, pipeline assembly; 207, adjustment assembly; 208, sealing assembly; 2011, mounting frame; 2012, rotator; 2013, conveyor roller; 2014, conveyor belt; 2021, motor; 2022, drive shaft; 2023, transmission wheel; 2024, transmission belt; 2031, a limiting plate; 2032, a rotating rod; 2033, a sleeve; 2034, a limiting groove; 2051, control valve; 2052, conduit; 2053, collection box; 2054, guide groove; 2061, first pipe; 2062, elastic pick; 2063, frame; 2064, filter; 2065, spring; 2066, second pipe; 2067, slide bar; 2068, laser detector; 2069, first sealing sheet; 2071, ball sleeve; 2072, ball block; 2073, electric push rod; 2074, pin shaft; 2075, positioning frame; 2081, second sealing sheet; 2082, through hole; 2083, elastic gasket; 2084, connecting sleeve; 2085, connecting rod; 2086, coil spring; 2087, blocking sheet; 2088, mounting hole; 2089, inclined groove. DETAILED DESCRIPTION

[0022] like Figures 1 to 8As shown, the present invention relates to a composite robot bottom plate flatness detection device and detection method. Among them, a composite robot bottom plate flatness detection device includes: A control mechanism 1 includes an equipment base 101, a detection platform 103 arranged above the equipment base 101, a protective cover 102 located above the detection platform 103, a control panel 104 and a switch 106, wherein the switch 106 is arranged above the protective cover 102, and the control panel 104 is located above the protective cover 102; and a detection mechanism 2 includes a conveying component 201, a transmission component 202 arranged on one side of the conveying component 201, a guide component 203 connected to the transmission component 202, an adjustment component 207 located below the guide component 203, a collection component 205, and a pipeline component 206 and a sealing component 208, wherein the collecting component 205 is arranged below the pipe component 206, and the sealing component 208 slides in the pipe component 206. When the transmission component 202 is running, the transmission component 202 will synchronously drive the conveying component 201 and the fan 204 to run, so that the fan 204 extracts the air of the pipe component 206, and cleans the conveying component 201 and the composite robot through the sealing component 208. When the composite robot moves with the conveying component 201 above the detection table 103, it will trigger the sensor under the protective cover 102. At this time, the sensor will The motor 2021 is controlled to run, that is, the motor 2021 is controlled to be turned off. When the motor 2021 is turned off, the conveying component 201 stops running, and the movement of the composite robot is stopped. At the same time, the fan 204 no longer extracts the air in the pipe component 206, so that the internal components of the pipe component 206 are reset and the laser detectors 2068 on both sides move toward each other quickly, thereby completing the detection of the flatness of the bottom plate of the composite robot. Then the motor 2021 will run again to detect the subsequent composite robot, and the position of the laser detector 2068 is adjusted again by the operation of the fan 204, so that the composite robot is In the process of detecting the flatness of the bottom plate of the composite robot, it is only necessary to transmit the parameters of the bottom plate height to the control panel 104 in advance to control the height of the laser detector 2068 in advance, and the device can stop automatically during the detection process, and detect the composite robot by moving the laser detector 2068, thereby reducing human intervention and improving the accuracy of the device's detection data of the composite robot's bottom plate flatness. At the same time, the device can be directly connected to the external processing module of the composite robot, thereby improving the degree of integration of the device and further improving the device's detection efficiency of the composite robot.

[0023] In an embodiment of the present invention, the top of the equipment base 101 is fixedly connected to the bottom of the detection platform 103, the top of the detection platform 103 is fixedly connected to the bottom of the protective cover 102, the top of the protective cover 102 is respectively fixedly connected to the bottom of several switches 106 and the control panel 104, the four corners of the bottom of the equipment base 101 are respectively fixedly connected to the top of four supporting legs 105, a sensor is fixedly connected to the top of the inner wall of the protective cover 102, one side of the conveying component 201 is transmission-connected to the transmission component 202, the conveying component 201 is transmission-connected to the guide component 203 through the transmission component 202, the guide component 203 is transmission-connected to the fan 204, the fan 204 is connected to the pipeline component 206, the bottom of the pipeline component 206 is connected to the collecting component 205, the bottom of the guide component 203 is fixedly connected to the adjusting component 207, the sealing component 208 is slidably connected in the pipeline component 206, the fan 204 is fixedly connected to the top of the detection platform 103 through the arc-shaped telescopic frame, the conveying component 201 is fixedly connected to the The guide assembly 203 is fixedly connected to the detection platform 103, the collecting assembly 205 is slidably connected to the detection platform 103, and the bottom end of the adjusting assembly 207 is fixedly connected to the detection platform 103. When the electric push rod 2073 is extended, the electric push rod 2073 will push the sleeve 2033 to slide in the limiting slide groove. At this time, the fan 204, the transmission wheel 2023 located outside the rotating rod 2032, the laser detector 2068 and the first pipeline 2061 will all move along the drive shaft. 2022 is the center of the circle that flips upward. Similarly, it will flip downward when moving downward, so that the device can quickly adjust the height of the laser detector 2068 accordingly. On the one hand, it can ensure that the device can detect the flatness of the base plate at different heights. On the other hand, by adjusting the height along the drive shaft 2022, the connection effect between the transmission wheel 2023 and the transmission belt 2024 can be ensured, thereby ensuring the driving effect of the motor 2021 on the fan 204 and ensuring that the two can run or be turned off at the same time.

[0024] In an embodiment of the present invention, the conveying assembly 201 includes four mounting frames 2011, two mounting frames 2011 corresponding to each other are connected with the same rotator 2012, two rotators 2012 located in the same axial direction are fixedly connected with the same conveying roller 2013, and the outer sleeves of the two conveying rollers 2013 are connected with the same conveyor belt 2014, the rotator 2012 is composed of a bearing and a rotating shaft, the mounting frames 2011 are fixedly connected to the detection table 103, one of the rotators 2012 is connected to the transmission assembly 202, and the transmission assembly 202 includes a motor 2021, one end of the motor 2021 is fixedly connected to the drive shaft 2022 The outer wall of the driving shaft 2022 is connected to one of the driving wheels 2023, the number of the driving wheels 2023 is two, and the two driving wheels 2023 are connected through a transmission belt 2024. The other end of the driving shaft 2022 is connected to one of the rotators 2012. The motor 2021 is fixedly connected to the outside of the protective cover 102. The guide assembly 203 includes a limit plate 2031. The limit plate 2031 has a limit groove 2034. The limit groove 2034 is arc-shaped. The limit groove 2034 is slidably connected with a sleeve 2033. The sleeve 2033 is sleeved with a rotating rod 2032. The outer wall of the rotating rod 2032 is connected to the outer wall of the driving shaft 2022. The wall is fixedly connected to another transmission wheel 2023, the other end of the rotating rod 2032 is transmission-connected to the fan 204, the lower part of the limit plate 2031 is fixedly connected to the upper part of the detection platform 103, and by designing the pipeline assembly 206 and the collecting assembly 205, when the fan 204 extracts the air in the first pipeline 2061 and the second pipeline 2066, the second sealing sheet 2081 and the blocking sheet 2087 will move toward the filter screen 2064 in the first pipeline 2061 under the action of pressure, and part of the extracted dust will be retained between the two adjacent elastic paddles 2062, and part of it will lose suction due to the closure of the fan 204. The impurities will fall under the filter 2064 due to the force. At this time, the control valve 2051 will open automatically, and a large amount of impurities will fall directly into the collection box 2053. The device can adjust the position of the laser detector 2068 by turning the fan 204 off and on to ensure the convenience of detecting the composite robot. At the same time, the dust can be collected by the operation of the fan 204, and after the fan 204 is turned off, the collected dust will automatically fall into the collection box 2053, which improves the environmental protection effect of the device, avoids affecting the storage and use environment of the device, and further improves the accuracy of the device in detecting the composite robot data.

[0025] As another embodiment of the present invention, the adjustment component 207 includes a ball sleeve 2071, a ball block 2072 is sleeved in the ball sleeve 2071, an electric push rod 2073 is fixedly connected to the bottom of the ball block 2072, a pin 2074 is fixedly connected to the bottom of the electric push rod 2073, and the electric push rod 2073 is hinged to a positioning frame 2075 through the pin 2074. The top of the ball sleeve 2071 is fixedly connected to the bottom of the sleeve 2033, and the bottom of the positioning frame 2075 is fixedly connected to the top of the detection table 103. The pipeline component 206 includes a first pipeline 2061, and the first pipeline 2061 is connected to the second pipeline 206 6. The diameter of the inner wall of the first pipe 2061 is larger than the diameter of the inner wall of the second pipe 2066. The lower part of the inner wall of the first pipe 2061 is fixedly connected to a plurality of elastic paddles 2062, and the plurality of elastic paddles 2062 are all arranged in an arc-shaped tilted manner. The inner wall of the first pipe 2061 is fixedly connected to a frame 2063, one side of the frame 2063 is fixedly connected to a filter screen 2064, and the other side of the frame 2063 is fixedly connected to a spring 2065. A slide bar 2067 is slidably connected in the second pipe 2066, one end of the slide bar 2067 is fixedly connected to a laser detector 2068, and the other end of the slide bar 2067 is fixedly connected to a laser detector 2068. The first end of the second pipe 2066 is fixedly connected to the first sealing sheet 2069, the shape of the first sealing sheet 2069 is adapted to the shape of the inner wall of the second pipe 2066, the other end of the second pipe 2066 is connected to the fan 204, and the lower part of the second pipe 2066 is connected to the collecting component 205. By designing the pipe component 206 and the fan 204, when in use, the motor 2021 will drive the conveying roller 2013 and the fan 204 to run respectively through the transmission wheel 2023, the transmission belt 2024, and the driving shaft 2022, so that the conveying belt 2014 pushes the composite robot to move while the fan 204 pushes the composite robot and the conveying belt The surface of 2014 is cleaned, the fan 204 draws the air in the first pipe 2061 and the second pipe 2066, and pulls the position of the laser detector 2068 through the sealing component 208 and the first sealing sheet 2069. When it is sensed that the motor 2021 of the composite robot is turned off, the laser detectors 2068 on both sides will move toward each other, thereby detecting the flatness of the bottom plate of the composite robot, reducing the human intervention required for the device. On the one hand, it can ensure the accuracy of the detection data of the device, and on the other hand, it reduces the demand for human resources of the device and reduces the cost of detecting the composite robot.

[0026] As another embodiment of the present invention, the collection assembly 205 includes a plurality of control valves 2051, and the lower parts of the plurality of control valves 2051 are fixedly connected with conduits 2052, and the plurality of conduits 2052 are clamped on the upper part of the collection box 2053, and the upper part of the collection box 2053 is provided with a plurality of guide grooves 2054, and the bottom ends of the plurality of conduits 2052 are clamped and connected in the plurality of guide grooves 2054, respectively, and the bottom ends of the conduits 2052 are connected with the collection box 2053 through the guide grooves 2054, and the conduits 2052 are connected with the collection box 2053 through the guide grooves 2054, and the conduits 2052 are connected with the collection box 2053. 2052 is a hose, and the control valve 2051 is fixedly connected to the lower side of the first pipe 2061. The control valve 2051 is arranged between two adjacent elastic paddles 2062. By arranging the conduit 2052 as a hose, and the bottom end of the hose is clamped in the guide groove 2054, when the height of the first pipe 2061 and the second pipe 2066 is adjusted by the electric push rod 2073, the hose can be extended or contracted, thereby ensuring the connection effect between the first pipe 2061 and the collection box 2053. The sealing assembly 208 includes a second sealing sheet 2081, a plurality of through holes 2082 are provided on one side of the second sealing sheet 2081, and elastic gaskets 2083 are fixedly connected in the plurality of through holes 2082, two connecting sleeves 2084 are clamped at the bottom of the second sealing sheet 2081, and connecting rods 2085 are sleeved in the two connecting sleeves 2084, and the two connecting rods 2085 are fixedly connected in the mounting holes 2088, and the two mounting holes 2088 are respectively provided in front of and behind the baffle 2087, and inclined grooves 2089 are provided above the baffle 2087 and below the second sealing sheet 2081, a coil spring 2086 is fixedly connected to the outside of the connecting rod 2085, and the other end of the coil spring 2086 is fixedly connected to the connecting sleeve 2084, and the second sealing sheet 2081 is connected to the first sealing sheet 2081 through the rod body. The sealing piece 2069 is fixedly connected, and the second sealing piece 2081 is slidably connected in the first pipe 2061. The diameter of the inner wall of the first pipe 2061 is matched with the diameter of the second sealing piece 2081. The height of the blocking piece 2087 is greater than the height of the arc-shaped paddle. Since an elastic paddle 2062 is provided, when the blocking piece 2087 moves toward the filter screen 2064, the blocking piece 2087 will squeeze the elastic paddle 2062 and deform due to the contact with the second sealing piece 2081. When the blocking piece 2087 is reset, the elastic force of the coil spring 2086 is less than the elastic force of the elastic paddle 2062, so that the elastic paddle block will not be deformed and push the blocking piece 2087 to flip over, thereby ensuring that the elastic paddle block can protect the dust collected below and avoid the situation where the blocking piece 2087 pushes dust, thereby ensuring the waste collection effect of the device.

[0027] Working principle: This embodiment provides a composite robot bottom plate flatness detection device and detection method. When in use, the external conveying module processed by the composite robot is docked with the detection mechanism 2, so that the processed composite robot will directly enter the detection mechanism 2 for detection; When the transmission component 202 is running, the transmission component 202 will synchronously drive the conveying component 201 and the fan 204 to run, so that the fan 204 extracts air from the pipe component 206 and cleans the conveying component 201 and the composite robot through the sealing component 208. When the composite robot moves above the inspection table 103 along with the conveying component 201, the sensor under the protective cover 102 will be triggered. At this time, the sensor controls the operation of the motor 2021 to turn off the motor 2021. When the motor 2021 is turned off, the conveying component 201 stops running and stops moving the composite robot. At the same time, the fan 204 no longer extracts air from the pipe component 206, so that the internal components of the pipe component 206 are reset and the laser detectors 2068 on both sides move toward each other quickly, thereby completing the detection of the flatness of the bottom plate of the composite robot. Then the motor 2021 will run again to detect the subsequent composite robot, and the position of the laser detector 2068 will be adjusted again by the operation of the fan 204. When adjusting the height of the laser detector 2068, it is only necessary to adjust the height of the electric push rod 2073 through the control panel 104. When the electric push rod 2073 is extended, the electric push rod 2073 will push the sleeve 2033 to slide in the limiting slide groove. At this time, the fan 204, the transmission wheel 2023 located outside the rotating rod 2032, the laser detector 2068 and the first pipeline 2061 will all turn upward along the driving shaft 2022 as the center of the circle. Similarly, when moving downward, they will turn downward. After the height adjustment is completed, the motor 2021 will run. At this time, the motor 2021 will move through the transmission wheel 2023, the transmission belt 2024, the drive The shaft 2022 drives the conveying roller 2013 and the fan 204 to operate respectively, so that the conveyor belt 2014 pushes the composite robot to move while the fan 204 cleans the surface of the composite robot and the conveyor belt 2014. The fan 204 extracts the air in the first pipe 2061 and the second pipe 2066, and pulls the position of the laser detector 2068 through the sealing component 208 and the first sealing sheet 2069. When sensing that the composite robot motor 2021 is turned off, the laser detectors 2068 on both sides move toward each other, thereby detecting the flatness of the bottom plate of the composite robot, reducing the human intervention required for the device. When the fan 204 extracts air from the first pipe 2061 and the second pipe 2066, the second sealing sheet 2081 and the blocking sheet 2087 will move toward the filter screen 2064 in the first pipe 2061 under the action of pressure, and the blocking sheet 2087 will gradually squeeze the elastic paddle 2062 to deform downward during the movement. When the second sealing sheet 2081 moves to the limit position in the first pipe 2061, due to the operation of the fan 204, the elastic gasket 2083 will be deformed so that the fan 204 can continue to extract the air in the second pipe 2066 and the first pipe 2061 through the through hole 2082, and pass through the second pipe 2061. 66 extracts impurities from the conveyor belt 2014 and the surface of the composite robot, and when the fan 204 is turned off, the spring 2065 will squeeze the second sealing sheet 2081 to reset. At this time, the baffle 2087 will flip along the connecting rod 2085 due to the impact with the elastic paddle 2062 and after reset, it will fit the second sealing sheet 2081 again under the elastic force of the coil spring 2086. A part of the extracted dust will be retained between the two adjacent elastic paddles 2062, and a part of it will lose the adsorption force due to the closure of the fan 204 and fall under the filter 2064. At this time, the control valve 2051 automatically opens, and a large amount of impurities will directly fall into the collection box 2053.

[0028] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A composite robot bottom plate flatness detection device, comprising a device base (101), a detection table (103) and a control panel (104), characterized in that: include: A control mechanism (1), comprising a device base (101), a detection platform (103) arranged above the device base (101), a protective cover (102) located above the detection platform (103), a control panel (104), and a switch (106), wherein the switch (106) is arranged above the protective cover (102), and the control panel (104) is located above the protective cover (102); and, The detection mechanism (2) comprises a conveying component (201), a transmission component (202) arranged on one side of the conveying component (201), a guide component (203) connected to the transmission component (202), an adjustment component (207) located below the guide component (203), a collection component (205), a pipeline component (206), and a sealing component (208), wherein the collection component (205) is arranged below the pipeline component (206), and the sealing component (208) slides inside the pipeline component (206).

2. The composite robot bottom plate flatness detection device according to claim 1, characterized in that: The upper part of the equipment base (101) is fixedly connected to the lower part of the detection platform (103), the upper part of the detection platform (103) is fixedly connected to the lower part of the protective cover (102), a plurality of switches (106) and a control panel (104) are fixedly connected to the protective cover (102), four supporting legs (105) are fixedly connected to the four corners of the lower part of the equipment base (101), and a sensor is fixedly connected to the upper part of the inner wall of the protective cover (102).

3. The composite robot bottom plate flatness detection device according to claim 2, characterized in that: One side of the conveying component (201) is in driving connection with the transmission component (202); the conveying component (201) is in driving connection with the guide component (203) via the transmission component (202); the guide component (203) is in driving connection with the fan (204); the fan (204) is in communication with the pipe component (206); the bottom of the pipe component (206) is in communication with the collecting component (205); the bottom of the guide component (203) is fixedly connected with the adjusting component (207); and a sealing component (208) is slidably connected inside the pipe component (206); The fan (204) is fixedly connected above the detection platform (103) via an arc-shaped telescopic frame, the conveying component (201) is fixedly connected above the detection platform (103), the guiding component (203) is fixedly connected to the detection platform (103), the collecting component (205) is slidably connected to the detection platform (103), and the bottom end of the adjusting component (207) is fixedly connected to the detection platform (103).

4. The composite robot bottom plate flatness detection device according to claim 3, characterized in that: The conveying assembly (201) comprises four mounting frames (2011), two mounting frames (2011) at corresponding positions are connected to the same rotator (2012), two mounting frames (2011) at corresponding positions are clamped with the same rotator (2012), two rotators (2012) located in the same axial direction are fixedly connected to the same conveying roller (2013), and the two conveying rollers (2013) are outer-mounted with the same conveying belt (2014), and the rotator (2012) is composed of a bearing and a rotating shaft; The mounting frame (2011) is fixedly connected to the detection platform (103), and one of the rotators (2012) is in transmission connection with the transmission assembly (202); The transmission assembly (202) comprises a motor (2021), one end of the motor (2021) is fixedly connected to a drive shaft (2022), an outer wall of the drive shaft (2022) is drivingly connected to a transmission wheel (2023), there are two transmission wheels (2023), and the two transmission wheels (2023) are connected in transmission via a transmission belt (224); The other end of the driving shaft (2022) is drivingly connected to one of the rotators (212), and the motor (2021) is fixedly connected to the outside of the protective cover (102).

5. The composite robot bottom plate flatness detection device according to claim 4, characterized in that: The guide assembly (203) comprises a limit plate (2031), a limit groove (2034) is provided in the limit plate (2031), the limit groove (2034) is arc-shaped, a sleeve (2033) is slidably connected in the limit groove (2034), and a rotating rod (2032) is sleeved in the sleeve (2033); The outer wall of the rotating rod (2032) is fixedly connected to another transmission wheel (2023), the other end of the rotating rod (2032) is transmission-connected to the fan (204), and the lower part of the limiting plate (2031) is fixedly connected to the upper part of the detection platform (103).

6. The composite robot bottom plate flatness detection device according to claim 5, characterized in that: The adjustment component (207) comprises a ball sleeve (2071), a ball block (2072) is sleeved in the ball sleeve (2071), an electric push rod (2073) is fixedly connected below the ball block (2072), a pin shaft (2074) is fixedly connected to the bottom end of the electric push rod (2073), and the electric push rod (2073) is hingedly connected to a positioning frame (2075) via the pin shaft (2074); The upper part of the ball sleeve (2071) is fixedly connected to the lower part of the sleeve (2033), and the lower part of the positioning frame (2075) is fixedly connected to the upper part of the detection platform (103).

7. The composite robot bottom plate flatness detection device according to claim 6, characterized in that: The pipe assembly (206) comprises a first pipe (2061), the first pipe (2061) is connected to a second pipe (2066), the diameter of the inner wall of the first pipe (2061) is greater than the diameter of the inner wall of the second pipe (2066), a plurality of elastic paddles (2062) are fixedly connected below the inner wall of the first pipe (2061), and the plurality of elastic paddles (2062) are all arranged in an arc-shaped inclined manner, the inner wall of the first pipe (2061) is fixedly connected to a frame (2063), and the One side of the frame (2063) is fixedly connected to the filter screen (2064), the other side of the frame (2063) is fixedly connected to a spring (2065), a sliding rod (2067) is slidably connected inside the second pipe (2066), one end of the sliding rod (2067) is fixedly connected to a laser detector (2068), and the other end of the sliding rod (2067) is fixedly connected to a first sealing sheet (2069), and the shape of the first sealing sheet (2069) is adapted to the shape of the inner wall of the second pipe (2066); The other end of the second pipe (2066) is connected to the fan (204), and the lower part of the second pipe (2066) is connected to the collection assembly (205).

8. The composite robot bottom plate flatness detection device according to claim 7, characterized in that: The collection assembly (205) comprises a plurality of control valves (2051), and a conduit (2052) is fixedly connected below the plurality of control valves (2051), and the plurality of conduits (2052) are clamped on the top of the collection box (2053), a plurality of guide grooves (2054) are provided on the top of the collection box (2053), and the bottom ends of the plurality of conduits (2052) are clamped and connected in the plurality of guide grooves (2054), respectively, and the bottom ends of the conduits (2052) are connected to the collection box (2053) via the guide grooves (2054), and the conduits (2052) are hoses; The control valve (2051) is fixedly connected below the first pipeline (2061), and the control valve (2051) is arranged between two adjacent elastic paddles (2062).

9. The composite robot bottom plate flatness detection device according to claim 8, characterized in that: The sealing assembly (208) comprises a second sealing sheet (2081), a plurality of through holes (2082) are provided on one side of the second sealing sheet (2081), and elastic gaskets (2083) are fixedly connected in the plurality of through holes (2082), two connecting sleeves (2084) are clamped at the bottom of the second sealing sheet (2081), and connecting rods (2085) are sleeved in the two connecting sleeves (2084), and the two connecting rods (2085) are fixedly connected in the mounting holes (2088), and the two mounting holes (2088) are respectively provided in front of and behind the baffle (2087), and inclined grooves (2089) are provided above the baffle (2087) and below the second sealing sheet (2081), and a coil spring (2086) is fixedly connected to the outside of the connecting rod (2085), and the other end of the coil spring (2086) is fixedly connected to the connecting sleeve (2084); The second sealing sheet (2081) is fixedly connected to the first sealing sheet (2069) via a rod body, the second sealing sheet (2081) is slidably connected in the first pipe (2061), the diameter of the inner wall of the first pipe (2061) is matched with the diameter of the second sealing sheet (2081), and the height of the blocking sheet (2087) is greater than the height of the arc-shaped paddle.

10. A composite robot bottom plate flatness detection method, using a composite robot bottom plate flatness detection device as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1. When in use, the external conveying module processed by the composite robot is docked with the detection mechanism (2), so that the processed composite robot can directly enter the detection mechanism (2) for detection; S2. When the transmission component (202) is running, the transmission component (202) will synchronously drive the conveying component (201) and the fan (204) to run, so that the fan (204) extracts air from the pipeline component (206) and cleans the conveying component (201) and the composite robot through the sealing component (208). When the composite robot moves above the inspection table (103) along with the conveying component (201), it will trigger the sensor under the protective cover (102). At this time, the sensor will control the operation of the motor (2021) to be turned off. When the motor (2021) is turned off, When the motor (2021) is turned off, the conveying assembly (201) stops running and stops moving the composite robot. At the same time, the fan (204) no longer extracts air from the pipe assembly (206), so that the internal components of the pipe assembly (206) are reset and the laser detectors (2068) on both sides quickly move toward each other, thereby completing the detection of the flatness of the bottom plate of the composite robot. Subsequently, the motor (2021) will start running again to detect the subsequent composite robot, and the position of the laser detector (2068) will be adjusted again by the operation of the fan (204); S2.

1. When adjusting the height of the laser detector (2068), it is only necessary to adjust the height of the electric push rod (2073) through the control panel (104). When the electric push rod (2073) is extended, the electric push rod (2073) will push the sleeve (2033) to slide in the limit slide groove. At this time, the fan (204), the transmission wheel (2023) located outside the rotating rod (2032), the laser detector (2068) and the first pipe (2061) will all turn upward along the driving shaft (2022) as the center of the circle. Similarly, when moving downward, they will turn downward. After the height adjustment is completed, the motor (221) will run. At this time, the motor (2021) will move through the transmission wheel (2023), the transmission wheel (2023) and the first pipe (2061). The moving belt (2024) and the driving shaft (2022) respectively drive the conveying roller (2013) and the fan (204) to operate, so that the conveying belt (2014) pushes the composite robot to move while the fan (204) cleans the surface of the composite robot and the conveying belt (2014). The fan (204) extracts air from the first pipe (2061) and the second pipe (2066), and pulls the position of the laser detector (2068) through the sealing component (208) and the first sealing sheet (2069). When it is sensed that the motor (2021) of the composite robot is turned off, the laser detectors (2068) on both sides move towards each other, thereby detecting the flatness of the bottom plate of the composite robot. S2.

2. When the fan (204) extracts air from the first pipe (2061) and the second pipe (2066), the second sealing sheet (2081) and the baffle (2087) will move toward the filter screen (2064) in the first pipe (2061) under the action of pressure, and during the movement, the baffle (2087) will gradually squeeze the elastic paddle (2062) to deform downward. When the second sealing sheet (2081) moves to the limit position in the first pipe (2061), due to the operation of the fan (204), the elastic gasket (2083) will deform so that the fan (204) can continue to extract air from the second pipe (2066) and the first pipe (2061) through the through hole (2082) and pass through the second The pipe (2066) extracts impurities from the conveyor belt (2014) and the surface of the composite robot, and when the fan (204) is turned off, the spring (2065) squeezes the second sealing sheet (2081) to reset. At this time, the baffle (2087) will flip along the connecting rod (2085) due to the impact with the elastic paddle (2062) and will fit the second sealing sheet (2081) again under the elastic force of the coil spring (2086) after reset. A part of the extracted dust will be retained between two adjacent elastic paddles (2062), and a part will lose the adsorption force due to the fan (204) being turned off and fall below the filter (2064). At this time, the control valve (2051) will open automatically, and a large amount of impurities will fall directly into the collection box (2053).

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