Mechanical arm turnover mechanism and gloss and color difference detection equipment

Abstract

The utility model belongs to the field of automatic processing, and particularly relates to a mechanical arm turnover mechanism and gloss color difference detection equipment, which comprises a support, a turnover air cylinder is horizontally arranged on the support, one end of the turnover air cylinder is fixedly connected with the support, and the other end of the turnover air cylinder is provided with a turnover plate connected through a control swing hinge. The swing hinge has the maximum rotating angle of 90 degrees, and the overturning plate abuts against the overturning air cylinder at the end point of the rotating stroke. The overturning cylinder is used for replacing an overturning joint of a mechanical arm with low cost, the control difficulty of a mechanical rotating part is reduced, and under the condition that the use cost of the mechanical arm is reduced, the overturning plate drives a workpiece to rotate by arranging the swing hinge and the limiting spring, so that the structure of the mechanical arm overturning device is simplified, and the production cost is reduced. And parts of the mechanical arm can be better replaced according to different process requirements.

Description

Technical Field

[0001] The utility model belongs to the field of automated processing, and in particular relates to a mechanical arm flipping mechanism and gloss and color difference detection equipment. Background Art

[0002] Robotic arms are the most widely used automated mechanical devices in robotics, found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. While they vary in form, they all share a common characteristic: the ability to receive commands and precisely locate a point in three-dimensional space to perform operations.

[0003] Patent CN117645148A discloses a flip-type gripping robot arm, comprising a base and a manipulator mounted on the base, wherein the driving end of the manipulator is connected to a mounting plate via a flip assembly, wherein the flip assembly comprises a flip shaft rotatably connected to the driving end of the manipulator, and one end of the flip shaft is fixed to the upper end of the mounting plate. In the process of gripping an axial workpiece, when the grasped axial workpiece tilts due to the center of gravity offset, the support rod on the support assembly on the other side of the tilting direction is driven to move downward and support and push the tilted axial workpiece to reset and rotate to a horizontal state. The flip-type gripping robot arm can effectively grip and flip the workpiece, and can also support the tilted axial workpiece, ensuring the state of the axial workpiece while avoiding uneven force on the clamping assembly during the clamping process, thereby facilitating the gripping and flipping operations of the workpiece by the robot arm.

[0004] In the above scheme, the state of the shaft workpiece is ensured while avoiding uneven force on the clamping component during the clamping process, which facilitates the robot arm's clamping and flipping operations on the workpiece. However, in the manufacture of the robot arm, each additional movable joint will place higher requirements on the control system and structural design of the robot arm, and the corresponding equipment cost will also be greatly increased. Utility Model Content

[0005] The purpose of the present invention is to provide a mechanical arm flipping mechanism and a gloss and color difference detection device that can solve the above technical problems.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] The robotic arm flipping mechanism includes a bracket, on which a flip cylinder is horizontally arranged. One end of the flip cylinder is fixedly connected to the bracket, and the other end of the flip cylinder is provided with a flip plate connected by a controlled swing hinge. The swing hinge has a maximum rotation angle of 90°, and the flip plate abuts against the flip cylinder at the end of the rotation stroke.

[0008] In the robotic arm flipping mechanism, the bracket includes a transverse bracket and a longitudinal bracket, one end of the transverse bracket is provided with a fixed end, the other end of the transverse bracket is vertically connected to the longitudinal bracket, and the flipping cylinder is provided on the longitudinal bracket.

[0009] In the robotic arm flipping mechanism, a clamping groove is provided at the fixed end of the transverse bracket, a clamping block fixed with bolts is provided on the clamping groove, and a rotary mortise and tenon protrusion is provided in the clamping groove.

[0010] In the robotic arm flipping mechanism, the flip cylinder is arranged on the longitudinal bracket at one end away from the flip plate. An air pipe through hole is provided on the longitudinal bracket, and the air pipe through hole is aligned with the air inlet end of the flip cylinder 1.

[0011] In the robotic arm flipping mechanism, a limit spring is provided on the flip cylinder, and the limit spring abuts against the surface of the flip plate.

[0012] In the mechanical arm flipping mechanism, the two limit springs are arranged perpendicular to each other and respectively abut against the flip plate at two end points of its rotation stroke.

[0013] In the robotic arm flipping mechanism, a hanger mounting plate is provided on the side of the flip plate away from the swing hinge, and a suction cup assembly is provided on the hanger mounting plate, and the adsorption direction of the suction cup assembly is consistent with the surface orientation of the flip plate.

[0014] In the robotic arm flipping mechanism, the suction cup assembly includes a suction cup mounting block and a suction cup, one side of the suction cup mounting block is connected to the hanger mounting plate, and the suction cups are evenly arranged on the suction cup mounting block.

[0015] The utility model also provides a gloss and color difference detection device, including a driving base, the gloss and color difference detection device includes the mechanical arm flipping mechanism, a multi-axis swing arm is provided on the driving base, and the end of the multi-axis swing arm is connected to the bracket.

[0016] In the gloss and color difference detection device, a lifting shaft connected via a linear bearing is rotatably provided at the end of the multi-axis swing arm, and one end of the lifting shaft is fixedly connected to the bracket.

[0017] In the gloss and color difference detection device, a colorimeter and a gloss meter are also provided on the work surface where the driving base is provided, and a positioning jig is provided within the extension range of the robotic arm, and the positioning jig is parallel to the work surface.

[0018] The advantages of the utility model are:

[0019] By replacing the flip joint of the robot with a flip cylinder at a low cost, the difficulty of controlling the mechanical rotating parts is reduced, and the cost of using the robot arm is reduced. By setting a swing hinge and a limit spring, the flip plate drives the workpiece to rotate, so that the structure of the robot arm flip device is simplified, which is more conducive to the robot arm to replace parts according to different process needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of the gloss and color difference detection equipment of the utility model.

[0021] Figure 2 This is a schematic diagram of the structure of the robotic arm of the present utility model.

[0022] Figure 3 This is a schematic diagram of the turning mechanism structure of the utility model.

[0023] Figure 4 This is a schematic diagram of the suction cup mounting block structure of the utility model.

[0024] In the figure, there are bracket 1, clamping block 11, transverse bracket 12, longitudinal bracket 13, flip cylinder 2, swing hinge 21, flip plate 22, limit spring 23, suction cup assembly 3, hanger mounting plate 31, suction cup mounting block 32, suction cup 33, drive base 4, multi-axis swing arm 5, lifting shaft 51, positioning fixture 6, and detection equipment 7. DETAILED DESCRIPTION

[0025] The following are specific embodiments of the utility model and the accompanying drawings to further describe the technical solution of the utility model, but the utility model is not limited to these embodiments.

[0026] Example 1

[0027] like Figure 3-Figure 4 As shown, the robotic arm flipping mechanism includes a bracket 1, a flip cylinder 2 is horizontally arranged on the bracket 1, one end of the flip cylinder 2 is fixedly connected to the bracket 1, and the other end of the flip cylinder 2 is provided with a flip plate 22 connected by a control swing hinge 21, the swing hinge 21 has a maximum rotation angle of 90°, and the flip plate 22 abuts against the flip cylinder 2 at the end of the rotation stroke.

[0028] That is, a flip cylinder 2 is installed at the end of the robotic arm to achieve the flipping effect of the workpiece, so as to replace the more expensive electrically driven flipping mechanical joint. By setting a swing hinge and a limit spring, the flip plate drives the workpiece to rotate, so that the structure of the robotic arm flipping device is simplified, which is more conducive to the robotic arm to replace parts according to different process needs.

[0029] In this embodiment, the bracket 1 includes a transverse bracket 12 and a longitudinal bracket 13 . A fixed end is provided at one end of the transverse bracket 12 , and the other end of the transverse bracket 12 is vertically connected to the longitudinal bracket 1 . The flip cylinder 2 is provided on the longitudinal bracket 13 .

[0030] The horizontal bracket 12, the longitudinal bracket 13 and the flip cylinder 2 maintain a vertical relationship in sequence, so that the flip cylinder 2 is in a horizontal state, thereby ensuring that the flip plate 22 is flipped from one vertical stroke end point to another horizontal stroke end point, standardizing the angle presented when the workpiece is adsorbed, and making the detection results more real and effective.

[0031] In this embodiment, a clamping groove is provided at the fixed end of the transverse bracket 12, a clamping block 11 fixed with bolts is provided on the clamping groove, and a rotary mortise and tenon protrusion is provided in the clamping groove.

[0032] The clamping groove is also opened vertically to ensure the angle when fixed to the robot arm. The clamping block 11 and the horizontal bracket 12 are detachable parts fixed by bolts. Different gripping parts can be replaced according to the shape of the workpiece to be grasped, making the use of the equipment more flexible and changeable.

[0033] In this embodiment, the end of the flip cylinder 2 away from the flip plate 22 is set on the longitudinal bracket 13. The longitudinal bracket 13 is provided with an air pipe through hole, which is aligned with the air inlet end of the flip cylinder 2.

[0034] The air inlet end of the flip cylinder 2 is arranged on the corresponding side of the power output end, and the end face of this side is just in contact with the longitudinal bracket 13. Therefore, a through hole is opened on the longitudinal bracket 13 to expose the air inlet end, and enough space is left to allow the air pipe to be connected to the air inlet end.

[0035] In this embodiment, a limit spring 23 is provided on the flip cylinder 2 , and the limit spring 23 abuts against the surface of the flip plate 22 .

[0036] The limit spring 23 is used as a limiting device at both ends of the flipping stroke of the flip plate 22, so that the flip plate 22 can swing within the required angle, preventing the flip plate 22 from swinging excessively and damaging the swing hinge 21. The limit spring 23 can also buffer the power of contact with the flip plate 22, making the flip plate 22 more stable after swinging into place.

[0037] Preferably, the two limit springs 23 are arranged perpendicular to each other and respectively abut against the flip plate 22 at two end points of its rotation stroke.

[0038] The two limit springs 23 are arranged perpendicular to each other, forming a 90° tilting stroke for the flip plate 22. One limit spring 23 is set axially with the cylinder body of the flip cylinder 2, while the other limit spring 23 is set radially to the side of the cylinder body. Both limit springs 23 are at the same linear distance from the rotating axis of the swing hinge 21.

[0039] In this embodiment, a hanger mounting plate 31 is provided on the side of the flip plate 22 away from the swing hinge 21, and a suction cup assembly 3 is provided on the hanger mounting plate 31, and the adsorption direction of the suction cup assembly 3 is consistent with the direction of the flip plate 22.

[0040] There are several bolt holes in the hanger mounting plate 31 for fixing to the flip plate 22. There are hanger mounting parts extending symmetrically outward on both sides, and bolt holes for installing grabbing parts are also symmetrically provided on them. The two suction cup assemblies 3 are respectively installed on both sides, and the adsorption end and the side of the hanger mounting plate 31 fixed to the flip plate 22 are kept in the same direction, and the angle changes along with the swing of the flip plate 22.

[0041] The use of the hanger mounting plate 31 can more freely set the arrangement of the suction cup assembly 3 to adapt to different gripping workpieces, and has stronger applicability compared to the integrated robotic arm gripping end.

[0042] Preferably, the suction cup assembly 3 includes a suction cup mounting block 32 and a suction cup 33 . One side of the suction cup mounting block 32 is connected to the hanger mounting plate 31 , and the suction cup 33 is evenly arranged on the suction cup mounting block 32 .

[0043] The suction cup mounting block 32 is symmetrically installed on both sides of the hanger mounting plate 31, and is used to integrate multiple suction cups 33 into multiple mounting grooves opened on the hanger mounting plate 31. The trumpet mouth of the suction cup 33 faces the opening direction of the groove, and the tail end passes through the bottom of the groove and is connected to the cylinder by an air pipe, so as to realize the grasping action of the robotic arm on the workpiece.

[0044] Example 2

[0045] like Figure 1-Figure 2 As shown, the robotic arm flipping mechanism in Example 1 is used in a gloss and color difference detection device, which includes a driving base 4 arranged on a work surface, a multi-axis swing arm 5 is arranged on the driving base 4, and the end of the multi-axis swing arm 5 is connected to the bracket 1.

[0046] The multi-axis swing arm 5 includes a first-order swing arm connected to the driving base 4 for horizontal rotation, and a second-order swing arm for horizontal rotation is connected to the end of the first-order swing arm. Any horizontal movement within the maximum radius can be achieved through the first-order swing arm and the second-order swing arm.

[0047] Among them, the end of the multi-axis swing arm 5 is rotatably provided with a lifting shaft 51 connected through a linear bearing, and one end of the lifting shaft 51 is fixedly connected to the bracket 1.

[0048] The lifting shaft 51 is also driven by a pneumatic cylinder. When it descends, the suction cup 33 is pressed against the workpiece surface, allowing the suction cup cylinder to grasp it. When it ascends, it lifts the workpiece and transfers it to the inspection equipment. The lifting shaft 51 is also connected to a rotary motor, enabling it to rotate circumferentially, thereby driving the tilting cylinder 2 to adjust its orientation horizontally.

[0049] A colorimeter and a colorimeter are also installed on the work surface. The flat workpiece adsorbed by the robotic arm is converted from a flat state to a vertical state, and then moved by the robotic arm to the testing instrument for quality inspection. The qualified workpieces are then placed separately from the unqualified workpieces.

[0050] Among them, before quality inspection, the robotic arm will first place the workpiece into the positioning fixture for scanning to identify the workpiece number and other information, so that after the inspection, the corresponding workstation can be traced back to understand the specific reasons for the unqualified products and make timely adjustments.

[0051] The utility model adds some pneumatic components to the robot arm, and achieves the effect of transferring and flipping the workpiece in the form of pneumatic and electric, which reduces the use cost of the robot arm and allows the robot arm to have more modification space.

[0052] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. A robotic arm flipping mechanism, comprising a bracket (1), characterized in that: A flip cylinder (2) is horizontally arranged on the bracket (1), one end of the flip cylinder (2) is fixedly connected to the bracket (1), and the other end of the flip cylinder (2) is provided with a flip plate (22) connected by a control swing hinge (21), the swing hinge (21) has a maximum rotation angle of 90 degrees, and the flip plate (22) abuts against the flip cylinder (2) at the end of the rotation stroke.

2. The robotic arm flipping mechanism according to claim 1, characterized in that: The bracket (1) comprises a transverse bracket (12) and a longitudinal bracket (13); one end of the transverse bracket (12) is provided with a fixed end; the other end of the transverse bracket (12) is vertically connected to the longitudinal bracket (13); and the turning cylinder (2) is provided on the longitudinal bracket (13).

3. The robotic arm flipping mechanism according to claim 2, characterized in that: A clamping groove is provided at the fixed end of the transverse bracket (12), a clamping block (11) fixed by bolts is provided on the clamping groove, and a rotary mortise and tenon protrusion is provided in the clamping groove.

4. The robotic arm flipping mechanism according to claim 2, characterized in that: One end of the flip cylinder (2) away from the flip plate (22) is arranged on the longitudinal bracket (13), and an air pipe through hole is opened on the longitudinal bracket (13), and the air pipe through hole is aligned with the air inlet end of the flip cylinder (2).

5. The robotic arm flipping mechanism according to claim 1, characterized in that: A limit spring (23) is provided on the turning cylinder (2), and the limit spring (23) abuts against the surface of the turning plate (22).

6. The robotic arm flipping mechanism according to claim 5, characterized in that: The two limit springs (23) are arranged perpendicular to each other and respectively abut against the flip plate (22) at two rotation end points.

7. The robotic arm flipping mechanism according to claim 1, characterized in that: A hanger mounting plate (31) is provided on a side of the flip plate (22) away from the swing hinge (21), and a suction cup assembly (3) is provided on the hanger mounting plate (31). The adsorption direction of the suction cup assembly (3) is consistent with the direction of the flip plate (22).

8. The robotic arm flipping mechanism according to claim 7, characterized in that: The suction cup assembly (3) comprises a suction cup mounting block (32) and a suction cup (33); one side of the suction cup mounting block (32) is connected to the hanger mounting plate (31); and the suction cup (33) is evenly arranged on the suction cup mounting block (32).

9. A gloss and color difference detection device, comprising a driving base (4), characterized in that: The gloss and color difference detection device includes the robotic arm flipping mechanism according to any one of claims 1 to 8, a multi-axis swing arm (5) is provided on the driving base (4), the end of the multi-axis swing arm (5) is connected to the bracket (1), and the end of the multi-axis swing arm (5) is rotatably provided with a lifting shaft (51) connected by a linear bearing, and one end of the lifting shaft (51) is fixedly connected to the bracket (1).

10. The gloss and color difference detection device according to claim 9, characterized in that: A colorimeter and a gloss meter are also provided on the work surface provided with the driving base (4), and a positioning jig is provided within the extension range of the mechanical arm, and the positioning jig is parallel to the work surface.

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