Manipulator with bearing quality detection function

Abstract

The invention provides a manipulator with a bearing quality detection function, and belongs to the field of manipulators, and the manipulator comprises a mechanical arm assembly, a manipulator assembly, a friction speed reduction assembly, an induction sensing assembly, a transmission assembly and a detection assembly. The mechanical arm assembly is composed of a plurality of mechanical arms and used for adjusting the grabbing position. The manipulator assembly is connected with the mechanical arm assembly and is used for clamping a bearing; the friction speed reduction assembly is arranged on the manipulator assembly; the inductive sensing assembly is connected with the manipulator assembly; the multiple transmission assemblies are arranged on the two sides of the manipulator assembly. According to the device, the quality detection of the bearing can be completed in the bearing transfer process, the mode of function integration and process combination is adopted, the detection period is shortened, the automation degree is high, the requirement for manual intervention is reduced, and the detection efficiency is improved. The detection process is smoother and more efficient, and detection result accuracy is improved.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a manipulator with a bearing quality detection function. Background Art

[0002] With the continuous development of industrial automation, the demand for automation and intelligence in production lines is getting higher and higher. As an important part of the automated production line, the robot is increasingly widely used. As a key component of mechanical equipment, the quality of bearings directly affects the performance and life of the equipment. Therefore, quality inspection of bearings is an important part of ensuring the quality of equipment.

[0003] In the process of bearing production, some occasions will use manipulators to transfer materials, but the cost of manipulators is high and it is difficult to popularize them widely. Existing bearing detection equipment is mostly fixed frame type, which requires manual or conveying equipment to load and unload materials. It is expensive and occupies a large area, and the detection efficiency is low. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] To this end, the present application provides a manipulator with a bearing quality detection function. Based on the manipulator's bearing handling and transfer, a modular detection unit is equipped to complete the bearing quality detection during the bearing transfer process.

[0006] The present application provides a manipulator with a bearing quality detection function, comprising a manipulator assembly, a manipulator assembly, a friction reduction assembly, an inductive sensor assembly, a transmission assembly, and a detection assembly. The manipulator assembly is composed of a plurality of manipulators, which are used to adjust the grasping position; the manipulator assembly is connected to the manipulator assembly, and the manipulator assembly is used to clamp the bearing; the friction reduction assembly is arranged on the manipulator assembly; the inductive sensor assembly is connected to the manipulator assembly; a plurality of transmission assemblies are arranged on both sides of the manipulator assembly; and the detection assembly is arranged on the manipulator assembly, and the detection assembly is arranged farther from the manipulator assembly than the manipulator assembly.

[0007] In some embodiments, the robotic arm assembly includes: a base; a first connecting arm, which is disposed on the base; a second connecting arm, which is rotatably connected to the first connecting arm; a third connecting arm, which is rotatably connected to the second connecting arm; and a mounting tube, which is connected to the third connecting arm and is used to fix the robotic arm assembly.

[0008] In this embodiment, the plurality of connecting arms rotate to adjust the position and angle of the manipulator at the end of the manipulator arm, thereby facilitating the grasping of the bearing; the mounting tube facilitates the connection between the manipulator arm assembly and the manipulator assembly.

[0009] In some embodiments, the manipulator assembly includes: a sound insulation cylinder, fixedly connected to the bottom end of the mounting cylinder; a first electric push rod, arranged inside the mounting cylinder; a connecting frame, fixedly connected to the first electric push rod; a mounting plate, arranged on the connecting frame, and a plurality of grooves are distributed in an array on the mounting plate; a pneumatic actuator, arranged on the mounting plate; and a plurality of moving claws, connected to the pneumatic actuator and passing through the mounting plate.

[0010] In this embodiment, the sound insulation tube has a sound insulation effect, which is convenient for preventing external noise from affecting the detection quality during the bearing detection process in the sound insulation tube; the pneumatic actuator provides energy to the mobile claw, so that the mobile claw contracts and expands to complete the grasping action, and the mounting plate supports the manipulator structure to improve the grasping stability of the mobile claw.

[0011] In some embodiments, a plurality of moving claws are distributed in an array, and each moving claw includes: a rubber sleeve fixedly connected to the moving claw, and a plurality of protrusions are provided on the surface of the rubber sleeve.

[0012] In this embodiment, the outer part of the rubber sleeve is raised, so that the rubber sleeve has an anti-slip effect when in contact with the bearing, thereby improving the gripping stability of the bearing.

[0013] In some embodiments, the friction deceleration assembly includes: a movable seat, which is arranged on the sound insulation cylinder; a first spring, which is arranged on the movable seat; an extrusion piece, which is connected to the movable seat; a second spring, which is arranged on the extrusion piece; and a friction belt, which is fixedly connected to the extrusion piece and indirectly contacts the outer surface of the bearing.

[0014] In this embodiment, during the downward movement of the bearing, it contacts the friction belt, which has a friction deceleration effect on the bearing; the second spring buffers the extrusion piece and the friction belt, and the second spring provides a certain pressure between the friction belt and the bearing to ensure its deceleration effect; the moving seat is in an active state and can drive the extrusion piece to move.

[0015] In some embodiments, the inductive sensing assembly includes: a grating sensor connected to the inner wall of the sound insulation cylinder, the grating sensor is provided with two sensing points; and a positioning module fixedly connected to the mounting plate.

[0016] In this embodiment, the grating sensor has two sensing points, and the positioning module is moved to the corresponding sensing points to trigger the transmission component to work, thereby improving the detection efficiency of the bearing.

[0017] In some embodiments, multiple transmission components are symmetrically distributed on both sides of the sound insulation cylinder, and each transmission component includes: a second electric push rod, fixedly connected to the sound insulation cylinder; a wave block, arranged on the second electric push rod; an opening and closing door, transmission-connected to the toggle block, and the opening and closing door is semicircular; a support seat, rotationally connected to the toggle block and fixed on the sound insulation cylinder.

[0018] In this embodiment, the second electric push rod serves as a power component to drive the toggle block to rotate. The toggle block rotates with the support seat as the center, so that the opening and closing door can realize the switching action, improve the sealing effect inside the sound insulation tube, and thus improve the accuracy of bearing detection and sound reception.

[0019] In some embodiments, the detection assembly includes: a guide seat fixedly connected to the sound insulation cylinder; a third spring arranged on the guide seat; a lifting block fixedly connected to the bottom end of the guide seat; a toggle member rotatably connected to the lifting block, and the toggle member can only rotate upward relative to the lifting block; an extension rod fixedly connected to the lifting block, and the extension rod extends away from the lifting block and contacts the top surface of the connecting frame.

[0020] In this embodiment, the extension rod is in contact with the connecting frame, so that the detection assembly can change accordingly with the lifting of the connecting frame, and the toggle member is rotatably connected to the lifting block, and the toggle block can only be rotated upward to meet this detection requirement.

[0021] In some embodiments, the detection assembly also includes: a fixed seat, fixedly connected to the sound insulation cylinder; a slot column, rotatably connected to the fixed seat, and a toggle member moves in the slot column; a torsion spring, arranged on the slot column; a spiral sheet, fixedly connected to the slot column, in a spiral shape, and indirectly in contact with the outer surface of the bearing.

[0022] In this embodiment, the slot column is in an active state, and the toggle member moves longitudinally along a fixed track set in the slot column, and the track in the slot column is spiral. When the toggle member moves in the slot column, the slot column will be rotated until the toggle member is separated from the slot column, so that the torsion spring generates a rebound force, causing the slot column to drive the spiral piece to rotate, contact the bearing, trigger the bearing to rotate, and perform bearing detection.

[0023] In some embodiments, the detection assembly further includes: a plurality of stethoscopes evenly arranged on the sound insulation cylinder.

[0024] In this embodiment, a plurality of stethoscopes collect the sound during the rotation of the bearing, and the sound insulation tube has a highly efficient sound insulation effect, thereby improving the sound collection accuracy of the stethoscope.

[0025] Compared with the prior art, the above technical solution provided by the present application at least includes the following technical effects: The present application provides a manipulator with a bearing quality detection function, which can complete the quality detection of the bearing during the bearing transportation process, that is, use the manipulator component to stably grasp the bearing and enter the sound insulation tube to perform quality sound detection. The sound insulation tube can reduce external noise interference and combine with multiple stethoscopes to accurately capture the sound of the bearing rotation, thereby improving the accuracy and reliability of the detection. After the detection is completed, the outer ring of the bearing is decelerated and braked to avoid the rotating bearing colliding with other objects when the bearing is placed subsequently. The automatic opening and closing of the sound insulation tube door is controlled by the induction sensor component and the transmission component, thereby improving the automation effect of the device, reducing the need for manual intervention, making the detection process smoother and more efficient, and improving the accuracy of the detection results.

[0026] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the overall structure of a manipulator with a bearing quality detection function according to some embodiments of the present application; Figure 2 This is one of the structural schematic diagrams of the manipulator assembly of some embodiments of the present application; Figure 3 This is the second structural schematic diagram of the manipulator assembly of some embodiments of the present application; Figure 4 It is a structural exploded diagram of a manipulator assembly of some embodiments of the present application; Figure 5 It is a schematic diagram of the structure of the transmission assembly of some embodiments of the present application; Figure 6 It is a structural exploded diagram of the transmission assembly of some embodiments of the present application; Figure 7 A schematic diagram of the structure of the inductive sensing assembly of some embodiments of the present application; Figure 8 A schematic diagram of the structure of a detection component in some embodiments of the present application; Fig. 9 A schematic diagram of the contracted state structure of the detection assembly of some embodiments of the present application; Fig.10 A schematic diagram of the relaxation state structure of the detection component of some embodiments of the present application; Fig.11 It is a structural exploded diagram of the detection assembly of some embodiments of the present application; Fig.12It is a schematic diagram of the overall planar structure of the friction reduction assembly of some embodiments of the present application; Fig.13 An exploded view of the structure of the friction reduction assembly of some embodiments of the present application; Fig.14 It is a schematic diagram of the planar structure of the friction reduction assembly in the open state of some embodiments of the present application; in, Figures 1 to 14 The corresponding relationship between the reference numerals and the component names is as follows: 1. Mechanical arm assembly; 11. Base; 12. First connecting arm; 13. Second connecting arm; 14. Third connecting arm; 15. Mounting tube; 2. Manipulator assembly; 21. Soundproof cylinder; 22. First electric push rod; 23. Connecting frame; 24. Mounting plate; 25. Pneumatic actuator; 26. Moving claw; 27. Rubber sleeve; 3. Friction deceleration assembly; 31. Moving seat; 32. First spring; 33. Extrusion piece; 34. Second spring; 35. Friction belt; 4. Inductive sensing component; 41. Grating sensor; 42. Positioning module; 5. Transmission assembly; 51. Second electric push rod; 52. Toggle block; 53. Open and close door; 54. Support seat; 6. Detection assembly; 61. Guide seat; 62. Third spring; 63. Lifting block; 64. Toggle member; 65. Extension rod; 66. Fixed seat; 67. Slot column; 68. Torsion spring; 69. Spiral sheet; 70. Stethoscope; 7. Bearings. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0030] Refer to the following Figures 1 to 14 A manipulator with a bearing quality detection function provided according to some embodiments of the present application is described.

[0031] like Figure 1As shown, the manipulator with bearing quality detection function provided according to some embodiments of the present application includes a manipulator assembly 1, a manipulator assembly 2, a friction reduction assembly 3, an inductive sensing assembly 4, a transmission assembly 5 and a detection assembly 6. The manipulator assembly 1 is composed of a plurality of manipulators and is used to adjust the grasping position; the manipulator assembly 2 is connected to the manipulator assembly 1, and the manipulator assembly 2 is used to clamp the bearing 7; the friction reduction assembly 3 is arranged on the manipulator assembly 2; the inductive sensing assembly 4 is connected to the manipulator assembly 2; a plurality of transmission assemblies 5 are arranged on both sides of the manipulator assembly 2; the detection assembly 6 is arranged on the manipulator assembly 2, and the detection assembly 6 is arranged farther away from the manipulator assembly 1 than the manipulator assembly 2.

[0032] It should be noted that the robot arm assembly 1 serves as a base support structure to provide support for the robot. The bearing 7 is grasped by the robot arm assembly 2, and the bearing 7 is detected by this device, that is, the detection assembly 6 performs the detection work, and through the rotation of the transmission bearing 7, it is detected whether the bearing 7 makes abnormal noise during the rotation process to achieve the purpose of detection.

[0033] When the manipulator with the bearing quality detection function is working, first, the connecting arms of the manipulator assembly 1 rotate to adjust the position of the manipulator assembly 2, and the internal structure of the manipulator assembly 2 is driven to move the manipulator, then the inductive sensor assembly 4 performs inductive transmission, and the transmission assembly 5 receives the induction to open the device, and the manipulator extends out to grab the bearing 7 and enters the device to perform detection work, then the manipulator is recovered, and the transmission assembly 5 receives the signal of the inductive sensor assembly 4 to close the device, so that the detection assembly 6 performs bearing 7 detection work.

[0034] In some possible embodiments, Figure 1 As shown, the robot arm assembly 1 includes: a base 11; a first connecting arm 12, which is arranged on the base 11; a second connecting arm 13, which is rotatably connected to the first connecting arm 12; a third connecting arm 14, which is rotatably connected to the second connecting arm 13; and a mounting tube 15, which is connected to the third connecting arm 14 and is used to fix the robot arm assembly 2.

[0035] In this embodiment, the base 11 provides overall support and fixation for the device, and the first connecting arm 12, the second connecting arm 13 and the third connecting arm 14 are able to rotate within a certain range, so that they can reach and operate the bearing 7 away from the base, thereby expanding its working range. The installation cylinder 15 is used as an intermediate connecting component to connect and fix the manipulator assembly 2 to ensure stable operation of the manipulator assembly 2.

[0036] In some possible embodiments, Figure 2-4As shown, the manipulator assembly 2 includes: a sound insulation tube 21, fixedly connected to the bottom end of the mounting tube 15; a first electric push rod 22, arranged inside the mounting tube 15; a connecting frame 23, fixedly connected to the first electric push rod 22; a mounting plate 24, arranged on the connecting frame 23, and the mounting plate 24 has a plurality of grooves distributed in an array; a pneumatic actuator 25, arranged on the mounting plate 24; and a plurality of moving claws 26, connected to the pneumatic actuator 25 and passing through the mounting plate 24.

[0037] In this embodiment, the sound insulation tube 21 is cylindrical in shape, and its purpose is to reduce the interference of external noise on the internal detection work. The first electric push rod 22 is responsible for providing linear motion power. By pushing the mounting plate 24, the mounting plate 24 drives the pneumatic actuator 25 and the moving claw 26 to move. The mounting plate 24 supports the pneumatic actuator 25. The pneumatic actuator 25 is responsible for providing power to the moving claw 26. The bearing 7 is grasped and released by the contraction and expansion of the moving claw 26. At the same time, the mounting plate 24 is provided with the same number of grooves as the moving claw 26 to accommodate the movement of the moving claw 26 inside, thereby improving the movement stability of the moving claw 26.

[0038] In some possible embodiments, Figure 4 As shown, a plurality of moving claws 26 are distributed in an array, and each moving claw 26 includes a rubber sleeve 27 fixedly connected to the moving claw 26 , and a plurality of protrusions are provided on the surface of the rubber sleeve 27 .

[0039] In this embodiment, the rubber sleeve 27 is arranged at the output end of the pneumatic actuator 25, and is in contact with the bearing 7 through the rubber sleeve 27. It is made of soft and wear-resistant material to increase the friction between the rubber sleeve 27 and the bearing 7, thereby preventing the bearing 7 from slipping during the grasping process and improving the grasping stability.

[0040] In some possible embodiments, Figure 12-14 As shown, the friction reduction assembly 3 includes: a moving seat 31, which is arranged on the sound insulation tube 21; a first spring 32, which is arranged on the moving seat 31; an extrusion piece 33, which is connected to the moving seat 31; a second spring 34, which is arranged on the extrusion piece 33; and a friction belt 35, which is fixedly connected to the extrusion piece 33 and contacts the outer surface of the bearing 7.

[0041] In this embodiment, the movable seat 31 is in an active state and is movably installed on the sound insulation tube 21. During the movement of the bearing 7, friction is generated by contacting with the friction belt 35, and the friction force with its surface is used to achieve a deceleration and braking effect. The second spring 34 provides a certain elastic support for the extrusion piece 33, so that it can better adapt to the shape changes of the outer surface of the bearing 7 and can absorb the impact energy generated by the bearing 7 to a certain extent. When the movable seat 31 is in an extruded state, the first spring 32 is compressed. After the bearing 7 moves down, the movable seat 31 is unrestricted, and the first spring 32 restores its elasticity, so that the extrusion piece 33 and the friction belt 35 and other components move outward to prevent the extrusion piece 33 from interfering with the mechanical grasping work of the manipulator assembly 2.

[0042] In some possible embodiments, Figure 7 As shown, the inductive sensing assembly 4 includes: a grating sensor 41 connected to the inner wall of the sound insulation tube 21 , and the grating sensor 41 is provided with two sensing points; and a positioning module 42 fixedly connected to the mounting plate 24 .

[0043] In this embodiment, the grating sensor 41 is arranged on the inner wall of the sound insulation tube 21, and two sensing points are arranged inside it. When the positioning module 42 moves to the corresponding two positions, the positioning module 42 sends a signal to the grating sensor 41, thereby driving the transmission component 5 to work, improving the degree of automation of the device and thus improving work efficiency.

[0044] In some possible embodiments, Figure 5 , Figure 6 As shown, multiple transmission components 5 are symmetrically distributed on both sides of the sound insulation tube 21, and each transmission component 5 includes: a second electric push rod 51, which is fixedly connected to the sound insulation tube 21; a toggle block 52, which is arranged on the second electric push rod 51; an opening and closing door 53, which is transmission-connected to the toggle block 52, and the opening and closing door 53 is semicircular; a support seat 54, which is rotationally connected to the toggle block 52 and fixed on the sound insulation tube 21.

[0045] In this embodiment, the second electric push rod 51 serves as the power source of the transmission assembly 5. The second electric push rod 51 receives the signal from the grating sensor 41 to start driving. The toggle block 52 is installed at the end of the second electric push rod 51, and the end of the second electric push rod 51 moves downward, so that the bottom of the toggle block 52 rotates with the support seat 54 as the center, and the opening and closing door 53 rotates accordingly to perform the opening and starting action. This transmission method can quickly respond to the instructions of the second electric push rod 51. At the same time, the top structure of the opening and closing door 53 contacts the above-mentioned moving seat 31, so that the friction reduction assembly 3 is in the working position.

[0046] In some possible embodiments, Figure 8-11As shown, the detection assembly 6 includes: a guide seat 61, fixedly connected to the sound insulation tube 21; a third spring 62, arranged on the guide seat 61; a lifting block 63, fixedly connected to the bottom end of the guide seat 61; a toggle member 64, rotatably connected to the lifting block 63, and the toggle member 64 and the lifting block 63 can only rotate upward; an extension rod 65, fixedly connected to the lifting block 63, and the extension rod 65 extends away from the lifting block 63 and contacts the top surface of the connecting frame 23.

[0047] In this embodiment, the manipulator assembly 2 at the bottom of the connecting frame 23 grabs the bearing 7 and moves upward, and shrinks into the sound insulation tube 21 to perform detection. Since the extension rod 65 contacts the top of the connecting frame 23, the extension rod 65 moves upward accordingly, and at the same time, the lifting block 63 moves upward along the guide seat 61, the third spring 62 is compressed, and the toggle member 64 moves upward accordingly; when the connecting frame 23 moves downward, the limit on the extension rod 65 is cancelled, and the elasticity is restored from the third spring 62, so that the lifting block 63 moves downward, and the toggle member 64 moves downward accordingly. During the downward movement of the toggle member 64, it will be rotated upward by external force and is only allowed to rotate upward, ensuring that the toggle member 64 can move to a predetermined position when subjected to external force.

[0048] In some possible embodiments, Figure 8-11 As shown, the detection assembly 6 also includes: a fixed seat 66, which is fixedly connected to the sound insulation tube 21; a slot column 67, which is rotatably connected to the fixed seat 66, and the toggle member 64 moves in the slot column 67; a torsion spring 68, which is arranged on the slot column 67; a spiral sheet 69, which is fixedly connected to the slot column 67, is spirally shaped, and contacts the outer surface of the bearing 7.

[0049] In this embodiment, after the toggle member 64 is driven to move upward, it moves along the groove in the slot column 67. Since the groove is spiral, the slot column 67 is driven to rotate one hundred and eighty degrees by the upward force of the toggle member 64, so that the bottom torsion spring 68 and the spiral piece 69 rotate accordingly until the toggle member 64 is separated from the slot column, so that the torsion spring 68 rebounds and the spiral piece 69 is driven to reverse. Since the spiral piece 69 is spiral, the spiral piece 69 drives the bearing 7 to rotate to perform the detection work.

[0050] In some possible embodiments, Figure 5 As shown, the detection assembly 6 also includes: a plurality of stethoscopes 70 evenly arranged on the sound insulation tube 21 .

[0051] In this embodiment, the stethoscope 70 is disposed on the inner surface of the sound insulation tube 21 close to the bearing 7 to ensure that the stethoscope 70 can capture the sound emitted by the bearing 7 for detection.

[0052] When the manipulator with bearing quality detection function is working, the manipulator assembly 2 is adjusted to the top of the detection bearing 7 through the rotation adjustment of the first connecting arm 12, the second connecting arm 13 and the third connecting arm 14, so that the first electric push rod 22 of the manipulator assembly 2 is started, pushing the connecting frame 23 and the mounting plate 24 to move downward, and the positioning module 42 moves downward accordingly, sending a signal to the grating sensor 41, so that the transmission assembly 5 is driven, that is, the end of the second electric push rod 51 moves downward, so that the bottom of the toggle block 52 rotates with the support seat 54 as the center, and the opening and closing door 53 rotates accordingly to perform the opening and starting action, so that the pneumatic actuator 25 drives the multiple moving claws 26 to expand, through the rubber sleeve 27 contacts the inner surface of the bearing 7 and grabs the bearing 7, so that the first electric push rod 22 shrinks and enters the sound insulation tube 21 for detection. The positioning module 42 moves up with the mounting plate 24, and the grating sensor 41 drives the transmission assembly 5 again to close the opening and closing door 53. At the same time, the extension rod 65 moves up with the connecting frame 23, and the third spring 62 is compressed, and the toggle member 64 moves up accordingly and moves along the groove in the groove column 67. Since the groove is spiral, the groove column 67 is driven to rotate 180 degrees by the upward force of the toggle member 64, so that the bottom torsion spring 68 and the spiral piece 69 rotate accordingly until the toggle member 64 is separated from the groove column, so that the torsion spring 68 rebounds and the spiral piece 69 is driven The spiral piece 69 is in a spiral shape, and the spiral piece 69 drives the bearing 7 to rotate. The stethoscope 70 inside the sound insulation tube 21 captures the sound of the bearing 7 to detect the bearing 7. After the detection is completed, the first electric push rod 22 is started to send the bearing 7 out, and the connecting frame 23 moves down, cancels the limit on the extension rod 65, and restores the elasticity from the third spring 62, so that the lifting block 63 moves down, and the toggle member 64 moves down accordingly. During the downward movement of the toggle member 64, it will be rotated upward outward to prevent it from continuing to move along the inner groove of the slot column 67. During the downward movement of the bearing 7, it will contact the friction belt 35, and generate friction with the friction belt 35. The friction force with its surface is used to achieve a buffering effect. The second spring 34 A certain elastic support is provided for the extrusion piece 33, so that it can better adapt to the shape change of the outer surface of the bearing 7 and can absorb the impact energy generated by the bearing 7 to a certain extent. At the same time, the opening and closing door 53 in the transmission assembly 5 is opened, and the restriction on the movable seat 31 is cancelled, and the first spring 32 restores its elasticity, so that the extrusion piece 33 and the friction belt 35 and other components move outward to prevent the extrusion piece 33 from interfering with the mechanical grasping work of the manipulator assembly 2. At the same time, when the opening and closing door 53 is closed, it contacts the movable seat 31, so that the first spring 32 is compressed, and the extrusion piece 33 and the friction belt 35 return to their initial positions to prepare for the next detection task. The whole process is highly automated, which reduces manual intervention and improves work efficiency.

[0053] In the present application, it should be noted that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In this application, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. The term "plurality" refers to two or more, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] In this application, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0058] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A manipulator with bearing quality detection function, characterized in that: The manipulator comprises: A robotic arm assembly (1), composed of a plurality of robotic arms, for adjusting the grasping position; A manipulator assembly (2) connected to the manipulator arm assembly (1), the manipulator assembly (2) being used to clamp the bearing (7); A friction deceleration component (3) is arranged on the manipulator component (2); An inductive sensor component (4) connected to the manipulator component (2); A plurality of transmission components (5) arranged on both sides of the manipulator component (2); A detection component (6) is arranged on the manipulator component (2); the detection component (6) is arranged farther away from the manipulator component (1) than the manipulator component (2).

2. The manipulator with bearing quality detection function according to claim 1 is characterized in that: The mechanical arm assembly (1) comprises: Base (11); A first connecting arm (12) is arranged on the base (11); A second connecting arm (13) rotatably connected to the first connecting arm (12); A third connecting arm (14) rotatably connected to the second connecting arm (13); The mounting cylinder (15) is connected to the third connecting arm (14) and is used to fix the manipulator assembly (2).

3. The manipulator with bearing quality detection function according to claim 1 is characterized in that: The manipulator assembly (2) comprises: A sound insulation cylinder (21) fixedly connected to the bottom end of the mounting cylinder (15); A first electric push rod (22) is arranged inside the mounting tube (15); A connecting frame (23) fixedly connected to the first electric push rod (22); A mounting plate (24) is arranged on the connecting frame (23), wherein the mounting plate (24) has a plurality of grooves distributed in an array; A pneumatic actuator (25) is arranged on the mounting plate (24); A plurality of movable claws (26) are connected to the pneumatic actuator (25) and penetrate the mounting plate (24).

4. The manipulator with bearing quality detection function according to claim 3 is characterized in that: The plurality of moving claws (26) are distributed in an array, and each of the moving claws (26) comprises: A rubber sleeve (27) is fixedly connected to the movable claw (26), and a plurality of protrusions are provided on the surface of the rubber sleeve (27).

5. The manipulator with bearing quality detection function according to claim 1 is characterized in that: The friction reduction assembly (3) comprises: A movable seat (31) disposed on the sound insulation cylinder (21); A first spring (32) is arranged on the movable seat (31); An extrusion member (33) connected to the movable seat (31); A second spring (34) is arranged on the extrusion member (33); The friction belt (35) is fixedly connected to the extrusion piece (33) and is indirectly in contact with the outer surface of the bearing (7).

6. The manipulator with bearing quality detection function according to claim 1 is characterized in that: The inductive sensing component (4) comprises: A grating sensor (41) is connected to the inner wall of the sound insulation tube (21), and the grating sensor (41) is provided with two sensing points; A positioning module (42) is fixedly connected to the mounting plate (24).

7. The manipulator with bearing quality detection function according to claim 1 is characterized in that: The plurality of transmission components (5) are symmetrically distributed on both sides of the sound insulation cylinder (21), and each transmission component (5) comprises: A second electric push rod (51) is fixedly connected to the sound insulation cylinder (21); A wave block (52) is arranged on the second electric push rod (51); An opening and closing door (53) is drivingly connected to the toggle block (52), and the opening and closing door (53) is semicircular; The support seat (54) is rotatably connected to the toggle block (52) and is fixed on the sound insulation tube (21).

8. The manipulator with bearing quality detection function according to claim 1 is characterized in that: The detection component (6) comprises: A guide seat (61) fixedly connected to the sound insulation tube (21); A third spring (62) is arranged on the guide seat (61); A lifting block (63) is fixedly connected to the bottom end of the guide seat (61); A toggle member (64) is rotatably connected to the lifting block (63), and the toggle member (64) and the lifting block (63) can only rotate upwards; The extension rod (65) is fixedly connected to the lifting block (63), and the extension rod (65) extends away from the lifting block (63) and contacts the top surface of the connecting frame (23).

9. The manipulator with bearing quality detection function according to claim 8 is characterized in that: The detection component (6) further comprises: A fixing seat (66) fixedly connected to the sound insulation cylinder (21); A slot column (67) is rotatably connected to the fixing seat (66), and the shifting member (64) moves in the slot column (67); A torsion spring (68) is arranged on the slot column (67); The spiral sheet (69) is fixedly connected to the groove column (67), is spiral-shaped, and indirectly contacts the outer surface of the bearing (7).

10. The manipulator with bearing quality detection function according to claim 8, characterized in that: The detection component (6) further comprises: A plurality of stethoscopes (70) are evenly arranged on the sound insulation cylinder (21).

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