Screw low-surface defect detection grabbing manipulator

Abstract

The invention relates to the field of screw low-surface defect monitoring, in particular to a screw low-surface defect detection grabbing manipulator. A screw low surface defect detection grabbing manipulator comprises a box body, and a mechanical claw is arranged on the box body; the mechanical claw comprises a driven sector gear and a driving sector gear, the driven sector gear and the driving sector gear are rotationally connected to the box body and are meshed with each other, first rotating rods are fixed to the driven sector gear and the driving sector gear correspondingly, and a second rotating rod is hinged to the lower end of each first rotating rod; the lower portion of each second rotating rod is hinged to a pull rod, the two pull rods are hinged to the lower portion of the box body, the number of the clamping claws is two, hinge parts are fixed to the two clamping claws, the two hinge parts are hinged to the lower portions of the two second rotating rods respectively, driving motors are fixed to the hinge parts, and output shafts of the driving motors are connected to the driving sector gear.

Description

Technical Field

[0001] The present invention relates to the field of screw low-surface defect monitoring, and more particularly to a screw low-surface defect detection and grasping robot. Background Art

[0002] The screw low-surface defect detection grasping robot of the present invention is mainly used to solve the defect detection problem of enterprises currently producing fasteners. Most of the work is done manually. The long time of manual defect detection makes the eyes very tired and affects health. There are problems such as missed detection, high labor costs, and low efficiency. Among them, missed detection problems often occur, resulting in huge economic losses such as batch returns. Automatic screw defect detection equipment can reduce missed detection, reduce labor costs, and improve production efficiency. It has very important research significance for screw production enterprises. In view of this, a movable screw surface defect detection equipment is invented. The existing technology uses a vibrating screen to feed screws, which is not convenient for bottom surface detection. Summary of the Invention

[0003] In order to overcome the shortcomings of the existing technology, the present invention provides a screw low-surface defect detection grasping robot, which has the beneficial effect of being able to clamp multiple screws at the same time, making it convenient to detect the low surface, and then send them to the back end to detect other surfaces after detection. It can clamp multiple screws at the same time and detect the bottom surfaces of multiple screws at the same time, which is highly efficient.

[0004] A screw low-surface defect detection and grasping robot comprises a box body, on which a mechanical claw is provided;

[0005] The mechanical claw includes a driven sector gear and an active sector gear, which are rotatably connected to the box body and meshed with each other. A rotating rod 1 is fixed to the driven sector gear and the active sector gear, and the lower end of each rotating rod 1 is hinged to a rotating rod 2, and the lower part of each rotating rod 2 is hinged to a pull rod, and the two pull rods are hinged to the lower part of the box body. Two clamping claws are provided, and a hinge part is fixed to the two clamping claws. The two hinge parts are respectively hinged to the lower parts of the two rotating rods 2, and a driving motor is fixed to the hinge part, and the output shaft of the driving motor is connected to the active sector gear.

[0006] A clamping claw motor is fixed to the lower part of the second rotating rod, and the clamping claw motor drives the hinge part to rotate on the second rotating rod.

[0007] A plurality of V-shaped grooves are provided on the opposite surfaces of the two clamping claws from front to back.

[0008] Two cylinders 1 are fixed on the back of one of the clamping claws, and the two cylinders 1 are respectively fixed on two support seats. L-shaped rods are vertically slidably connected to the two support seats, and a flush bar is fixed between the two L-shaped rods.

[0009] The right side of the flush strip is provided with an inclined surface.

[0010] A blocking edge is provided on the left side of the flush strip.

[0011] Two small arm guide rods are fixed on one side of the box body, and the two small arm guide rods are both slidably connected to the flat seat in the horizontal direction.

[0012] A small arm cylinder is fixed on the flat seat, and a movable end of the small arm cylinder is fixed on the box body.

[0013] Four boom guide rods are provided on the lower side of the flat seat, and the boom guide rods are composed of a solid rod and a hollow rod. The solid rod is slidably connected to the hollow rod, the solid rod is fixed on the lower side of the flat seat, and the hollow rod is fixed on the upper side of the swivel seat. A boom cylinder is fixed on the swivel seat, and the movable end of the boom cylinder is fixed on the flat seat.

[0014] The swivel seat is rotatably connected to the base, and a single-stage cylindrical gear reducer is provided at the lower end of the swivel seat. The single-stage cylindrical gear reducer is rotatably connected to the machine base shaft through a thrust ball bearing. A machine base drive motor is fixed on the base, and the output shaft of the machine base drive motor is connected to the gear on the single-stage cylindrical gear reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0016] Figure 1 Schematic diagram of the structure of the gripping robot for screw low-surface defect detection Figure 1 ;

[0017] Figure 2 Schematic diagram of the structure of the gripping robot for screw low-surface defect detection Figure 2 ;

[0018] Figure 3 Schematic diagram of the structure of the mechanical claw Figure 1 ;

[0019] Figure 4 Schematic diagram of the structure of the mechanical claw Figure 2 ;

[0020] Figure 5 Schematic diagram of the structure of the mechanical claw Figure 3 ;

[0021] Figure 6 Schematic diagram of the structure of the mechanical claw Figure 4 ;

[0022] In the figure: driven sector gear 1; driving sector gear 2; drive motor 3; mechanical claw 4; small arm guide rod 5; small arm cylinder 6; large arm guide rod 7; large arm cylinder 8; base drive motor 9; single-stage cylindrical gear reducer 10; thrust ball bearing 11; base shaft 12; box body 13; flat base 14; base 15; swivel base 16;

[0023] Clamping claw motor 401; rotating rod 1 402; rotating rod 2 403; pulling rod 404; clamping claw 405; V-shaped groove 406; inclined surface 407; flush bar 408; blocking edge 409; L-shaped rod 410; supporting base 411; cylinder 1 412; cylinder 2 413; hinged portion 414. DETAILED DESCRIPTION

[0024] like Figure 1-6 As shown;

[0025] Since the screw low surface defect detection grasping manipulator includes a box body 13, which is characterized in that: a mechanical claw 4 is provided on the box body 13; the mechanical claw 4 includes a driven sector gear 1 and an active sector gear 2, the driven sector gear 1 and the active sector gear 2 are rotatably connected to the box body 13, the driven sector gear 1 and the active sector gear 2 are engaged with each other, and a rotating rod 1 402 is fixed on the driven sector gear 1 and the active sector gear 2, and the lower end of each rotating rod 1 402 is hinged to a rotating rod 2 403, and the lower part of each rotating rod 2 403 is hinged to a pull rod 404, and the two pull rods 404 are hinged to the lower part of the box body 13, and the clamping claw 405 is provided with two The two clamping jaws 405 are each fixed with a hinged portion 414, which is hinged to the lower portion of the two second rotating rods 403. A drive motor 3 is fixed to the hinged portion 414. The output shaft of the drive motor 3 is connected to the active sector gear 2. The drive motor 3 drives the active sector gear 2 to rotate. When the active sector gear 2 rotates, it drives the driven sector gear 1 to rotate in the opposite direction at the same angle, thereby driving the two rotating rods 402 to open or close. The rotating rod 402, the second rotating rod 403, and the pull rod 404 form a connecting rod mechanism. By opening or closing the two rotating rods 402, the two clamping jaws 405 can be controlled to move closer or farther away from each other. This drives the two clamping jaws 405 closer together to clamp multiple screws, facilitating defect detection of the screws.

[0026] like Figure 1-6 As shown;

[0027] Since the clamping claw motor 401 is fixed to the lower part of the rotating rod 2 403, the clamping claw motor 401 drives the hinge part 414 to rotate on the rotating rod 2 403, and the clamping claw motor 401 can drive the hinge part 414 to rotate, thereby driving the corresponding clamping claw 405 to rotate, and then adjusting the angles of the two clamping claws 405 when clamping the screws, so that the relative surfaces of the two clamping claws 405 can be parallel, thereby facilitating the clamping of multiple screws.

[0028] like Figure 1-6 As shown;

[0029] Since a plurality of V-shaped grooves 406 are provided on the opposite surfaces of the two clamping claws 405 from front to back, when the two clamping claws 405 clamp a screw, the screw can be clamped through the two V-shaped grooves 406 so that both sides of the screw enter the two V-shaped grooves 406. Since the V-shaped grooves 406 are arranged vertically, the screw can be clamped while maintaining a vertical setting state, which makes it more convenient to arrange the screws vertically and arrange them neatly, thereby making it more convenient to clamp the screws.

[0030] like Figure 1-6 As shown;

[0031] Since two cylinders 1 412 are fixed on the back of one of the clamping claws 405, the two cylinders 1 412 are respectively fixed on two support seats 411, and the two support seats 411 are vertically slidably connected with L-shaped rods 410, and a flush bar 408 is fixed between the two L-shaped rods 410. When the two cylinders 1 412 are extended and retracted at the same time, the two support seats 411 can be driven to move horizontally at the same time, thereby driving the two L-shaped rods 410 and the flush bar 408 to move horizontally. When the two cylinders 2 413 are extended and retracted, the two support seats 411 can be driven to move horizontally at the same time. The L-shaped rod 410 rises and falls, thereby driving the flushing bar 408 to move vertically. After the two clamping claws 405 clamp multiple screws at the same time, the multiple screws are loosened appropriately, and then the flushing bar 408 is moved to the lower side of the multiple screws. The flushing bar 408 is moved upward to press against the lower ends of the multiple screws, thereby adjusting the lower ends of the multiple screws to a flush state. Then, the multiple screws are clamped again by the two clamping claws 405. After the lower ends of the multiple screws are adjusted to a flush state, it is more convenient to detect low-surface defects of multiple screws at the same time.

[0032] like Figure 1-6 As shown;

[0033] Because the right side of the flush bar 408 is provided with an inclined surface 407, the flush bar 408 can also be moved horizontally, thereby causing the inclined surface 407 to move horizontally against the lower ends of the multiple screws between the two clamping claws 405, thereby allowing the multiple screws to slide to the upper side of the flush bar 408 via the inclined surface 407, making it easier to adjust the lower ends of the multiple screws to be flush. The left side of the flush bar 408 is provided with a blocking edge 409. After the multiple screws contact the blocking edge 409, the flush bar 408 stops moving horizontally. Then, after the multiple screws are clamped by the two clamping claws 405, the flush bar 408 can be removed, making it easier to detect low-surface defects of multiple screws.

[0034] like Figure 1-6 As shown;

[0035] Since two small arm guide rods 5 are fixed on one side of the box body 13, the two small arm guide rods 5 are connected to the flat seat 14 in a horizontal sliding direction, and a small arm cylinder 6 is fixed on the flat seat 14. The movable end of the small arm cylinder 6 is fixed on the box body 13. When the small arm cylinder 6 is extended or retracted, it can drive the two small arm guide rods 5 to move horizontally on the flat seat 14, thereby driving the box body 13 and the mechanical claw 4 to move horizontally.

[0036] like Figure 1-6 As shown;

[0037] Since four boom guide rods 7 are provided on the lower side of the flat seat 14, the boom guide rods 7 are composed of a solid rod and a hollow rod, the solid rod is slidably connected to the hollow rod, the solid rod is fixed to the lower side of the flat seat 14, and the hollow rod is fixed to the upper side of the swivel seat 16, and the boom cylinder 8 is fixed on the swivel seat 16, and the movable end of the boom cylinder 8 is fixed on the flat seat 14. When the boom cylinder 8 is extended or retracted, it can drive the boom guide rods 7 to extend or retract, thereby driving the flat seat 14, the box body 13 and the mechanical claw 4 to rise and fall.

[0038] like Figure 1-6 As shown;

[0039] Since the swivel seat 16 is rotatably connected to the base 15, a single-stage cylindrical gear reducer 10 is provided at the lower end of the swivel seat 16, and the single-stage cylindrical gear reducer 10 is rotatably connected to the machine base shaft 12 through a thrust ball bearing 11. A machine base drive motor 9 is fixed on the base 15, and the output shaft of the machine base drive motor 9 is connected to the gear on the single-stage cylindrical gear reducer 10. When the machine base drive motor 9 rotates, it drives the gear on the single-stage cylindrical gear reducer 10 to rotate, thereby driving the swivel seat 16 to rotate horizontally on the base 15, and then driving the flat seat 14, the box body 13 and the mechanical claw 4 to rotate horizontally to adjust their position.

[0040] The screw low-surface defect detection grasping robot designed in this paper is mainly used to solve the problem that when the screw needs all-round surface inspection, its bottom surface needs to be clamped by the robot for all-round inspection. Therefore, this robot is designed. After completing the ground inspection, the robot sends the screw to the back-end inspection mechanism.

[0041] This design uses a double-rocker gripper, which can provide appropriate clamping force to ensure stable clamping of the workpiece. It has a simple structure, light weight and small size.

[0042] The robot's gripper utilizes a motor to drive a pair of identical sector gears. The driving and driven gears of these sector gears each drive a linkage mechanism to synchronize the opening and closing of the fingers. The meshing of the gears provides high-precision gripping. The motion of the meshing sector gears is mutually constrained. Rotation of the driving sector gear drives rotation of the driven sector gear. Therefore, despite the presence of two sector gears, there is only one independent motion: the rotation of the driving sector gear.

[0043] Telescopic and lifting functions are essential for a manipulator's ability to flexibly adapt to various working heights and positions. This functionality allows the manipulator to move vertically up and down, as well as horizontally and horizontally. This design utilizes a single-piston-rod, double-acting cylinder for both the lower and upper arms, achieving a cost-effective telescopic function. The most common type of cylinder consists of a piston and a cylinder barrel, which are pushed by compressed air to achieve linear reciprocating motion. A sealing ring is installed on the piston to ensure airtightness. Its simple structure and high reliability make it widely used in various industrial automation equipment. When the upper and lower arms of a pneumatically driven manipulator are telescopic, a guide mechanism is required to prevent axial rotation of the arm, ensure accurate end-effector posture, reduce bending loads on the piston rod, and enhance arm structural rigidity. Common guide structures include single, dual, and four guide rods. Considering both compactness and guidance performance requirements, this design adopts a single guide rod solution. Through the rational layout of the guide components, this design effectively enhances guidance accuracy and structural rigidity during arm movement, ensuring stability and positioning accuracy during telescopic motion.

Claims

1. A screw low-surface defect detection and grasping manipulator, comprising a box body (13), characterized in that: The box body (13) is provided with a mechanical claw (4); The mechanical claw (4) includes a driven sector gear (1) and an active sector gear (2), the driven sector gear (1) and the active sector gear (2) are rotatably connected to the box body (13), the driven sector gear (1) and the active sector gear (2) are meshed with each other, a rotating rod (402) is fixed on each of the driven sector gear (1) and the active sector gear (2), the lower end of each rotating rod (402) is hinged to a rotating rod (403), and each rotating rod (403) is hinged to the lower end of each rotating rod (403). 03) are hinged with a pull rod (404) at the lower part, and the two pull rods (404) are hinged at the lower part of the box body (13). Two clamping claws (405) are provided, and a hinge part (414) is fixed on each of the two clamping claws (405). The two hinge parts (414) are respectively hinged to the lower part of the two rotating rods (403). A driving motor (3) is fixed on the hinge part (414), and the output shaft of the driving motor (3) is connected to the active sector gear (2).

2. The screw low-surface defect detection and grasping robot according to claim 1 is characterized in that: A clamping claw motor (401) is fixed to the lower portion of the second rotating rod (403), and the clamping claw motor (401) drives the hinge part (414) to rotate on the second rotating rod (403).

3. The screw low-surface defect detection and grasping robot according to claim 2, characterized in that: A plurality of V-shaped grooves (406) are provided on the opposite surfaces of the two clamping claws (405) from front to back.

4. The screw low-surface defect detection and grasping robot according to claim 3 is characterized in that: Two cylinders (412) are fixed on the back of one of the clamping claws (405), and the two cylinders (412) are respectively fixed on two support seats (411). The two support seats (411) are both vertically slidably connected with L-shaped rods (410), and a flush bar (408) is fixed between the two L-shaped rods (410). The two support seats (411) are both fixed with vertically arranged cylinders (413), and the movable ends of the two cylinders (413) are respectively fixed on the two L-shaped rods (410).

5. The screw low-surface defect detection and grasping robot according to claim 4, characterized in that: The right side of the flush strip (408) is provided with an inclined surface (407).

6. The screw low-surface defect detection and grasping robot according to claim 5, characterized in that: A blocking edge (409) is provided on the left side of the flush strip (408).

7. The screw low-surface defect detection and grasping robot according to claim 6, characterized in that: Two small arm guide rods (5) are fixed on one side of the box body (13), and the two small arm guide rods (5) are both slidably connected to the flat seat (14) in the horizontal direction.

8. The screw low-surface defect detection and grasping robot according to claim 7, characterized in that: A small arm cylinder (6) is fixed on the flat seat (14), and a movable end of the small arm cylinder (6) is fixed on the box body (13).

9. The screw low-surface defect detection and grasping robot according to claim 8, characterized in that: Four arm guide rods (7) are provided on the lower side of the flat seat (14), and the arm guide rods (7) are composed of a solid rod and a hollow rod. The solid rod is slidably connected to the hollow rod. The solid rod is fixed to the lower side of the flat seat (14), and the hollow rod is fixed to the upper side of the rotating seat (16). A arm cylinder (8) is fixed on the rotating seat (16), and the movable end of the arm cylinder (8) is fixed on the flat seat (14).

10. The screw low-surface defect detection and grasping robot according to claim 9, characterized in that: The rotating seat (16) is rotatably connected to the base (15). A single-stage cylindrical gear reducer (10) is provided at the lower end of the rotating seat (16). The single-stage cylindrical gear reducer (10) is rotatably connected to the machine base shaft (12) through a thrust ball bearing (11). A machine base drive motor (9) is fixed to the base (15). The output shaft of the machine base drive motor (9) is connected to a gear on the single-stage cylindrical gear reducer (10).

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