Bearing part precision detection device and detection method

Abstract

The invention relates to a bearing part precision detection device and method, the bearing part precision detection device comprises a rack, a product temporary storage rack, a rigidity calibration module, a cooperative arm grabbing module and a rotation precision detection module, the product temporary storage rack is installed on one side of the rack, and the rigidity calibration module is installed on the other side of the rack; the rigidity calibration module, the cooperative arm grabbing module and the rotation precision detection module are all installed on the table top of the rack, and the cooperative arm grabbing module is located in the middle of the table top of the rack. The rigidity calibration module and the rotation precision detection module are located on the two sides of the cooperative arm grabbing module correspondingly and are arranged adjacent to the product temporary storage frame. The bearing part precision detection device is suitable for a precision detection link after production of non-standard high-precision bearing parts so as to improve the efficiency and precision of bearing product detection. According to the bearing part precision detection device, full-automatic detection of the precision of a bearing product can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic detection of bearing parts, and particularly relates to a bearing part precision detection device and a detection method. BACKGROUND

[0002] Most of the existing bearing part detection devices are single-function detection devices, and cannot perform full-automatic precision detection of bearing parts. Even if some bearing detection lines exist, they have defects such as complex structure, large floor area, inconvenient operation, and complicated detection process.

[0003] The utility model patent with the authorized announcement number CN206410862U discloses a bearing detection line, which comprises a rack and a detection platform installed on the rack, further comprises a clamping mechanism, the clamping mechanism is installed on the detection platform through a translation support, and the clamping mechanism moves within the walking range of the translation support; a detection mechanism is installed on the detection platform through a connecting frame, and a detection end portion thereof is located above the clamping mechanism. Although the bearing detection line discloses a detection mechanism, it does not explain what the detection mechanism is and how it cooperates with other structures to perform related precision detection. Moreover, the bearing detection line is also provided with a clamping mechanism, a lifting mechanism, and a feeding channel, and has a complex structure. SUMMARY

[0004] The present application provides a bearing part precision detection device and a detection method to solve one or several technical problems existing in the prior art.

[0005] The technical solution for solving the above technical problems is as follows: the present application provides a bearing part precision detection device, which comprises a rack, a product temporary storage rack, a stiffness calibration module, a collaborative arm grabbing module, and a rotation precision detection module. The product temporary storage rack is installed on one side of the rack, the stiffness calibration module, the collaborative arm grabbing module, and the rotation precision detection module are all installed on the tabletop of the rack, the collaborative arm grabbing module is located at the middle position of the tabletop of the rack, and the stiffness calibration module and the rotation precision detection module are respectively located on both sides of the collaborative arm grabbing module and are arranged adjacent to the product temporary storage rack.

[0006] The bearing part precision detection device of the present application is suitable for precision detection after the production of non-standard high-precision bearing parts, so as to improve the efficiency and precision of bearing product detection. The bearing part precision detection device of the present application can realize full-automatic detection of the precision of bearing products.

[0007] On the basis of the above technical solution, the present application can also be improved as follows.

[0008] Further, the rack comprises a first rack, a second rack and a third rack, the second rack is located between the first rack and the third rack, the table height of the second rack is lower than the table height of the first rack and the third rack, the product temporary storage rack is installed on one side of the first rack, the second rack and the third rack, and the table height of the product temporary storage rack is the same as the table height of the first rack and the third rack; the collaborative arm grabbing module is installed on the table of the second rack, and the stiffness calibration module and the rotation accuracy detection module are respectively installed on the tables of the first rack and the third rack.

[0009] The beneficial effect of the above further scheme is that by setting three racks with different heights and reasonably arranging them, the grabbing stroke of the collaborative arm grabbing module can be shortened, operation is facilitated, and the degree of automation is higher.

[0010] Further, the collaborative arm grabbing module comprises a multi-degree-of-freedom mechanical arm and a finger clamping mechanism, one end of the multi-degree-of-freedom mechanical arm is fixed at a middle position of the table of the rack. The finger clamping mechanism comprises a driving mechanism, two linkage assemblies and two clamping fingers, the main body structure of the driving mechanism is fixed at one end of the multi-degree-of-freedom mechanical arm, the two linkage assemblies are respectively fixed on the two output shafts of the driving mechanism and are symmetrically arranged, and the two output shafts of the driving mechanism are respectively in transmission connection with the two clamping fingers through the two linkage assemblies and drive the opening and closing actions of the two clamping fingers.

[0011] The beneficial effect of the above further scheme is that by setting the multi-degree-of-freedom mechanical arm and the finger clamping mechanism, the product bearing can be effectively grabbed.

[0012] Further, the linkage assembly comprises an L-shaped linkage and a limiting rod, one end of the L-shaped linkage is fixedly connected with the output shaft of the driving mechanism perpendicularly, the other end of the L-shaped linkage is hinged with one end of the clamping finger through a first hinge shaft, the limiting rod is located on the side of the L-shaped linkage close to the other linkage assembly and forms a right triangle structure together with the L-shaped linkage, one end of the limiting rod is hinged with the main body structure of the driving mechanism through a second hinge shaft, and the other end of the limiting rod is hinged with one end of the clamping finger through a third hinge shaft; the first hinge shaft, the second hinge shaft and the third hinge shaft are arranged in parallel with the output shaft of the driving mechanism.

[0013] The beneficial effect of the above further scheme is that by driving the L-shaped linkage to open and close through the driving mechanism, the limiting rod can also be swung, and the limiting rod can also limit the opening and closing amplitude of the L-shaped linkage.

[0014] Further, the rotation accuracy detection module comprises an end face run-out detection sensor, a radial run-out detection sensor, a first zero point positioning system, a rotation driving mechanism and a rotation driving mechanism, a first assembly hole is formed on the table top of the rack, the rotation driving mechanism is arranged below the table top of the rack and opposite to the first assembly hole, the first zero point positioning system and the rotation driving mechanism are both arranged above the table top of the rack and around the first assembly hole; the rotation driving mechanism is connected with the clamping mechanism through a shaft coupling and drives the clamping mechanism to rotate in the first assembly hole, the clamping mechanism can clamp the bearing product installed on the first zero point positioning system and drive the inner ring of the bearing product to rotate; the end face run-out detection sensor and the radial run-out detection sensor are both arranged on the output shaft of the rotation driving mechanism and can rotate between the zero position and the working position.

[0015] The beneficial effect of the above further scheme is that: through the first zero point positioning system, the bearing product can be positioned, through the end face run-out detection sensor and the radial run-out detection sensor, the end face run-out parameter and the radial run-out parameter of the bearing product can be detected.

[0016] Further, the clamping mechanism is a three-jaw chuck.

[0017] Further, the output shaft of the rotation driving mechanism is vertically extended and arranged and is fixed with a support frame, the support frame comprises a first transverse connecting arm, a vertical connecting arm and a second transverse connecting arm which are vertically and fixedly connected in sequence, the first transverse connecting arm is fixed on the output shaft of the rotation driving mechanism, the end face run-out detection sensor is fixed on the second transverse connecting arm and above the assembly hole, and the radial run-out detection sensor is fixed on the vertical connecting arm and on one side of the assembly hole.

[0018] The beneficial effect of the above further scheme is that: through the support frame, the end face run-out detection sensor and the radial run-out detection sensor can be stably assembled.

[0019] Further, the rigidity calibration module comprises a second zero-point positioning system, an axial compression mechanism, a radial compression mechanism, a radial displacement sensor and an axial displacement sensor, the second assembly hole is arranged on the table top of the rack, the axial compression mechanisms are arranged on the upper and lower sides of the table top of the rack, the compression ends of the two axial compression mechanisms are arranged opposite to the second assembly hole, the second zero-point positioning system, the radial compression mechanism and the radial displacement sensor are arranged on the table top of the rack and are respectively located around the second assembly hole, and the compression end of the radial compression mechanism and the radial displacement sensor are arranged opposite along the radial direction of the second assembly hole; and the axial displacement sensor is arranged on one of the axial compression mechanisms and is located on the side of the compression end of the axial compression mechanism.

[0020] The beneficial effect of the above further scheme is that: through the arrangement of the second zero-point positioning system, the bearing product can be positioned; through the arrangement of the axial compression mechanism and the radial compression mechanism, the bearing product can be axially compressed and radially compressed, and the axial displacement and the radial displacement can be detected respectively.

[0021] Further, the table top of the rack is further provided with a linear module, and the radial displacement sensor is arranged on the linear module and can reciprocate between the zero position and the working position under the driving of the linear module.

[0022] The beneficial effect of the above further scheme is that: through the arrangement of the linear module, the radial displacement sensor can be driven to reciprocate between the zero position and the working position.

[0023] The application further provides a bearing part precision detection method, which is realized by using the bearing part precision detection device.

[0024] The beneficial effect of the application is that: the detection method of the application has high automation degree, and can improve the detection efficiency and the detection precision of the bearing product. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 FIG. 1 is a schematic view of the three-dimensional structure of the bearing part precision detection device of the application; Figure 2Schematic diagram of the three-dimensional structure of the collaborative arm grasping module of the present invention; Figure 3 Schematic diagram of the three-dimensional structure of the finger gripping mechanism of the present invention; Figure 4 This is a schematic diagram of the three-dimensional structure of the rotation accuracy detection module of the present invention installed on the third frame; Figure 5 Schematic diagram of the three-dimensional structure of the rotation accuracy detection module of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of the stiffness calibration module of the present invention installed on the first rack.

[0026] In the accompanying drawings, the components represented by the reference numerals are as follows: 1. First rack; 11. Second rack; 12. Third rack; 13. Product temporary storage rack; 2. Stiffness calibration module; 21. Second zero point positioning system; 22. Axial clamping mechanism; 23. Radial clamping mechanism; 24. Radial displacement sensor; 25. Linear module; 26. Axial clamping mounting seat; 3. Collaborative arm grasping module; 31. Multi-degree-of-freedom robotic arm; 32. Driving mechanism; 33. Flange; 34. Connecting rod assembly; 35. L-shaped connecting rod; 36. Limiting rod; 37. First hinge axis; 38. Second hinge axis; 39. Third hinge axis; 390. Gripping finger; 4. Rotational accuracy detection module; 41. End face runout detection sensor; 42. Radial runout detection sensor; 43. First zero point positioning system; 44. Rotational drive mechanism; 45. Rotational drive mechanism; 46. Mounting seat; 47. Clamping mechanism; 48. Motor seat; 49. Linear motor; 490. Coupling; 491. Support frame; 5. Bearing products. DETAILED DESCRIPTION

[0027] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0028] Example 1 like Figures 1-6 As shown, a bearing parts precision detection device of this embodiment includes a frame, a product temporary storage rack 13, a stiffness calibration module 2, a collaborative arm grabbing module 3 and a rotation precision detection module 4, wherein the product temporary storage rack 13 is installed on one side of the frame, and the stiffness calibration module 2, the collaborative arm grabbing module 3 and the rotation precision detection module 4 are all installed on the table of the frame, and the collaborative arm grabbing module 3 is located in the middle of the table of the frame, and the stiffness calibration module 2 and the rotation precision detection module 4 are respectively located on both sides of the collaborative arm grabbing module 3 and arranged adjacent to the product temporary storage rack 13.

[0029] The embodiment provides a preferred scheme of a rack, as shown in Figure 1 、 Figure 4 and Figure 6 , the rack comprises a first rack 1, a second rack 11 and a third rack 12, the second rack 11 is located between the first rack 1 and the third rack 12, the table height of the second rack 11 is lower than the table height of the first rack 1 and the third rack 12, a product temporary storage rack 13 is installed on one side of the first rack 1, the second rack 11 and the third rack 12, the table height of the product temporary storage rack 13 is the same as the table height of the first rack 1 and the third rack 12, the collaborative arm grabbing module 3 is installed on the table of the second rack 11, and the rigidity calibration module 2 and the rotation accuracy detection module 4 are installed on the tables of the first rack 1 and the third rack 12 respectively. By arranging three racks with different heights and reasonably arranging the arrangement mode, the grabbing stroke of the collaborative arm grabbing module can be shortened, operation is facilitated, and the degree of automation is higher.

[0030] In the embodiment, the rigidity calibration module 2 and the rotation accuracy detection module 4 can adopt common detection modules of bearing products 5. The collaborative arm grabbing module 3 can adopt a multi-degree-of-freedom mechanical arm and a finger clamping jaw mechanism to realize grabbing and rotating actions. Both the multi-degree-of-freedom mechanical arm and the finger clamping jaw mechanism can adopt common structures.

[0031] When the bearing part precision detection device in the embodiment detects the precision of the bearing product 5, first, the collaborative arm grabbing module 3 located on the second rack 11 takes out the bearing product 5 on the product temporary storage rack 13, and then places the bearing product 5 on the rotation accuracy detection module 4 to test the end face and the radial runout of the bearing product 5. After the test is completed on the rotation accuracy detection module 4, the bearing product 5 is grabbed by the collaborative arm grabbing module 3 to the rigidity calibration module 2 to calibrate the axial and radial rigidity, and then the bearing product 5 is placed by the collaborative arm grabbing module 3 to a calibration area for transfer, a rack body can be separately arranged as the calibration area, or the calibration area can be divided on the existing rack body.

[0032] The bearing part precision detection device in the embodiment is suitable for the precision detection link after non-standard high-precision bearing part production, so as to improve the efficiency and precision of bearing product detection. The bearing part precision detection device in the embodiment can realize full-automatic detection of the precision of the bearing product.

[0033] Embodiment 2 On the basis of the embodiment 1, the embodiment provides a preferred scheme of a collaborative arm grabbing module 3, as shown in Figure 2 and Figure 3As shown, the cooperative arm grabbing module 3 comprises a multi-degree-of-freedom mechanical arm 31 and a finger gripper mechanism, one end of the multi-degree-of-freedom mechanical arm 31 is fixed in the middle position of the table top of the rack; the finger gripper mechanism comprises a driving mechanism 32, two linkage assemblies 34 and two clamping fingers 390, the main structure of the driving mechanism 32 is fixed at one end of the multi-degree-of-freedom mechanical arm 31, the two linkage assemblies 34 are respectively fixed on the two output shafts of the driving mechanism 32 and are symmetrically arranged, and the two output shafts of the driving mechanism 32 are respectively in transmission connection with the two clamping fingers 390 through the two linkage assemblies 34 and drive the two clamping fingers 390 to open and close. By arranging the multi-degree-of-freedom mechanical arm and the finger gripper mechanism, the product bearing can be effectively grabbed.

[0034] Preferably, the multi-degree-of-freedom mechanical arm 31 can adopt a six-degree-of-freedom mechanical arm. The finger gripper mechanism can adopt a four-bar linkage finger gripper as an end effector.

[0035] As shown in Figure 2 and Figure 3 Specifically, the linkage assembly 34 comprises an L-shaped linkage 35 and a limiting rod 36, one end of the L-shaped linkage 35 is fixedly connected with the output shaft of the driving mechanism 32 perpendicularly, the other end of the L-shaped linkage 35 is hingedly connected with one end of the clamping finger 390 through a first hinged shaft 37, the limiting rod 36 is located on the side of the L-shaped linkage 35 close to the other linkage assembly 34 and forms a right triangle structure together with the L-shaped linkage 35, one end of the limiting rod 36 is hingedly connected with the main structure of the driving mechanism 32 through a second hinged shaft 38, the other end of the limiting rod 36 is hingedly connected with one end of the clamping finger 390 through a third hinged shaft 39, and the first hinged shaft 37, the second hinged shaft 38 and the third hinged shaft 39 are arranged in parallel with the output shaft of the driving mechanism 32. By driving the L-shaped linkage to open and close, the limiting rod can also be swung, and the limiting rod can also limit the opening and closing amplitude of the L-shaped linkage.

[0036] The driving mechanism 32 of the embodiment can adopt a driving structure combining a driving motor and a speed reducer to realize power output; the driving motor and the speed reducer can be arranged in the shell, and the lower end of one side wall of the shell is provided with a convex edge 33, the two output shafts of the driving mechanism 32 can pass through the convex edge 33 and be rotationally connected with the convex edge 33.

[0037] One preferred scheme of the embodiment is as shown in Figure 3As shown, the two ends of the L-shaped connecting rod 35 are respectively provided with openings for connecting the output shafts on the upper and lower sides of the convex edge 33 and the first hinge shaft 37 on the upper and lower sides of one end of the clamping finger 390. The limiting rod 36 is an H-shaped rod, which is connected to the second hinge shaft 38 on the upper and lower sides of the convex edge 33 and the third hinge shaft 39 on the upper and lower sides of one end of the clamping finger 390 by the same connection principle as the L-shaped connecting rod 35.

[0038] When the finger clamping jaw mechanism of the embodiment performs a grabbing action, the driving mechanism 32 is used to drive the L-shaped connecting rod 35 to rotate, and the two L-shaped connecting rods 35 open and close, and the clamping finger 390 opens and closes under the constraint of the L-shaped connecting rod 35 and the limiting rod 36, so as to realize the grabbing or releasing of the bearing product.

[0039] Embodiment 3 Based on the embodiment 1 or the embodiment 2, the embodiment provides a preferred structure of a rotation accuracy detection module. As shown in Figure 4 and Figure 5 The rotation accuracy detection module 4 includes an end face runout detection sensor 41, a radial runout detection sensor 42, a first zero point positioning system 43, a rotation driving mechanism 44 and a rotation driving mechanism 45. A first assembly hole is formed in the table surface of the rack, the rotation driving mechanism 44 is arranged below the table surface of the rack and opposite to the first assembly hole, and the first zero point positioning system 43 and the rotation driving mechanism 45 are both arranged above the table surface of the rack and around the first assembly hole. The rotation driving mechanism 44 is connected to a clamping mechanism 47 through a shaft coupling 490 and drives the clamping mechanism 47 to rotate in the first assembly hole. The clamping mechanism 47 can clamp the bearing product 5 installed on the first zero point positioning system 43 and drive the inner ring of the bearing product 5 to rotate. The end face runout detection sensor 41 and the radial runout detection sensor 42 are both installed on the output shaft of the rotation driving mechanism 45 and can rotate between the zero position and the working position. By arranging the first zero point positioning system, the bearing product can be positioned. By arranging the end face runout detection sensor and the radial runout detection sensor, the end face runout parameter and the radial runout parameter of the bearing product can be detected.

[0040] As shown in Figure 5 Specifically, the clamping mechanism 47 is a three-jaw chuck, and a WGY02-32-8-2 three-jaw chuck can be specifically selected. The first zero point positioning system 43 can be realized by using a common zero point positioning system.

[0041] As shown in Figure 4 and Figure 5As shown, one optional solution of the embodiment is that the output shaft of the rotary driving mechanism 45 extends vertically, a support frame 491 is arranged and fixed on the output shaft, the support frame 491 comprises a first transverse connecting arm, a vertical connecting arm and a second transverse connecting arm which are sequentially vertically fixedly connected, the first transverse connecting arm is fixed on the output shaft of the rotary driving mechanism 45, the end face runout detection sensor 41 is fixed on the second transverse connecting arm and located above the first assembly hole, and the radial runout detection sensor 42 is fixed on the vertical connecting arm and located on one side of the first assembly hole. By arranging the support frame, the end face runout detection sensor and the radial runout detection sensor can be stably assembled.

[0042] Specifically, as shown in the figure, Figure 5 As shown, a mounting seat 46 is fixed below the first assembly hole, a motor seat 48 is fixed below the mounting seat 46, a linear motor 49 is fixed on the motor seat 48, the linear motor 49 is connected and fixed with the clamping mechanism 47 on the mounting seat 46 through a shaft coupling 490 and drives the clamping mechanism 47 to rotate.

[0043] Among them, the end face runout detection sensor 41 and the radial runout detection sensor 42 of the embodiment can adopt a contact type displacement sensor, which can realize contact expansion and contraction movement and can detect the runout of non-standard bearing products.

[0044] When the rotary precision detection module of the embodiment works, after the cooperative arm grabbing module grabs the bearing product and places it on the first zero positioning system 43, the rotary driving mechanism 45 drives the end face runout detection sensor 41 and the radial runout detection sensor 42 to rotate from zero to working position, so that the end face runout detection sensor 41 and the radial runout detection sensor 42 contact the end face and side face of the bearing product, and then the rotary driving mechanism 44 drives the bearing product to rotate, and the data change of the end face runout detection sensor 41 and the radial runout detection sensor 42 is read to obtain the end face runout and radial runout information of the bearing product.

[0045] Embodiment 4 On the basis of any of the above embodiments, the embodiment provides a preferred structural solution of the stiffness calibration module. As shown in the figure, Figure 6As shown in the figure, the rigidity calibration module 2 of the embodiment comprises a second zero point positioning system 21, an axial pressing mechanism 22, a radial pressing mechanism 23, a radial displacement sensor 24 and an axial displacement sensor, a second assembly hole is formed on the table top of the rack, the axial pressing mechanisms 22 are installed on the upper and lower sides of the table top of the rack, the pressing ends of the two axial pressing mechanisms 22 are arranged opposite to the second assembly hole, the second zero point positioning system 21, the radial pressing mechanism 23 and the radial displacement sensor 24 are installed on the table top of the rack and are respectively located around the second assembly hole, the pressing end of the radial pressing mechanism 23 and the radial displacement sensor 24 are arranged opposite along the radial direction of the second assembly hole; the axial displacement sensor is installed on one of the axial pressing mechanisms 22 and is located on the side of the pressing end of the axial pressing mechanism 22. By arranging the second zero point positioning system, the bearing product can be positioned; by arranging the axial pressing mechanism and the radial pressing mechanism, the bearing product can be axially and radially pressed, and the axial displacement and the radial displacement can be respectively detected.

[0046] As shown in the figure, Figure 6 Preferably, the table top of the rack is further provided with a linear module 25, and the radial displacement sensor 24 is installed on the linear module 25 and can reciprocate between the zero position and the working position under the driving of the linear module 25. The linear module can be realized by using a common structure. By arranging the linear module, the radial displacement sensor can be driven to reciprocate between the zero position and the working position.

[0047] Specifically, as shown in the figure, Figure 6 The linear module 25 can be installed on the first rack 1 in the front-rear direction, the axial pressing mounting seat 26 can be arranged on the first rack 1 in the front-rear direction, the axial pressing mounting seat 26 has an inverted U-shaped structure, one axial pressing mechanism is installed on the axial pressing mounting seat 26 and arranged directly above the second assembly hole. The radial pressing mechanism 23 is installed on one side of the axial pressing mounting seat 26 for pressing the bearing product 5 from left to right.

[0048] The rigidity calibration module of the embodiment can be adjusted in the pressing stroke by arranging the axial pressing mechanism and the radial pressing mechanism, and can be suitable for non-standard bearing products. The second zero point positioning system can be realized by using a common zero point positioning system.

[0049] The axial pressing mechanism and the radial pressing mechanism of the embodiment can drive the pressing blocks or pressing members of the respective output shafts to move axially or radially by using hydraulic cylinders, air cylinders or linear motors, so as to realize axial or radial pressing.

[0050] When the rigidity calibration module of the embodiment works, after the bearing product is placed to the second zero positioning system by the collaborative arm grabbing module, the linear module 25 moves the radial displacement sensor 24 to the detection position to make the radial displacement sensor 24 contact with the bearing product, and then the two axial pressing mechanisms 22 move oppositely from the upper and lower sides to press the bearing product, the axial displacement sensor detects the slight deformation of the product to realize axial rigidity detection, and then the radial pressing mechanism moves to press the bearing product, at this time, the radial displacement sensor detects the slight deformation of the bearing product to realize radial rigidity detection.

[0051] Embodiment 5 The application also provides a bearing part precision detection method, which is realized by using the bearing part precision detection device as described above, and includes the following steps: the bearing product 5 on the product temporary storage rack 13 is grabbed by the collaborative arm grabbing module 3 and is transferred and placed on the rigidity calibration module 2 to perform rigidity detection, after detection, the bearing product 5 on the rigidity calibration module 2 is grabbed by the collaborative arm grabbing module 3 and is transferred and placed on the rotary precision detection module 4 to perform rotary precision detection; or, the bearing product 5 on the product temporary storage rack 13 is grabbed by the collaborative arm grabbing module 3 and is transferred and placed on the rotary precision detection module 4 to perform rotary precision detection, after detection, the bearing product 5 on the rotary precision detection module 4 is grabbed by the collaborative arm grabbing module 3 and is transferred and placed on the rigidity calibration module 2 to perform rigidity detection.

[0052] The detection method of the embodiment has high automation, and can improve the detection efficiency and detection precision of the bearing product.

[0053] In the description of the application, it should be understood that the terms “transverse”, “upper”, “lower”, “front”, “rear”, “left”, “right” and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0054] In addition, the terms “first” and “second” are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as “first” and “second” can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of “a plurality of” is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0055] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", "fixedly connected", "connection", "fixedly connected", "connected", "fixed", and the like should be construed broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be directly connected, or indirectly connected through an intermediate medium; can be internal communication of two elements or interaction relationship between two elements, unless specifically defined otherwise. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] In the present application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature can be 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, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0057] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like 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 the present application, the illustrative description 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 appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0058] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A bearing parts precision detection device, characterized in that: It includes a frame, a product temporary storage rack, a stiffness calibration module, a collaborative arm grabbing module and a rotation accuracy detection module. The product temporary storage rack is installed on one side of the frame. The stiffness calibration module, the collaborative arm grabbing module and the rotation accuracy detection module are all installed on the table of the frame. The collaborative arm grabbing module is located in the middle of the table of the frame. The stiffness calibration module and the rotation accuracy detection module are respectively located on both sides of the collaborative arm grabbing module and are arranged adjacent to the product temporary storage rack.

2. A bearing parts precision detection device according to claim 1, characterized in that: The rack includes a first rack, a second rack and a third rack, the second rack is located between the first rack and the third rack, the table height of the second rack is lower than the table heights of the first rack and the third rack, the product temporary storage rack is installed on one side of the first rack, the second rack and the third rack, and the table height of the product temporary storage rack is the same as the table heights of the first rack and the third rack; the collaborative arm grasping module is installed on the table top of the second rack, and the stiffness calibration module and the rotation accuracy detection module are respectively installed on the table tops of the first rack and the third rack.

3. A bearing parts precision detection device according to claim 1 or 2, characterized in that: The collaborative arm grasping module includes a multi-degree-of-freedom robotic arm and a finger gripper mechanism, and one end of the multi-degree-of-freedom robotic arm is fixed to the middle position of the table of the frame; The finger gripper mechanism includes a driving mechanism, two connecting rod assemblies and two clamping fingers. The main structure of the driving mechanism is fixed to one end of the multi-degree-of-freedom robotic arm. The two connecting rod assemblies are respectively fixed on the two output shafts of the driving mechanism and are arranged symmetrically. The two output shafts of the driving mechanism are respectively connected to the two clamping fingers through two connecting rod assemblies and drive the two clamping fingers to open and close.

4. A bearing parts precision detection device according to claim 3, characterized in that: The connecting rod assembly includes an L-shaped connecting rod and a limit rod, one end of the L-shaped connecting rod is vertically fixedly connected to the output shaft of the driving mechanism, the other end of the L-shaped connecting rod is hinged to one end of the clamping finger through a first hinge shaft, the limit rod is located on the side of the L-shaped connecting rod close to the other group of connecting rod assemblies and forms a right-angled triangle structure with the L-shaped connecting rod, one end of the limit rod is hinged to the main structure of the driving mechanism through a second hinge shaft, and the other end of the limit rod is hinged to one end of the clamping finger through a third hinge shaft; the first hinge shaft, the second hinge shaft and the third hinge shaft are all arranged parallel to the output shaft of the driving mechanism.

5. A bearing parts precision detection device according to claim 1 or 2, characterized in that: The rotation accuracy detection module includes an end face runout detection sensor, a radial runout detection sensor, a first zero point positioning system, a rotation drive mechanism and a rotation drive mechanism. A first assembly hole is opened on the table top of the frame, and the rotation drive mechanism is installed below the table top of the frame and arranged opposite the first assembly hole. The first zero point positioning system and the rotation drive mechanism are both installed above the table top of the frame and located around the first assembly hole; the rotation drive mechanism is connected to the clamping mechanism through a coupling and drives the clamping mechanism to rotate in the first assembly hole. The clamping mechanism can clamp the bearing product installed on the first zero point positioning system and drive the inner ring of the bearing product to rotate; the end face runout detection sensor and the radial runout detection sensor are both installed on the output shaft of the rotation drive mechanism and can rotate between the zero position and the working position.

6. A bearing parts precision detection device according to claim 5, characterized in that: The clamping mechanism is a three-jaw chuck.

7. The bearing parts precision detection device according to claim 5, characterized in that: The output shaft of the rotary drive mechanism is extended vertically and fixed with a support frame, and the support frame includes a first transverse connecting arm, a vertical connecting arm and a second transverse connecting arm that are vertically fixed in sequence. The first transverse connecting arm is fixed on the output shaft of the rotary drive mechanism, the end face runout detection sensor is fixed on the second transverse connecting arm and is located above the first assembly hole, and the radial runout detection sensor is fixed on the vertical connecting arm and is located on one side of the first assembly hole.

8. A bearing parts precision detection device according to claim 1 or 2, characterized in that: The stiffness calibration module includes a second zero-point positioning system, an axial clamping mechanism, a radial clamping mechanism, a radial displacement sensor and an axial displacement sensor. A second assembly hole is opened on the table of the frame, and axial clamping mechanisms are installed on both the upper and lower sides of the table of the frame. The clamping ends of the two axial clamping mechanisms are arranged facing the second assembly hole. The second zero-point positioning system, the radial clamping mechanism and the radial displacement sensor are all installed on the table of the frame and are respectively located around the second assembly hole. The clamping end of the radial clamping mechanism and the radial displacement sensor are arranged opposite to each other along the radial direction of the second assembly hole; the axial displacement sensor is installed on one of the axial clamping mechanisms and is located on the clamping end side of the axial clamping mechanism.

9. The bearing parts precision detection device according to claim 8, characterized in that: A linear module is also provided on the table of the frame. The radial displacement sensor is installed on the linear module and can reciprocate between a zero position and a working position under the drive of the linear module.

10. A method for detecting the accuracy of bearing parts, characterized in that: The device is implemented by using a bearing parts precision detection device as described in any one of claims 1 to 9, comprising the following steps: using a collaborative arm grasping module to grasp the bearing product on the product temporary storage rack and transfer it to a stiffness calibration module for stiffness detection, and after the detection is completed, using the collaborative arm grasping module to grasp the bearing product on the stiffness calibration module and transfer it to a rotation precision detection module for rotation precision detection; or, using the collaborative arm grasping module to grasp the bearing product on the product temporary storage rack and transfer it to a rotation precision detection module for rotation precision detection, and after the detection is completed, using the collaborative arm grasping module to grasp the bearing product on the rotation precision detection module and transfer it to the stiffness calibration module for stiffness detection.

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