Feeding and discharging manipulator for military lens detection

Abstract

The embodiment of the utility model discloses a feeding and discharging manipulator for military lens detection, and relates to the field of lens detection. The feeding and discharging mechanical arm for military lens detection comprises a mounting base and a rotating mechanical arm, a lifting material taking mechanism is mounted at the front end of the rotating mechanical arm and comprises a lifting hydraulic rod mounted at the end of the rotating mechanical arm, and an electric suction cup is mounted at the bottom end of the lifting hydraulic rod; a visual detection mechanism is installed outside the bottom end of the lifting hydraulic rod and comprises a visual detection camera. According to the feeding and discharging mechanical arm for military lens detection, the position of a lens is detected through a visual detection camera, the position accuracy is ensured, correction is conducted when a rotating cross arm and a rotating base rotate, and the visual detection camera is driven to rotate through a third rotating air cylinder; and the visual detection camera can completely detect the positions of the lens and the discharging station, so that the electric suction cup can directly face the lens, and accurate grabbing and placing of the lens are achieved.

Description

Technical Field

[0001] The embodiment of the utility model relates to the technical field of lens detection, in particular to a loading and unloading manipulator for military lens detection. Background Art

[0002] Military lenses are suitable for optical lenses used in military equipment. Due to the particularity of their application areas, they usually have extremely strict quality inspection standards during production and processing. The current mainstream quality inspection solution is to use an optical camera to take pictures of their appearance, and then compare and analyze the pictures to make a preliminary judgment on their quality. This process is generally completed on a special testing table, so it is usually necessary to move the workpiece to the testing table and remove it after the inspection is completed.

[0003] At present, the commonly used robotic arms are all multi-angle rotating. The robotic arms mainly move forward and backward by extending the vertical plane, then rotate in direction, and then adjust the contact surface with the lens to pick up and place the lens. However, in this process, PLC program is usually used for control to achieve automatic grasping and placement. This process requires the incoming material position and placement position of the lens to be completely unified and fixed, and must be controlled very accurately. However, the incoming material position and the unloading station of the lens are limited by the installation accuracy and operation accuracy in actual operation, and are not very accurate. This makes it easy to deviate during actual grasping and placement. For this reason, a loading and unloading robot for military lens inspection is provided to solve the above problems. Utility Model Content

[0004] 1. Technical issues to be solved

[0005] In view of the shortcomings of the prior art, an embodiment of the utility model provides a loading and unloading robot for military lens inspection, which solves the problem of using PLC program to control automatic grasping and placement in the prior art. This process requires the incoming position and placement position of the lenses to be completely unified and fixed, and must be controlled very accurately. However, the incoming position of the lenses and the position to be unloaded are limited by the installation accuracy and operation accuracy in actual operation, and are not very accurate. This makes it easy for deviations to occur during actual grasping and placement.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the embodiment of the utility model is implemented through the following technical solutions: a loading and unloading manipulator for military lens inspection, comprising a mounting seat and a rotating mechanical arm arranged on the top of the mounting seat, a lifting and picking mechanism is installed at the front end of the rotating mechanical arm, and the lifting and picking mechanism comprises;

[0008] A lifting hydraulic rod, the lifting hydraulic rod being mounted at the end of the rotating mechanical arm;

[0009] An electric suction cup, which is installed at the bottom end of the lifting hydraulic rod;

[0010] A visual inspection mechanism is installed outside the bottom end of the lifting hydraulic rod, and the visual inspection mechanism includes a visual inspection camera installed outside the lifting hydraulic rod.

[0011] Preferably, the rotating mechanical arm includes a rotating cross arm and a rotating seat rotatably connected to the top of the front end of the rotating cross arm, and the lifting hydraulic rod is installed inside the front end of the rotating seat.

[0012] Preferably, a support seat is installed on the top of the mounting seat, a first rotating cylinder is installed inside the supporting seat, and the rotating cross arm is installed at the output end of the first rotating cylinder.

[0013] Preferably, a second rotary cylinder is installed inside the end of the rotary seat, and the rotary cross arm is fixedly connected to the output end of the second rotary cylinder.

[0014] Preferably, a connecting block is installed at the bottom end of the lifting hydraulic rod, and the electric suction cup is installed at the bottom of the connecting block.

[0015] Preferably, a vertical plate is installed on the side of the visual inspection camera, a third rotating cylinder is installed on the top of the connecting block, a transverse plate is installed on the output end of the third rotating cylinder, and the transverse plate is fixedly connected to the vertical plate.

[0016] Preferably, a pneumatic connection seat is installed on the outer wall of the mounting seat, and the pneumatic connection seat is used to connect to an external pneumatic control device.

[0017] The embodiment of the utility model discloses a loading and unloading robot for military lens inspection, which has the following beneficial effects: by controlling the first rotating cylinder to rotate, thereby driving the rotating cross arm to rotate horizontally, and then the second rotating cylinder rotates, so that the rotating seat rotates, and the position of the lens is detected by a visual inspection camera to ensure accurate position, and correction is performed when the rotating cross arm and the rotating seat rotate, and the visual inspection camera is driven to rotate by the third rotating cylinder, so that the visual inspection camera can completely detect the position of the lens and the discharge station, so that the electric suction cup can face the lens, thereby realizing accurate grasping and placement of the lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the overall outer surface structure of an embodiment of the utility model;

[0020] Figure 2 This is a schematic diagram of the overall side structure of an embodiment of the utility model;

[0021] Figure 3 This is a schematic diagram of the overall bottom structure of an embodiment of the utility model;

[0022] Figure 4 It is a schematic diagram of the outer surface structure of the rotating seat according to an embodiment of the utility model.

[0023] In the figure: 1. Mounting seat; 2. Support seat; 3. Rotating mechanical arm; 31. Rotating cross arm; 32. Rotating seat; 33. First rotating cylinder; 34. Second rotating cylinder; 4. Lifting and picking mechanism; 41. Electric suction cup; 42. Connecting block; 43. Lifting hydraulic rod; 5. Visual inspection mechanism; 51. Horizontal plate; 52. Vertical plate; 53. Visual inspection camera; 54. Third rotating cylinder; 6. Pneumatic connecting seat. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the utility model more clear, the technical solution in the embodiments of the utility model is clearly and completely described. Obviously, the described embodiments are part of the embodiments of the utility model, not all of them. Based on the embodiments in the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the utility model.

[0025] The embodiment of the present application solves the problem of using a PLC program to control automatic grasping and placement in the prior art by providing a loading and unloading robot for military lens inspection. This process requires that the incoming position and placement position of the lenses are completely unified and fixed, and must be controlled very accurately. However, the incoming position of the lenses and the position to be unloaded are limited by the installation accuracy and operation accuracy in actual operation, and are not very accurate. This makes it easy for deviations to occur during actual grasping and placement.

[0026] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] The utility model discloses a loading and unloading manipulator for detecting military lenses.

[0028] According to the attached Figure 1-4 As shown, it includes a mounting base 1 and a rotating mechanical arm 3 arranged on the top of the mounting base 1, and a lifting and retrieving mechanism 4 is installed at the front end of the rotating mechanical arm 3. The lifting and retrieving mechanism 4 includes;

[0029] A lifting hydraulic rod 43, the lifting hydraulic rod 43 is installed at the end of the rotating mechanical arm 3;

[0030] An electric suction cup 41, which is installed at the bottom end of a lifting hydraulic rod 43;

[0031] A visual inspection mechanism 5 is installed on the outside of the bottom end of the lifting hydraulic rod 43 . The visual inspection mechanism 5 includes a visual inspection camera 53 installed on the outside of the lifting hydraulic rod 43 .

[0032] The rotating mechanical arm 3 includes a rotating cross arm 31 and a rotating seat 32 rotatably connected to the top of the front end of the rotating cross arm 31 , and the lifting hydraulic rod 43 is installed inside the front end of the rotating seat 32 .

[0033] A support base 2 is installed on the top of the mounting base 1 , a first rotary cylinder 33 is installed inside the support base 2 , and a rotary cross arm 31 is installed at the output end of the first rotary cylinder 33 .

[0034] A second rotary cylinder 34 is installed inside the end of the rotary seat 32 , and the rotary cross arm 31 is fixedly connected to the output end of the second rotary cylinder 34 .

[0035] A connecting block 42 is installed at the bottom end of the lifting hydraulic rod 43, and the electric suction cup 41 is installed at the bottom of the connecting block 42. The lifting hydraulic rod 43 is started to drive the electric suction cup 41 to move downward, so that the electric suction cup 41 contacts the lens and adsorbs the lens. Then the lifting hydraulic rod 43 drives the electric suction cup 41 to rise, and then the rotating cross arm 31 and the rotating seat 32 rotate, so that the electric suction cup 41 is opposite to the discharge position, and then the lifting hydraulic rod 43 descends, so that the lens is placed in the correct position.

[0036] A vertical plate 52 is installed on the side of the visual inspection camera 53, a third rotating cylinder 54 is installed on the top of the connecting block 42, and a transverse plate 51 is installed on the output end of the third rotating cylinder 54. The transverse plate 51 is fixedly connected to the vertical plate 52. The position of the lens is detected by the visual inspection camera 53 to ensure the accuracy of the position. When the rotating cross arm 31 and the rotating seat 32 rotate, correction is performed, and the visual inspection camera 53 is driven to rotate by the third rotating cylinder 54, so that the visual inspection camera 53 can fully detect the position of the lens and the discharge station.

[0037] A pneumatic connection seat 6 is installed on the outer wall of the mounting seat 1. The pneumatic connection seat 6 is used to connect to an external pneumatic control device. When the device is in use, it is connected to the external pneumatic control device through the pneumatic connection seat 6 to control the three groups of rotating cylinders.

[0038] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0039] By installing the mounting base 1 on the side of the lens inspection table, when in use, the first rotating cylinder 33 is controlled to rotate, thereby driving the rotating cross arm 31 to rotate horizontally, and then the second rotating cylinder 34 is rotated to rotate the rotating seat 32, and the lens position is detected by the visual inspection camera 53 to ensure accurate position, and correction is performed when the rotating cross arm 31 and the rotating seat 32 rotate, and the third rotating cylinder 54 drives the visual inspection camera 53 to rotate, so that the visual inspection camera 53 can completely detect the position of the lens and the discharge station, so that the electric suction cup 41 can face the lens to be loaded, and then the lifting hydraulic rod 43 is started to drive the electric suction cup 41 to move downward, so that the electric suction cup 41 contacts the lens and adsorbs the lens, and then the lifting hydraulic rod 43 drives the electric suction cup 41 to rise, and then the rotating cross arm 31 and the rotating seat 32 rotate, so that the electric suction cup 41 faces the discharge position, and then the lifting hydraulic rod 43 descends, so that the lens is placed in the correct position, thereby realizing accurate grasping and placement of the lens.

[0040] The above shows and describes the basic principles and main features of the embodiments of the utility model and the advantages of the embodiments of the utility model. Those skilled in the art should understand that the embodiments of the utility model are not limited by the above embodiments. The above embodiments and the description only illustrate the principles of the embodiments of the utility model. Without departing from the spirit and scope of the embodiments of the utility model, the embodiments of the utility model may have various changes and improvements, which fall within the scope of the embodiments of the utility model to be protected. The scope of protection claimed by the embodiments of the utility model is defined by the attached claims and their equivalents.

Claims

1. A loading and unloading manipulator for military lens inspection, comprising a mounting seat and a rotating mechanical arm arranged on the top of the mounting seat, characterized in that: A lifting and retrieving mechanism is installed at the front end of the rotating mechanical arm, and the lifting and retrieving mechanism comprises: A lifting hydraulic rod, the lifting hydraulic rod being mounted at the end of the rotating mechanical arm; An electric suction cup, which is installed at the bottom end of the lifting hydraulic rod; A visual inspection mechanism is installed outside the bottom end of the lifting hydraulic rod, and the visual inspection mechanism includes a visual inspection camera installed outside the lifting hydraulic rod.

2. The loading and unloading manipulator for military lens inspection according to claim 1 is characterized in that: The rotating mechanical arm comprises a rotating cross arm and a rotating seat rotatably connected to the top of the front end of the rotating cross arm, and the lifting hydraulic rod is installed inside the front end of the rotating seat.

3. The loading and unloading manipulator for military lens inspection according to claim 2 is characterized in that: A support seat is installed on the top of the mounting seat, a first rotary cylinder is installed inside the support seat, and the rotary cross arm is installed at the output end of the first rotary cylinder.

4. The loading and unloading manipulator for military lens inspection according to claim 3 is characterized in that: A second rotary cylinder is installed inside the end of the rotary seat, and the rotary cross arm is fixedly connected to the output end of the second rotary cylinder.

5. The loading and unloading manipulator for military lens inspection according to claim 2, characterized in that: A connecting block is installed at the bottom end of the lifting hydraulic rod, and the electric suction cup is installed at the bottom of the connecting block.

6. The loading and unloading manipulator for military lens inspection according to claim 5, characterized in that: A vertical plate is installed on the side of the visual inspection camera, a third rotating cylinder is installed on the top of the connecting block, a horizontal plate is installed on the output end of the third rotating cylinder, and the horizontal plate is fixedly connected to the vertical plate.

7. The loading and unloading manipulator for military lens inspection according to claim 1, characterized in that: A pneumatic connection seat is installed on the outer wall of the mounting seat, and the pneumatic connection seat is used to connect an external pneumatic control device.

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