Gear welding flaw detection connecting line manipulator device and working method thereof

Abstract

The invention relates to the technical field of mechanical automation, in particular to a gear welding flaw detection connecting line manipulator device and a working method thereof. Comprising a support unit, a power unit, a grabbing unit and a transmission unit, the support unit comprises a truss Z shaft and a bottom plate, the bottom of the truss Z shaft is connected with the bottom plate, and an opening is formed in the bottom plate; the power unit is located above the bottom plate and provides power for the mechanical arm device. The grabbing unit is located below the bottom plate and used for grabbing gear products. The transmission unit penetrates through the opening in the bottom plate, the upper end of the transmission unit is connected with the power unit, and the lower end of the transmission unit is connected with the grabbing unit. The problem that the production takt is wasted due to the fact that gear products need to be repeatedly taken and placed in traditional welding flaw detection connecting line automatic production can be solved, the production efficiency is improved, and great popularization value is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical automation, and in particular to a gear welding flaw detection line manipulator device and a working method thereof. Background Art

[0002] As the core component of the automobile transmission, the welding quality of the shift gear and the coupling tooth directly affects the shifting performance of the transmission. Since the welding process itself has many defect risks, such as cracks, spatter, pores, offset, undercut, etc., it affects the welding quality, and then affects the performance of the product, and even causes automobile accidents. Therefore, the gears after welding are generally subject to flaw detection. The most common method of gear welding flaw detection is ultrasonic flaw detection. Ultrasonic flaw detection is a method of detecting gear defects by using the characteristics of ultrasonic energy penetrating deep into the metal material and reflecting at the edge of the interface when entering from one section to another. Automobile transmission manufacturers generally have welding and flaw detection equipment. In order to reduce costs and increase efficiency, it is necessary to automate the connection of welding and flaw detection equipment. Generally, a manipulator device is added between the welding and flaw detection equipment to realize the automated processing of welding flaw detection connection.

[0003] The common robot devices for automatic welding flaw detection equipment connection generally only have the functions of picking up and unloading materials. In the automatic processing of welding flaw detection connection, the robot device needs to first take the gears that have been inspected and place them on the flaw detection feeder, then return to the welding feeder to take the materials, and then place the gears to be inspected on the flaw detector for flaw detection, and finally take the gears that have been inspected from the flaw detector and place them on the flaw detection feeder, and repeat this cycle to realize the automation of welding flaw detection connection. This inevitably leads to the waiting process of the flaw detector waiting for the robot to unload materials, take materials, and automate assistance, which wastes production time and affects equipment capacity.

[0004] Some manipulators use a flipping double-station. The manipulator can first take the gear to be inspected after welding, use another manipulator position to take the gear that has completed the inspection from the flaw detector, and then flip the manipulator to place the gear to be inspected on the flaw detector for inspection. During the inspection process, the manipulator grabs the gear that has been inspected from another manipulator position and places it on the inspection feed channel. This can indeed avoid the time waste in the manipulator's material placement and material collection process, but the double-station manipulator has an additional process of flipping the manipulator's double-station, and the actual automation rhythm has not been greatly improved. In addition, the double-station manipulator device occupies a larger area and is more expensive. Summary of the invention

[0005] In view of the above shortcomings of the prior art, the present invention designs a gear welding flaw detection line manipulator device, which is mainly to solve the problem of wasting production time in automated production of welding flaw detection lines and improve production efficiency.

[0006] The technical solution of the present invention is: a gear welding flaw detection line manipulator device, comprising:

[0007] A support unit, the support unit comprising a truss Z axis and a bottom plate, the truss Z axis is used to drive the manipulator device to flow on each station, and the bottom of the truss Z axis is connected to the bottom plate; the bottom plate is provided with an opening;

[0008] A power unit, the power unit is located above the bottom plate and provides power for the manipulator device to rotate for flaw detection;

[0009] A grabbing unit, the grabbing unit is located below the bottom plate and is used to grab the gear product;

[0010] The transmission unit passes through the opening on the bottom plate, the upper end of the transmission unit is connected to the power unit, and the lower end is connected to the grasping unit, and is used to provide the grasping unit with rotational flaw detection power.

[0011] According to a gear welding flaw detection connection robot device provided by the present application, the bracket unit also includes a rib plate, one side of the rib plate is connected to the truss Z axis, and the other side is connected to the base plate.

[0012] According to a gear welding flaw detection line robot device provided in the present application, the power unit includes a motor and a planetary reducer, and the motor is connected to the planetary reducer; the planetary reducer is used to amplify the output torque of the motor, and its output end is connected to the upper end of the transmission unit.

[0013] According to a gear welding flaw detection connection robot device provided in the present application, the grasping unit includes an electric slip ring, a transition plate, and a clamping cylinder. The upper end of the electric slip ring is connected to the base plate, and the lower end is connected to the transition plate; the upper end of the transition plate is connected to the transmission unit and the electric slip ring, and the lower end is connected to the clamping cylinder.

[0014] According to a gear welding flaw detection connection robot device provided by the present application, the electric slip ring includes an upper fixed part and a lower rotating part, the upper fixed part is connected to the base plate, and the lower rotating part is connected to the transition plate; a through hole is provided in the middle of the electric slip ring, and the through hole is sleeved on the transmission unit; the upper fixed part of the electric slip ring is provided with an air inlet channel, and the lower rotating part is provided with an air outlet channel, and the air outlet channel of the lower rotating part is connected to the clamping cylinder.

[0015] According to a gear welding flaw detection connection robot device provided by the present application, a boss is provided at the center of the transition plate, and a plurality of first connecting holes are provided through the boss, and the first connecting holes are used to connect the transmission unit; a plurality of weight-reducing holes are provided around the boss; a plurality of connecting walls are vertically connected on the circumference of the upper end face of the transition plate, and second connecting holes are provided on the connecting walls, and the second connecting holes are used to connect the electric slip ring; a circle of frustum is provided on the circumference of the lower end face of the transition plate, and a plurality of first positioning pin holes and a plurality of third connecting holes are provided on the end face of the frustum for positioning and connecting with the clamping cylinder.

[0016] According to a gear welding flaw detection connection robot device provided by the present application, a plurality of jaws are evenly connected on the circumferential surface of the lower end of the jaw cylinder, and the jaws include a bottom and a side wall, and the bottom is used to clamp the gear product; the side wall is used to connect the jaw cylinder, and a plurality of second positioning pin holes and a plurality of fourth connecting holes are opened on the side wall for positioning and connecting the jaw cylinder.

[0017] According to a gear welding flaw detection connection robot device provided by the present application, a spring pressure plate assembly is connected under the clamping cylinder, and the spring pressure plate assembly includes a pressure plate and an elastic connecting part, and a plurality of the elastic connecting parts are connected to the pressure plate; the elastic connecting part is a hollow cavity structure, and an opening is provided on the cavity wall of the elastic connecting part, and a spring is provided in the cavity, and a connecting piece is connected to the spring, and the connecting piece extends outward and passes through the opening on the cavity wall of the elastic connecting part, and the connecting piece is used to connect the clamping cylinder.

[0018] A gear welding flaw detection connection robot device provided by the present application also includes a supporting and connecting unit, which includes an upper supporting side plate, a lower supporting side plate, a planetary reducer fixing plate and a bearing fixing plate, wherein the upper supporting side plate connects the planetary reducer fixing plate and the bearing fixing plate; the lower supporting side plate connects the bearing fixing plate and the base plate; the planetary reducer fixing plate is connected to the planetary reducer, an opening is provided on the planetary reducer fixing plate, and the output end of the planetary reducer is connected to the upper end of the transmission unit through the opening on the planetary reducer fixing plate; an opening is provided on the bearing fixing plate.

[0019] According to a gear welding flaw detection connection robot device provided by the present application, the transmission unit includes an elastic coupling and a transmission main shaft, the elastic coupling is located between the planetary reducer fixing plate and the bearing fixing plate, and the elastic coupling connects the output end of the planetary reducer and the transmission main shaft; the upper end of the transmission main shaft is connected to the elastic coupling, and the lower end is connected to the transition plate, and the transmission main shaft passes through the opening on the bearing fixing plate, the opening of the base plate and the through hole of the electric slip ring from top to bottom.

[0020] According to a gear welding flaw detection connection robot device provided by the present application, the transmission main shaft is structurally a stepped shaft, and a first shaft neck and a second shaft neck are provided on the transmission main shaft; the first shaft neck is located at the opening of the bearing fixing plate, and a first precision unit is installed on the first shaft neck; the second shaft neck is located at the opening of the base plate, and a second precision unit is installed on the second shaft neck.

[0021] According to a gear welding flaw detection connection robot device provided by the present application, the first precision unit includes a deep groove ball bearing, an upper bearing end cover, an upper bearing seat and a deep groove ball bearing adjustment gasket, the upper bearing seat is connected above the opening of the bearing fixing plate; the deep groove ball bearing is installed in the inner hole of the upper bearing seat and is sleeved on the first shaft neck; the upper bearing end cover is connected to the upper end surface of the upper bearing seat; the deep groove ball bearing adjustment gasket is located between the upper bearing end cover and the upper bearing seat.

[0022] According to a gear welding flaw detection connection robot device provided by the present application, the second precision unit includes an angular contact ball bearing, a lower bearing end cover, a lower bearing seat, an angular contact ball bearing adjustment gasket and a threaded pressure cap, and the lower bearing seat is connected above the bottom plate opening; the angular contact ball bearing is installed in the inner hole of the lower bearing seat and is sleeved on the second shaft neck; the lower bearing end cover is connected to the upper end surface of the lower bearing seat; the angular contact ball bearing adjustment gasket is located between the lower bearing end cover and the lower bearing seat; the threaded pressure cap is installed in the inner hole of the lower bearing seat, located above the angular contact ball bearing, and is sleeved on the transmission main shaft.

[0023] The present application also provides a gear welding flaw detection line working method, which is applicable to any of the above-mentioned gear welding flaw detection line manipulator devices, including:

[0024] Startup: the automatic control gas enters the clamping cylinder through the electric slip ring to control the clamping cylinder to open the clamping jaw;

[0025] Material collection: The truss Z axis drives the entire set of manipulators to lift up and move to the top of the gear to be inspected in the welding feed channel. Then the truss Z axis drives the entire set of manipulators to move down until the spring pressure plate assembly contacts the gear and continues to press down 1-2mm to ensure that the end face of the gear is perpendicular to the axis of the manipulator. Then the clamping claw cylinder drives the clamping claw to clamp the outer circle of the gear.

[0026] Flaw detection: The truss Z axis drives the entire set of manipulators to lift up and move to just above the ultrasonic probe in the flaw detection equipment. Then the truss Z axis drives the entire set of manipulators to probe down until the gear reaches the flaw detection calibration position. The ultrasonic probe emits ultrasonic waves to perform flaw detection on the gear. At the same time, the motor drives the planetary reducer, the elastic coupling, the transmission spindle, the transition plate, the clamping cylinder, the clamping jaw and the gear to rotate together with the motor in sequence, thereby completing the welding flaw detection of the entire circumferential weld of the gear.

[0027] Discharging: the truss Z-axis drives the whole set of manipulators to lift up and move to the flaw detection unloading channel, and then the truss Z-axis drives the whole set of manipulators to probe down, and the clamping cylinder opens the clamping jaws to complete the discharging action.

[0028] Then the steps of material taking, flaw detection, material discharge and the like are completed repeatedly to realize the automation of welding flaw detection connection.

[0029] The advantages of this application are:

[0030] 1. The present application integrates a rotational flaw detection function. The bracket unit connects the manipulator device and the control arm, the grabbing unit grabs the gear product, and the power unit cooperates with the transmission unit to rotate the grabbing unit, so that the gear product can be directly rotated on the manipulator device for flaw detection, reducing the process of the manipulator device taking and discharging materials from the flaw detector and its automated auxiliary waiting process, avoiding waste of production time, and effectively solving the problem of wasting production cycles of common welding flaw detection line manipulator devices, and no special flaw detection tooling for parts is required;

[0031] 2. The rib plate of the present application can strengthen the connection between the Z axis of the strong truss and the bottom plate;

[0032] 3. The planetary reducer of the present application can amplify the transmission torque of the motor, increase the maximum load of the entire manipulator device, and can perform welding flaw detection and connection work of larger gears;

[0033] 4. The present application connects the clamping cylinder with the electric slip ring, thereby avoiding the problem of airway entanglement when the clamping cylinder rotates;

[0034] 5. The present application connects the transmission unit with the gripping unit through the transition plate, and the transition plate also serves to connect the electric slip ring with the gripper cylinder. One connector connects multiple components, simplifying the structure of the entire manipulator device;

[0035] 6. The clamping jaw of the present application is provided with a plurality of second positioning pin holes and a plurality of fourth connecting holes, wherein the second positioning pin holes are used to accurately locate the connection position of the clamping jaw on the clamping jaw cylinder, and the fourth connecting holes are used to connect the clamping jaw with the clamping jaw cylinder, and the second positioning pin holes and the fourth connecting holes cooperate with each other to ensure the working accuracy of the manipulator device;

[0036] 7. The spring pressure plate assembly of the present application plays a buffering role when the clamping cylinder tightens the gear, which can ensure that the end face of the gear is perpendicular to the axis of the manipulator device, facilitating subsequent gear flaw detection work;

[0037] 8. The supporting connection unit of the present application can strengthen the connection strength between the power unit, the transmission unit and the bracket unit;

[0038] 9. The transmission main shaft of the present application is a stepped shaft, including two journals, which is convenient for installing the positioning precision unit.

[0039] 10. The precision unit of the present application is used to control the rotation angle of the transmission main shaft, so as to facilitate flaw detection of the gears; BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the exploded structure of the manipulator device of this application;

[0041] Figure 2 This is a schematic diagram of the overall structure of the manipulator device of this application;

[0042] Figure 3 This is a schematic diagram of the structure of the bracket unit 1 of the present application;

[0043] Figure 4 This is a schematic cross-sectional structure diagram of the transmission unit 4 of the present application;

[0044] Figure 5 Schematic diagram of the cross-sectional structure of the electric slip ring 301 of the present application;

[0045] Figure 6 This is a schematic diagram of the structure of the transition plate 302 of the present application;

[0046] Figure 7 This is a schematic structural diagram of the transition plate 302 of the present application from another angle;

[0047] Figure 8 This is a schematic diagram of the structure of the clamp 304 of the present application;

[0048] Fig. 9 This is a schematic diagram of the structure of the spring pressure plate assembly 305 of the present application;

[0049] Among them: 1-bracket unit; 101-truss Z axis: 102-bottom plate; 103-rib plate; 2-power unit; 201-motor; 202-planetary reducer; 3-grabbing unit; 301-electric slip ring; 301a-upper fixed part; 301b-lower rotating part; 301c-through hole; 302-transition plate; 302a-first connecting hole; 302b-weight reduction hole; 302c-second connecting hole; 302d-first positioning pin hole; 302e-third connecting hole; 303-claw cylinder; 304-claw; 304a-second positioning pin hole; 304b-fourth connecting hole; 305-spring pressure plate assembly; 305a -pressure plate; 305b-elastic connection part; 4-transmission unit; 401-elastic coupling; 402-transmission main shaft; 403-first precision unit; 403a-deep groove ball bearing; 403b-upper bearing end cover; 403c-upper bearing seat; 403d-deep groove ball bearing adjustment gasket; 404-second precision unit; 404a-angular contact ball bearing; 404b-lower bearing end cover; 404c-lower bearing seat; 404d-angular contact ball bearing adjustment gasket; 404e-threaded pressure nut; 5-support connection unit; 501-upper support side plate; 502-lower support side plate; 503-planetary reducer fixing plate; 504-bearing fixing plate. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0051] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "include one..." do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0053] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] The present invention relates to a gear welding flaw detection line manipulator device and a working method thereof. Compared with the prior art, the manipulator device of the present invention can clamp gear products and perform rotational flaw detection work, eliminating the material placement and material collection links of the flaw detection work, saving production time and improving production efficiency.

[0055] Specifically, Figure 1 , 2 As shown, the present invention includes a support unit 1, a power unit 2, a grabbing unit 3 and a transmission unit 4. The support unit 1 includes a truss Z-axis 101 and a base plate 102. The bottom of the truss Z-axis 101 is fixedly connected to the base plate 102 by bolts, and an opening is provided on the base plate 102. The power unit 2 is located above the base plate 102 to provide power for the manipulator device. The grabbing unit 3 is located below the base plate 102 to grab the gear product. The transmission unit 4 passes through the opening on the base plate 102, and the upper end is connected to the power unit 2, and the lower end is connected to the grabbing unit 3.

[0056] During actual work, the bracket unit 1 controls the manipulator device to move to the welding feed channel, and the grabbing unit 3 grabs the welded gear product; then the bracket unit 1 controls the manipulator device to move to the flaw detection work area, the power unit 2 drives the transmission unit 4 to rotate, and the transmission unit 4 drives the grabbing unit 3 and the clamped gear to rotate; after the flaw detection work is completed, the bracket unit 1 controls the manipulator device to move to the flaw detection feed channel, the grabbing unit 3 releases the gear product, and then the bracket unit 1 controls the manipulator device to move to the welding feed channel and reciprocates the above work process.

[0057] In some embodiments, the above-mentioned bracket unit 1 is optimized, such as Figure 3As shown, in this embodiment, the bracket unit 1 also includes a rib plate 103 , which is a right-angled triangular plate with two right-angled sides extending outwards respectively, one side of which is bolted to the truss Z axis 101 , and the other side is bolted to the bottom plate 102 .

[0058] In fact, the rib plate 103 can make the connection between the truss Z-axis 101 and the bottom plate 102 more stable, and ensure the movement accuracy of the entire manipulator device during the flaw detection operation.

[0059] In some embodiments, the power unit 2 is optimized, such as Figure 1 , 2 As shown, in this embodiment, the power unit 2 includes a motor 201 and a planetary reducer 202 , and the motor 201 and the planetary reducer 202 are fixedly connected by bolts; the output end of the planetary reducer 202 is connected to the upper end of the transmission unit 4 .

[0060] During actual operation, the motor 201 is the power source of the entire manipulator device, providing continuous power for other units; the planetary reducer 202 can reduce the rotation speed of the motor 201, while amplifying the torque of the motor 201, increasing the maximum rotational torque of the entire manipulator device, so that the manipulator device can perform larger-sized gear welding flaw detection connection work.

[0061] In some embodiments, the above-mentioned grabbing unit 3 is optimized, such as Figure 1 , 2 As shown, in this embodiment, the grabbing unit 3 includes an electric slip ring 301, a transition plate 302 and a clamping cylinder 303. The upper end of the electric slip ring 301 is fixedly connected to the base plate 102 by bolts, and the lower end is bolted to the transition plate 302; the upper end of the transition plate 302 is bolted to the transmission unit 4 and the electric slip ring 301, and the lower end is bolted to the clamping cylinder 303.

[0062] During actual operation, the automated control gas first passes through the electric slip ring 301 and then enters the gripper cylinder 303, thereby avoiding the problem of the gas channel being entangled due to the rotation of the gripper cylinder 303; the transition plate 302 is both a connector between the transmission unit 4 and the gripping unit 3, and a connector between the electric slip ring 301 and the gripper cylinder 303. One connector connects multiple components, thereby simplifying the structure of the entire manipulator device; the gripper cylinder 303 uses automated control gas as power, which can perform more precise operations on the gripping force of the gear product.

[0063] In some embodiments, the electric slip ring 301 is optimized, such as Figure 5As shown, in this embodiment, the electric slip ring 301 includes an upper fixed part 301a and a lower rotating part 301b, the upper fixed part 301a is fixedly connected to the base plate 102 by bolts, and the lower rotating part 301b is bolted to the transition plate 302; a through hole 301c is provided in the middle of the electric slip ring 301, and the through hole 301c is sleeved on the transmission unit 4; the upper fixed part 301a of the electric slip ring 301 is provided with an air inlet channel, and the lower rotating part 301b is provided with an air outlet channel, and the air outlet channel of the lower rotating part 301b is connected to the clamping cylinder 303.

[0064] During actual operation, the automation control gas enters the electric slip ring 301 from the air inlet channel of the upper fixed part 301a, and then enters the clamping claw cylinder 303 through the air outlet channel of the lower rotating part 301b.

[0065] In some embodiments, the transition plate 302 is optimized, such as Figure 6 , 7 As shown, in this embodiment, a boss is provided at the center of the transition plate 302, and two first connecting holes 302a are provided on the boss, and the first connecting holes 302a are used to connect the transmission unit 4; four weight-reducing holes 302b are arranged around the boss; four connecting walls are vertically connected at equal intervals on the circumference of the upper end surface of the transition plate 302, and each connecting wall is provided with a second connecting hole 302c, and the second connecting hole 302c is used to connect the electric slip ring 301; a circle of frustum is provided on the circumference of the lower end surface of the transition plate 302, and two first positioning pin holes 302d and two third connecting holes 302e are provided on the end surface of the frustum for positioning and connecting with the clamping cylinder 303.

[0066] During actual installation, the two first connecting holes 302a are connected to the transmission unit 4 by bolts; the second connecting holes 302c on the four connecting walls are connected to the lower rotating part 301b of the electric slip ring 301 by bolts; the two first positioning pin holes 302d are used for positioning and clamping with the clamping cylinder 303; the two third connecting holes 302e are fixedly connected to the clamping cylinder 303 by bolts; the four larger weight-reducing holes 302b can reduce the weight of the transition plate 302, which helps to reduce the lightweight of the manipulator device and reduce the driving pressure of the power unit 2.

[0067] In some embodiments, the above-mentioned grabbing unit 3 is optimized, such as Figure 1 , 2 As shown in Figure 8, in this embodiment, three clamps 304 are evenly connected on the circumference of the lower end of the clamp cylinder 303. The clamp 304 is an L-shaped structure, including a bottom and a side wall. The bottom is used to clamp the gear product; the side wall is used to connect the clamp cylinder 303, and two second positioning pin holes 304a and two fourth connecting holes 304b are provided on the side wall for positioning and connecting the clamp cylinder 303.

[0068] In actual operation, three clamping jaws 304 are the minimum number that can stably grasp the gear product without causing the gear product to tilt; the two second positioning pin holes 304a are used for positioning and clamping with the clamping jaw cylinder 303; and the two fourth connecting holes 304b are fixedly connected with the clamping jaw cylinder 303 by bolts.

[0069] In some embodiments, the above-mentioned grabbing unit 3 is optimized, such as Figure 1 , 2 As shown in Figures 9, in this embodiment, a spring pressure plate assembly 305 is connected to the lower side of the gripper cylinder 303. The spring pressure plate assembly 305 includes a pressure plate 305a and an elastic connecting portion 305b. The pressure plate 305a is connected to three elastic connecting portions 305b. The elastic connecting portion 305b is a hollow cavity structure. An opening is provided on the cavity wall of the elastic connecting portion 305b. A spring is provided in the cavity. A connecting piece is connected to the spring. The connecting piece extends outward and passes through the opening on the cavity wall of the elastic connecting portion 305b. The connecting piece is used to connect the gripper cylinder 303.

[0070] In fact, the spring pressure plate assembly 305 serves as a transition piece between the clamping claw cylinder 303 and the gear product; when preparing to clamp the gear product, the entire set of manipulators moves downward until the spring pressure plate assembly 305 contacts the gear, and continues to press down for 1-2 mm to ensure that the end face of the gear is perpendicular to the axis of the manipulator, thereby improving the accuracy of subsequent flaw detection of the gear product.

[0071] In some embodiments, the above-mentioned robot device is optimized, such as Figure 1 , 2 As shown, the manipulator device in this embodiment also includes a supporting and connecting unit 5, which includes an upper supporting side plate 501, a lower supporting side plate 502, a planetary reducer fixing plate 503 and a bearing fixing plate 504, the planetary reducer fixing plate 503 and the bearing fixing plate 504 are arranged in parallel with the base plate 102; the planetary reducer fixing plate 503 and the bearing fixing plate 504 are vertically connected with two upper supporting side plates 501 by bolts; the bearing fixing plate 504 and the base plate 102 are vertically connected with two lower supporting side plates 502 by bolts; the planetary reducer fixing plate 503 is fixedly connected to the planetary reducer 202 by bolts, and an opening is provided on the planetary reducer fixing plate 503, and the output end of the planetary reducer 202 is connected to the upper end of the transmission unit 4 through the opening on the planetary reducer fixing plate 503; the bearing fixing plate 504 is provided with an opening.

[0072] During actual operation, the supporting connection unit 5 is used to stabilize the connection between the transmission unit 4 and the bracket unit 1, strengthen the connection between the units, and ensure the stable operation of the manipulator device; in this embodiment, the upper supporting side plate 501 and the lower supporting side plate 502 are both hollow frame-type side plates, which help to reduce the lightweight of the manipulator device and reduce the driving pressure of the power unit 2.

[0073] In some embodiments, the transmission unit 4 is optimized, such as Figure 1 , 2 As shown in Figure 4, in this embodiment, the transmission unit 4 includes an elastic coupling 401 and a transmission main shaft 402. The elastic coupling 401 is located between the planetary reducer fixing plate 503 and the bearing fixing plate 504. The elastic coupling 401 connects the output end of the planetary reducer 202 and the transmission main shaft 402; the upper end of the transmission main shaft 402 is connected to the elastic coupling 401, and the lower end is connected to the transition plate 302. The transmission main shaft 402 passes through the opening on the bearing fixing plate 504, the opening of the bottom plate 102 and the through hole 301c of the electric slip ring 301 from top to bottom.

[0074] In fact, in this embodiment, the elastic coupling 401 is a three-section elastic shaft, which can not only connect the planetary reducer 202 and the transmission main shaft 402, but also play a buffering role.

[0075] In some embodiments, the transmission main shaft 402 is optimized, such as Figure 1 , 2 As shown in FIG. 4 , in this embodiment, the transmission main shaft 402 is a stepped shaft in structure, and a first journal and a second journal are provided on the transmission main shaft 402; the first journal is located at the opening of the bearing fixing plate 504, and a first precision unit 403 is installed on the first journal; the second journal is located at the opening of the base plate 102, and a second precision unit 404 is installed on the second journal.

[0076] During actual operation, the first precision unit 403 and the second precision unit 404 are used to control the rotation accuracy of the transmission spindle 402, so as to facilitate the manipulator device to perform rotational flaw detection and improve the accuracy of the manipulator device performing rotational flaw detection. While the second precision unit 404 controls the rotation accuracy of the transmission spindle 402, it also plays a role in bearing the axial pressure from the upper end of the manipulator device.

[0077] In some embodiments, the first precision unit 403 is optimized, such as Figure 4As shown, in this embodiment, the first precision unit 403 includes a deep groove ball bearing 403a, an upper bearing end cover 403b, an upper bearing seat 403c and a deep groove ball bearing adjustment gasket 403d. The upper bearing seat 403c is fixedly connected above the opening of the bearing fixing plate 504; the deep groove ball bearing 403a is installed in the inner hole of the upper bearing seat 403c and is sleeved on the first shaft neck; the upper bearing end cover 403b is fixedly connected to the upper end surface of the upper bearing seat 403c; the deep groove ball bearing adjustment gasket 403d is located between the upper bearing end cover 403b and the upper bearing seat 403c.

[0078] In actual operation, the deep groove ball bearing 403a is used to control the rotation accuracy of the transmission main shaft 402; the upper bearing end cover 403b and the upper bearing seat 403c are used to install and protect the deep groove ball bearing 403a; the deep groove ball bearing adjustment gasket 403d is used to adjust the axial installation clearance of the deep groove ball bearing 403a.

[0079] In some embodiments, the second precision unit 404 is optimized, such as Figure 4 As shown, in this embodiment, the second precision unit 404 includes an angular contact ball bearing 404a, a lower bearing end cover 404b, a lower bearing seat 404c, an angular contact ball bearing adjustment gasket 404d and a threaded pressure cap 404e. The lower bearing seat 404c is connected above the opening of the base plate 102; the angular contact ball bearing 404a is installed in the inner hole of the lower bearing seat 404c and is sleeved on the second shaft neck; the lower bearing end cover 404b is connected to the upper end surface of the lower bearing seat 404c; the angular contact ball bearing adjustment gasket 404d is located between the lower bearing end cover 404b and the lower bearing seat 404c; the threaded pressure cap 404e is installed in the inner hole of the lower bearing seat 404c, located above the angular contact ball bearing 404a, and is sleeved on the transmission main shaft 402.

[0080] In actual operation, the angular contact ball bearing 404a is used to control the rotation accuracy of the transmission main shaft 402 and bear the axial pressure from the upper end of the manipulator device; the lower bearing end cover 404b and the lower bearing seat 404c are used to install and protect the angular contact ball bearing 404a; the angular contact ball bearing adjustment gasket 404d is used for the axial installation clearance of the angular contact ball bearing 404a;

[0081] In fact, the threaded pressure cap 404e is a hollow structure with an internal thread in the inner hole, and an external thread is provided on the shaft wall of the transmission main shaft 402 that contacts the threaded pressure cap 404e; the internal thread of the threaded pressure cap 404e cooperates with the external thread of the transmission main shaft 402; the threaded pressure cap 404e is used for axial positioning of the inner ring of the angular contact ball bearing 404a.

[0082] Specific work includes:

[0083] Start: The automatic control gas enters the clamping cylinder 303 through the electric slip ring 301, and controls the clamping cylinder 303 to open the clamping jaw 304;

[0084] Material collection: the truss Z axis 101 drives the entire set of manipulators to lift up and move to the top of the gear to be inspected on the welding feed channel. Then the truss Z axis 101 drives the entire set of manipulators to move downward until the spring pressure plate assembly 305 contacts the gear and continues to press down for 1-2 mm to ensure that the end face of the gear is perpendicular to the axis of the manipulator. Then the clamping jaw cylinder 303 drives the clamping jaw 304 to clamp the outer circle of the gear.

[0085] Flaw detection: The truss Z axis 101 drives the entire set of manipulators to lift up and move to just above the ultrasonic probe in the flaw detection equipment. Then the truss Z axis 101 drives the entire set of manipulators to probe down until the gear reaches the flaw detection calibration position. The ultrasonic probe emits ultrasonic waves to perform flaw detection on the gear. At the same time, the motor 201 drives the planetary reducer 202, the elastic coupling 401, the transmission spindle 402, the transition plate 302, the clamping cylinder 303, the clamping jaw 304 and the gear to rotate together with the motor 201 in sequence, thereby completing the welding flaw detection of the entire circumferential weld of the gear.

[0086] Discharging: the truss Z axis 101 drives the whole set of manipulators to lift up and move to the flaw detection unloading channel, and then the truss Z axis 101 drives the whole set of manipulators to probe down, and the clamping jaw cylinder 303 opens the clamping jaw 304 to complete the discharging action.

[0087] Then the steps of material taking, flaw detection, material discharge and the like are completed repeatedly to realize the automation of welding flaw detection connection.

[0088] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A gear welding flaw detection line manipulator device, characterized in that: include: A support unit (1), the support unit (1) comprising a truss Z axis (101) and a bottom plate (102), the truss Z axis (101) being used to drive the manipulator device to circulate on each workstation, and the bottom of the truss Z axis (101) being connected to the bottom plate (102); the bottom plate (102) being provided with an opening; A power unit (2), the power unit (2) being located above the base plate (102) and providing power for the manipulator device to perform rotational flaw detection; A grabbing unit (3), the grabbing unit (3) being located below the bottom plate (102) and being used for grabbing the gear product; A transmission unit (4), the transmission unit (4) passes through the opening on the bottom plate (102), the upper end of which is connected to the power unit (2), and the lower end of which is connected to the grasping unit (3), and is used to provide the grasping unit (3) with rotational flaw detection power.

2. A gear welding flaw detection line manipulator device as claimed in claim 1, characterized in that: The support unit (1) further comprises a rib plate (103), wherein one side of the rib plate (103) is connected to the truss Z axis (101) and the other side is connected to the bottom plate (102).

3. A gear welding flaw detection line manipulator device as claimed in claim 1, characterized in that: The power unit (2) comprises a motor (201) and a planetary reducer (202), wherein the motor (201) is connected to the planetary reducer (202); the planetary reducer (202) is used to amplify the output torque of the motor (201), and an output end of the planetary reducer is connected to the upper end of the transmission unit (4).

4. A gear welding flaw detection inline manipulator device as claimed in claim 1, characterized in that: The gripping unit (3) comprises an electric slip ring (301), a transition plate (302), and a clamping cylinder (303); the upper end of the electric slip ring (301) is connected to the base plate (102), and the lower end is connected to the transition plate (302); the upper end of the transition plate (302) is connected to the transmission unit (4) and the electric slip ring (301), and the lower end is connected to the clamping cylinder (303); a plurality of clamping claws (304) are evenly connected to the circumference of the lower end of the clamping cylinder (303).

5. A gear welding flaw detection inline manipulator device as claimed in claim 4, characterized in that: The electric slip ring (301) comprises an upper fixed part (301a) and a lower rotating part (301b), wherein the upper fixed part (301a) is connected to the base plate (102) and is provided with an automatic control gas inlet channel; the lower rotating part (301b) is connected to the transition plate (302) and is provided with an outlet channel, wherein the outlet channel is connected to the clamping cylinder (303); a through hole (301c) is provided in the middle of the electric slip ring (301), and the through hole (301c) is sleeved on the transmission unit (4).

6. A gear welding flaw detection inline manipulator device as described in any one of claims 3 and 4, characterized in that: A spring pressure plate assembly (305) is connected below the clamping jaw cylinder (303), and the spring pressure plate assembly (305) comprises a pressure plate (305a) and an elastic connecting portion (305b). A plurality of elastic connecting portions (305b) are connected to the pressure plate (305a); and the elastic connecting portion (305b) is connected to the clamping jaw cylinder (303).

7. A gear welding flaw detection inline manipulator device as claimed in claim 1, characterized in that: It also comprises a supporting connection unit (5), wherein the supporting connection unit (5) connects the power unit (2) and the base plate (102) and is used to provide support for the transmission unit (4) to withstand axial pressure.

8. A gear welding flaw detection inline manipulator device as described in any one of claims 1, 3 to 5, and 7, characterized in that: The transmission unit (4) comprises an elastic coupling (401) and a transmission main shaft (402); the elastic coupling (401) connects the output end of the planetary reducer (202) and the transmission main shaft (402); the upper end of the transmission main shaft (402) is connected to the elastic coupling (401), and the lower end is connected to the transition plate (302).

9. A gear welding flaw detection inline manipulator device as claimed in claim 8, characterized in that: The transmission main shaft (402) is a stepped shaft in structure. A first journal and a second journal are provided on the transmission main shaft (402); a first precision unit (403) is installed on the first journal; and a second precision unit (404) is installed on the second journal.

10. A gear welding flaw detection line working method, characterized in that: The method is applicable to a gear welding flaw detection in-line manipulator device as described in any one of claims 1 to 9, comprising: Startup: the automated control gas enters the gripper cylinder (303) through the electric slip ring (301), completing the charging of the gripping unit (3); Material picking: the truss Z axis (101) drives the entire set of manipulators to move to the welding feed channel for flaw detection and material picking. When picking, the truss Z axis (101) drives the entire set of manipulators to move downward until the spring pressure plate assembly (305) contacts the gear and continues to press down for 1-2 mm to ensure that the end face of the gear is perpendicular to the axis of the manipulator. Then, the clamping claw cylinder (303) drives the clamping claw (304) to clamp the outer circle of the gear. Flaw detection: the truss Z axis (101) drives the entire set of manipulator devices to move to the flaw detection equipment to perform flaw detection operations. During the flaw detection operation, the power unit (2) drives the transmission unit (4), the gripping unit (3) and the gear to rotate together, thereby completing the welding flaw detection of the entire circumferential weld of the gear; Material discharge: the truss Z axis (101) drives the entire set of manipulators to move to the flaw detection material discharge channel to complete the material discharge operation. Then the steps of material taking, flaw detection, material discharge and the like are completed repeatedly to realize the automation of welding flaw detection connection.

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