Industrial robot thin-wall bearing multi-geometric-quantity non-contact laser measuring device

Abstract

The invention belongs to the technical field of industrial robot thin-wall bearing measurement, and relates to an industrial robot thin-wall bearing multi-geometric-quantity non-contact laser measurement device, and the core assembly comprises an adjustable laser detection mechanism which can accurately emit and receive laser to measure the geometric quantity of a bearing; the U-shaped track assembly can be rotationally segmented, so that loading and unloading are facilitated; the movable positioning mechanism moves through cooperation of a tooth roller and a tooth rail, and an air bag positioning shaft is matched with bearings with different inner diameters. And the grabbing device can grab the positioning shaft to drive the bearing, so that multi-angle detection and automatic turn-over are realized. The device works in a non-contact mode, various geometric quantities such as the inner diameter, the outer diameter and the roundness of the bearing can be accurately measured, and the precision reaches the micron level. The device has the advantages of efficient measurement, flexible adaptation to bearings of different specifications and high automation degree, greatly improves the measurement efficiency, reduces the labor cost, and meets the requirements of industrial production for high-precision measurement of the thin-wall bearing.

Description

Technical Field

[0001] The invention relates to the technical field of measuring thin-walled bearings of industrial robots, and in particular to a non-contact laser measuring device for measuring multiple geometric quantities of thin-walled bearings of industrial robots. Background Art

[0002] In modern industrial production, industrial robots are increasingly used, and their performance and precision directly affect production efficiency and product quality. As a key basic component of industrial robots, thin-walled bearings play an important role in supporting and guiding movement. Their geometric accuracy has a decisive influence on the operational stability, reliability and service life of industrial robots. For example, in precision-assembled industrial robots, if there is a deviation in the geometric accuracy of thin-walled bearings, it may cause inaccurate positioning of the robotic arm, resulting in assembly errors and affecting product quality; at the joints of high-speed robots, thin-walled bearings with insufficient precision will cause vibration and noise, accelerate component wear, and shorten the overall service life of the robot.

[0003] At present, the high-precision measurement of thin-walled bearings of industrial robots has a significant impact on their performance and life. Existing laser detection devices have many shortcomings when measuring thin-walled bearings. The laser emission angle of some devices is fixed, which makes it difficult to adapt to the diverse measurement angle requirements of bearings of different specifications. For example, patent number CN106705938A, a method for laser measurement of the inclination of a ship's tail bearing, cannot fully obtain its geometric data for thin-walled bearings of special sizes or shapes. Moreover, the emission power of most laser detection devices cannot be adjusted. When measuring bearings of different materials and precision requirements, the laser intensity cannot be flexibly changed, resulting in poor accuracy of the measurement data.

[0004] In addition, the existing measuring devices have defects in the design of bearing positioning and moving mechanisms. The positioning method is single, and it is difficult to stably fix thin-walled bearings of different inner diameters, which affects the measurement accuracy; for example, the integrated mechanism for clamping and adjusting dynamic and static pressure bearings in the oblique laser interferometry measurement of patent number CN106002765A, the moving mechanism is not flexible and efficient enough, the loading and unloading takes a long time, and the automation degree of the measurement process is low, which seriously restricts the measurement efficiency and cannot meet the demand for rapid batch measurement of thin-walled bearings in large-scale industrial production. The measuring device of the present invention can effectively solve the above problems and achieve efficient and accurate measurement. Summary of the invention

[0005] In order to solve the technical problems existing in the background technology, the present invention proposes a non-contact laser measurement device for multiple geometric quantities of thin-walled bearings of industrial robots, which can efficiently and accurately measure multiple geometric quantities of thin-walled bearings while avoiding damage to the bearing surface, thereby improving measurement efficiency and accuracy, so as to meet the needs of modern industrial production for high-precision measurement of thin-walled bearings.

[0006] The present invention provides a non-contact laser measurement device for multiple geometric quantities of thin-walled bearings of industrial robots, comprising: A laser detection mechanism is arranged at the top and is used to emit a detection laser downward; The U-shaped track assembly comprises a U-shaped track, a through groove is provided in the middle of the U-shaped track, and a rack is provided on the back of the U-shaped track; The mobile positioning mechanism includes a slider located in the U-shaped track, the slider moves along the track, an extension portion is provided at the bottom of the slider, the extension portion passes through the through slot and is fixedly mounted with a mounting seat, a gear roller meshing with the gear rail is provided on the mounting seat, and a driving member is installed on the mounting seat for driving the gear roller to rotate so that the sliding block moves in the U-shaped track; A positioning shaft, wherein a telescopic mechanism is provided in the movable positioning mechanism, wherein the positioning shaft is detachably mounted on the top of the telescopic mechanism in a vertical direction, wherein the telescopic mechanism can accommodate the positioning shaft in the movable positioning mechanism, and when the positioning shaft extends out of the movable positioning mechanism, the positioning shaft passes through the inner ring of the bearing to realize the positioning of the bearing; A horizontal track is provided between the top ends of the two vertical parts of the U-shaped track, on which a movable block capable of controlled movement is mounted; The grabbing device is mounted on the moving block and is used to grab the positioning shaft to move the bearing to just below the laser detection mechanism.

[0007] This structure builds a complete and coordinated measurement system framework. The laser detection mechanism realizes non-contact measurement to avoid damage to the bearing surface; the U-shaped track assembly cooperates with the mobile positioning mechanism to accurately position and flexibly move the bearing; the positioning shaft is combined with the telescopic mechanism to adapt to the bearing positioning requirements under different working conditions; the horizontal track cooperates with the gripping device to ensure that the bearing can be accurately moved to the detection position, providing a basic guarantee for efficient and accurate measurement.

[0008] Preferably, the U-shaped track assembly also includes a first motor, and the U-shaped track is divided into two parts at the horizontal section, the longer part is recorded as the first track section, and the shorter part is recorded as the second track section; a vertical upward rotating shaft is provided at the top of the vertical section of the first track section, and the first motor is connected to the rotating shaft to rotate the first track section and dock or separate with the second track section, and is used for loading and unloading when separated.

[0009] The segmented design of the U-shaped track and the rotation function driven by the first motor greatly optimize the loading and unloading process. During the production process, the track can be quickly separated for loading and unloading operations, reducing waiting time, improving overall measurement efficiency, and adapting to the rhythm of industrial mass production.

[0010] Preferably, a plurality of pulleys are installed at the bottom of the slider, and a bearing plate is installed at the top of the slider.

[0011] The pulley design at the bottom of the slider reduces the friction when the slider moves in the U-shaped track, making the movement process smoother and more stable, which helps to improve positioning accuracy; the load-bearing plate on the top provides a stable support platform for placing the bearing, ensuring the stability of the bearing during movement and measurement.

[0012] Preferably, the telescopic mechanism includes: a piston column and a first air pump; the extension part has a built-in cavity, and the piston column can perform piston motion in the cavity. The first air pump is installed on the mounting seat and is used to control the air pressure in the bottom space of the piston column in the inner cavity of the extension part to adjust the feed amount of the piston column. A plug-in slot is provided at the top of the piston column, and both ends of the positioning shaft are protruding with a bolt, and the bolts at both ends of the positioning shaft can be detachably connected to the plug-in slot.

[0013] The telescopic mechanism controls the piston rod feed amount through air pressure to achieve precise adjustment of the extension length of the positioning shaft, which can better adapt to bearings of different thicknesses. The detachable connection between the positioning shaft and the piston rod facilitates the replacement of the positioning shaft under different working conditions, improving the versatility and maintenance convenience of the device.

[0014] Preferably, an air cavity is provided inside the positioning shaft, and the bolts at both ends of the positioning shaft are provided with air nozzles, and both groups of air nozzles are connected to the air cavity; a plurality of groups of storage grooves are distributed in a circular array on the side wall of the positioning shaft, an air bag is installed in each group of storage grooves, and each group of air bags is connected to the air cavity; an air needle is vertically installed at the bottom of the plug-in groove at the top end of the piston column, and a ventilation groove is opened through the bottom of the piston column, one end of the ventilation groove is connected to the air needle, and the other end is connected to an air guide hose; a second air pump is installed on the mounting seat, and the other end of the air guide hose is connected to the second air pump. When the bolt at one end of the positioning shaft is engaged with the plug-in groove, the air needle is inserted into the corresponding air nozzle, and the second air pump inflates and deflates the air bag through the air guide hose, the ventilation groove and the air needle.

[0015] The airbag structure in the positioning shaft can flexibly change the outer diameter by controlling the inflation volume, and closely fit the inner ring of bearings with different inner diameters to achieve precise positioning. It can effectively adapt to both small and large bearings, and the flexible fit of the airbag can reduce inaccurate positioning and bearing damage caused by hard contact. At the same time, it cooperates with high-precision air pressure control to improve positioning accuracy.

[0016] Preferably, a telescopic rod is installed on the moving block to adjust the distance between the grabbing device and the U-shaped track assembly.

[0017] The setting of the telescopic rod increases the flexibility of the grabbing device. The distance between the grabbing device and the U-shaped track assembly can be accurately adjusted according to the size of bearings of different specifications and measurement requirements, ensuring that the process of grabbing and moving bearings is stable and accurate, and improving the adaptability of the device to different working conditions.

[0018] Preferably, the grabbing device includes a second motor and a crossbeam, the transmission shaft of the second motor is horizontally oriented toward the U-shaped track assembly, and the middle part of the crossbeam is fixedly connected to the transmission shaft of the second motor; both ends of the crossbeam are fixedly connected to plate frames through connecting pieces, and the two groups of plate frames are parallel to each other and perpendicular to the crossbeam; both ends of the two groups of plate frames are slidably connected to grab clamps, and the two groups of plate frames are installed with a third motor and a rotating rod, the third motor is used to drive the rotating rod to rotate, and two groups of threads facing opposite directions are respectively opened at both ends of the rotating rod, and the two groups of threads are respectively connected to the two groups of grab clamp threads for controlling the two groups of grab clamps to approach or separate synchronously.

[0019] The gripping device is cleverly designed. The position of the crossbeam can be adjusted by the second motor, and the third motor drives the rotating rod to achieve synchronous opening and closing of the gripping clamp. It can stably grip the positioning shaft and bearing, and can accurately control the gripping clamp spacing according to the size of the bearing, ensuring the firmness and stability of the gripping, providing reliable support for subsequent movement and measurement operations.

[0020] Preferably, arc grooves are provided on the opposite surfaces of the gripping clamps of the two groups of plate racks in the gripping device, the arc grooves are used to clamp the positioning shaft, and multiple groups of rollers are provided in the arc grooves; a driving gear and a fourth motor are installed on one of the plate racks, the fourth motor is used to drive the driving gear to rotate, and gear rings are provided at both ends of the positioning shaft. When the gripping device grips the positioning shaft, the driving gear and the gear rings of the positioning shaft engage with each other.

[0021] The arc groove and roller design on the gripper can reduce friction when clamping the positioning shaft, making the positioning shaft rotate more smoothly. The fourth motor can drive the positioning shaft to rotate by engaging the driving gear with the positioning shaft gear ring, thereby realizing multi-angle rotation of the bearing. In conjunction with the laser detection mechanism, the bearing can be fully inspected to obtain more comprehensive and detailed geometric data.

[0022] Preferably, the laser detection mechanism is equipped with an angle adjustment component, which can adjust the laser emission direction to adapt to the measurement angle requirements of thin-walled bearings of different specifications; and its laser emission power is adjustable, and the laser intensity can be flexibly changed for bearings of different materials and precision requirements to ensure the accuracy of the measurement data; the laser detection mechanism includes a laser emitting module and a laser receiving module, the laser emitting module is used to emit the detection laser downward, and the laser receiving module is responsible for receiving the laser signal reflected back from the bearing surface, and the geometric quantity data of the bearing is accurately obtained by analyzing and processing the emitted and received laser signals, and the two work together to realize non-contact measurement of multiple geometric quantities of thin-walled bearings of industrial robots.

[0023] The angle adjustment component and power adjustment function of the laser detection mechanism greatly enhance the applicability of the device. The laser emission angle and intensity can be accurately adjusted for thin-walled bearings of different specifications, materials and precision requirements to ensure the accuracy of the measurement data. The laser emission and receiving modules work together to accurately obtain various geometric data of the bearing, achieve high-precision non-contact measurement, and meet the stringent requirements of industrial production for thin-walled bearing measurement.

[0024] In the present invention, a non-contact laser measuring device for multiple geometric quantities of thin-walled bearings of industrial robots is proposed, which has the following beneficial effects: Precise measurement of multiple geometric quantities: Through accurate analysis and processing of the detection laser emitted by the laser emission module and the reflected laser signal received by the laser receiving module, multiple key geometric quantity data such as the inner diameter, outer diameter, roundness, cylindricity, and end face runout of thin-walled bearings can be obtained simultaneously. High-precision laser measurement technology combined with advanced data processing algorithms can achieve measurement accuracy of micron level, meeting the stringent requirements of industrial robots for high-precision measurement of thin-walled bearings, and providing strong guarantee for the high-precision assembly and stable operation of industrial robots.

[0025] Efficient measurement improves production efficiency: The clever collaborative design of the U-shaped track assembly and the mobile positioning mechanism enables rapid positioning and movement of the bearing. After one loading, the measurement of multiple stations can be completed through an automated process without frequent manual intervention. In addition, the segmented rotation design of the U-shaped track makes loading and unloading operations convenient and efficient, greatly shortening the measurement cycle and improving measurement efficiency, which can meet the needs of batch measurement of thin-walled bearings in large-scale industrial production.

[0026] Flexible adaptation to bearings of different specifications: The angle adjustment component of the laser detection mechanism can adjust the laser emission direction within a large range. Combined with the adjustable laser emission power, it can adapt to the measurement of thin-walled bearings of different specifications, different materials and different precision requirements. At the same time, the airbag structure inside the positioning shaft can flexibly change the outer diameter by controlling the inflation volume, so as to fit closely to the inner ring of bearings with different inner diameters. Whether it is a small micro thin-walled bearing or a large thin-walled bearing, it can achieve precise positioning, greatly expanding the scope of application of the device.

[0027] Reliable connection and positioning design: The positioning shaft and telescopic mechanism adopt a unique detachable connection method of bolt and plug slot, and the sealed docking structure of the air needle and the air nozzle ensures the reliability of the connection. The flexible fitting design of the airbag can not only adapt to different inner diameter sizes, but also automatically adapt to the shape error or irregularity that may exist in the inner ring of the bearing, reduce the problem of inaccurate positioning caused by hard contact, improve the positioning accuracy and stability of the bearing during the measurement process, and thus ensure the accuracy and reliability of the measurement data.

[0028] Multi-angle and all-round detection: The design of the gripping device enables the bearing to be displayed and rotated at multiple angles during the measurement process. The second motor drives the crossbeam to rotate to adjust the inclination angle of the bearing. The fourth motor drives the positioning shaft and the bearing to rotate around the axis through the driving gear and gear ring, allowing the laser detection mechanism to perform all-round detection on all surfaces of the bearing, obtaining more comprehensive and detailed geometric information, effectively avoiding measurement blind spots, and further improving the accuracy and completeness of the measurement.

[0029] Automatic flipping detection: The gripping device can measure the outer wall of the bearing while moving from one end of the U-shaped track to the other. After completing the outer wall measurement and moving to the other end, it returns to the first detection station. This process realizes the automatic flipping of the bearing. The other end face of the bearing can be automatically detected without manual intervention in the flipping operation, which not only improves the detection efficiency, but also reduces the errors that may be caused by manual operation, ensuring the comprehensiveness of the bearing geometry detection.

[0030] High degree of automation, reduced labor costs: The entire measurement process is highly automated, from bearing loading, positioning, measurement to unloading, which can be completed with only a small amount of manual operation by an external manipulator. The tedious steps of manual measurement and the influence of human factors on the measurement results are reduced, which not only improves the measurement efficiency and accuracy, but also reduces labor costs, which is in line with the development trend of modern intelligent manufacturing.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the structure when the first track section in the present invention is rotated out; Figure 3 It is a structural schematic diagram of the mobile positioning mechanism of the present invention when it is at the top of the first track segment; Figure 4 It is a structural schematic diagram of the mobile positioning mechanism of the present invention when it is at the top of the second track segment; Figure 5 It is a front cross-sectional view of the positioning shaft in the present invention retracted in the mobile positioning mechanism; Figure 6 It is a front cross-sectional view of the positioning shaft extending out of the mobile positioning mechanism in the present invention; Figure 7 It is a schematic diagram of the structure of the positioning shaft airbag in the present invention when it is in the deflating state; Figure 8 It is a schematic diagram of the structure of the positioning shaft airbag in the inflated state of the present invention; Fig. 9 It is a schematic diagram of the local structure of the top end of the piston rod in the present invention; Fig.10 It is a schematic diagram of the structure of the grabbing device in the present invention.

[0033] Description of the numbers in the figure: 1. Laser detection mechanism; 2. U-shaped track assembly; 201. first track segment; 202. second track segment; 203. rack rail; 204. through slot; 205. first motor; 206. rotating shaft; 3. Mobile positioning mechanism; 301. Sliding block; 302. Extension part; 303. Mounting seat; 304. Gear roller; 305. Pulley; 306. Loading plate; 307. Piston rod; 3071. Plug slot; 3072. Inflator needle; 3073. Ventilation slot; 308. First air pump; 3081. Air guide hose; 309. Second air pump; 4. Positioning shaft; 401. Clamp bolt; 402. Air nozzle; 403. Gear ring; 404. Air bag; 5. Horizontal track; 501. Moving block; 6. Grabbing device; 601. Second motor; 602. Crossbeam; 603. Plate rack; 604. Grabbing clamp; 605. Third motor; 606. Rotating rod; 607. Roller; 608. Driving gear. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar symbols 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] like Figure 1-Figure 10 A non-contact laser measuring device for multiple geometric quantities of thin-walled bearings of industrial robots shown in the figure: Laser detection mechanism 1: It is set above the device and is used to emit detection laser downward. The mechanism is equipped with an angle adjustment component, which can adjust the laser emission direction to meet the measurement angle requirements of thin-walled bearings of different specifications; and its laser emission power is adjustable. For bearings with different materials and precision requirements, it can flexibly change the laser intensity to ensure the accuracy of the measurement data. Laser detection mechanism 1 includes a laser emission module and a laser receiving module. The laser emission module is used to emit the detection laser downward, and the laser receiving module is responsible for receiving the laser signal reflected from the bearing surface. By analyzing and processing the emitted and received laser signals, the geometric quantity data of the bearing is accurately obtained. The two work together to realize non-contact measurement of multiple geometric quantities of thin-walled bearings of industrial robots.

[0036] like Figure 1-Figure 4 As shown: U-shaped track assembly 2: a through groove 204 is provided in the middle of the track, and a rack 203 is provided on the back thereof. The U-shaped track is divided into two parts at the horizontal section, the longer part is recorded as the first track section 201, and the shorter part is recorded as the second track section 202. A vertically upward rotating shaft 206 is provided at the top of the vertical section of the first track section 201, and the first motor 205 is connected to the rotating shaft 206, which is used to rotate the first track section 201 and dock or separate with the second track section 202, and when separated, it is used for loading and unloading.

[0037] like Figure 5-Figure 9 As shown: the mobile positioning mechanism 3: includes a slider located in the U-shaped track, and the slider can move along the track. A plurality of pulleys 305 are installed at the bottom of the slider, and a bearing plate 306 is installed at the top. An extension part 302 is provided at the bottom of the slider, and the extension part 302 passes through the through groove 204 and is fixedly installed with a mounting seat 303. The mounting seat 303 is provided with a gear roller 304 meshing with the gear rail 203, and a driving member is installed on the mounting seat 303 to drive the gear roller 304 to rotate so that the sliding block 301 moves in the U-shaped track. A telescopic mechanism is provided in the mobile positioning mechanism 3, and the telescopic mechanism includes a piston column 307 and a first air pump 308; the extension part 302 has a built-in cavity, and the piston column 307 can perform piston movement in the cavity. The first air pump 308 is installed on the mounting seat 303, and is used to control the air pressure in the space at the bottom of the piston column 307 in the inner cavity of the extension part 302 to adjust the feed amount of the piston column 307. The top of the piston column 307 is provided with a plug-in slot 3071, and both ends of the positioning shaft 4 are protruding with a bolt 401, and the bolts 401 at both ends of the positioning shaft 4 can be detachably connected to the plug-in slot 3071. An air cavity is provided inside the positioning shaft 4, and the bolts 401 at both ends of the positioning shaft 4 are provided with air nozzles 402, and both groups of air nozzles 402 are connected to the air cavity. There are multiple groups of storage grooves distributed in a circular array on the side wall of the positioning shaft 4, and air bags 404 are installed in each group of storage grooves, and each group of air bags 404 is connected to the air cavity. An air needle 3072 is vertically installed at the bottom of the plug-in slot 3071 at the top of the piston column 307, and a ventilation groove 3073 is provided through the bottom of the piston column 307, one end of the ventilation groove 3073 is connected to the air needle 3072, and the other end is connected to the air guide hose 3081. A second air pump 309 is installed on the mounting base 303, and the other end of the air hose 3081 is connected to the second air pump 309. When the bolt 401 at one end of the positioning shaft 4 is engaged with the plug-in slot 3071, the inflation needle 3072 is inserted into the corresponding air nozzle 402, and the second air pump 309 inflates and deflates the airbag 404 through the air hose 3081, the ventilation slot 3073 and the inflation needle 3072.

[0038] Positioning shaft 4: It is detachably mounted vertically on the top of the telescopic mechanism. The telescopic mechanism can accommodate the positioning shaft 4 inside the mobile positioning mechanism 3. When the positioning shaft 4 extends out of the mobile positioning mechanism 3, it passes through the inner ring of the bearing to realize the positioning of the bearing.

[0039] Horizontal track 5: It is arranged between the top ends of the two vertical parts of the U-shaped track, and a movable block 501 which can be controlled to move is installed on it. A telescopic rod is installed on the movable block 501 to adjust the distance between the grabbing device 6 and the U-shaped track assembly 2.

[0040] like Fig.10 As shown: the grabbing device 6 is installed on the moving block 501, and is used to grab the positioning component to move the bearing to the bottom of the laser detection mechanism 1. The grabbing device 6 includes a second motor 601 and a crossbeam 602. The transmission shaft of the second motor 601 is horizontally oriented to the U-shaped track assembly 2, and the middle of the crossbeam 602 is fixedly connected to the transmission shaft of the second motor 601. Both ends of the crossbeam 602 are fixedly connected to the plate frame 603 through a connecting piece. The two sets of plate frames 603 are parallel to each other and perpendicular to the crossbeam 602. Both ends of the two sets of plate frames 603 are slidably connected to the gripping clamps 604. The two sets of plate frames 603 are installed with a third motor 605 and a rotating rod 606. The third motor 605 is used to drive the rotating rod 606 to rotate. Two sets of threads facing opposite directions are respectively opened at both ends of the rotating rod 606. The two sets of threads are respectively threadedly connected to the two sets of gripping clamps 604, and are used to control the two sets of gripping clamps 604 to approach or separate synchronously. The opposite surfaces of the gripping clamps 604 of the two sets of plate racks 603 in the grasping device 6 are provided with arc grooves, which are used to clamp the positioning shaft 4, and multiple sets of rollers 607 are provided in the arc grooves. A driving gear 608 and a fourth motor are installed on one of the plate racks 603, and the fourth motor is used to drive the driving gear 608 to rotate. Gear rings 403 are provided at both ends of the positioning shaft 4. When the grasping device 6 grasps the positioning shaft 4, the driving gear 608 and the gear ring 403 of the positioning shaft 4 are meshed with each other.

[0041] During the working process of this embodiment: Working principle and working sequence: 1. Loading operation: Under normal conditions, the mobile positioning mechanism 3 is located in the middle of the horizontal section of the U-shaped track assembly 2, that is, on the horizontal section of the first track section 201. First, start the first motor 205 to rotate the first track section 201 in the U-shaped track assembly 2 around the rotating shaft 206 and separate from the second track section 202. At this time, use an external manipulator to grab the bearing to be measured and place it on the supporting plate 306 on the top of the slider of the mobile positioning mechanism 3. After the placement is completed, drive the first motor 205 again to make the first track section 201 turn back and dock with the second track section 202 to form a complete U-shaped track. At this time, the bearing is just below the laser detection mechanism 1, that is, it reaches the first detection station of the device, at which the data of the inner ring and one end face of the bearing can be detected.

[0042] 2. Positioning operation: After completing the measurement of the first detection station, start the first air pump 308 in the telescopic mechanism of the mobile positioning mechanism 3 to deliver air. The first air pump 308 controls the air pressure in the bottom space of the piston column 307 in the inner cavity of the extension part 302, so that the piston column 307 moves upward, thereby driving the positioning shaft 4 to lift up and pass through the inner ring of the bearing. Subsequently, start the second air pump 309 to deliver air, and the gas enters the internal air cavity of the positioning shaft 4 through the air guide hose 3081, the ventilation groove 3073 and the air needle 3072, and then enters each airbag 404 from the air cavity, so that the airbag 404 begins to expand and unfold. By accurately controlling the inflation amount of the second air pump 309, the outer diameter of the airbag 404 can be flexibly changed to adapt to the inner ring of the bearing with different inner diameters. Whether it is a bearing with a smaller inner diameter or a bearing with a larger inner diameter, the expansion degree of the airbag 404 can be adjusted to make it fit closely to the inner wall of the bearing to achieve precise positioning. If equipped with a high-precision air pressure control system, the external pressure and expansion degree of the airbag 404 can be precisely controlled during the inflation and deflation process of the airbag 404, ensuring the positioning accuracy of the inner rings of bearings of different sizes and meeting application scenarios requiring high positioning accuracy. Since the airbag 404 is flexible, when in contact with the inner ring of the bearing, it can automatically adjust the fit state according to the actual shape of the inner ring of the bearing. This can not only adapt to different inner diameter sizes, but also automatically adapt to possible shape errors or irregularities of the inner ring of the bearing, reducing the problem of inaccurate positioning caused by hard contact and improving positioning reliability.

[0043] 3. Grab and move to the second inspection station: After the airbag 404 completes the positioning of the bearing, start the driving member on the mounting seat 303 to drive the gear roller 304 to rotate. The gear roller 304 meshes with the gear rail 203 on the back of the U-shaped track, thereby driving the slider to move along the U-shaped track. The slider first moves to the top of the vertical section of the first track section 201, and the positioning shaft 4 is in a horizontal state. In order to facilitate the subsequent grasping operation of the grasping device 6, the first air pump 308 delivers an appropriate amount of air to make the positioning shaft 4 additionally exposed between the bearing and the bearing plate 306. Then, the grasping device 6 moves to the vicinity of the positioning shaft 4 through the moving block 501, and the telescopic rod extends at the same time, so that the two ends of the positioning shaft 4 are respectively located between the two groups of grippers 604 of the grasping device 6. Then start the third motor 605 to drive the rotating rod 606 to rotate. The reverse threads at both ends of the rotating rod 606 drive the two groups of grippers 604 to approach synchronously, and the two ends of the positioning shaft 4 are clamped in the arc groove of the gripper 604. At this time, the roller 607 in the arc groove contacts the positioning shaft 4, effectively reducing friction. The moving block 501 drives the grasping device 6 and the positioning shaft 4 to move. During this process, the positioning shaft 4 is separated from the moving positioning mechanism 3, the bolts 401 at both ends of the positioning shaft 4 are separated from the plug-in slot 3071 at the top of the piston column 307, and the air needle 3072 is separated from the air nozzle 402. The air nozzle 402 adopts a design similar to the basketball air nozzle 402, and the air bag 404 will not leak after being pulled out. The grasping device 6 moves the positioning shaft 4 and the bearing to the middle of the horizontal slide rail, that is, to the second detection station of the device. At this time, the bearing is located directly below the laser detection mechanism 1. At the second detection station, the fourth motor is started to drive the driving gear 608 to rotate. The driving gear 608 is meshed with the gear rings 403 at both ends of the positioning shaft 4, thereby driving the positioning shaft 4 to rotate around its axis. Since the roller 607 is provided in the arc groove, the positioning shaft 4 clamped by the grasping clamp 604 can rotate smoothly, and the bearing connected thereto also rotates accordingly. In this way, the outer wall of the bearing can be fully inspected by the laser inspection mechanism 1. In addition, the second motor 601 can drive the beam 602 to rotate and adjust the inclination angle of the beam 602, so that the bearing can be presented under the laser inspection mechanism 1 at multiple angles, thereby obtaining more comprehensive and detailed data.

[0044] 4. Secondary docking of the positioning shaft 4 with the mobile positioning mechanism 3 and return to the first inspection station: After the second inspection station completes the inspection of the outer wall of the bearing, the moving block 501 continues to drive the positioning shaft 4 to move toward the top of the vertical section of the second track section 202. It is worth noting that while the second inspection station is inspecting, the driving member drives the gear roller 304 to rotate along the track of the gear rail 203, so that the mobile positioning mechanism 3 moves from one end of the U-shaped track (the first track section 201) to the other end (the second track section 202), and arrives at the top of the vertical section of the second track section 202 in advance to wait for the positioning shaft 4. Since both ends of the positioning shaft 4 are provided with a bolt 401 and an air nozzle 402, as the moving block 501 moves, the bolt 401 at the other end of the positioning shaft 4 docks with the plug-in slot 3071 at the top of the piston column 307 in the mobile positioning mechanism 3, and the air needle 3072 is inserted into the corresponding air nozzle 402, completing the precise docking of the other end of the positioning shaft 4 with the mobile positioning mechanism 3. Subsequently, the grabbing device 6 releases the positioning shaft 4 and returns to its original position. At this time, the driving member is started again to drive the gear roller 304 to rotate, and the mobile positioning mechanism 3 returns to the first detection station along the U-shaped track. At this time, the bearing is turned over, and the laser detection mechanism 1 can detect the other end face and inner ring data of the bearing, completing the comprehensive measurement of all key geometric quantities of the bearing.

[0045] 5. Unloading and circulation operation: After completing the entire inspection process, start the first motor 205 to rotate the first track segment 201 to separate it from the second track segment 202. The external manipulator grabs the bearing that has completed the inspection for unloading operation, and at the same time grabs the next bearing to be inspected and places it on the carrier plate 306. Then the first track segment 201 rotates back to dock with the second track segment 202, and the above-mentioned series of operations such as loading, positioning, inspection, and unloading are circulated again to achieve continuous and efficient measurement of multiple geometric quantities of thin-walled bearings of industrial robots.

[0046] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A non-contact laser measurement device for multiple geometric quantities of thin-walled bearings of industrial robots, characterized in that: include: A laser detection mechanism (1) is arranged at the top and is used to emit a detection laser downward; A U-shaped track assembly (2), comprising a U-shaped track, a through groove (204) being provided in the middle of the U-shaped track, and a rack (203) being provided on the back thereof; A mobile positioning mechanism (3) includes a slider located in the U-shaped track, the slider moves along the U-shaped track, an extension portion (302) is provided at the bottom of the slider, the extension portion (302) passes through the through slot (204) and is fixedly mounted with a mounting seat (303), a gear roller (304) meshing with the gear rail (203) is provided on the mounting seat (303), and a driving member is installed on the mounting seat (303) for driving the gear roller (304) to rotate, so that the sliding block (301) moves in the U-shaped track; A positioning shaft (4), wherein a telescopic mechanism is provided inside the movable positioning mechanism (3), wherein the positioning shaft (4) is detachably mounted on the top of the telescopic mechanism in a vertical direction, and wherein the telescopic mechanism can accommodate the positioning shaft (4) inside the movable positioning mechanism (3); when the positioning shaft (4) extends out of the movable positioning mechanism (3), it passes through the inner ring of the bearing to realize the positioning of the bearing; A horizontal track (5) is provided between the top ends of the two vertical parts of the U-shaped track, and a movable block (501) capable of controlled movement is mounted on the horizontal track; The grabbing device (6) is mounted on the moving block (501) and is used to grab the positioning shaft (4) to move the bearing to the position directly below the laser detection mechanism (1).

2. The non-contact laser measuring device for multiple geometrical quantities of thin-walled bearings of industrial robots according to claim 1 is characterized in that: The U-shaped track assembly (2) further comprises a first motor (205); the U-shaped track is divided into two parts at the horizontal section, the longer part being the first track section (201) and the shorter part being the second track section (202); a rotating shaft (206) extending vertically upward is provided at the top of the vertical section of the first track section (201); the first motor (205) is connected to the rotating shaft (206) and is used to rotate the first track section (201) and dock or separate with the second track section (202); when separated, the first track section (201) is used for loading and unloading.

3. The non-contact laser measuring device for multiple geometrical parameters of thin-walled bearings of industrial robots according to claim 1, characterized in that: A plurality of pulleys (305) are installed at the bottom of the slider, and a bearing plate (306) is installed at the top of the slider.

4. The non-contact laser measuring device for multiple geometrical quantities of thin-walled bearings of industrial robots according to claim 1, characterized in that: The telescopic mechanism comprises: a piston column (307) and a first air pump (308); the extension portion (302) has a built-in cavity, and the piston column (307) can perform piston movement in the cavity; the first air pump (308) is installed on the mounting seat (303) and is used to control the air pressure in the bottom space of the piston column (307) in the inner cavity of the extension portion (302) to adjust the feed amount of the piston column (307); the top end of the piston column (307) is provided with a plug-in slot (3071); both ends of the positioning shaft (4) are protruding with a clamping bolt (401), and the clamping bolts (401) at both ends of the positioning shaft (4) can be detachably connected to the plug-in slot (3071).

5. The non-contact laser measuring device for multiple geometrical quantities of thin-walled bearings of industrial robots according to claim 4, characterized in that: The positioning shaft (4) is provided with an air cavity inside, and the bolts (401) at both ends of the positioning shaft (4) are provided with air nozzles (402), and the two sets of air nozzles (402) are both connected to the air cavity; a plurality of sets of receiving grooves are arranged in a circular array on the side wall of the positioning shaft (4), and an air bag (404) is installed in each set of receiving grooves, and each set of air bags (404) is connected to the air cavity; an air needle (3072) is vertically installed at the bottom of the plug-in groove (3071) at the top end of the piston column (307), and a ventilation groove (3073) is opened through the bottom of the piston column (307), and the ventilation groove (3073) is connected to the piston column (307). One end of the positioning shaft (4) is connected to the inflation needle (3072), and the other end is connected to the air guide hose (3081); a second air pump (309) is installed on the mounting seat (303), and the other end of the air guide hose (3081) is connected to the second air pump (309). When the latch (401) at one end of the positioning shaft (4) is engaged with the plug slot (3071), the inflation needle (3072) is inserted into the corresponding air nozzle (402), and the second air pump (309) inflates and deflates the air bag (404) through the air guide hose (3081), the ventilation slot (3073) and the inflation needle (3072).

6. The non-contact laser measuring device for multiple geometrical parameters of thin-walled bearings of industrial robots according to claim 1, characterized in that: A telescopic rod is installed on the moving block (501) and is used to adjust the distance between the grabbing device (6) and the U-shaped track assembly (2).

7. The non-contact laser measuring device for multiple geometrical parameters of thin-walled bearings of industrial robots according to claim 1, characterized in that: The gripping device (6) comprises a second motor (601) and a crossbeam (602), wherein the transmission shaft of the second motor (601) is horizontally oriented toward the U-shaped track assembly (2), and the middle portion of the crossbeam (602) is fixedly connected to the transmission shaft of the second motor (601); both ends of the crossbeam (602) are fixedly connected to a plate frame (603) via a connecting piece, and the two sets of plate frames (603) are parallel to each other and perpendicular to the crossbeam (602); both ends of the two sets of plate frames (603) are slidably connected to a gripping clamp (604), and the two sets of plate frames (603) are mounted with a third motor (605) and a rotating rod (606), the third motor (605) is used to drive the rotating rod (606) to rotate, and two sets of threads facing opposite directions are respectively provided at both ends of the rotating rod (606), and the two sets of threads are respectively threadedly connected to the two sets of gripping clamps (604) and are used to control the two sets of gripping clamps (604) to synchronously approach or separate.

8. The non-contact laser measuring device for multiple geometrical parameters of thin-walled bearings of industrial robots according to claim 7, characterized in that: The gripping clamps (604) of the two sets of plate frames (603) in the gripping device (6) are provided with arc grooves on the opposite sides thereof, the arc grooves are used to clamp the positioning shaft (4), and a plurality of rollers (607) are provided in the arc grooves; a driving gear (608) and a fourth motor are installed on one of the plate frames (603), the fourth motor is used to drive the driving gear (608) to rotate, and gear rings (403) are provided at both ends of the positioning shaft (4); when the gripping device (6) grips the positioning shaft (4), the driving gear (608) and the gear ring (403) of the positioning shaft (4) mesh with each other.

9. The non-contact laser measuring device for multiple geometrical parameters of thin-walled bearings of industrial robots according to claim 1, characterized in that: The laser detection mechanism (1) is equipped with an angle adjustment component, which can adjust the laser emission direction to meet the measurement angle requirements of thin-walled bearings of different specifications; and its laser emission power is adjustable, and the laser intensity can be flexibly changed for bearings of different materials and precision requirements to ensure the accuracy of measurement data; the laser detection mechanism (1) includes a laser emission module and a laser receiving module, the laser emission module is used to emit the detection laser downward, and the laser receiving module is responsible for receiving the laser signal reflected from the bearing surface, and the geometric quantity data of the bearing is accurately obtained by analyzing and processing the emitted and received laser signals, and the two work together to realize non-contact measurement of multiple geometric quantities of thin-walled bearings of industrial robots.

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