Coating measuring instrument for robot end effector

Abstract

The utility model relates to the technical field of nondestructive testing, and provides a coating measuring instrument for an end effector of a robot, which comprises a variable-angle driving module, a transmitting adjusting arm and a receiving adjusting arm, and the transmitting adjusting arm and the receiving adjusting arm are respectively arranged at the first end and the second end of the variable-angle driving module. The variable-angle driving module is connected with a robot end effector, a to-be-measured test piece is placed below the variable-angle driving module, all driving assemblies in the variable-angle driving module are driven to act so that the transmitting adjusting arm and the receiving adjusting arm can be driven to rotate to a space specified included angle, and then the to-be-measured test piece can be measured. Gear meshing transmission is adopted, the transmitting adjusting arm and the receiving adjusting arm can be synchronously driven to move to a space specified included angle, the angle change precision can be controlled, accurate electric angle change of a transmitting source and a receiving source of the measuring instrument is achieved, and the influence of external interference and vibration on test piece measurement is effectively reduced; the accuracy and the stability of test piece measurement are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to nondestructive testing technical field, especially relate to a coating measuring instrument for robot end effector. BACKGROUND

[0002] In the industrial field, measuring the thickness and material properties of multi-layer non-metallic coating by measuring instrument has significance for analyzing the properties of multi-layer non-metallic coating. When measuring multi-layer non-metallic coating, the interaction between the transmitted wave and the coating material is mainly based on. The transmitted wave has unique properties and can penetrate many non-polar and non-metallic materials. When the transmitted wave is irradiated on the coating, reflection, refraction and absorption phenomena occur. By measuring the intensity, phase and frequency spectrum of the reflected wave and transmitted wave after the wave passes through the coating, information about the coating can be obtained.

[0003] In the current measurement technology field, the control of the angle change of the transmitting source and the receiving source by the measuring instrument is crucial. However, the existing measuring instrument has significant defects in this regard. First of all, the precision of its angle change control often fails to meet the ideal requirements, and slight angle deviation may lead to large errors in the measurement results. Secondly, the control method is not flexible enough, and cannot quickly and accurately respond to the needs of different measurement scenarios, limiting the wide application of the measuring instrument. In addition, the stability of the connection between the parts is also insufficient. During the measurement process, external environmental disturbances such as slight vibration and temperature change can easily affect the stability of the connection part, thereby affecting the accuracy and stability of the optical path. Moreover, due to the unreasonable connection structure, when the angle changes, problems such as poor transmission of the optical path and signal attenuation may occur, seriously affecting the accuracy and reliability of the measurement. These problems not only reduce the measurement efficiency, but also limit the effective application and development of measurement technology in various fields. Therefore, the utility model provides a coating measuring instrument for robot end effector to solve the above problems. SUMMARY

[0004] In view of the problems existing in the prior art, the utility model provides a coating measuring instrument for robot end effector, which adopts gear meshing transmission to synchronously drive the transmitting adjusting arm and the receiving adjusting arm to move to a specified included angle in space, which is conducive to controlling the angle change precision and realizing the accurate electric angle change of the transmitting source and the receiving source of the measuring instrument. At the same time, when the measuring instrument is connected with the robot end effector, the robot end effector provides stable and reliable connection support for the measuring instrument, effectively reducing the influence of external interference and vibration on the test piece coating measurement, and improving the accuracy and stability of the test piece measurement.

[0005] The utility model discloses a technical scheme of a kind of coating measuring instrument for robot end effector, it includes variable angle drive module, launch adjustment arm and receiving adjustment arm, the variable angle drive module is connected with robot end effector, the variable angle drive module includes connecting backplate, ring gear, first drive component and second drive component, the first end surface of ring gear is equipped with the connecting backplate, and the second end surface of ring gear is equipped with annular guide rail, the first drive component is located at the first end of ring gear, and the first gear in the first drive component is engaged with the ring gear transmission, the first connecting frame in the first drive component is slidably arranged on the annular guide rail, the second drive component is located at the second end of ring gear, and the second gear in the second drive component is engaged with the ring gear transmission, the second connecting frame in the second drive component is slidably arranged on the annular guide rail;The launch adjustment arm is located on the first connecting frame in the first drive component, and the launch adjustment arm includes launch adjustment component, launch source, launch optical path component and launch lock, the launch adjustment component is located on the first connecting frame, and the launch source is located on the launch adjustment component, the launch optical path component is located at one end of the launch source, the launch source and the launch optical path component are fixedly connected through the launch lock, and the launch source and the launch optical path component are on the same straight line;The receiving adjustment arm is located on the second connecting frame in the second drive component, and the receiving adjustment arm includes receiving adjustment component, receiving source, receiving optical path component and receiving lock, the receiving adjustment component is located on the second connecting frame, and the receiving source is located on the receiving adjustment component, the receiving optical path component is located at one end of the receiving source, the receiving source and the receiving optical path component are fixedly connected through the receiving lock, and the receiving source and the receiving optical path component are on the same straight line.

[0006] Preferably, the first end surface of the connecting backplate is provided with a connecting flange connected to the robot end effector, and the second end surface of the connecting backplate is further provided with a power supply module.

[0007] Further, the first drive component includes a first motor, a first gear, a first shaft, a first connecting frame, and a first sliding plate. The first sliding plate is arranged at a first end of the first connecting frame, and a first guide wheel is arranged at a corner of the first sliding plate. The first guide wheel is in rolling contact with the annular guide rail. The first motor is arranged on the first connecting frame, and the first shaft is supported on the first connecting frame. An output shaft of the first motor is connected to a first end of the first shaft through a shaft coupling. The first gear is arranged on the first shaft, and the first gear is in transmission connection with the ring gear.

[0008] Further, the second driving assembly comprises a second motor, a second gear, a second rotating shaft, a second connecting frame and a second sliding plate, the second sliding plate is arranged at the first end of the second connecting frame, corners of the second sliding plate are provided with second guide wheels, the second guide wheels are in rolling contact with the annular guide rail, the second motor is arranged on the second connecting frame, the second rotating shaft is supported on the second connecting frame, and the output shaft of the second motor is connected with the first end of the second rotating shaft through a shaft coupling, the second gear is arranged on the second rotating shaft, and the second gear is in meshing transmission with the annular gear.

[0009] Preferably, the emission adjusting assembly comprises an emission guide rail, an emission sliding block and an emission rotating table, the emission guide rail is arranged on the first connecting frame, the emission sliding block is slidably arranged on the emission guide rail, the emission sliding block is arranged on a fixed platform of the emission rotating table, an emission source is arranged on a movable platform of the emission rotating table, and the emission light path assembly is arranged above the emission guide rail.

[0010] Preferably, the emission adjusting assembly comprises an emission guide rail, an emission sliding block and an emission rotating table, the emission guide rail is arranged on the first connecting frame, the emission sliding block is slidably arranged on the emission guide rail, the emission sliding block is arranged on a fixed platform of the emission rotating table, an emission source is arranged on a movable platform of the emission rotating table, and the emission light path assembly is arranged above the emission guide rail.

[0011] The utility model discloses a characteristic and beneficial effect is:

[0012] 1. The coating measuring instrument for the robot end effector is connected with the robot end effector, and the robot end effector provides stable and reliable connection support for the measuring instrument, effectively reduces the influence of external interference and vibration on the test piece measurement, and improves the accuracy and stability of the test piece measurement. Meanwhile, a semi-annular gear ring is adopted, and the lower part of the semi-annular gear ring is an open space. The test piece is placed below the coating measuring instrument, which is beneficial to improve the applicability of the coating measuring instrument.

[0013] 2. The coating measuring instrument for the robot end effector is provided with a transmission adjusting arm and a receiving adjusting arm at two ends of the variable angle driving module, and gear meshing is adopted between each driving assembly on the transmission adjusting arm and the receiving adjusting arm and the annular gear. By driving the gear on each driving assembly to mesh with the annular gear, the transmission adjusting arm and the receiving adjusting arm can be driven to move to a specified angle in space, which is beneficial to control the angle change precision and realize accurate electric variable angle of the measuring instrument emission source and receiving source. The problem of large deviation of the measurement result caused by angle deviation is avoided.

[0014] 3. The coating measuring instrument for the robot end effector has the adjusting assembly arranged below the emitting source and the receiving source, the emitting source and the receiving source can rotate and horizontally linearly move on the connecting plate, the emitting source and the receiving source can be adjusted according to different to-be-measured sample models and test requirements, the to-be-measured sample can be measured with different characteristics, and meanwhile, the flexibility and adaptability of sample measurement can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic diagram of the coating measuring instrument and the robot end effector of the utility model;

[0016] Figure 2 is a schematic diagram of the overall structure of the utility model;

[0017] Figure 3 is a rear view of the utility model;

[0018] Figure 4 is a left view of the utility model.

[0019] Main reference signs:

[0020] Angle changing driving module 1; Connecting back plate 11; Annular gear 12; First driving assembly 13; First motor 131; First gear 132; First connecting frame 134; First sliding plate 135; Second driving assembly 14; Second motor 141; Second gear 142; Second connecting frame 144; Second sliding plate 145; Annular guide rail 15; Connecting flange 16; Power supply module 17; Emitting adjusting arm 2; Emitting adjusting assembly 21; Emitting source 22; Emitting light path assembly 23; Emitting locker 24; Receiving adjusting arm 3; Receiving adjusting assembly 31; Receiving source 32; Receiving light path assembly 33; Receiving locker 34; Robot end effector 4; Sample 5. DETAILED DESCRIPTION

[0021] To make the technical content, structural features, purposes and effects of the utility model clear, the following will be described in detail in combination with the drawings.

[0022] The coating measuring instrument for the robot end effector of the utility model, as shown in the figure, comprises an angle changing driving module 1, an emitting adjusting arm 2 and a receiving adjusting arm 3. Figure 1 The angle changing driving module 1 is connected with the robot end effector 4, and a to-be-measured sample 5 is placed below the angle changing driving module 1.

[0023] As shown in the figure, Figure 2 and Figure 3As shown, the variable angle driving module 1 comprises a connecting back plate 11, a ring gear 12, a first driving assembly 13 and a second driving assembly 14, the first end surface of the ring gear 12 is provided with the connecting back plate 11, and the second end surface of the ring gear 12 is provided with a ring guide rail 15, the first driving assembly 13 is arranged at the first end of the ring gear 12, and the first gear in the first driving assembly 13 is in meshing transmission with the ring gear 12, the first connecting frame in the first driving assembly 13 is slidingly arranged on the ring guide rail 15, and the second driving assembly 14 is arranged at the second end of the ring gear 12, and the second gear in the second driving assembly 14 is in meshing transmission with the ring gear 12, and the second connecting frame in the second driving assembly 14 is slidingly arranged on the ring guide rail 15.

[0024] Specifically, the first end surface of the connecting back plate 11 is provided with a connecting flange 16 connected with the robot end effector, and the second end surface of the connecting back plate is further provided with a power supply module 17.

[0025] As shown in the figure, Figure 2 The first driving assembly 13 comprises a first motor 131, a first gear 132, a first rotating shaft, a first connecting frame 134 and a first sliding plate 135, the first sliding plate 135 is arranged at the first end of the first connecting frame 134, and the corner of the first sliding plate 135 is provided with a first guide wheel, the first guide wheel is in rolling contact with the ring guide rail 15, the first motor 131 is arranged on the first connecting frame 134, the first rotating shaft is supported on the first connecting frame 134, the output shaft of the first motor 131 is connected with the first end of the first rotating shaft through a shaft coupling, the first gear 132 is arranged on the first rotating shaft, and the first gear 132 is in meshing transmission with the ring gear 12.

[0026] As shown in the figure, Figure 2 The second driving assembly 14 comprises a second motor 141, a second gear 142, a second rotating shaft, a second connecting frame 144 and a second sliding plate 145, the second sliding plate 145 is arranged at the first end of the second connecting frame 144, and the corner of the second sliding plate 145 is provided with a second guide wheel, the second guide wheel is in rolling contact with the ring guide rail 15, the second motor 141 is arranged on the second connecting frame 144, the second rotating shaft is supported on the second connecting frame 144, the output shaft of the second motor 141 is connected with the first end of the second rotating shaft through a shaft coupling, the second gear 142 is arranged on the second rotating shaft, and the second gear 142 is in meshing transmission with the ring gear 12.

[0027] As shown in the figure, Figure 4As shown, the transmission adjustment arm 2 is mounted on the first connecting frame 134 in the first drive assembly 13, and the transmission adjustment arm 2 includes a transmission adjustment assembly 21, a transmission source 22, a transmission optical path assembly 23, and a transmission locking device 24. The transmission adjustment assembly 21 is mounted on the first connecting frame 134, and the transmission source 22 is mounted on the transmission adjustment assembly 21. The transmission optical path assembly 23 is mounted at one end of the transmission source 24. The transmission source 22 and the transmission optical path assembly 23 are fixedly connected by the transmission locking device 24, and the transmission source 22 and the transmission optical path assembly 23 are on the same straight line.

[0028] In a preferred embodiment, the emission adjustment assembly 21 includes an emission guide rail, an emission slider, and an emission rotary table. The emission guide rail is mounted on the first connecting frame 134, and the emission slider is slidably mounted on the emission guide rail. The emission slider is mounted on the fixed platform of the emission rotary table, and the emission source 22 is mounted on the moving platform of the emission rotary table. The emission optical path assembly 23 is mounted above the emission guide rail.

[0029] like Figure 2 As shown, the receiving adjustment arm 3 is mounted on the second connecting frame 144 in the second drive assembly 14, and the receiving adjustment arm 3 includes a receiving adjustment component 31, a receiving source 32, a receiving optical path component 33, and a receiving locking device 34. The receiving adjustment component 31 is mounted on the second connecting frame 144, and the receiving source 32 is mounted on the receiving adjustment component 31. The receiving optical path component 33 is mounted at one end of the receiving source 32. The receiving source 32 and the receiving optical path component 33 are fixedly connected by the receiving locking device 34, and the receiving source 34 and the receiving optical path component 35 are on the same straight line.

[0030] In a preferred embodiment, the receiving adjustment assembly 31 includes a receiving guide rail, a receiving slider, and a receiving rotary table. The receiving guide rail is mounted on the second connecting frame 144, and the receiving slider is slidably mounted on the receiving guide rail. The receiving slider is mounted on the fixed platform of the receiving rotary table, and the receiving source 32 is mounted on the moving platform of the receiving rotary table. The receiving optical path assembly 33 is mounted above the receiving guide rail.

[0031] The specific operating steps of this utility model are as follows:

[0032] like Figures 1 to 4As shown, the utility model discloses a variable angle driving module 1, launch adjustment arm 2 and receiving adjustment arm 3, connect variable angle driving module 1 with robot end effector 4, and place the test piece 5 to be measured below variable angle driving module 1, when activating the measuring instrument work, drive first motor 131 in first drive assembly 13 and second motor 141 in second drive assembly 14 synchronously, drive first gear 132 and second gear 142 respectively with ring gear 12 meshing transmission, then drive launch adjustment arm 2 and receiving adjustment arm 3 rotate to the space designated angle, adjusting assembly is arranged in launch adjustment arm 2 and receiving adjustment arm 3 simultaneously, can adjust the position of launch source 22 and receiving source 32 respectively according to different test piece 5 to be measured, launch source 22 starts to emit laser ray at this time, laser ray irradiates to test piece 5 to be measured through launch light path assembly 23, test piece 5 to be measured reflects light to receiving light path assembly 33 at this time, then spreads to receiving source 32, receiving source 32 processes the light received, through measuring the intensity, phase and spectrum of reflected wave and transmission wave after test piece 5 to be measured, can obtain the information about coating on test piece 5 to be measured, such as the thickness of coating can be determined by measuring the propagation time of wave in coating. The composition and structure of coating can influence the absorption characteristics of wave, so that the chemical composition and microstructure of coating can be analyzed.

[0033] The utility model discloses connecting the measuring instrument with robot end effector, and robot end effector provides stable and reliable connection support for the measuring instrument, effectively reduces the influence of external interference and vibration on test piece measurement, improves the accuracy and stability of test piece measurement. Meanwhile, the half ring gear is adopted, and the lower part of the half ring gear is an open space, the test piece to be measured is placed below the coating measuring instrument, which is beneficial to improve the applicability of the coating measuring instrument. Meanwhile, the launch adjustment arm and the receiving adjustment arm are arranged at the two ends of the variable angle driving module, and the driving assemblies on the launch adjustment arm and the receiving adjustment arm are engaged with the ring gear through gears, and the gears on the driving assemblies are engaged with the ring gear through gear transmission, which can drive the launch adjustment arm and the receiving adjustment arm to move to a specified angle in space, which is beneficial to control the angle change precision and realize the accurate electric variable angle of the launch source and the receiving source of the measuring instrument, avoiding the problem of large deviation of the measurement result caused by angle deviation. In addition, adjusting assemblies are arranged below the launch source and the receiving source respectively, and the launch source and the receiving source can rotate and linearly move horizontally on the connecting plate, which can adjust the launch source and the receiving source according to different test piece models and test requirements, which is beneficial to measure the different characteristics of the coating of the test piece to be measured, and also can improve the flexibility and adaptability of test piece measurement.

[0034] The above embodiment only describes the preferred embodiments of the utility model, and does not limit the scope of the utility model, and various deformations and improvements of the technical scheme of the utility model made by the ordinary skilled in the art without departing from the design spirit of the utility model should fall within the protection scope determined by the utility model claim.

Claims

1. A coating gauge for a robot end effector, characterized by, It includes a variable angle driving module, a transmitting adjusting arm and a receiving adjusting arm, The variable angle driving module is connected with a robot end effector, and the variable angle driving module comprises a connecting back plate, a ring gear, a first driving assembly and a second driving assembly. The first end surface of the ring gear is provided with the connecting back plate, and the second end surface of the ring gear is provided with a ring guide rail. The first driving assembly is arranged at the first end of the ring gear, and the first gear in the first driving assembly is in meshing transmission with the ring gear. The first connecting frame in the first driving assembly is slidingly arranged on the ring guide rail. The second driving assembly is arranged at the second end of the ring gear, and the second gear in the second driving assembly is in meshing transmission with the ring gear. The second connecting frame in the second driving assembly is slidingly arranged on the ring guide rail. The transmitting adjusting arm is arranged on the first connecting frame in the first driving assembly, and the transmitting adjusting arm comprises a transmitting adjusting assembly, a transmitting source, a transmitting light path assembly and a transmitting locker. The transmitting adjusting assembly is arranged on the first connecting frame, and the transmitting source is arranged on the transmitting adjusting assembly. The transmitting light path assembly is arranged at one end of the transmitting source. The transmitting source and the transmitting light path assembly are fixedly connected through the transmitting locker and are in the same straight line. The receiving adjusting arm is arranged on the second connecting frame in the second driving assembly, and the receiving adjusting arm comprises a receiving adjusting assembly, a receiving source, a receiving light path assembly and a receiving locker. The receiving adjusting assembly is arranged on the second connecting frame, and the receiving source is arranged on the receiving adjusting assembly. The receiving light path assembly is arranged at one end of the receiving source. The receiving source and the receiving light path assembly are fixedly connected through the receiving locker and are in the same straight line.

2. The coating measurement instrument for a robot end effector of claim 1, wherein, The first end surface of the connecting back plate is provided with a connecting flange connected with the robot end effector, and the second end surface of the connecting back plate is further provided with a power supply module.

3. The coating measurement instrument for a robotic end effector of claim 1, wherein, The first driving assembly comprises a first motor, a first gear, a first rotating shaft, a first connecting frame and a first sliding plate. The first sliding plate is arranged at the first end of the first connecting frame, and the corner of the first sliding plate is provided with a first guide wheel. The first guide wheel is in rolling contact with the ring guide rail. The first motor is arranged on the first connecting frame. The first rotating shaft is supported on the first connecting frame. The output shaft of the first motor is connected with the first end of the first rotating shaft through a shaft coupling. The first gear is arranged on the first rotating shaft, and the first gear is in meshing transmission with the ring gear.

4. The coating measurement instrument for a robot end effector of claim 2, wherein, The second driving assembly comprises a second motor, a second gear, a second rotating shaft, a second connecting frame and a second sliding plate. The second sliding plate is arranged at the first end of the second connecting frame, and a second guide wheel is arranged at the corner of the second sliding plate. The second guide wheel is in rolling contact with the annular guide rail. The second motor is arranged on the second connecting frame. The second rotating shaft is supported on the second connecting frame. The output shaft of the second motor is connected with the first end of the second rotating shaft through a shaft coupling. The second gear is arranged on the second rotating shaft and is in meshing transmission with the annular gear.

5. The coating measurement instrument for a robotic end effector of claim 1, wherein, The emission adjusting assembly comprises an emission guide rail, an emission sliding block and an emission rotating table. The emission guide rail is arranged on the first connecting frame. The emission sliding block is arranged on the emission guide rail in a sliding mode. The emission sliding block is arranged on the fixed platform of the emission rotating table. The emission source is arranged on the movable platform of the emission rotating table. The emission light path assembly is arranged above the emission guide rail.

6. The coating measurement instrument for a robotic end effector of claim 5, wherein, The receiving adjusting assembly comprises a receiving guide rail, a receiving sliding block and a receiving rotating table. The receiving guide rail is arranged on the second connecting frame. The receiving sliding block is arranged on the receiving guide rail in a sliding mode. The receiving sliding block is arranged on the fixed platform of the receiving rotating table. The receiving source is arranged on the movable platform of the receiving rotating table. The receiving light path assembly is arranged above the receiving guide rail.

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