A transfer robot and transfer device for multi-parameter measurement of a cylinder

Abstract

The utility model relates to detection device technical field, concretely relates to a transfer manipulator and transfer device for cylinder multi -parameter measurement for fixing the detection piece with the cylindrical inner chamber, including connecting plate and removal component. Removal component includes main part, a plurality of drive blocks and first drive part, and the main part sets up on the connecting plate, a plurality of drive blocks evenly spaced apart are set up on the lateral wall of main part along the circumference, a plurality of drive blocks are radially slidingly arranged, and first drive part sets up on the main part for drive drive block sliding. The lateral wall of main part is equipped with a plurality of sliding grooves along the radial direction of itself, and the sliding groove is slidably provided with a guide block, a plurality of drive blocks are fixedly connected with the guide block respectively, and the driving end of first drive part is in transmission connection with the guide block. The outer wall of drive block is provided with the curved surface that the inner wall of detection piece is adapted. The position detection part for detecting the posture of detection piece is arranged on the connecting plate. The application also provides a transfer device containing a plurality of groups of above-mentioned mechanical hands.

Description

Technical Field

[0001] This utility model relates to the field of detection device technology, specifically to a transfer manipulator and transfer device for multi-parameter measurement of cylinders. Background Technology

[0002] In automated testing production lines for cylinder components, the workpiece needs to have its height and slot width measured simultaneously. The position of the cylinder slot must be accurately aligned, otherwise collisions will occur. Therefore, precise positioning and transfer are key to achieving efficient operation.

[0003] Traditional cylinder transfer methods often employ a single gripping robot in conjunction with a linear module. This approach suffers from bottlenecks such as long cycle times and low overall efficiency when handling multi-parameter, multi-station sequential inspections. Some existing robots, when fixing workpieces with cylindrical internal cavities, frequently use an external gripping method. This method is prone to interference with cylinders with complex external structures or those already assembled with other components, and improper gripping force control can lead to workpiece deformation, affecting the accuracy of subsequent inspection parameters. Furthermore, a single transfer robot cannot achieve synchronous workpiece transfer across multiple stations, limiting the production line's pace to the time required for a single transfer and preventing the full utilization of the efficiency of each inspection device. Utility Model Content

[0004] The purpose of this invention is to provide a transfer robot and transfer device for multi-parameter measurement of cylinders, which can shorten the production cycle and improve the overall production efficiency.

[0005] In a first aspect, embodiments of this application provide a transfer manipulator for multi-parameter measurement of cylinders, used to fix a test piece having a cylindrical inner cavity, comprising:

[0006] Connecting plate;

[0007] A transfer assembly includes a main body, a plurality of drive blocks, and a first drive unit. The main body is disposed on the connecting plate. The plurality of drive blocks are evenly spaced circumferentially on the sidewalls of the main body and are slidably disposed radially. The first drive unit is disposed on the main body for driving the drive blocks to slide.

[0008] In some embodiments, a plurality of sliding grooves are formed on the side wall of the main body along its own radial direction, a guide block is slidably disposed in the sliding groove, a plurality of driving blocks are respectively fixedly connected to the guide block, and the driving end of the first driving part is drivenly connected to the guide block.

[0009] In some embodiments, the outer wall of the drive block is provided with a curved surface that matches the inner wall of the component to be tested.

[0010] In some embodiments, the connecting plate is provided with a position detection unit for detecting the posture of the component to be detected.

[0011] Secondly, embodiments of this application provide a transfer device for multi-parameter measurement of cylinders, used to move a test piece having a cylindrical inner cavity, including multiple sets of the aforementioned transfer manipulators, and further including:

[0012] substrate;

[0013] The mounting plate is slidably disposed on the base plate in both the horizontal and vertical directions, and multiple sets of the transfer manipulators are disposed on the mounting plate at intervals in the horizontal direction.

[0014] The second driving unit is used to drive the mounting plate to slide laterally.

[0015] The third drive unit is used to drive the mounting plate to slide longitudinally.

[0016] In some embodiments, the second driving unit includes:

[0017] The second guide rail is fixedly mounted on the substrate in a horizontal direction;

[0018] The intermediate plate is slidably mounted on the second guide rail in a horizontal direction, and the third driving part and the mounting plate are mounted on the intermediate plate;

[0019] The second driving component is disposed at one end of the second guide rail and is connected to the intermediate plate for transmission.

[0020] In some embodiments, the third drive unit includes:

[0021] The third guide rail is fixedly mounted on the middle plate in the vertical direction, and the mounting plate is slidably mounted on the third guide rail in the vertical direction;

[0022] The third driving component is disposed at one end of the third guide rail and is connected to the mounting plate in a transmission manner.

[0023] The beneficial effects of this utility model are as follows: Multiple drive blocks, arranged on the sidewall of the main body and capable of radial sliding, can be used to firmly fix the workpiece within its cylindrical inner cavity, effectively avoiding interference with the external structure of the workpiece. This makes it suitable for cylinder parts with complex structures. The curved surface design of the drive block's outer wall, adapted to the inner wall of the workpiece, increases the contact area, resulting in a more uniform distribution of clamping force. This significantly reduces the risk of indentation or deformation of the workpiece's inner wall, ensuring the authenticity of the test data. The transfer device, by setting multiple sets of these transfer robots and integrating them onto a horizontally and vertically movable mounting plate, achieves synchronous gripping and transfer of workpieces at multiple testing stations. This transforms serial operations into parallel operations, greatly shortening the production cycle time and improving the overall production line efficiency. The position detection unit further ensures the accuracy of the workpiece's posture when placed at the target station. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a transfer robot for multi-parameter measurement of cylinders in this utility model;

[0025] Figure 2 This is a schematic diagram of the structure of a transfer device for measuring multiple parameters of a cylinder according to the present invention.

[0026] Reference numerals: 1. Connecting plate; 2. Transfer assembly; 21. Main body; 22. Drive block; 23. First drive unit; 24. Sliding groove; 25. Guide block; 3. Position detection unit; 4. Base plate; 5. Mounting plate; 6. Second drive unit; 61. Second guide rail; 62. Intermediate plate; 63. Second drive component; 7. Third drive unit; 71. Third guide rail; 72. Third drive component. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the description of the embodiments of this utility model, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0032] In view of this, this application provides a transfer robot and transfer device for multi-parameter measurement of cylinders.

[0033] Example 1

[0034] This application provides a transfer manipulator for multi-parameter measurement of cylinders, used to fix a workpiece to be tested with a cylindrical inner cavity, referring to... Figure 1 The assembly includes a connecting plate 1 and a transfer component 2, which includes a main body 21, multiple driving blocks 22 and a first driving part 23. The main body 21 is disposed on the connecting plate 1, the multiple driving blocks 22 are evenly spaced along the circumference on the side wall of the main body 21, the multiple driving blocks 22 are slidably disposed along the radial direction, and the first driving part 23 is disposed on the main body 21 to drive the driving blocks 22 to slide.

[0035] The transfer robot includes a connecting plate 1 and a transfer assembly 2 consisting of a main body 21, multiple drive blocks 22, and a first drive unit 23. The connecting plate 1 serves as the basic support structure for the entire robot system. The main body 21 is mounted on the connecting plate 1 and is typically rigidly fixed by bolts or welding to ensure no displacement or deformation occurs under stress. Multiple drive blocks 22 are evenly spaced circumferentially on the sidewalls of the main body 21, ensuring uniform radial force is applied when clamping the cylindrical inner cavity of the workpiece to be inspected, avoiding workpiece deformation or positioning deviation due to uneven force. The drive blocks 22 slide radially, allowing them to move radially relative to the main body 21, thus enabling clamping and releasing operations on the workpiece. The first drive unit 23, mounted on the main body 21, drives the drive blocks 22 to slide. The first drive unit 23 can be a linear drive device such as a cylinder, hydraulic cylinder, or electric actuator, converting linear motion into radial sliding of the drive blocks 22 through a mechanical transmission mechanism.

[0036] In some embodiments, a plurality of sliding grooves 24 are provided on the side wall of the main body 21 along its own radial direction, a guide block 25 is slidably disposed in the sliding groove 24, a plurality of driving blocks 22 are fixedly connected to the guide block 25 respectively, and the driving end of the first driving part 23 is connected to the guide block 25 in a transmission manner.

[0037] The number of sliding grooves 24 corresponds to the number of driving blocks 22, and each sliding groove 24 is evenly distributed circumferentially along the main body 21. Guide blocks 25 are slidably disposed within the sliding grooves 24, and the guide blocks 25 and sliding grooves 24 are fitted with a clearance fit, ensuring smooth sliding while avoiding positional errors caused by excessive clearance. Multiple driving blocks 22 are fixedly connected to the guide blocks 25, typically using bolt connections or an integral molding process, ensuring sufficient connection strength between the driving blocks 22 and the guide blocks 25. The driving end of the first driving unit 23 is connected to the guide blocks 25 via a transmission mechanism, such as direct push, linkage mechanism, or cam mechanism. When the first driving unit 23 operates, its output force acts on the guide blocks 25 through the transmission mechanism, driving the guide blocks 25 to slide radially along the sliding grooves 24, thereby causing the driving blocks 22 fixedly connected to the guide blocks 25 to move synchronously. This enables multiple driving blocks 22 to achieve synchronous radial movement, ensuring a uniform distribution of clamping force.

[0038] In some embodiments, the outer wall of the drive block 22 is provided with a curved surface adapted to the inner wall of the workpiece to be tested. The radius of curvature of the curved surface matches the radius of curvature of the inner wall of the workpiece to be tested, forming surface contact rather than point or line contact, thereby increasing the contact area, reducing contact stress, and avoiding damage to the inner wall of the workpiece to be tested during clamping. The surface of the curved surface can be specially treated, such as increasing the coefficient of friction or installing flexible materials, to improve the stability and reliability of clamping. The curved surface can also accommodate small dimensional deviations of the inner wall of the workpiece to be tested, ensuring a consistent clamping effect between different workpieces.

[0039] In some embodiments, a position detection unit 3 is provided on the connecting plate 1 for detecting the posture of the workpiece to be inspected. The position detection unit 3 can employ detection devices such as photoelectric sensors, proximity switches, or vision recognition systems. After its installation position and detection direction are calibrated, it can monitor the position and posture of the workpiece to be inspected relative to the robot arm in real time. When the workpiece to be inspected is transported to the target position, the position detection unit 3 can detect whether it is in the correct installation posture, such as whether the axis is horizontal or the end face is aligned. If an abnormal posture is detected, the system can issue an alarm or take corrective measures in a timely manner to ensure the accuracy of subsequent inspection processes.

[0040] Example 2

[0041] Secondly, embodiments of this application provide a transfer device for measuring multiple parameters of a cylinder, used to move a test piece having a cylindrical inner cavity, referring to... Figure 1 and Figure 2 The system includes multiple sets of the aforementioned transfer manipulators, as well as a base plate 4; a mounting plate 5, which is slidably disposed on the base plate 4 in both the lateral and longitudinal directions, with multiple sets of transfer manipulators spaced apart in the lateral direction on the mounting plate 5; a second drive unit 6 for driving the mounting plate 5 to slide in the lateral direction; and a third drive unit 7 for driving the mounting plate 5 to slide in the longitudinal direction.

[0042] The base plate 4 serves as the fundamental support platform for the entire transfer device. It is typically constructed of cast iron or welded steel, possessing sufficient mass and rigidity to suppress vibration and deformation. The base plate 4 is fixed to the preset workstation via mounting columns. The mounting plate 5 is slidably mounted on the base plate 4 both laterally and longitudinally. Multiple sets of transfer robots are spaced laterally on the mounting plate 5. This arrangement allows multiple robots to move synchronously, enabling simultaneous transfer operations between different workstations. The second drive unit 6 drives the mounting plate 5 to slide laterally, and the third drive unit 7 drives it to slide longitudinally. Through the combination of these two directional movements, the robots can be positioned at any location in the horizontal plane.

[0043] In some embodiments, the second driving unit 6 includes a second guide rail 61, an intermediate plate 62, and a second driving member 63. The second guide rail 61 is fixedly disposed on the substrate 4 in a horizontal direction; the intermediate plate 62 is slidably disposed on the second guide rail 61 in a horizontal direction; the third driving unit 7 and the mounting plate 5 are disposed on the intermediate plate 62; and the second driving member 63 is disposed at one end of the second guide rail 61 and is connected to the intermediate plate 62 in a transmission manner.

[0044] The second guide rail 61 is fixedly mounted on the base plate 4 in a horizontal direction. In this embodiment, a high-precision linear guide rail can be used to ensure smooth sliding and accurate positioning. The intermediate plate 62 is slidably mounted on the second guide rail 61 in a horizontal direction, and smooth linear motion is achieved through the cooperation of the slider and the guide rail. The third drive unit 7 and the mounting plate 5 are mounted on the intermediate plate 62, so that the lateral and longitudinal movements are independent of each other, reducing motion interference. The second drive member 63 is located at one end of the second guide rail 61 and is connected to the intermediate plate 62 for transmission. The second drive member 63 can be a cylinder structure, which controls the rapid lateral sliding of the intermediate plate 62. In other embodiments, the second drive member 63 can also be a ball screw and a motor, which converts the rotational motion into the linear motion of the intermediate plate 62, and has the characteristics of high transmission efficiency and good positioning accuracy.

[0045] In some embodiments, the third driving unit 7 includes a third guide rail 71 and a third driving member 72. The third guide rail 71 is fixedly disposed on the intermediate plate 62 in a vertical direction, and the mounting plate 5 is slidably disposed on the third guide rail 71 in a vertical direction; the third driving member 72 is disposed at one end of the third guide rail 71 and is connected to the mounting plate 5 in a transmission connection.

[0046] The third guide rail 71 is fixedly mounted vertically on the intermediate plate 62, and the mounting plate 5 is slidably mounted vertically on the third guide rail 71. The third guide rail 71 also uses a high-precision linear guide rail to ensure smooth vertical movement. The third drive component 72 is located at one end of the third guide rail 71 and is connected to the mounting plate 5 via a transmission mechanism. The third drive component 72 can be a cylinder linear drive device or a ball screw and motor, converting rotational motion into linear motion of the intermediate plate 62. A suitable drive method is selected based on load requirements and accuracy needs. When the third drive component 72 operates, it drives the mounting plate 5 to move vertically along the third guide rail 71, realizing the lifting function of the robotic arm.

[0047] The entire transfer device operates as follows: When a workpiece needs to be transferred from one station to the next, the second drive unit 6 and the third drive unit 7 work together to precisely position the mounting plate 5 and its multiple transfer manipulators at the workpiece's location. Then, the first drive unit 23 of each manipulator begins operation, driving the drive block 22 to move radially outward, ensuring the curved surface of the drive block 22's outer wall makes close contact with the inner wall of the workpiece, forming a stable clamping state. After confirming that all manipulators are reliably clamping, the second drive unit 6 and the third drive unit 7 work together again to move the mounting plate 5, its manipulators, and the workpiece to the target station. At the target station, the position detection unit 3 first checks whether the workpiece's posture meets the requirements. Once confirmed, the first drive unit 23 reverses its operation, driving the drive block 22 to move radially inward, releasing the workpiece and completing a synchronous transfer operation of multiple workpieces.

[0048] This multi-robot collaborative transfer device is suitable for multi-parameter inspection production lines for cylinder parts, enabling synchronous transfer between multiple workstations and significantly improving production efficiency. A precise control system ensures consistent clamping force from each robot, preventing workpiece deformation or positional deviation caused by uneven clamping force. Furthermore, the modular design allows for flexible configuration of the number of robots according to actual production needs, providing excellent adaptability and scalability.

[0049] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A transfer manipulator for multi-parameter cylinder measurement, used to fix a workpiece to be tested having a cylindrical inner cavity, characterized in that, include: Connecting plate (1); The transfer assembly (2) includes a main body (21), a plurality of drive blocks (22) and a first drive unit (23). The main body (21) is disposed on the connecting plate (1). The plurality of drive blocks (22) are evenly spaced along the circumference on the side wall of the main body (21). The plurality of drive blocks (22) are slidably disposed along the radial direction. The first drive unit (23) is disposed on the main body (21) for driving the drive blocks (22) to slide.

2. The transfer robot according to claim 1, characterized in that: The main body (21) has multiple sliding grooves (24) along its radial direction on its side wall. A guide block (25) is slidably disposed in the sliding groove (24). Multiple driving blocks (22) are fixedly connected to the guide block (25) respectively. The driving end of the first driving part (23) is connected to the guide block (25) in a transmission manner.

3. The transfer robot according to claim 1, characterized in that: The outer wall of the drive block (22) is provided with a curved surface that matches the inner wall of the test piece.

4. The transfer robot according to claim 1, characterized in that: The connecting plate (1) is provided with a position detection unit (3) for detecting the posture of the part to be tested.

5. A transfer device for multi-parameter measurement of a cylinder, used to move a test piece having a cylindrical inner cavity, characterized in that, The system includes multiple sets of transfer manipulators as described in any one of claims 1 to 4, and further includes: base(4); Mounting plate (5) is slidably disposed on the base plate (4) in both the horizontal and vertical directions, and multiple sets of the transfer manipulators are disposed on the mounting plate (5) at intervals in the horizontal direction; The second drive unit (6) is used to drive the mounting plate (5) to slide laterally; The third drive unit (7) is used to drive the mounting plate (5) to slide longitudinally.

6. The transfer device according to claim 5, characterized in that: The second drive unit (6) includes: The second guide rail (61) is fixedly mounted on the base plate (4) in the horizontal direction; The intermediate plate (62) is slidably disposed on the second guide rail (61) in the horizontal direction, and the third driving part (7) and the mounting plate (5) are disposed on the intermediate plate (62); The second driving component (63) is disposed at one end of the second guide rail (61) and is connected to the intermediate plate (62) in a transmission manner.

7. The transfer device according to claim 6, characterized in that: The third drive unit (7) includes: The third guide rail (71) is fixedly mounted on the middle plate (62) in the vertical direction, and the mounting plate (5) is slidably mounted on the third guide rail (71) in the vertical direction; The third driving component (72) is disposed at one end of the third guide rail (71) and is connected to the mounting plate (5) in a transmission manner.

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