Multi-joint mechanical arm for product detection

Abstract

The utility model relates to the technical field of product detection, and discloses a multi-joint mechanical arm for product detection, which comprises a base, the middle part of the top wall of the base is rotatably connected with a mechanical arm, the tail end of the mechanical arm is fixedly connected with a fixed cylinder, the bottom of the fixed cylinder is provided with a cylinder, the cylinder is internally provided with a detection mechanism, and the detection mechanism is fixedly connected with the base. The detection mechanism is used for multi-directional detection, and a lifting mechanism is mounted at the bottom of the fixed cylinder and used for lifting the cylinder; the detection mechanism comprises a first square groove, and the first square groove is formed in the middle of the bottom wall of the cylinder. According to the utility model, the small motor I drives the crankshaft, so that the industrial camera swings the rotating shaft II to rotate in the hollow block, and the hollow block rotates in the square groove I, thereby realizing dynamic scanning and omnibearing visual inspection on the surface of a product, and the single industrial camera can cover the detection range of a plurality of fixed cameras, so that the hardware purchase cost and the maintenance time can be reduced.

Description

Technical Field

[0001] This utility model relates to the field of product testing technology, and in particular to a multi-joint robotic arm for product testing. Background Technology

[0002] A multi-joint robotic arm is an automated operating device that can mimic certain movements of the human hand and arm to grasp, move objects, or operate tools according to a fixed program. Through the combination of multiple joints, it can achieve compound movements of translation and rotation in space, with extremely high flexibility. It is widely used in industrial, logistics, medical, and scientific research fields to replace manual labor in repetitive, precise, or high-risk tasks, improving efficiency and accuracy.

[0003] Multi-joint robotic arms used for product inspection are devices that combine the flexibility of multi-joint robotic arms with inspection technology in industrial automation inspection scenarios to achieve automated inspection of product size, appearance and performance parameters. However, when the inspection sensors are installed, the grooves, bosses and deep holes on the product surface will be blocked by the mechanical structure, resulting in blind spots. The existing technology is to break down a single sensor into multiple miniature probes and install them in a distributed manner in the non-obstructed area of ​​the robotic arm. However, the failure of a single probe will cause local blind spots. The distributed layout requires checking multiple probes one by one to locate the fault, which significantly increases the maintenance time. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a multi-joint robotic arm for product inspection, which aims to improve the problem in the prior art where a single probe failure can lead to a local detection blind spot, but the distributed layout requires checking multiple probes one by one to locate the fault, which significantly increases the maintenance time.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a multi-joint robotic arm for product inspection, comprising a base, a robotic arm rotatably connected to the middle of the top wall of the base, a fixed cylinder fixedly connected to the end of the robotic arm, a cylinder at the bottom of the fixed cylinder, a detection mechanism installed inside the cylinder for multi-directional detection, a lifting mechanism installed at the bottom of the fixed cylinder for lifting the cylinder; the detection mechanism includes a square groove one, which is opened in the middle of the bottom wall of the cylinder, a rotating shaft one rotatably connected to the lower middle part of the left and right sides of the inner wall of the cylinder, a hollow block fixedly connected to the adjacent end of the outer wall of the two rotating shafts one, a rotating shaft two rotatably connected to the front and rear sides of the inner wall of the hollow block, an industrial camera fixedly connected to the adjacent end of the outer wall of the two rotating shafts two, and a drive assembly installed inside the cylinder.

[0006] As a further description of the above technical solution:

[0007] The drive assembly includes a small motor, which is disposed inside a square slot. The output end of the small motor is fixedly connected to a crankshaft, and the bottom wall of the crankshaft is fixedly connected to the middle of the top wall of the industrial camera.

[0008] As a further description of the above technical solution:

[0009] The lifting mechanism includes a square groove two, which is opened in the middle of the bottom wall of the fixed cylinder. A guide rail is fixedly connected to the right side of the inner top wall of the square groove two. A square groove three is opened on the right side of the top wall of the cylinder. A slider one is fixedly connected to the upper middle part of the right side of the inner wall of the square groove three. A moving component is provided inside the fixed cylinder.

[0010] As a further description of the above technical solution:

[0011] The moving component includes a small motor 2, which is fixedly connected to the left side of the inner top wall of the square groove 2. The output end of the small motor 2 is fixedly connected to a connecting shaft, and the end of the connecting shaft is fixedly connected to a gear 1. Gear 2 is meshed with the front side of the outer wall of gear 1. A connecting rod 1 is rotatably connected to the right side of the outer wall of both gear 1 and gear 2. A connecting rod 2 is rotatably connected to the left side of the outer wall of both connecting rod 1. The connecting rod 2 is rotatably connected to the left side of the outer wall of slider 1.

[0012] As a further description of the above technical solution:

[0013] The top wall of the small motor is fixedly connected to the middle of the inner top wall of the square groove.

[0014] As a further description of the above technical solution:

[0015] The guide rail is slidably connected to the slider, and the square groove is slidably connected to the guide rail.

[0016] As a further description of the above technical solution:

[0017] The cylinder has two sliders fixedly connected to the left and right sides of its outer wall, and the fixed cylinder has grooves on the left and right sides of its inner wall, with the sliders slidably connected to the grooves.

[0018] As a further description of the above technical solution:

[0019] Mounting holes are provided at the four corners of the top wall of the base.

[0020] This utility model has the following beneficial effects:

[0021] 1. In this utility model, the robotic arm delivers the industrial camera above the product, and a small motor drives the crankshaft, causing the industrial camera's swing shaft to rotate inside the hollow block. The hollow block rotates inside the square groove, realizing dynamic scanning and all-round visual inspection of the product surface. A single industrial camera can cover the detection range of multiple fixed cameras, which can reduce hardware procurement costs and maintenance time.

[0022] 2. In this utility model, after the small motor 2 starts, it drives gear 1 and gear 2 to rotate through the shaft. These two gears cause connecting rod 1 and connecting rod 2 to swing, thereby causing slider 1 to move vertically on the guide rail. The movement of slider 1 drives the cylinder to rise and fall, so as to adjust the distance between it and the product and meet the detection requirements of different heights. Attached Figure Description

[0023] Figure 1 This is a front view of a multi-joint robotic arm for product inspection proposed in this utility model;

[0024] Figure 2 This is a perspective view of a multi-joint robotic arm for product inspection proposed in this utility model;

[0025] Figure 3 This is a schematic diagram of a multi-joint robotic arm for product inspection proposed in this utility model;

[0026] Figure 4 This is a partial structural exploded view of a multi-joint robotic arm for product inspection proposed in this utility model;

[0027] Figure 5 This is an exploded view of a partial structure of a multi-joint robotic arm for product inspection proposed in this utility model.

[0028] Legend:

[0029] 1. Base; 2. Robotic arm; 3. Fixed cylinder; 4. Cylindrical column; 5. Detection mechanism; 501. Square groove one; 502. Rotating shaft one; 503. Hollow block; 504. Rotating shaft two; 505. Industrial camera; 506. Drive assembly; 5061. Small motor one; 5062. Crankshaft; 6. Lifting mechanism; 601. Square groove two; 602. Guide rail; 603. Square groove three; 604. Slider one; 605. Moving assembly; 6051. Small motor two; 6052. Connecting shaft; 6053. Gear one; 6054. Gear two; 6055. Connecting rod one; 6056. Connecting rod two; 7. Slider two; 8. Slide groove; 9. Mounting hole. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Reference Figure 1 , Figure 3 and Figure 4 This utility model provides an embodiment of a multi-joint robotic arm for product inspection, comprising a base 1, a robotic arm 2 rotatably connected to the middle of the top wall of the base 1, a fixed cylinder 3 fixedly connected to the end of the robotic arm 2, a cylinder 4 at the bottom of the fixed cylinder 3, a detection mechanism 5 installed inside the cylinder 4 for multi-directional detection, and a lifting mechanism 6 installed at the bottom of the fixed cylinder 3 for lifting the cylinder 4; the detection mechanism 5 includes a square groove 501, which is formed in the middle of the bottom wall of the cylinder 4, and rotating shafts 502 rotatably connected to the lower middle parts of the left and right sides of the inner wall of the cylinder 4, hollow blocks 503 fixedly connected to adjacent ends of the outer walls of the two rotating shafts 502, and rotating shafts 504 rotatably connected to the front and rear sides of the inner walls of the hollow blocks 503. 503 rotates within square groove 501 via shaft 2 504. Industrial cameras 505 are fixedly connected to adjacent ends of the outer walls of the two shafts 2 504. The shafts 2 504 outside the industrial cameras 505 rotate inside the hollow block 503. A drive assembly 506 is provided inside the cylinder 4. The drive assembly 506 includes a small motor 1 5061. The small motor 1 5061 is located inside the square groove 501. A crankshaft 5062 is fixedly connected to the output end of the small motor 1 5061. The small motor 1 5061 drives the crankshaft 5062 to rotate. The bottom wall of the crankshaft 5062 is fixedly connected to the middle of the top wall of the industrial camera 505. The crankshaft 5062 drives the industrial camera 505 to swing. The top wall of the small motor 1 5061 is fixedly connected to the middle of the inner top wall of the square groove 501.

[0032] Specifically, the inspection mechanism 5 is used for multi-directional inspection, the lifting mechanism 6 is used to lift the cylinder 4, the robotic arm 2 transports the industrial camera 505 above the product, the small motor 5061 drives the crankshaft 5062 to rotate, and the crankshaft 5062 in turn drives the nozzle and the industrial camera 505 to swing. The rotating shaft 504 around the industrial camera 505 rotates inside the hollow block 503, and the hollow block 503 rotates in the square groove 501 through the rotating shaft 504, realizing dynamic scanning of the product surface. Through multi-angle adjustment, the all-round visual inspection of the product is finally achieved.

[0033] Reference Figure 3 and Figure 5The lifting mechanism 6 includes a second square groove 601, which is located in the middle of the bottom wall of the fixed cylinder 3. A guide rail 602 is fixedly connected to the right side of the inner top wall of the second square groove 601. A third square groove 603 is located on the right side of the top wall of the cylinder 4. A first slider 604 is fixedly connected to the upper middle part of the right side of the inner wall of the third square groove 603. A moving component 605 is provided inside the fixed cylinder 3. The moving component 605 includes a second small motor 6051, which is fixedly connected to the left side of the inner top wall of the second square groove 601. A connecting shaft 6052 is fixedly connected to the output end of the second small motor 6051. A first gear 6053 is fixedly connected to the end of the connecting shaft 6052. The second small motor 6051 drives the first gear 6053 to rotate through the connecting shaft 6052. The front side of the outer wall of the first gear 6053 meshes with the gear. A gear 6054 is connected to a gear 6053, which drives the gear 6054 to rotate simultaneously. A connecting rod 6055 is rotatably connected to the right side of the outer wall of both gears 6053 and 6054. Gears 6053 and 6054 drive the connecting rod 6055 to swing. A connecting rod 6056 is rotatably connected to the left side of the outer wall of both connecting rods 6055. Connecting rod 6055 pulls connecting rod 6056 to move. Connecting rod 6056 is rotatably connected to the left side of the outer wall of slider 604. Guide rail 602 is slidably connected to slider 604. Square groove 603 is slidably connected to guide rail 602. Connecting rod 6056 drives slider 604 to move up and down on guide rail 602, thereby driving cylinder 4 to rise and fall vertically along guide rail 602.

[0034] Specifically, after the small motor 6051 starts, it drives the gear 6053 to rotate through the connecting shaft 6052, which in turn causes the gear 6054 to rotate in the opposite direction. The gears 6053 and 6054 respectively cause the connecting rod 6055 to swing, which in turn pulls the connecting rod 6056 to move. Since the connecting rod 6056 is connected to the rotation of the slider 604, and the slider 604 can slide within the guide rail 602, the movement of the connecting rod 6056 drives the slider 604 to move vertically on the guide rail 602, thereby realizing the vertical lifting and lowering of the cylinder 4 along the guide rail 602, and realizing the adjustment of the distance between the cylinder and the product to meet the detection requirements at different height positions.

[0035] Reference Figure 2 and Figure 3Slider 2 7 is fixedly connected to the left and right sides of the outer wall of the cylinder 4. Slide groove 8 is opened on the left and right sides of the inner wall of the fixed cylinder 3. Slider 2 7 is slidably connected to slide groove 8. Slider 2 7 on the outer wall of the cylinder 4 slides in slide groove 8 of fixed cylinder 3, which can ensure that the cylinder 4 rises and falls vertically along a fixed trajectory, and avoids the impact of deviation or shaking on detection accuracy due to the lifting process. Mounting holes 9 are opened at the four corners of the top wall of the base 1. The mounting holes 9 are used to fix the base 1 to the base with bolts to achieve stable support of the entire device, ensure the stability of the mechanical structure during the detection process, and avoid the deviation of the detection result due to the shaking of the base 1.

[0036] Specifically, the slider 7 on the outer wall of the cylinder 4 slides in the groove 8 of the fixed cylinder 3, which can ensure that the cylinder 4 rises and falls vertically along a fixed trajectory, avoiding the impact of deviation or shaking during the lifting process on the detection accuracy; the mounting hole 9 is used to fix the base 1 to the base with bolts, so as to achieve stable support for the entire device, ensure the stability of the mechanical structure during the detection process, and avoid deviation of the detection results due to shaking of the base 1.

[0037] Working principle: The robotic arm 2 delivers the industrial camera 505 above the product. The small motor 5061 drives the crankshaft 5062 to rotate, and the crankshaft 5062 drives the industrial camera 505 to swing. The rotating shaft 504 outside the industrial camera 505 rotates inside the hollow block 503. The hollow block 503 then rotates in the square groove 501 through the rotating shaft 504, so that the industrial camera 505 can dynamically scan the surface of the product. Combined with multi-angle adjustment, it can finally achieve all-round visual inspection of the product.

[0038] Small motor 6051 starts, and drives gear 6053 to rotate via connecting shaft 6052. Gear 6053 drives gear 6054 to rotate simultaneously. Gear 6053 and gear 6054 drive connecting rod 6055 to swing, and connecting rod 6055 pulls connecting rod 6056 to move. Since connecting rod 6056 is rotatably connected to slider 604, and slider 604 slides within guide rail 602, connecting rod 6056 drives slider 604 to move up and down on guide rail 602, thereby driving cylinder 4 to rise and fall vertically along guide rail 602, realizing the adjustment of the distance between cylinder 4 and product to meet the detection requirements at different height positions.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-joint robot arm for product inspection, comprising a base (1), characterized in that: A mechanical arm (2) is rotatably connected to the middle of the top wall of the base (1). A fixed cylinder (3) is fixedly connected to the end of the mechanical arm (2). A cylinder (4) is provided at the bottom of the fixed cylinder (3). A detection mechanism (5) is installed inside the cylinder (4). The detection mechanism (5) is used for multi-directional detection. A lifting mechanism (6) is installed at the bottom of the fixed cylinder (3). The lifting mechanism (6) is used to lift the cylinder (4). The detection mechanism (5) includes a square groove (501), which is located in the middle of the bottom wall of the cylinder (4). The lower middle part of the left and right sides of the inner wall of the cylinder (4) is rotatably connected to a rotating shaft (502). A hollow block (503) is fixedly connected to one adjacent end of the outer wall of the two rotating shafts (502). A rotating shaft (504) is rotatably connected to the front and rear sides of the inner wall of the hollow block (503). An industrial camera (505) is fixedly connected to one adjacent end of the outer wall of the two rotating shafts (504). A drive assembly (506) is provided inside the cylinder (4).

2. The multi-joint robot arm for product inspection according to claim 1, characterized in that: The drive assembly (506) includes a small motor (5061) which is disposed inside a square groove (501). The output end of the small motor (5061) is fixedly connected to a crankshaft (5062), and the bottom wall of the crankshaft (5062) is fixedly connected to the middle of the top wall of the industrial camera (505).

3. The multi-joint robot arm for product inspection of claim 1, wherein: The lifting mechanism (6) includes a square groove two (601), which is located in the middle of the bottom wall of the fixed cylinder (3). A guide rail (602) is fixedly connected to the right side of the inner top wall of the square groove two (601). A square groove three (603) is provided on the right side of the top wall of the cylinder (4). A slider one (604) is fixedly connected to the upper right side of the inner wall of the square groove three (603). A moving component (605) is provided inside the fixed cylinder (3).

4. The multi-joint robot arm for product inspection according to claim 3, characterized in that: The moving component (605) includes a small motor 2 (6051), which is fixedly connected to the left side of the inner top wall of the square groove 2 (601). The output end of the small motor 2 (6051) is fixedly connected to a connecting shaft (6052), and the end of the connecting shaft (6052) is fixedly connected to a gear 1 (6053). The front side of the outer wall of the gear 1 (6053) is meshed with a gear 2 (6054). The outer right side of the outer walls of the gear 1 (6053) and the gear 2 (6054) are rotatably connected to a connecting rod 1 (6055). The left side of the outer walls of the two connecting rods 1 (6055) are rotatably connected to a connecting rod 2 (6056), which is rotatably connected to the left side of the outer wall of the slider 1 (604).

5. The multi-joint robot arm for product inspection of claim 2, wherein: The top wall of the small motor (5061) is fixedly connected to the middle of the inner top wall of the square groove (501).

6. The multi-joint robot arm for product inspection of claim 3, wherein: The guide rail (602) is slidably connected to the slider (604), and the square groove (603) is slidably connected to the guide rail (602).

7. The multi-joint robot arm for product inspection of claim 1, wherein: The outer wall of the cylinder (4) is fixedly connected to the left and right sides of the slider two (7), and the inner wall of the fixed cylinder (3) is provided with the sliding groove (8) on the left and right sides. The slider two (7) is slidably connected to the sliding groove (8).

8. The multi-joint robot arm for product inspection of claim 1, wherein: Mounting holes (9) are provided at the four corners of the top wall of the base (1).

Images