A non-contact laser measuring device for multiple geometric quantities of thin-wall bearings of industrial robots

Abstract

The present invention belongs to the technical field of industrial robot thin-walled bearing measurement, and relates to a non-contact laser measurement device for multiple geometric quantities of industrial robot thin-walled bearings. Its core components include an adjustable laser detection mechanism that can accurately emit and receive laser to measure the geometric quantities of the bearing; the U-shaped track assembly can be rotated and segmented to facilitate loading and unloading; the moving positioning mechanism moves by the cooperation of the gear roller and the toothed rail, and uses the airbag positioning shaft to adapt to bearings with different inner diameters. The grasping device can grasp the positioning shaft to drive the bearing to achieve multi-angle detection and automatic turning over. The device operates in a non-contact manner and can accurately measure various geometric quantities such as the inner diameter, outer diameter, and roundness of the bearing, with an accuracy reaching the micron level. It has the advantages of efficient measurement, flexible adaptation to different specifications of bearings, and high automation, greatly improving the measurement efficiency, reducing the labor cost, and meeting the high-precision measurement requirements of industrial production for thin-walled bearings.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot thin-walled bearing measurement, and particularly to a non-contact laser measurement device for multiple geometric quantities of industrial robot thin-walled bearings. Background Art

[0002] In modern industrial production, industrial robots are increasingly widely used, and their performance and accuracy 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. The geometric accuracy of thin-walled bearings has a decisive impact on the running stability, reliability, and service life of industrial robots. For example, in industrial robots for precision assembly, if there are deviations in the geometric accuracy of thin-walled bearings, it may lead to inaccurate positioning of the robotic arm, resulting in assembly errors and affecting product quality; at the joints of high-speed rotating robots, thin-walled bearings with insufficient accuracy will cause vibration and noise, accelerate component wear, and shorten the overall service life of the robot.

[0003] Currently, the high-precision measurement of industrial robot thin-walled bearings has a significant impact on their performance and life. Existing laser detection devices have many deficiencies when measuring thin-walled bearings. The laser emission angle of some devices is fixed, making it difficult to adapt to the diverse measurement angle requirements of different specifications of bearings. For example, in the method of laser measuring the slope of a marine stern bearing with the patent number CN106705938A, for thin-walled bearings with special sizes or shapes, it is impossible to comprehensively obtain their geometric quantity data. Moreover, the emission power of most laser detection devices cannot be adjusted. When measuring bearings with different materials and accuracy requirements, the laser intensity cannot be flexibly changed, resulting in poor accuracy of measurement data.

[0004] In addition, existing measurement devices have defects in the design of bearing positioning and moving mechanisms. The positioning method is single, making it difficult to stably fix thin-walled bearings with different inner diameter sizes, affecting measurement accuracy; such as the clamping and adjustment integrated mechanism of the dynamic and static pressure bearings in the oblique-incidence laser interference measurement with the patent number CN106002765A, the moving mechanism is not flexible and efficient enough, the feeding and discharging take a long time, and the automation degree of the measurement process is low, seriously restricting the measurement efficiency and unable to meet the requirements of batch and rapid measurement of thin-walled bearings in large-scale industrial production. The measurement device of the present invention can effectively solve the above problems and achieve efficient and accurate measurement. Summary of the Invention

[0005] To solve the technical problems in the background art, the present invention proposes a non-contact laser measurement device for multiple geometric quantities of industrial robot thin-walled bearings, which can efficiently and accurately measure multiple geometric quantities of thin-walled bearings, avoid damaging the bearing surface at the same time, improve measurement efficiency and accuracy, and meet the requirements of high-precision measurement of thin-walled bearings in modern industrial production.

[0006] A non-contact laser measurement device for multiple geometric quantities of thin-wall bearings of industrial robots proposed by the present invention includes:

[0007] A laser detection mechanism, arranged above, for emitting detection laser downward;

[0008] A U-shaped track assembly, including a U-shaped track, with a through groove in the middle of the U-shaped track and a toothed track on its back;

[0009] A moving and positioning mechanism, including a slider located in the U-shaped track. The slider moves along the track. An extension part is provided at the bottom of the slider. The extension part passes through the through groove and is fixedly installed with a mounting seat. A toothed roller meshing with the toothed track is provided on the mounting seat. A driving part is installed on the mounting seat for driving the toothed roller to rotate, so that the sliding block moves in the U-shaped track;

[0010] A positioning shaft. An expansion mechanism is provided in the moving and positioning mechanism. The positioning shaft is vertically and detachably installed at the top of the expansion mechanism. The expansion mechanism can retract the positioning shaft into the moving and positioning mechanism. When the positioning shaft extends out of the moving and positioning mechanism, it passes through the inner ring of the bearing to realize the positioning of the bearing;

[0011] A horizontal track is arranged between the tops of the two vertical parts of the U-shaped track, and a moving block that can be controlled to move is installed on it;

[0012] A grasping device is installed on the moving block for grasping the positioning shaft to move the bearing directly below the laser detection mechanism.

[0013] This structure constructs a complete and collaborative measurement system framework. The laser detection mechanism realizes non-contact measurement, avoiding damage to the bearing surface; the U-shaped track assembly cooperates with the moving and positioning mechanism, which can accurately position and flexibly move the bearing; the positioning shaft combined with the expansion mechanism can meet the bearing positioning requirements under different working conditions; the horizontal track and the grasping device cooperate to ensure that the bearing can be accurately moved to the detection position, providing a basic guarantee for efficient and accurate measurement.

[0014] Preferably, the U-shaped track assembly further includes a first motor. The U-shaped track is divided into two parts at the horizontal section. The longer part is denoted as the first track section, and the shorter part is denoted as the second track section; a vertically upward rotating shaft is provided at the top of the vertical section of the first track section, which is connected to the rotating shaft by the first motor for rotating the first track section to dock or separate from the second track section. When separated, it is used for loading and unloading.

[0015] The segmented design of the U-shaped track and the rotating function driven by the first motor greatly optimize the loading and unloading processes. During the production process, the track can be quickly separated for loading and unloading operations, reducing waiting time, improving the overall measurement efficiency, and adapting to the rhythm of industrial mass production.

[0016] Preferably, multiple sets of pulleys are installed at the bottom of the slider, and a bearing plate is installed at the top of the slider.

[0017] The pulley design at the bottom of the slider reduces the friction when the slider moves in the U-shaped track, making the movement smoother and more stable, which helps to improve the positioning accuracy; the bearing plate at the top provides a stable support platform for placing the bearing, ensuring the stability of the bearing during movement and measurement.

[0018] Preferably, the telescopic mechanism includes: a piston rod and a first air pump; the extension part has an internal cavity, the piston rod 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 space at the bottom of the piston rod in the inner cavity of the extension part to adjust the feed amount of the piston rod. An insertion slot is provided at the top end of the piston rod, and bolts are protruded at both ends of the positioning shaft. The bolts at both ends of the positioning shaft can be detachably connected to the insertion slot.

[0019] This telescopic mechanism precisely adjusts the extension length of the positioning shaft by controlling the feed amount of the piston rod through air pressure, and can better adapt to bearings of different thicknesses. The detachable connection method 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.

[0020] Preferably, an air cavity is provided inside the positioning shaft, air nozzles are provided on the bolts at both ends of the positioning shaft, and the two groups of air nozzles are both communicated with the air cavity; multiple sets of storage grooves are circumferentially arranged on the side wall of the positioning shaft, and an airbag is installed in each set of storage grooves, and each airbag is communicated with the air cavity; a pneumatic needle is vertically installed at the bottom of the insertion slot at the top end of the piston rod, and a ventilation groove is penetrated at the bottom of the piston rod. One end of the ventilation groove is docked with the pneumatic needle, and the other end is connected with a gas guide hose; a second air pump is installed on the mounting seat, and the other end of the gas guide hose is connected to the second air pump. When the bolt at one end of the positioning shaft is clamped with the insertion slot, the pneumatic needle is inserted into the corresponding air nozzle, and the second air pump inflates and deflates the airbag through the gas guide hose, the ventilation groove and the pneumatic needle.

[0021] The airbag structure inside the positioning shaft can flexibly change the outer diameter by controlling the inflation amount, closely fit the inner ring of the bearing with different inner diameter sizes, and achieve precise positioning. Whether it is a small or large bearing, it can be effectively adapted, and the flexible fit of the airbag can reduce the positioning inaccuracy and bearing damage caused by hard contact. At the same time, with high-precision air pressure control, the positioning accuracy is improved.

[0022] Preferably, a telescopic rod is installed on the moving block for adjusting the distance between the gripping device and the U-shaped track assembly.

[0023] The telescopic rod is provided to increase the flexibility of the grasping device. According to the dimensions of bearings with different specifications and the measurement requirements, the distance between the grasping device and the U-shaped rail assembly can be precisely adjusted to ensure the stability and accuracy of the process of grasping and moving the bearings, and improve the adaptability of the device to different working conditions.

[0024] Preferably, the grasping device includes a second motor and a cross beam. The transmission shaft of the second motor is horizontally oriented towards the U-shaped rail assembly, and the middle of the cross beam is fixedly connected to the transmission shaft of the second motor; both ends of the cross beam are fixedly connected with plate frames through connecting pieces. The two groups of plate frames are parallel to each other and perpendicular to the cross beam; both ends of the two groups of plate frames are slidably connected with grippers. On both groups of plate frames, a third motor and a rotating rod are installed. The third motor is used to drive the rotating rod to rotate. Two groups of threads with opposite directions are respectively provided at both ends of the rotating rod, and the two groups of threads are respectively threadedly connected with the two groups of grippers to control the two groups of grippers to approach or separate synchronously.

[0025] The grasping device is ingeniously designed. The position of the cross beam can be adjusted by the second motor, and the third motor drives the rotating rod to realize the synchronous opening and closing of the grippers. It can stably grasp the positioning shaft and the bearing, and can precisely control the distance between the grippers according to the size of the bearing to ensure the firmness and stability of the grasping, providing reliable support for subsequent moving and measuring operations.

[0026] Preferably, arc-shaped grooves are provided on the opposite surfaces of the grippers of the two groups of plate frames in the grasping device. The arc-shaped grooves are used for clamping the positioning shaft, and multiple groups of rollers are provided in the arc-shaped grooves; a driving gear and a fourth motor are installed on one of the plate frames. The fourth motor is used to drive the driving gear to rotate. Tooth rings are provided at both ends of the positioning shaft. When the grasping device grasps the positioning shaft, the driving gear meshes with the tooth ring of the positioning shaft.

[0027] The design of the arc-shaped grooves and rollers on the grippers can reduce friction when clamping the positioning shaft, making the positioning shaft rotate more smoothly. The fourth motor drives the driving gear to mesh with the tooth ring of the positioning shaft, which can drive the positioning shaft to rotate, and then realize the multi-angle rotation of the bearing. Cooperating with the laser detection mechanism, the bearing can be detected in all directions to obtain more comprehensive and detailed geometric quantity data. <

[0028] Preferably, the laser detection 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 with different specifications; and its laser emission power is adjustable. For bearings with different materials and accuracy requirements, the laser intensity can be flexibly changed to ensure the accuracy of the measurement data. The laser detection mechanism includes a laser emission module and a laser reception module. The laser emission module is used to emit detection laser downward, and the laser reception module is responsible for receiving the laser signal reflected from the surface of the bearing. By analyzing and processing the emitted and received laser signals, the geometric quantity data of the bearing can be accurately obtained, and the two work together to realize the non-contact measurement of multiple geometric quantities of the thin-walled bearing of the industrial robot.

[0029] The angle adjustment component and power adjustment function of the laser detection mechanism greatly enhance the applicability of the device. It can accurately adjust the laser emission angle and intensity for thin-walled bearings with different specifications, materials, and precision requirements, ensuring the accuracy of measurement data. The laser emission and reception modules work together to accurately obtain various geometric quantity data of the bearing, achieving high-precision non-contact measurement and meeting the stringent requirements for thin-walled bearing measurement in industrial production.

[0030] In the present invention, a non-contact laser measuring device for multiple geometric quantities of thin-walled bearings of an industrial robot has the following beneficial effects:

[0031] Accurate measurement of multiple geometric quantities: By accurately analyzing and processing the detection laser emitted by the laser emission module and the reflected laser signal received by the laser reception module, it is possible to simultaneously obtain various key geometric quantity data such as the inner diameter, outer diameter, roundness, cylindricity, and end face runout of the thin-walled bearing. The high-precision laser measurement technology combined with advanced data processing algorithms can achieve a measurement accuracy of up to the micron level, meeting the stringent requirements for high-precision measurement of thin-walled bearings by industrial robots and providing a strong guarantee for the high-precision assembly and stable operation of industrial robots.

[0032] Efficient measurement and improved production efficiency: The ingenious collaborative design of the U-shaped track component and the moving positioning mechanism realizes the rapid positioning and movement of the bearing. After one loading, multiple-station measurements can be completed through an automated process without frequent manual intervention. Moreover, the segmented rotation design of the U-shaped track makes the loading and unloading operations convenient and efficient, greatly shortening the measurement cycle and improving the measurement efficiency, and can meet the requirements for batch measurement of thin-walled bearings in large-scale industrial production.

[0033] Flexibly adapt to different specifications of bearings: 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 with different specifications, materials, and precision requirements. At the same time, the airbag structure inside the positioning shaft can flexibly change the outer diameter size by controlling the inflation amount, so as to closely fit the inner ring of the bearing with different inner diameter sizes. Whether it is a small or micro thin-walled bearing or a large thin-walled bearing, accurate positioning can be achieved, greatly expanding the applicable range of the device.

[0034] Reliable connection and positioning design: The positioning shaft and the telescopic mechanism adopt a unique detachable connection method of bolts and plug-in slots, combined with the sealed docking structure of the inflation needle and the air nozzle, ensuring 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 possible shape errors or irregularities of the bearing inner ring, reducing the problem of inaccurate positioning caused by hard contact, improving the positioning accuracy and stability of the bearing during the measurement process, and thus ensuring the accuracy and reliability of the measurement data.

[0035] Multi-angle and all-round detection: The design of the grasping device enables the bearing to be displayed at multiple angles and rotated during the measurement process. The second motor drives the crossbeam to rotate to adjust the tilt angle of the bearing, and the fourth motor drives the positioning shaft and the bearing to rotate around the axis through the driving gear and the gear ring, allowing the laser detection mechanism to perform all-round detection on each surface of the bearing, obtain more comprehensive and detailed geometric quantity information, effectively avoid measurement blind spots, and further improve the accuracy and integrity of the measurement.

[0036] Automated flipping detection: During the process of the grasping device moving from one end of the U-shaped track to the other end, the outer wall of the bearing can be measured. After completing the measurement of the outer wall and moving to the other end, it then returns to the first detection station, and this process realizes the automatic flipping of the bearing. Without manual intervention in the flipping operation, it can automatically detect the other end face of the bearing, which not only improves the detection efficiency but also reduces the errors that may be brought by manual operations, ensuring the comprehensiveness of the geometric quantity detection of the bearing.

[0037] High degree of automation and reduction of labor costs: The entire measurement process is highly automated. From the feeding, positioning, measurement to unloading of the bearing, it can be completed only with the cooperation of an external manipulator and a small amount of manual operations. It reduces the cumbersome steps of manual measurement and the influence of human factors on the measurement results, not only improves the measurement efficiency and accuracy but also reduces labor costs, meeting the development trend of modern intelligent manufacturing.

[0038] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. Brief Description of the Drawings

[0039] Figure 1 is a schematic structural diagram of the present invention;

[0040] Figure 2 is a schematic structural diagram when the first track section rotates out in the present invention;

[0041] Figure 3 is a schematic structural diagram when the mobile positioning mechanism is at the top of the first track section in the present invention;

[0042] Figure 4 is a schematic structural diagram when the mobile positioning mechanism is at the top of the second track section in the present invention;

[0043] Figure 5 is a front view sectional view when the positioning shaft retracts into the mobile positioning mechanism in the present invention;

[0044] Figure 6 is a front view sectional view when the positioning shaft extends out of the mobile positioning mechanism in the present invention;

[0045] Figure 7This is a schematic structural diagram of the positioning shaft airbag in the air extraction state in the present invention;

[0046] Figure 8 This is a schematic structural diagram of the positioning shaft airbag in the inflated state in the present invention;

[0047] Figure 9 This is a partial structural schematic diagram of the top end of the piston column in the present invention;

[0048] Figure 10 This is a schematic structural diagram of the grasping device in the present invention.

[0049] Description of the reference numerals in the figure:

[0050] 1. Laser detection mechanism;

[0051] 2. U-shaped track assembly; 201. First track section; 202. Second track section; 203. Tooth track; 204. Through groove; 205. First motor; 206. Rotating shaft;

[0052] 3. Mobile positioning mechanism; 301. Sliding block; 302. Extension part; 303. Mounting seat; 304. Tooth roller; 305. Pulley; 306. Bearing plate; 307. Piston column; 3071. Insertion slot; 3072. Inflating needle; 3073. Ventilation groove; 308. First air pump; 3081. Air guide hose; 309. Second air pump;

[0053] 4. Positioning shaft; 401. Bolt; 402. Air nozzle; 403. Tooth ring; 404. Airbag;

[0054] 5. Horizontal track; 501. Moving block;

[0055] 6. Grasping device; 601. Second motor; 602. Cross beam; 603. Plate frame; 604. Claw; 605. Third motor; 606. Rotating rod; 607. Roller; 608. Driving gear. Detailed implementation manners

[0056] The following details the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar symbols represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0057] As Figures 1 - 10 shown, a non-contact laser measuring device for multiple geometric quantities of thin-walled bearings of an industrial robot:

[0058] Laser detection mechanism 1: It is set above the device and used to emit detection laser downward. This 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 measurement data. The laser detection mechanism 1 includes a laser emission module and a laser reception module. The laser emission module is used to emit detection laser downward, and the laser reception module is responsible for receiving the laser signal reflected back from the bearing surface. By analyzing and processing the emitted and received laser signals, the geometric quantity data of the bearing can be accurately obtained. The two work together to achieve non-contact measurement of multiple geometric quantities of the thin-walled bearing of the industrial robot.

[0059] As Figures 1 - 4 shown: U-shaped track component 2: A through groove 204 is provided in the middle of the track, and a toothed rail 203 is provided on its back. The U-shaped track is divided into two parts at the horizontal section position. The longer part is denoted as the first track section 201, and the shorter part is denoted 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, which is connected to the rotating shaft 206 by a first motor 205 and is used to rotate the first track section 201 and dock or separate it from the second track section 202. When separated, it is used for loading and unloading.

[0060] As Figures 5 - 9As shown: The movable positioning mechanism 3 includes a slider positioned within a U-shaped track, capable of moving along the track. Multiple sets of pulleys 305 are mounted on the bottom of the slider, and a support plate 306 is mounted on the top. An extension portion 302 is provided at the bottom of the slider. This extension portion 302 passes through the through-slot 204 and is fixedly mounted with a mounting seat 303. The mounting seat 303 is provided with a gear roller 304 that meshes with the rack 203. A drive element is mounted on the mounting seat 303 to rotate the gear roller 304, thereby moving the slider 301 within the U-shaped track. The movable positioning mechanism 3 includes a telescopic mechanism comprising a piston column 307 and a first air pump 308. The extension portion 302 has a cavity within which the piston column 307 can move as a piston. The first air pump 308 is mounted on the mounting seat 303 and is used to control the air pressure in the space below the piston column 307 within the cavity of the extension portion 302 to adjust the feed rate 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 latch 401. The latches 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 latches 401 at both ends of the positioning shaft 4 are provided with air nozzles 402, and both sets 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 each set of storage grooves is installed with an air bag 404, 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 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 air 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 air needle 3072.

[0061] Positioning shaft 4: It is vertically detachably installed 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.

[0062] Horizontal track 5: It is located between the top ends of the two vertical parts of the U-shaped track, and is equipped with a movable block 501 that can be controlled to move. 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.

[0063] like Figure 10As shown: The grasping device 6 is installed on the moving block 501 and is used to grasp the positioning component to move the bearing to directly below the laser detection mechanism 1. The grasping device 6 includes a second motor 601 and a cross beam 602. The transmission shaft of the second motor 601 is horizontally oriented towards the U-shaped track assembly 2, and the middle of the cross beam 602 is fixedly connected to the transmission shaft of the second motor 601. Both ends of the cross beam 602 are fixedly connected with plate frames 603 through connecting pieces. The two groups of plate frames 603 are parallel to each other and perpendicular to the cross beam 602. Clamping jaws 604 are slidably connected to both ends of the two groups of plate frames 603. Third motors 605 and rotating rods 606 are installed on both groups of plate frames 603. The third motor 605 is used to drive the rotating rod 606 to rotate. Two groups of threads with opposite orientations are respectively provided at both ends of the rotating rod 606, and the two groups of threads are respectively threadedly connected to the two groups of clamping jaws 604 for controlling the two groups of clamping jaws 604 to approach or separate synchronously. Arc-shaped grooves are provided on the opposite surfaces of the clamping jaws 604 of the two groups of plate frames 603 in the grasping device 6. The arc-shaped grooves are used to clamp the positioning shaft 4, and multiple groups of rollers 607 are provided in the arc-shaped 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. Tooth 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 meshes with the tooth ring 403 of the positioning shaft 4.

[0064] During the working process of this embodiment:

[0065] Working principle and working sequence:

[0066] 1. Loading operation: In the normal state, the moving 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 make the first track section 201 in the U-shaped track assembly 2 rotate around the rotating shaft 206 and separate from the second track section 202. At this time, use an external manipulator to grasp the bearing to be measured and place it on the bearing plate 306 on the top of the slider of the moving 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 exactly located directly below the laser detection mechanism 1, that is, it reaches the first detection station of this device. At this station, the data of the inner ring and one end face of the bearing can be detected.

[0067] 2. Positioning operation: After the measurement at the first detection station is completed, the first air pump 308 in the telescopic mechanism within the moving positioning mechanism 3 is started to supply air. The first air pump 308 controls the air pressure in the space at the bottom of the piston column 307 within the inner cavity of the extension part 302, causing the piston column 307 to move upward, thereby driving the positioning shaft 4 to jack up and pass through the inner ring of the bearing. Subsequently, the second air pump 309 is started to supply air. The air passes through the air guide hose 3081, the ventilation groove 3073, and the inflation needle 3072 and enters the internal air cavity of the positioning shaft 4, and then enters each airbag 404 from the air cavity, causing the airbags 404 to start expanding and unfolding. By precisely controlling the air inflation volume of the second air pump 309, the outer diameter size of the airbag 404 can be flexibly changed, so as to adapt to the inner rings of bearings with different inner diameter sizes. 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 closely fit the inner side wall of the bearing, achieving precise positioning. If a high-precision air pressure control system is equipped, during the inflation and deflation process of the airbag 404, the pressure and expansion degree of the airbag 404 acting externally can be precisely regulated to ensure the positioning accuracy for the inner rings of bearings with different sizes and meet the application scenarios with high positioning accuracy requirements. Due to the flexibility of the airbag 404, when it contacts the inner ring of the bearing, it can automatically adjust the fitting 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 the possible shape errors or irregularities of the inner ring of the bearing, reducing the positioning inaccuracy problems caused by hard contact and improving the positioning reliability.

[0068] 3. Gripping and moving to the second inspection station operation: After the airbag 404 completes the positioning of the bearing, start the driving component on the mounting base 303 to drive the gear roller 304 to rotate. The gear roller 304 meshes with the tooth 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. At this time, the positioning shaft 4 is in a horizontal state. To facilitate the subsequent gripping operation of the gripping device 6, the first air pump 308 supplies an appropriate amount of air, so that an additional section of the positioning shaft 4 is exposed between the bearing and the bearing plate 306. Then, the gripping device 6 moves to the vicinity of the positioning shaft 4 through the moving block 501, and at the same time the telescopic rod extends, so that both ends of the positioning shaft 4 are respectively located between the two groups of grippers 604 of the gripping device 6. Subsequently, 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 move closer synchronously, and clamp both ends of the positioning shaft 4 in the arc-shaped grooves of the grippers 604. At this time, the rollers 607 in the arc-shaped grooves are in contact with the positioning shaft 4, effectively reducing friction. The moving block 501 drives the gripping device 6 and the positioning shaft 4 to move. During this process, the positioning shaft 4 disengages from the moving and positioning mechanism 3, and the bolts 401 at both ends of the positioning shaft 4 are separated from the insertion slots 3071 at the top of the piston column 307, and the inflation needle 3072 is disengaged from the air nozzle 402. The air nozzle 402 adopts a design similar to that of a basketball air nozzle 402, and the airbag 404 will not leak air after being pulled out. The gripping device 6 moves the positioning shaft 4 and the bearing to the middle of the horizontal slide rail, that is, to the second inspection station of this device. At this time, the bearing is directly below the laser detection mechanism 1. At the second inspection station, start the fourth motor to drive the drive gear 608 to rotate. The drive gear 608 meshes with the tooth rings 403 at both ends of the positioning shaft 4, and then drives the positioning shaft 4 to rotate around its axis. Since there are rollers 607 in the arc-shaped grooves, the positioning shaft 4 clamped by the grippers 604 can rotate smoothly, and the connected bearing also rotates accordingly. In this way, the outer wall of the bearing can be detected comprehensively by the laser detection mechanism 1. In addition, the second motor 601 can drive the cross beam 602 to rotate, adjust the inclination angle of the cross beam 602, so that the bearing can be presented below the laser detection mechanism 1 at multiple angles, so as to obtain more comprehensive and detailed data.

[0069] 4. Secondary docking of the positioning shaft 4 with the moving positioning mechanism 3 and returning to the first detection station operation: After the detection of the outer wall of the bearing is completed at the second detection station, the moving block 501 continues to drive the positioning shaft 4 to move towards the top of the vertical section of the second track section 202. It should be noted that while the detection is being carried out at the second detection station, the driving member drives the gear roller 304 to rotate along the track of the gear rail 203, so that the moving positioning mechanism 3 moves from one end (the first track section 201) of the U-shaped track 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 bolt 401 and air nozzle 402 are provided at both ends of the positioning shaft 4, as the moving block 501 moves, the bolt 401 at the other end of the positioning shaft 4 is docked with the insertion slot 3071 at the top of the piston rod 307 in the moving positioning mechanism 3, and at the same time, the air injection needle 3072 is inserted into the corresponding air nozzle 402 to complete the precise docking of the other end of the positioning shaft 4 with the moving positioning mechanism 3. Subsequently, the grasping 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 moving positioning mechanism 3 returns to the first detection station along the U-shaped track again. 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 to complete the comprehensive measurement of all key geometric quantities of the bearing.

[0070] 5. Unloading and recycling operation: After all the detection processes are completed, the first motor 205 is started to rotate out the first track section 201 so that it is separated from the second track section 202. The external manipulator grabs the detected bearing for unloading operation, and at the same time grabs the next bearing to be detected and places it on the bearing plate 306. Subsequently, the first track section 201 rotates back to be docked with the second track section 202, and the above-mentioned series of operation processes such as feeding, positioning, detection, and unloading are cycled again to realize the continuous and efficient measurement of multiple geometric quantities of the thin-walled bearing of the industrial robot.

[0071] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A non-contact laser measurement device for multiple geometric quantities of thin-wall bearings of industrial robots, characterized in that, Including: A laser detection mechanism (1), arranged above, for emitting detection laser downward; A U-shaped track assembly (2), including a U-shaped track, with a through groove (204) provided in the middle of the U-shaped track, and a toothed track (203) provided on its back; A moving and positioning mechanism (3), including a slider located within the U-shaped track, the slider moving along the U-shaped track, with an extension part (302) provided at the bottom of the slider, the extension part (302) passing through the through groove (204) and fixedly installing a mounting seat (303), a toothed roller (304) meshing with the toothed track (203) provided on the mounting seat (303), and a driving part installed on the mounting seat (303) for driving the toothed roller (304) to rotate, so that the sliding block (301) moves within the U-shaped track; A positioning shaft (4), an expansion mechanism is provided within the moving and positioning mechanism (3), the positioning shaft (4) is vertically and detachably installed at the top of the expansion mechanism, the expansion mechanism can store the positioning shaft (4) inside the moving and positioning mechanism (3), and when the positioning shaft (4) extends out of the moving and positioning mechanism (3), it passes through the inner ring of the bearing to achieve the positioning of the bearing; The expansion mechanism includes: a piston column (307) and a first air pump (308); a cavity is provided inside the extension part (302), the piston column (307) can perform piston movement within the cavity, the first air pump (308) is installed on the mounting seat (303) for controlling the air pressure in the space at the bottom of the piston column (307) inside the extension part (302) to adjust the feed amount of the piston column (307), a plugging groove (3071) is provided at the top end of the piston column (307), and bolts (401) are protrudingly provided at both ends of the positioning shaft (4), and the bolts (401) at both ends of the positioning shaft (4) can be detachably connected to the plugging groove (3071); A horizontal track (5), arranged between the top ends of the two vertical parts of the U-shaped track, on which a movable block (501) that can be controlled to move is installed; A grasping device (6), installed on the movable block (501), for grasping the positioning shaft (4) to move the bearing to directly below the laser detection mechanism (1).

2. The non-contact laser measuring device for multiple geometric quantities of the thin-wall bearing of an industrial robot according to claim 1, characterized in that, The U-shaped track assembly (2) further includes a first motor (205), the U-shaped track is divided into two parts at the horizontal section position, the longer part is denoted as the first track section (201), and the shorter part is denoted 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), which is connected to the rotating shaft (206) by the first motor (205) for rotating the first track section (201) to dock or separate from the second track section (202), and is used for loading and unloading when separated.

3. The non-contact laser measuring device for multiple geometric quantities of a thin-walled bearing of an industrial robot according to claim 1, wherein, Multiple groups 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. A non-contact laser measuring device for multiple geometric quantities of a thin-wall bearing of an industrial robot according to claim 1, characterized in that, The positioning shaft (4) is internally provided with an air chamber. Air nozzles (402) are provided on the bolts (401) at both ends of the positioning shaft (4), and the two groups of air nozzles (402) are both communicated with the air chamber; a plurality of groups of receiving grooves are circumferentially and arrayedly distributed on the side wall of the positioning shaft (4), and an airbag (404) is installed in each group of receiving grooves, and each group of airbags (404) is communicated with the air chamber; a gas injection needle (3072) is vertically installed at the bottom of the insertion slot (3071) at the top end of the piston column (307), and a ventilation groove (3073) is penetrated and opened at the bottom of the piston column (307). One end of the ventilation groove (3073) is butted against the gas injection needle (3072), and the other end is connected with a gas guide hose (3081); a second air pump (309) is installed on the mounting seat (303), and the other end of the gas guide hose (3081) is connected with the second air pump (309). When the bolt (401) at one end of the positioning shaft (4) is clamped with the insertion slot (3071), the gas injection needle (3072) is inserted into the corresponding air nozzle (402), and the second air pump (309) inflates and deflates the airbag (404) through the gas guide hose (3081), the ventilation groove (3073) and the gas injection needle (3072).

5. The non-contact laser measuring device for multiple geometric quantities of the thin-wall bearing of an industrial robot according to claim 1, characterized in that, An expansion rod is installed on the moving block (501) for adjusting the distance between the grasping device (6) and the U-shaped rail assembly (2).

6. The non-contact laser measuring device for multiple geometric quantities of the thin-walled bearing of an industrial robot according to claim 1, wherein, The grasping device (6) includes a second motor (601) and a cross beam (602). The transmission shaft of the second motor (601) faces the U-shaped rail assembly (2) horizontally, and the middle part of the cross beam (602) is fixedly connected with the transmission shaft of the second motor (601); plate frames (603) are fixedly connected to both ends of the cross beam (602) through connectors. The two groups of plate frames (603) are parallel to each other and perpendicular to the cross beam (602); grippers (604) are slidably connected to both ends of the two groups of plate frames (603), and a third motor (605) and a rotating rod (606) are installed on the two groups of plate frames (603). The third motor (605) is used to drive the rotating rod (606) to rotate. Two groups of threads with opposite directions are respectively opened at both ends of the rotating rod (606), and the two groups of threads are respectively threadedly connected with the two groups of grippers (604) for controlling the two groups of grippers (604) to approach or separate synchronously.

7. The non-contact laser measuring device for multiple geometric quantities of the thin-wall bearing of an industrial robot according to claim 6, characterized in that, Arc-shaped grooves are opened on the opposite surfaces of the grippers (604) of the two groups of plate frames (603) in the grasping device (6). The arc-shaped grooves are used for clamping the positioning shaft (4), and a plurality of groups of rollers (607) are arranged in the arc-shaped 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. Tooth 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) meshes with the tooth ring (403) of the positioning shaft (4).

8. The non-contact laser measuring device for multiple geometric quantities of thin-wall bearings of an industrial robot 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 for bearings with different materials and accuracy requirements, the laser intensity can be flexibly changed to ensure the accuracy of measurement data; the laser detection mechanism (1) includes a laser emission module and a laser reception module. The laser emission module is used to emit detection laser downward, and the laser reception 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 can be accurately obtained, and the two work together to achieve non-contact measurement of multiple geometric quantities of the thin-walled bearing of the industrial robot.

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