Detection device and detection method for rotating shaft hole of robot joint accessory

Abstract

The invention discloses a robot joint accessory rotating shaft hole detection device and method, a plurality of placing seats are arranged and are sequentially fixed on a linear conveyor at intervals along the conveying direction of the linear conveyor, and a detection box is fixedly arranged at the upper end of the linear conveyor. An inlet and an outlet corresponding to the linear conveyor are formed in the two ends of the detection box respectively, shading rubber door curtains are hung at the inlet and the outlet, the parallel light emitting mechanism and the light spot measuring mechanism are arranged in the detection box and located on the two sides of the linear conveyor respectively, and light beams emitted by the parallel light emitting mechanism are circular. A joint accessory is mounted on the placement seat and conveyed into the detection box to be detected, circular parallel light emitted by the parallel light emitting mechanism sequentially penetrates through the two rotating shaft holes and then is projected onto the light spot measuring mechanism, and whether the two rotating shaft holes are symmetrical or not is judged by measuring whether light spots are circular or not through the light spot measuring mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of joint accessory detection, and in particular to a detection device and a detection method for a rotation axis hole of a robot joint accessory. Background Art

[0002] The joints of the robot need to rotate, which requires rotating accessories to be assembled. General joint rotating accessories include a main body, a "U"-shaped rotating part at one end of the main body, and two shaft holes symmetrically opened on both sides of the rotating part. The joint accessories are rotatably installed on the shaft through the two shaft holes for rotation. Currently in the production and processing of joint accessories, there are high requirements on whether the two shaft holes on the joint accessories are symmetrical, that is, whether they are coaxially arranged on the same horizontal line. If they are not symmetrical, it is difficult to transfer them to the shaft. However, it is impossible to judge with the naked eye in the prior art, so there is a need for a detection device and method for the shaft holes of robot joint accessories. Summary of the invention

[0003] In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a detection device and a detection method for a rotation axis hole of a robot joint accessory.

[0004] In order to achieve the above technical effects, the present invention adopts the following scheme:

[0005] A detection device for the rotating shaft hole of a robot joint accessory comprises a linear conveyor, a placement seat, a detection box, a parallel light emitting mechanism and a light spot measuring mechanism. The placement seats are provided with a plurality of them and are fixed on the linear conveyor at intervals in sequence along the conveying direction of the linear conveyor. The detection box is fixedly arranged at the upper end of the linear conveyor, and the two ends of the detection box are respectively provided with an inlet and an outlet corresponding to the linear conveyor, and the inlet and the outlet are hung with light-shielding rubber door curtains. The parallel light emitting mechanism and the light spot measuring mechanism are both arranged in the detection box and are respectively located on both sides of the linear conveyor. The direction of the parallel light emitted by the parallel light emitting mechanism is perpendicular to the conveying direction of the linear conveyor, and the light beam emitted by the parallel light emitting mechanism is circular. The light spot measuring mechanism is opposite to the parallel light emitting mechanism.

[0006] A preferred technical solution is that the parallel light emitting mechanism includes a transversely arranged outer cylinder, the length direction of the outer cylinder is perpendicular to the conveying direction of the linear conveyor, the two ends of the outer cylinder are through-set, the end of the outer cylinder away from the linear conveyor is sealed, and a natural light source, a first convex lens and a second convex lens are sequentially arranged in the outer cylinder from the end away from the linear conveyor to the end close to the linear conveyor, and the distance between the optical center of the first convex lens and the optical center of the second convex lens is equal to the sum of the focal lengths of the first convex lens and the second convex lens.

[0007] According to a preferred technical solution, a transparent glass plate is installed on one end of the outer cylinder close to the linear conveyor for sealing.

[0008] According to a preferred technical solution, the light spot measuring mechanism is a light spot measuring instrument.

[0009] According to a preferred technical solution, the placement seat includes a base, which is fixed on the linear conveyor, and an insertion hole is provided at the upper end of the base extending downward, and a cross convex edge is protruded from the bottom of the insertion hole.

[0010] A detection of a rotating shaft hole of a robot joint accessory comprises firstly opening four slots evenly distributed around a center on the rear end face of a main body of the joint accessory, then inserting the rear end of the main body of the joint accessory into a socket of a base, and positioning the four slots on a cross convex edge at the bottom of the socket, so that the connection line of the two rotating shaft holes of the joint accessory is perpendicular to the conveying direction of a linear conveyor, and then sequentially delivering the joint accessory into a detection box through the linear conveyor, and when the joint accessory is conveyed between a parallel light emitting mechanism and a light spot measuring mechanism, the parallel light emitting mechanism emits parallel light that sequentially passes through the two rotating shaft holes of the joint accessory and then reaches the light spot measuring mechanism, the diameter of the parallel light beam is greater than the diameter of the rotating shaft hole of the joint accessory, and the light spot measuring mechanism measures whether the light spot is circular, if so, the two rotating shaft holes are symmetrical, and if not, the two rotating shaft holes are asymmetrical.

[0011] Compared with the prior art, the beneficial effects are:

[0012] The present invention has a simple structure and is easy to use. The joint accessories are installed on a placement seat and transported to a detection box for detection. The circular parallel light emitted by the parallel light emitting mechanism passes through the two rotating shaft holes in turn and is projected onto the light spot measuring mechanism. The light spot measuring mechanism measures whether the light spot is circular to determine whether the two rotating shaft holes are symmetrical. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a front cross-sectional schematic diagram of the present invention.

[0014] Figure 2 It is a side cross-sectional schematic diagram of the present invention.

[0015] Figure 3 It is a schematic top view of the base in the present invention.

[0016] Figure numerals: 1. linear conveyor; 2. base; 3. detection box; 4. inlet; 5. outlet; 6. rubber door curtain; 7. parallel light emitting mechanism; 8. outer cylinder; 9. natural light source; 10. first convex lens; 11. second convex lens; 12. transparent glass plate; 13. light spot measuring mechanism; 14. socket; 15. cross convex edge; 16. shaft hole. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] A detection device and method for the rotating shaft hole of a robot joint accessory, comprising a linear conveyor 1, a placement seat, a detection box 3, a parallel light emitting mechanism 7 and a light spot measuring mechanism 13, wherein the placement seat is provided with a plurality of parallel light emitting mechanisms and is fixed on the linear conveyor 1 at intervals in sequence along the conveying direction of the linear conveyor 1, the detection box 3 is fixedly arranged at the upper end of the linear conveyor 1, and the two ends of the detection box 3 are respectively provided with an inlet 4 and an outlet 5 corresponding to the linear conveyor 1, the inlet 4 and the outlet 5 are hung with a light-shielding rubber door curtain 6, such as a door curtain provided at the inlet and outlet 5 of an article security inspection machine, the parallel light emitting mechanism 7 and the light spot measuring mechanism 13 are both arranged in the detection box 3 and are respectively located on both sides of the linear conveyor 1, the direction of the parallel light emitted by the parallel light emitting mechanism 7 is perpendicular to the conveying direction of the linear conveyor 1, and the light beam emitted by the parallel light emitting mechanism 7 is circular, and the light spot measuring mechanism 13 is opposite to the parallel light emitting mechanism 7.

[0019] A preferred technical solution, the parallel light emitting mechanism 7 includes a transversely arranged outer cylinder 8, the length direction of the outer cylinder 8 is perpendicular to the conveying direction of the linear conveyor 1, the two ends of the outer cylinder 8 are through-set, the end of the outer cylinder 8 away from the linear conveyor 1 is sealed, and a natural light source 9, a first convex lens 10 and a second convex lens 11 are sequentially arranged in the outer cylinder 8 from the end away from the linear conveyor 1 to the end close to the linear conveyor 1, the distance between the optical center of the first convex lens 10 and the optical center of the second convex lens 11 is equal to the sum of the focal lengths of the first convex lens 10 and the second convex lens 11, the scattered natural light is converged into parallel light through the first convex lens 10 and the second convex lens 11 and emitted, and a circular outlet is provided at the end of the outer cylinder 8 close to the linear conveyor 1.

[0020] According to a preferred technical solution, a transparent glass plate 12 is installed at one end of the outer cylinder 8 close to the linear conveyor 1 for sealing, and the transparent glass plate 12 is arranged in the outlet.

[0021] In a preferred technical solution, the light spot measuring mechanism 13 is a light spot measuring instrument, which is a device for measuring the shape of a light spot in the prior art.

[0022] According to a preferred technical solution, the placement seat includes a base 2, which is fixed on the linear conveyor 1. The upper end of the base 2 is provided with a socket extending downward, and the bottom of the socket is protruding with a cross flange 15, which is used to limit the joint accessories.

[0023] First, four slots evenly distributed around the center are opened on the rear end face of the main body of the joint accessory, and then the main body of the joint accessory is inserted into the socket of the base 2, and the four slots are clamped on the cross convex edge 15 at the bottom of the socket for positioning, so that the connection line of the two rotating shaft holes 16 of the joint accessory is perpendicular to the conveying direction of the linear conveyor 1, that is, the connection line of the two rotating shaft holes 16 is located on the optical path of the parallel light, and then the joint accessories are sequentially sent into the detection box 3 through the linear conveyor 1. When the joint accessories are transported between the parallel light emitting mechanism 7 and the light spot measuring mechanism 13, the parallel light emitted by the parallel light emitting mechanism 7 passes through the two rotating shaft holes 16 of the joint accessories in sequence. Arriving at the light spot measuring mechanism 13, the diameter of the parallel light beam is larger than the diameter of the shaft hole 16 of the joint accessory, ensuring that the parallel light can pass through the shaft hole 16. The light spot measuring mechanism 13 is used to measure whether the light spot projected on the light spot measuring mechanism 13 is circular. The light spot projected on the light spot mechanism has two parts, one is the light spot that passes through the periphery of the joint accessory and reaches the light spot measuring mechanism 13, and the other is the light spot that passes through the shaft hole 16 and reaches the light spot measuring mechanism 13, which is located in the center. The light spot located in the center is measured by the light spot measuring mechanism 13. If the light spot is circular, the two shaft holes 16 are symmetrical. If not, the two shaft holes 16 are asymmetrical.

[0024] Since the rotating shaft hole 16 is circular, if the two rotating shaft holes 16 are asymmetrical, the projections of the two rotating shaft holes 16 will intersect with each other, which will block the passing light beam, thereby causing the light beam after passing through to be not circular.

[0025] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to 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.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, 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 "plurality" is two or more, unless otherwise clearly and specifically defined.

[0027] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

Claims

1. A detection device for the shaft hole of a robot joint accessory, characterized in that: The invention comprises a linear conveyor (1), a placement seat, a detection box (3), a parallel light emitting mechanism (7) and a light spot measuring mechanism (13); the placement seat is provided with a plurality of parallel light emitting mechanisms and is fixed on the linear conveyor (1) at intervals in sequence along the conveying direction of the linear conveyor (1); the detection box (3) is fixedly arranged at the upper end of the linear conveyor (1), and the two ends of the detection box (3) are respectively provided with an inlet (4) and an outlet (5) corresponding to the linear conveyor (1); the inlet (4) and the outlet (5) are hung with light-shielding rubber door curtains (6); the parallel light emitting mechanism (7) and the light spot measuring mechanism (13) are both arranged in the detection box (3) and are respectively located on both sides of the linear conveyor (1); the direction of the parallel light emitted by the parallel light emitting mechanism (7) is perpendicular to the conveying direction of the linear conveyor (1), and the light beam emitted by the parallel light emitting mechanism (7) is circular; the light spot measuring mechanism (13) is opposite to the parallel light emitting mechanism (7).

2. The detection device for the rotation axis hole of the robot joint accessory according to claim 1, characterized in that: The parallel light emitting mechanism (7) comprises an outer cylinder (8) arranged transversely, the length direction of the outer cylinder (8) being perpendicular to the conveying direction of the linear conveyor (1), the two ends of the outer cylinder (8) being through-arranged, the end of the outer cylinder (8) away from the linear conveyor (1) being sealed, and a natural light source (9), a first convex lens (10) and a second convex lens (11) being arranged in sequence inside the outer cylinder (8) from the end away from the linear conveyor (1) to the end close to the linear conveyor (1), and the distance between the optical center of the first convex lens (10) and the optical center of the second convex lens (11) is equal to the sum of the focal lengths of the first convex lens (10) and the second convex lens (11).

3. The detection device for the rotation axis hole of the robot joint accessory according to claim 2, characterized in that: A transparent glass plate (12) is installed on one end of the outer cylinder (8) close to the linear conveyor (1) for sealing.

4. The detection device for the rotation axis hole of the robot joint accessory according to claim 1, characterized in that: The light spot measuring mechanism (13) is a light spot measuring instrument.

5. The detection device for the rotation axis hole of the robot joint accessory according to claim 1, characterized in that: The placement seat comprises a base (2), the base (2) is fixedly arranged on the linear conveyor (1), the upper end of the base (2) is provided with an insertion hole extending downward, and the bottom of the insertion hole is protruding with a cross convex edge (15).

6. A detection method for the detection device of the rotation axis hole of the robot joint accessory as claimed in claim 5, characterized in that: The method comprises firstly opening four slots evenly distributed around the center on the rear end surface of the main body of the joint accessory, then inserting the rear end of the main body of the joint accessory into the insertion hole of the base (2), and positioning the four slots on the cross convex edge (15) at the bottom of the insertion hole so that the connecting line of the two rotating shaft holes (16) of the joint accessory is perpendicular to the conveying direction of the linear conveyor (1), and then sequentially conveying the joint accessory into the detection box (3) through the linear conveyor (1), and when the joint accessory is conveyed between the parallel light emitting mechanism (7) and the light spot measuring mechanism (13), the parallel light emitting mechanism (7) emits parallel light which sequentially passes through the two rotating shaft holes (16) of the joint accessory and then reaches the light spot measuring mechanism (13), and the diameter of the parallel light beam is greater than the diameter of the rotating shaft hole (16) of the joint accessory, and the light spot measuring mechanism (13) measures whether the light spot is circular, and if so, the two rotating shaft holes (16) are symmetrical, and if not, the two rotating shaft holes (16) are asymmetrical.

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