Multi-degree-of-freedom mechanical arm for sealing detection of metal gasket

Abstract

The utility model discloses a multi-degree-of-freedom mechanical arm for metal gasket sealing detection. The multi-degree-of-freedom mechanical arm comprises a base; the rotating seat is rotatably arranged on the base; one ends of the two first pull rods are hinged to the rotating seat, and the two first pull rods are symmetrically arranged at intervals; one end of the supporting rod is hinged to the other ends of the two first pull rods, and the other end of the supporting rod is detachably provided with a manipulator; one ends of the two second pull rods are hinged to the rotating seat, and the two second pull rods are symmetrically arranged at intervals; one end of the third pull rod is hinged between the other ends of the two second pull rods, and the other end of the third pull rod is hinged to one end of the supporting rod; the first power mechanism is arranged on the rotating seat, the output end of the first power mechanism is connected with the two second pull rods, and the first power mechanism is used for driving the two second pull rods to move; one end of the fourth pull rod is hinged with the second pull rod, and the other end is hinged with the first pull rod. The utility model has the characteristic of higher accuracy.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically to a multi-freedom mechanical arm for metal gasket sealing detection. Background Art

[0002] Sealing gasket is a kind of sealing spare part needed for machinery, equipment, pipelines and other places with fluids. As long as it plays a sealing role, the sealing gasket is made of metal or non-metallic plate material through cutting, stamping or tailoring. The metal ones include copper gaskets, stainless steel gaskets, iron gaskets or aluminum gaskets.

[0003] Non-metallic sealing gaskets have good elasticity and reliable sealing performance, and are widely used in environments to prevent vibration and noise. However, non-metallic sealing gaskets cannot be used for a long time in high temperature, high pressure or corrosive environments, and are prone to aging and deformation. Metal gaskets can solve most of the above problems.

[0004] Due to their performance, sealing gaskets need to be tested for sealing before leaving the factory. The inspection of metal gaskets includes contour integrity inspection and surface scratch inspection. Currently, most of them need to be inspected manually under specific light, which can easily lead to missed inspections and wrong inspections. In addition, since manual inspections are all carried out by personnel, the workload is further increased.

[0005] With the massive development of testing equipment, the workload has been reduced, but with the increase in demand, it is urgent to develop corresponding handling equipment. Utility Model Content

[0006] The utility model designs and develops a multi-degree-of-freedom mechanical arm for metal gasket sealing detection, which realizes multi-degree-of-freedom movement and improves movement accuracy through multiple connecting rod structures combined with a rotating seat.

[0007] The technical solution provided by the utility model is:

[0008] A multi-degree-of-freedom mechanical arm for metal gasket sealing detection, comprising:

[0009] Base; and

[0010] A rotating seat, which is rotatably arranged on the base;

[0011] Two first pull rods, one end of each of which is hinged to the rotating seat, and the two first pull rods are symmetrically spaced apart;

[0012] A support rod, one end of which is hinged to the other ends of the two first pull rods, and the other end of which is detachably provided with a manipulator;

[0013] Two second pull rods, one end of which is hinged to the rotating seat, and the two second pull rods are symmetrically spaced apart;

[0014] A third pull rod, one end of which is hingedly arranged between the other ends of the two second pull rods, and the other end of which is hingedly connected to one end of the support rod;

[0015] A first power mechanism is disposed on the rotating seat, and an output end of the first power mechanism is connected to the two second pull rods to drive the two second pull rods to move;

[0016] A fourth pull rod has one end hinged to the two second pull rods, and the other end hinged to the two first pull rods.

[0017] Preferably, it also includes:

[0018] The second power mechanism is fixed on the base, and the output end of the second power mechanism is connected to the rotating seat to drive the rotating seat to rotate.

[0019] Preferably, the second power mechanism is a motor.

[0020] Preferably, two connecting arms are provided at one end of the rotating seat, and the distal ends of the two connecting arms extend away from the upper part of the rotating seat, and the two connecting arms are arranged in parallel and spaced apart;

[0021] One end of the first pull rod is hinged to the distal end of the connecting arm, and one end of the second pull rod is hinged to the middle part of the connecting arm.

[0022] Preferably, the other ends of the two first pull rods are symmetrically hinged on both sides of one end close to the support rod.

[0023] Preferably, the robot arm is an air gripper.

[0024] Preferably, the first power mechanism is hinged to the other end of the rotating seat, and the output end of the first power mechanism is hinged to the middle of the two second pull rods.

[0025] Preferably, the first power mechanism is a cylinder.

[0026] Beneficial effects of the utility model:

[0027] The multi-degree-of-freedom mechanical arm for metal gasket sealing detection provided by the utility model realizes the rotational freedom of the mechanical arm through a power mechanism combined with a rotating seat, realizes the lateral and longitudinal degrees of freedom through multiple connecting rod structures combined with the power mechanism, and thus realizes the multi-degree-of-freedom of the mechanical arm as a whole, improves the movement accuracy, and reduces the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of a multi-degree-of-freedom mechanical arm for metal gasket sealing detection according to the utility model.

[0029] Figure 2 It is a schematic diagram of the assembly structure of the first power mechanism of the utility model.

[0030] Figure 3 It is a schematic diagram of the assembly structure of the rotating seat of the utility model.

[0031] Figure 4 It is a schematic diagram of the assembly structure of the fourth pull rod of the utility model. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0033] like Figure 1 , Figure 2 As shown, the utility model provides a multi-degree-of-freedom mechanical arm for metal gasket sealing detection, comprising:

[0034] The base 110 , the rotating base 130 , the two first pull rods 140 , the support rod 150 , the two second pull rods 161 , the third pull rod 162 , the fourth pull rod 163 , the manipulator 170 , the first power mechanism 180 and the second power mechanism 120 .

[0035] The base 110 can be fixed at any position according to actual needs. The second power mechanism 120 is arranged on the base 110. A rotating seat 130 is arranged in parallel at intervals on the upper part of the base 110, and the rotating seat is connected to the power output end of the second power mechanism 120, so that the second power mechanism 120 can drive the rotating seat 130 to rotate relative to the base 110.

[0036] like Figure 3 As shown, two connecting arms are provided at one end of the rotating seat 130, and the distal ends of the two connecting arms extend away from the upper part of the rotating seat 130. The two connecting arms are arranged in parallel and spaced apart on both sides of the rotating seat 130, and a first connecting portion is provided at the other end.

[0037] like Figure 4As shown, one end of the two first tie rods 140 is respectively hinged to the distal ends of the two connecting arms, and the other ends are symmetrically hinged to both sides of one end close to the support rod 150, and the two first tie rods 140 are symmetrically arranged at intervals; the other end of the support rod 150 is detachably provided with a manipulator 170; one end of the two second tie rods 161 is respectively hinged to the middle parts of the two connecting arms, and the two second tie rods 161 are symmetrically arranged at intervals; one end of the third tie rod 162 is simultaneously hinged to the other ends of the two second tie rods 161 One end of the fourth pull rod 163 is hinged between the two first pull rods 140, and the other end is hinged between the two second pull rods 161, which is used to limit the movement range of the device and ensure the stability of the device; the first power mechanism 180 is arranged on the rotating seat 130, and the output end of the first power mechanism 180 is connected to the two second pull rods 161, which is used to drive the lateral reciprocating motion of the two second pull rods 161, and then drive the lateral and longitudinal movement of the entire robotic arm.

[0038] The first power mechanism 180 is hinged to the first connection part through the second connection part, so that the first power mechanism 180 can rotate a certain angle based on the power provided; the output end of the first power mechanism 180 is detachably provided with a connecting rod, and the connecting rod is hinged to the middle part of the two second pull rods.

[0039] All hinged structures in the present invention are realized by pins, and the two first pull rods 140 and the two connecting arms, the two second pull rods 161 and the two connecting arms, and the two first pull rods 140 and the support rod 150 are all hinged by a pin.

[0040] In this embodiment, the second power mechanism 120 is a motor.

[0041] In this embodiment, the robot arm 170 is an air gripper.

[0042] In this embodiment, the first power mechanism 180 is a cylinder.

[0043] The multi-degree-of-freedom mechanical arm for metal gasket sealing detection provided by the utility model realizes the rotational freedom of the mechanical arm through a power mechanism combined with a rotating seat, realizes the lateral and longitudinal degrees of freedom through multiple connecting rod structures combined with the power mechanism, and thus realizes the multi-degree-of-freedom of the mechanical arm as a whole, improves the movement accuracy, and reduces the production cost.

[0044] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multi-degree-of-freedom robotic arm for metal gasket sealing detection, characterized in that: include: Base; as well as A rotating seat, which is rotatably arranged on the base; Two first pull rods, one end of each of which is hinged to the rotating seat, and the two first pull rods are symmetrically spaced apart; A support rod, one end of which is hinged to the other ends of the two first pull rods, and the other end of which is detachably provided with a manipulator; Two second pull rods, one end of which is hinged to the rotating seat, and the two second pull rods are symmetrically spaced apart; A third pull rod, one end of which is hingedly arranged between the other ends of the two second pull rods, and the other end of which is hingedly connected to one end of the support rod; A first power mechanism is disposed on the rotating seat, and an output end of the first power mechanism is connected to the two second pull rods to drive the two second pull rods to move; A fourth pull rod has one end hinged to the two second pull rods, and the other end hinged to the two first pull rods.

2. The multi-degree-of-freedom mechanical arm for metal gasket sealing detection according to claim 1, characterized in that: Also includes: The second power mechanism is fixed on the base, and the output end of the second power mechanism is connected to the rotating seat to drive the rotating seat to rotate.

3. The multi-degree-of-freedom mechanical arm for metal gasket sealing detection according to claim 2, characterized in that: The second power mechanism is a motor.

4. The multi-degree-of-freedom mechanical arm for metal gasket sealing detection according to claim 3, characterized in that: Two connecting arms are arranged at one end of the rotating seat, and the distal ends of the two connecting arms extend away from the upper part of the rotating seat, and the two connecting arms are arranged in parallel and spaced apart; One end of the first pull rod is hinged to the distal end of the connecting arm, and one end of the second pull rod is hinged to the middle part of the connecting arm.

5. The multi-degree-of-freedom mechanical arm for metal gasket sealing detection according to claim 4, characterized in that: The other ends of the two first pull rods are symmetrically hinged on both sides of one end close to the support rod.

6. The multi-degree-of-freedom mechanical arm for metal gasket sealing detection according to claim 5, characterized in that: The manipulator is an air gripper.

7. The multi-degree-of-freedom mechanical arm for metal gasket sealing detection according to claim 6, characterized in that: The first power mechanism is hinged at the other end of the rotating seat, and the output end of the first power mechanism is hinged at the middle of the two second pull rods.

8. The multi-degree-of-freedom mechanical arm for metal gasket sealing detection according to claim 7, characterized in that: The first power mechanism is a cylinder.

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