Rotary mechanical arm for probe detection

Abstract

The invention discloses a rotary mechanical arm for probe detection and belongs to the technical field of large-scale equipment probe detection. The device comprises a main beam and is characterized in that rotating wedges are rotatably connected to the left side and the right side of the middle of the main beam in a pin joint mode respectively, wedge oil cylinder seats are fixed to the left end and the right end of the main beam respectively, and the fixed end of a wedge oil cylinder is rotatably connected to each wedge oil cylinder seat in a pin joint mode. The telescopic ends of the wedge block oil cylinders are rotationally connected with one ends of the rotating wedge blocks on the corresponding sides in a pin mode, the other ends of the rotating wedge blocks are rotationally connected with one ends of connecting plates in a pin mode, supporting shoes are arranged on the left side and the right side of the main beam, and connecting bases are arranged on the supporting shoes. And the other end of the connecting plate is rotatably in pin joint with the connecting seat on the corresponding side. Rapid positioning of the mechanical arm and rapid adjustment of the inclination angle of the probe after positioning can be completed, operation is easy, and the utilization rate is increased.

Description

Technical Field

[0001] The invention belongs to the technical field of large-scale equipment probe detection, and in particular relates to a rotating mechanical arm used for probe detection. Background Art

[0002] In industrial inspection and automation equipment, probe detection technology is widely used in tasks such as product quality inspection, dimensional measurement, and surface defect detection. In order to achieve efficient and accurate detection, the probe needs to be moved to different positions and angles to cover various areas of the object being tested. Currently, commonly used probe detection motion mechanisms usually include fixed probe detection, linear motion manipulators, and multi-degree-of-freedom manipulators. Traditional manipulators have complex structures, difficult control, high costs, and may lack motion accuracy and stability, resulting in low efficiency. Summary of the invention

[0003] The present invention aims at the above-mentioned problems, makes up for the deficiencies of the prior art, and provides a rotating mechanical arm for probe detection; the present invention can quickly position the mechanical arm and quickly adjust the tilt angle of the probe after positioning, is easy to operate, and improves utilization.

[0004] To achieve the above purpose, the present invention adopts the following technical solution.

[0005] The present invention provides a rotating mechanical arm for probe detection, comprising a transmission motor, characterized in that the output shaft of the transmission motor is connected with a pinion, the pinion is connected to a rotating mechanism through a belt, the rotating mechanism is connected to a mechanical arm mechanism and can drive the mechanical arm mechanism to rotate as a whole, a position fine-tuning mechanism is provided on the mechanical arm mechanism, the end of the mechanical arm mechanism is swingably connected with a flipping mechanism, the flipping mechanism is connected with a probe rotating mechanism, and the flipping mechanism can drive the probe rotating mechanism to rotate.

[0006] Furthermore, the rotating mechanism includes a large gear, a first turntable connecting plate, a second turntable connecting plate, and a turntable rotating shaft. The large gear is connected to the belt, and the large gear is driven to rotate by the rotation of the motor and the transmission of the belt. The large gear is sleeved and fixed on the outside of the first turntable connecting plate, and the large gear is fixed on the upper side of the second turntable connecting plate. Through holes are correspondingly provided in the centers of the first turntable connecting plate and the second turntable connecting plate, and the turntable rotating shaft passes through the through holes from the bottom and is connected to the first turntable connecting plate.

[0007] Furthermore, the robotic arm mechanism includes a robotic arm connecting plate, a first robotic arm, and a second robotic arm. The robotic arm connecting plate is fixedly connected to the lower side of the second turntable connecting plate, the first robotic arm and the second robotic arm are connected in parallel on both sides of the robotic arm connecting plate, and the robotic arm connecting plate and the first robotic arm, as well as the robotic arm connecting plate and the second robotic arm are all connected through a coupling.

[0008] Furthermore, the position fine-tuning mechanism includes a fine-tuning motor, a limit sensor and a limit angle. The output shaft of the fine-tuning motor is connected to the coupling corresponding to the first robotic arm, and the rotation of the first robotic arm is adjusted by the fine-tuning motor. The limit angle is connected to the inner side of the first robotic arm, and the limit angle is located near the coupling. The limit sensor is connected to the robotic arm connecting plate and is electrically connected to the fine-tuning motor for detecting the position of the limit angle.

[0009] Furthermore, the flipping mechanism includes a cylinder fixing plate, a cylinder, and bearings. The two sides of the cylinder fixing plate are respectively connected to the first mechanical arm and the second mechanical arm through the bearings. The cylinder is located between the first mechanical arm and the second mechanical arm and is connected to the cylinder fixing plate. The output shaft of the cylinder passes through the cylinder fixing plate and is connected to the probe rotation mechanism through a coupling.

[0010] Furthermore, the probe rotating mechanism includes a turntable, a mounting rod, a spring, a guide rod, and a probe bracket. The turntable is connected to the flipping mechanism, the mounting rod and the guide rod are vertically and parallelly fixed to the upper side of the probe bracket, the spring is sleeved on the mounting rod, the mounting rod and the upper part of the guide rod both pass through the lower end of the turntable and leave a gap with the turntable, so that the mounting rod and the guide rod can move up and down relative to the turntable, the mounting rod and the upper end of the guide rod are both threaded structures, and are connected to a nut at the upper end of the turntable, so that the mounting rod and the guide rod are limited on the turntable and will not fall off, the two ends of the spring are respectively against the lower side surface of the turntable and the upper side surface of the probe bracket, and the lower end of the probe bracket is used to connect the probe.

[0011] Furthermore, a nozzle is connected to the bottom of the flip mechanism, and the nozzle of the nozzle faces the surface of the object detected by the bottom probe.

[0012] Furthermore, a bolt tightening block is connected to the transmission motor for fixing with the top connected member.

[0013] Beneficial effects of the present invention.

[0014] The present invention adopts a positioning installation method to achieve free circumferential rotation of the mechanical arm and improve work efficiency; the mechanical arm is provided with a limit sensor and a limit angle to make the movement and positioning of the mechanical arm more accurate, making the probe easy to move and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a side structural schematic diagram of the present invention.

[0018] Figure 3 It is a bottom structural schematic diagram of the present invention.

[0019] Markings in the figure: 1 is the transmission motor, 2 is the small gear, 3 is the belt, 4 is the large gear, 5 is the first turntable connecting plate, 6 is the second turntable connecting plate, 7 is the turntable rotating shaft, 8 is the mechanical arm connecting plate, 9 is the first mechanical arm, 10 is the second mechanical arm, 11 is the coupling, 12 is the fine-tuning motor, 13 is the limit sensor, 14 is the limit angle, 15 is the cylinder fixing plate, 16 is the cylinder, 17 is the bearing, 18 is the turntable, 19 is the mounting rod, 20 is the spring, 21 is the guide rod, 22 is the probe bracket, 23 is the nozzle, and 24 is the bolt tightening block. DETAILED DESCRIPTION

[0020] As shown in the accompanying drawings, this embodiment provides a rotating mechanical arm for probe detection, including a transmission motor 1, and a bolt tightening block 24 is connected to the transmission motor 1 for fixing with a top connected member.

[0021] The output shaft of the transmission motor 1 is connected to the pinion 2 , and the transmission motor 1 drives the pinion 2 to rotate.

[0022] The small gear 2 is connected to the rotating mechanism through a belt 3. The rotating mechanism includes a large gear 4, a first turntable connecting plate 5, a second turntable connecting plate 6, and a turntable rotating shaft 7. The large gear 4 is connected to the belt 3, and the large gear 4 is driven to rotate through the rotation of the transmission motor 1 and the transmission of the belt 3.

[0023] The large gear 4 is sleeved and fixed on the outside of the first turntable connecting plate 5, and the large gear 4 is fixed on the upper side of the second turntable connecting plate 6. The first turntable connecting plate 5 and the second turntable connecting plate 6 are correspondingly provided with through holes in the center, and the turntable rotating shaft 7 passes through the through holes from the bottom and is connected to the first turntable connecting plate 5. The rotation of the large gear 4 drives the entire rotating mechanism to rotate, and then the turntable rotating shaft 7 rotates. The upper end of the turntable rotating shaft 7 is connected to the connected part, and then drives the connected part to rotate.

[0024] The rotating mechanism is connected to the mechanical arm mechanism and can drive the mechanical arm mechanism to rotate as a whole. The mechanical arm mechanism includes a mechanical arm connecting plate 8, a first mechanical arm 9, and a second mechanical arm 10. The mechanical arm connecting plate 8 is fixedly connected to the lower side of the second turntable connecting plate 6. The first mechanical arm 9 and the second mechanical arm 10 are connected in parallel on both sides of the mechanical arm connecting plate 8. The mechanical arm connecting plate 8 and the first mechanical arm 9, and the mechanical arm connecting plate 8 and the second mechanical arm 10 are connected through a coupling 11. The rotation of the rotating mechanism drives the mechanical arm to perform horizontal circumferential motion.

[0025] A position fine-tuning mechanism is provided on the robotic arm mechanism, and the position fine-tuning mechanism includes a fine-tuning motor 12, a limit sensor 13 and a limit angle 14. The output shaft of the fine-tuning motor 12 is connected to the coupling 11 corresponding to the first robotic arm 9. The rotation of the first robotic arm 9 is adjusted by the fine-tuning motor 12. The limit angle 14 is connected to the inner side of the first robotic arm 9. The limit angle 14 is located near the coupling 11. The limit sensor 13 is connected to the robotic arm connecting plate 8 and is electrically connected to the fine-tuning motor 12 for detecting the position of the limit angle 14.

[0026] When the robot connecting plate 8 is connected to the two robot arms, radial position fine-tuning is required. The two robot arms are driven by the fine-tuning motor 12 to move relative to the robot connecting plate 8. The position of the limit angle 14 is detected by the limit sensor 13 to limit the angle of the two robot arms.

[0027] The end of the robotic arm mechanism is swingably connected to a flipping mechanism, which includes a cylinder fixing plate 15, a cylinder 16, and a bearing 17. The two sides of the cylinder fixing plate 15 are respectively connected to the first robotic arm 9 and the second robotic arm 10 through the bearings 17. The cylinder 16 is located between the first robotic arm 9 and the second robotic arm 10 and is connected to the cylinder fixing plate 15. The output shaft of the cylinder 16 passes through the cylinder fixing plate 15 and is connected to the probe rotating mechanism through the coupling 11. The flipping mechanism can drive the probe rotating mechanism to rotate by extending and retracting the cylinder 16.

[0028] The probe rotating mechanism includes a turntable 18, a mounting rod 19, a spring 20, a guide rod 21, and a probe bracket 22. The turntable 18 is connected to the flipping mechanism. The mounting rod 19 and the guide rod 21 are fixed vertically and parallelly on the upper side of the probe bracket 22. The spring 20 is sleeved on the mounting rod 19. The upper parts of the mounting rod 19 and the guide rod 21 pass through the lower end of the turntable 18 and leave a gap between them and the turntable 18, so that the mounting rod 19 and the guide rod 21 can move up and down relative to the turntable 18. The upper ends of the mounting rod 19 and the guide rod 21 are both threaded structures, and are connected to nuts at the upper end of the turntable 18, so that the mounting rod 19 and the guide rod 21 are limited on the turntable 18 and will not fall off.

[0029] The two ends of the spring 20 are respectively against the lower side of the turntable 18 and the upper side of the probe bracket 22. The lower end of the probe bracket 22 is used to connect the probe. The probe compresses the surface of the detection object. When there is pressure, the spring 20 will be compressed, and the spring 20 plays a buffering role for the probe.

[0030] At the same time, a nozzle 23 is connected to the bottom of the flipping mechanism, and the nozzle of the nozzle 23 faces the surface of the object detected by the bottom probe. When the probe is detecting, the nozzle 23 sprays water onto the surface of the object to be detected. In this way, when the probe contacts the surface of the object to be detected, water will be used as a medium to improve the accuracy of the detection.

[0031] Here’s how to use it: First, by adjusting the bolt tightening block 24, ensure that the transmission motor 1 and the first turntable connecting plate 5 are fixed to the top connected part, drive the small gear 2 through the transmission motor 1, connect and drive the belt 3, drive the large gear 4 to rotate, connect the first turntable connecting plate 5 to the turntable rotating shaft 7 through the through hole and bolts, connect the large gear 4 to the second turntable connecting plate 6 through bolts, connect the second turntable connecting plate 6 to the mechanical arm connecting plate 8 through bolts, connect the first mechanical arm 9 and the fine-tuning motor 12 to the mechanical arm connecting plate 8 through the coupling 11, connect the second mechanical arm 10 to the mechanical arm connecting plate 8 through the coupling 11, connect the first mechanical arm 9 and the second mechanical arm 10 to the cylinder fixing plate 15 through the bearing 17, connect the cylinder 16 and the turntable 18 through the coupling 11, the probe bracket 22 is connected to the turntable 18 through the mounting rod 19 and the guide rod 21 and is limited by the nut, and the nozzle 23 is connected to the bottom of the cylinder fixing plate 15 by bolts.

[0032] After all the mechanical arms are connected, the transmission motor 1 is turned on, so that the transmission motor 1 drives the belt 3 to drive the large gear 4 to start rotating, the large gear 4 drives the second turntable connecting plate 6 to rotate, and the second turntable connecting plate 6 drives the mechanical arm connecting plate 8 to realize the circumferential rotation of the first mechanical arm 9 and the second mechanical arm 10. The fine-tuning motor 12 is turned on, so that the fine-tuning motor 12 drives the first mechanical arm 9 and the mechanical arm connecting plate 8 to rotate relative to each other, and synchronously drives the second mechanical arm 10 and the mechanical arm connecting plate 8 to rotate relative to each other.

[0033] Water is sprayed onto the surface of the object to be detected through the nozzle 23, and the object to be detected is detected through the probe.

[0034] It can be understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that the present invention can still be modified or replaced by equivalents to achieve the same technical effects; as long as the use requirements are met, they are within the protection scope of the present invention.

Claims

1. A rotary mechanical arm for probe detection, comprising a transmission motor (1), characterized in that: The output shaft of the transmission motor (1) is connected to a pinion (2); the pinion (2) is connected to a rotating mechanism via a belt (3); the rotating mechanism is connected to a mechanical arm mechanism and can drive the mechanical arm mechanism to rotate as a whole; a position fine-tuning mechanism is provided on the mechanical arm mechanism; an end of the mechanical arm mechanism is swingably connected to a flipping mechanism; the flipping mechanism is connected to a probe rotating mechanism; and the flipping mechanism can drive the probe rotating mechanism to rotate.

2. A rotating mechanical arm for probe detection according to claim 1, characterized in that: The rotating mechanism comprises a large gear (4), a first turntable connecting plate (5), a second turntable connecting plate (6), and a turntable rotating shaft (7); the large gear (4) is connected to the belt (3), and the large gear (4) is driven to rotate by the rotation of the motor and the transmission of the belt (3); the large gear (4) is sleeved and fixed on the outside of the first turntable connecting plate (5); the large gear (4) is fixed on the upper side of the second turntable connecting plate (6); through holes are correspondingly provided at the centers of the first turntable connecting plate (5) and the second turntable connecting plate (6); the turntable rotating shaft (7) passes through the through hole from the bottom and is connected to the first turntable connecting plate (5).

3. A rotating mechanical arm for probe detection according to claim 2, characterized in that: The robotic arm mechanism comprises a robotic arm connecting plate (8), a first robotic arm (9), and a second robotic arm (10); the robotic arm connecting plate (8) is fixedly connected to the lower side of the second turntable connecting plate (6); the first robotic arm (9) and the second robotic arm (10) are connected in parallel on both sides of the robotic arm connecting plate (8); the robotic arm connecting plate (8) and the first robotic arm (9), as well as the robotic arm connecting plate (8) and the second robotic arm (10) are connected via a coupling (11).

4. A rotating mechanical arm for probe detection according to claim 3, characterized in that: The position fine-tuning mechanism comprises a fine-tuning motor (12), a limit sensor (13) and a limit angle (14); the output shaft of the fine-tuning motor (12) is connected to the coupling (11) corresponding to the first mechanical arm (9); the rotation of the first mechanical arm (9) is adjusted by the fine-tuning motor (12); the limit angle (14) is connected to the inner side of the first mechanical arm (9); the limit angle (14) is located near the coupling (11); the limit sensor (13) is connected to the mechanical arm connecting plate (8) and is electrically connected to the fine-tuning motor (12) for detecting the position of the limit angle (14).

5. The rotating mechanical arm for probe detection according to claim 3, characterized in that: The flip mechanism comprises a cylinder fixing plate (15), a cylinder (16), and a bearing (17); two sides of the cylinder fixing plate (15) are respectively connected to the first mechanical arm (9) and the second mechanical arm (10) via the bearings (17); the cylinder (16) is located between the first mechanical arm (9) and the second mechanical arm (10) and is connected to the cylinder fixing plate (15); an output shaft of the cylinder (16) passes through the cylinder fixing plate (15) and is connected to the probe rotating mechanism via a coupling (11).

6. A rotating mechanical arm for probe detection according to claim 1, characterized in that: The probe rotating mechanism comprises a rotating table (18), a mounting rod (19), a spring (20), a guide rod (21), and a probe bracket (22); the rotating table (18) is connected to the flipping mechanism; the mounting rod (19) and the guide rod (21) are fixed vertically and parallelly on the upper side of the probe bracket (22); the spring (20) is sleeved on the mounting rod (19); the upper parts of the mounting rod (19) and the guide rod (21) both pass through the lower end of the rotating table (18) and leave a gap between them and the rotating table (18), so that the The mounting rod (19) and the guide rod (21) are capable of moving up and down relative to the turntable (18); the upper ends of the mounting rod (19) and the guide rod (21) are both threaded structures and are connected to nuts at the upper ends of the turntable (18), so that the mounting rod (19) and the guide rod (21) are limited on the turntable (18) and will not fall off; the two ends of the spring (20) are respectively against the lower side of the turntable (18) and the upper side of the probe bracket (22); the lower end of the probe bracket (22) is used for connecting the probe.

7. A rotating mechanical arm for probe detection according to claim 6, characterized in that: A nozzle (23) is connected to the bottom of the flipping mechanism, and the nozzle of the nozzle (23) faces the surface of the object detected by the bottom probe.

8. The rotating mechanical arm for probe detection according to claim 1, characterized in that: The transmission motor (1) is connected to a bolt tightening block (24) for fixing to a top connected component.

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