Automatic grabbing and detecting apparatus

Abstract

Disclosed in the present invention is an automatic grabbing and detecting apparatus, comprising a manipulator. A grabbing end of the manipulator is provided with a connecting seat, one side of the connecting seat is provided with a sensor, and an iron core frame, a detection frame, and a gripper frame are provided around the manipulator. The iron core frame comprises a first support frame, an iron core placing plate is disposed at an upper end of the first support frame, and the iron core placing plate is provided with a plurality of iron core placing holes arranged in an array. The detection frame comprises a second support frame, a detecting platform is disposed at an upper end of the second support frame, and the detecting platform is provided with a detecting apparatus. The gripper frame comprises a third support frame, a placing frame is disposed at an upper end of the third support frame, and the placing frame is provided with a pneumatic triangular claw and a vacuum suction plate. Upper ends of the pneumatic triangular claw and vacuum suction plate are each provided with a connecting structure detachably connected to the connecting seat. The purpose of grabbing a motor iron core and a first iron core placing plate can be achieved by providing only one manipulator and replacing a gripper, so that the input of the manipulator is reduced.

Description

Automatic grasping and detecting device Technical Field

[0001] The present invention relates to the technical field of motor core detection, and in particular to an automatic grasping and detecting device. Background Art

[0002] The fixed part of the motor is called the stator, on which pairs of DC-excited stationary main magnetic poles are installed; the rotating part, the rotor, is called the iron core, on which the armature winding is installed. Usually, the iron core is a cylindrical structure formed by stacking several silicon steel sheets with the same cross-sectional shape, and there are several through slots on the inner wall of the iron core for installing the armature winding.

[0003] In the production of motor cores, various tests need to be carried out on the finished motor cores. During the test, the motor cores need to be grabbed by a robotic arm to the specified position. Generally, multiple motor cores are placed in batches on the core placement plate and transported to the test area. Then the motor cores on the core placement plate are grabbed by the robotic arm to the specified position. However, the mechanical claws on the robotic arm are generally fixed, or need to be manually disassembled and replaced. In the process of grabbing and testing the motor core, in addition to using the pneumatic triangular claw to grab the motor core, the core placement plate where the motor core is placed needs to be transferred. However, the pneumatic triangular claw cannot grab the core placement plate. Therefore, two different robotic arms usually need to be set up, but this method requires an increase in the investment cost of the robotic arm.

[0004] Summary of the Invention

[0005] In order to solve the above-mentioned deficiencies in the prior art, the present invention proposes an automatic grasping and detecting device.

[0006] In order to achieve the above technical effects, the present invention adopts the following scheme:

[0007] An automatic grasping and detecting device comprises a rotatably arranged robotic arm, a grasping end of the robotic arm is provided with a connecting seat, a sensor is provided on one side of the connecting seat, a core frame, a detection frame and a gripper frame are provided around the robotic arm, the core frame comprises a first support frame, an iron core placement plate is placed on the upper end of the first support frame, a plurality of iron core placement holes are arranged in an array on the iron core placement plate, and the iron core placement holes match the motor iron core, the detection frame comprises a second support frame, an inspection platform is provided on the upper end of the second support frame, a detection device is provided on the inspection platform, the gripper frame comprises a third support frame, an upper end of the third support frame is provided with a placement frame, a pneumatic triangular claw and a vacuum adsorption plate are placed on the placement frame, and the upper ends of the pneumatic triangular claw and the vacuum adsorption plate are provided with a connecting structure that can be detachably connected to the connecting seat.

[0008] A preferred technical solution, the connecting structure includes a first connecting head fixedly arranged on the pneumatic triangular claw and the upper end of the vacuum adsorption plate, the upper end surface of the first connecting head is smoothly and flatly arranged, a positioning hole is provided in the center of the upper end surface of the first connecting head, the connecting seat includes a mounting seat fixedly connected to the robotic arm, a positioning column matching the positioning hole is provided in the center of the mounting seat, a plurality of first vacuum adsorption holes are provided around the positioning column on the mounting seat, and the plurality of first vacuum adsorption holes correspond to the upper end surface of the connecting head, and a first vacuum tube connected to the first vacuum adsorption hole is provided on the side wall of the mounting seat.

[0009] A preferred technical solution is that the vacuum adsorption plate includes a substrate, a plurality of rubber covers are arrayed on the lower surface of the substrate, the connecting structure is provided on the upper surface of the substrate, a second connecting head is provided on the upper surface of the substrate, a slot is provided on the second connecting head, a vacuum cavity is provided on the inner wall of the second connecting head, a first connecting tube connected to the vacuum cavity is provided on the side wall of the second connecting head, the first connecting tube is connected one-to-one with the plurality of rubber covers through a plurality of second connecting tubes, a plug matching the slot is provided on the connecting seat, a second vacuum tube is provided on the plug, and after the plug is inserted into the slot, the second vacuum tube is connected to the vacuum cavity.

[0010] According to a preferred technical solution, a plurality of inserting tubes connected to the vacuum chamber are protruded from the slot, and the end face of one end of the plug inserted into the slot has a plurality of sockets matching the inserting tubes, the plurality of inserting tubes correspond one to one with the plurality of sockets, and the plurality of sockets are connected to the second vacuum tube.

[0011] The preferred technical solution is that the upper end of the placement rack is provided with two first support columns and two second support columns, the two first support columns are arranged at intervals, and the two second support columns are arranged at intervals, the midpoint of the line connecting the two first support columns coincides with the midpoint of the line connecting the two second support columns, and the line connecting the two first support columns intersects vertically with the line connecting the two second support columns, the substrate is supported on the upper ends of the two first support columns and the two second support columns, the intersection of the line connecting the two first support columns and the line connecting the two second support columns is located below the center of the substrate, the upper end of the first support column is protruded with a limit column, the size of the limit column is smaller than the size of the first support column, and the substrate has two limit holes that match the two limit columns respectively, and the limit column is inserted into the limit holes.

[0012] The preferred technical solution is that three support rods are extended outward from the upper side wall of the pneumatic triangular claw, and the angle between the three support rods is 120°. The placement rack is provided with three support vertical plates, and the three support vertical plates correspond to the three support rods respectively. The upper ends of the support vertical plates have card slots matching the support rods, and the three support rods are respectively inserted into the three card slots to support the pneumatic triangular claw.

[0013] The preferred technical solution is that the detection device includes a size detection device, an end face detection device and a side wall detection device, the size detection device includes a cylindrical bracket arranged horizontally on the detection platform, one end of the cylindrical bracket is connected to the visual detection system; a mounting bracket is fixed in the detection platform, a vertically movable lifting plate is provided in the mounting bracket, a vertically arranged connecting rod is fixed at the lower end center of the lifting plate, a lifting cylinder is installed at the lower end of the mounting bracket, the telescopic rod of the lifting cylinder is connected to the lower end of the connecting rod through a rotating connector upward, a plurality of detection cleaning rods are vertically arranged on the lifting plate, the cross-sectional shape of the detection cleaning rods matches the through slots on the motor core, a plurality of detection cleaning rods are arranged around a circle and correspond one-to-one to a plurality of through slots on the motor core, and a mounting bracket is provided above the mounting bracket. A supporting plate on the detection table, wherein a first rotating disk is rotatably installed on the supporting plate, and the first rotating disk is driven by a rotation drive mechanism. The center of the upper surface of the first rotating disk has a placement groove matching the motor core, and the bottom of the placement groove is penetrated by a plurality of second through holes corresponding to the plurality of first through holes. The supporting plate has a center hole corresponding to the plurality of second through holes, and the upper ends of the plurality of detection rods are inserted into the corresponding second through holes one by one after passing through the center hole; the end face detection device includes a first displacement sensor installed on the supporting plate, and the pull rod of the first displacement sensor is vertically arranged and located above the end face of the motor core; the side wall detection device includes a second displacement sensor installed on the supporting plate, and the pull rod of the second displacement sensor is horizontally arranged and located on one side of the motor core.

[0014] According to the preferred technical solution, the supporting plate is slidably mounted on the inspection platform via two guide rails, the two guide rails are respectively located on both sides of the mounting bracket and are arranged on the inspection platform, the supporting plate is matched and slidably mounted on the two guide rails, a wire hole parallel to the guide rail is penetrated on one side of the supporting plate, a screw rod is matched and passed through the wire hole, both ends of the screw rod are rotatably mounted on the inspection platform, and the screw rod is driven to rotate by a first rotary motor.

[0015] According to a preferred technical solution, the rotary drive mechanism includes a second rotary motor, the first rotating disk is circular, a circle of teeth is provided on the side wall of the first rotating disk, a transmission gear meshing with the teeth is rotatably mounted on the supporting plate, and the transmission gear is driven to rotate by the second rotary motor.

[0016] According to a preferred technical solution, a top plate is provided at the upper end of the mounting bracket, a mounting center hole is provided on the top plate, a second rotating disk is rotatably provided in the mounting center hole, and the second rotating disk has a plurality of first through holes corresponding one to one with a plurality of detection rods.

[0017] Compared with the prior art, the beneficial effects are:

[0018] By rotating the robotic arm, the connecting seat is connected to the pneumatic triangular claw, and the pneumatic triangular claw grabs the motor core from the core placement plate to the test bench for testing, or places the motor core to other required locations; the connecting seat is connected to the vacuum adsorption plate, and the core placement plate can be grabbed by vacuum adsorption for transfer. In this way, only one robotic arm is needed, and the gripper is replaced to achieve the purpose of grabbing the motor core and the core placement plate, which reduces the setting of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a schematic top view of the present invention;

[0020] FIG2 is a schematic diagram of the connection state of the robot arm and the pneumatic triangular claw in the present invention;

[0021] FIG3 is a schematic diagram of the connection state of the robot arm and the vacuum adsorption plate in the present invention;

[0022] FIG4 is a schematic diagram of the structure of the grab frame in the present invention;

[0023] FIG5 is a schematic diagram of the structure of the vacuum adsorption plate of the present invention;

[0024] FIG6 is a schematic diagram of the structure of the detection frame of the present invention;

[0025] FIG7 is a schematic diagram of the mounting bracket structure of the present invention;

[0026] FIG8 is a schematic diagram of the structure of the load-bearing plate and the guide rail in the present invention.

[0027] Figure numerals: 1, robotic arm; 2, core placement plate; 3, core placement hole; 4, inspection table; 5, cylinder bracket; 6, visual inspection system; 7, gripper frame; 8, pneumatic triangular claw; 9, sensor; 10, vacuum adsorption plate; 11, third support frame; 12, placement frame; 13, base plate; 14, first connector; 15, positioning hole; 16, rubber cover; 17, second connector; 18, first support column; 19, second support column; 20, limit column; 21, support vertical plate; 22, support rod; 23, first connecting pipe; 24 , slot; 25, insert tube; 26, second connecting tube; 27, limit hole; 28, mounting bracket; 29, lifting plate; 30, detection rod; 31, top plate; 32, first through hole; 33, second rotating disk; 34, guide rail; 35, bearing plate; 36, screw rod; 37, first rotating motor; 38, first rotating disk; 39, second rotating motor; 40, first displacement sensor; 41, second displacement sensor; 42, support frame; 43, placement slot; 44, lifting cylinder; 45, slide rail; 46, moving frame; 47, connecting seat. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] An automatic grasping and detecting device includes a rotating robotic arm 1. The robotic arm 1 adopts the robotic arm 1 used in the industry in the prior art and can rotate freely 360 degrees. The grasping end of the robotic arm 1 is provided with a connecting seat 47. A sensor 9 is provided on one side of the connecting seat 47. The sensor 9 adopts the existing technology and is used to sense the position of the motor core to be grasped. The robotic arm 1 is surrounded by a core frame, a detection frame and a gripper frame 7. The core frame is used to place the motor core to be detected, the detection frame is used to place a device for detecting the motor core, and the gripper frame 7 is used to place a gripper for grasping the motor core. The core frame includes a first support frame 42. A core placement plate 2 is placed on the upper end of the first support frame 42. The core placement plate 2 is directly placed on the first support frame 42. A plurality of core placement plates are arranged in an array on the core placement plate 2. Hole 3, the core placement hole 3 matches the motor core, and the core placement hole 3 is used to place the motor core. The detection frame includes a second support frame 42, and the upper end of the second support frame 42 is provided with a detection table 4, and the detection table 4 is provided with a detection device, and the detection device is used to detect the motor core. The grabber frame 7 includes a third support frame 11, and the upper end of the third support frame 11 is provided with a placement frame 12, and a pneumatic triangular claw 8 and a vacuum adsorption plate 10 are placed on the placement frame 12. The pneumatic triangular claw 8 adopts the existing technology. The pneumatic triangular claw 8 is used to grab the motor core, and the vacuum adsorption plate 10 is used to grab the core placement plate 2. The upper ends of the pneumatic triangular claw 8 and the vacuum adsorption plate 10 are provided with a connection structure that can be detachably connected to the connecting seat 47, which facilitates the replacement of the connecting seat 47 between the pneumatic triangular claw 8 and the vacuum adsorption plate 10.

[0030] When it is necessary to grab the motor core, the robot arm 1 rotates, and the connecting seat 47 is connected to the pneumatic triangular claw 8 through the connecting mechanism. The pneumatic triangular claw 8 grabs the motor core from the core placement plate 2 and takes it to the detection device for detection, or places the motor core to other required positions; the connecting seat 47 is connected to the vacuum adsorption plate 10 through the connecting structure, and the core placement plate 2 can be grabbed by vacuum adsorption for transfer. In this way, only one robot arm 1 is needed, and the purpose of grabbing the motor core and the core placement plate 2 can be achieved by replacing the gripper, which reduces the setting of the robot arm 1.

[0031] The preferred technical solution is that the connecting structure includes a first connecting head 14 fixedly set on the pneumatic triangular claw 8 and the upper end of the vacuum adsorption plate 10, the upper end surface of the first connecting head 14 is smoothly and flatly set, and a positioning hole 15 is provided in the center of the upper end surface of the first connecting head 14, and the connecting seat 47 includes a mounting seat fixedly connected to the robotic arm 1, and a positioning column matching the positioning hole 15 is provided in the center of the mounting seat, and a plurality of first vacuum adsorption holes are provided around the positioning column on the mounting seat, and the plurality of first vacuum adsorption holes correspond to the upper end surface of the connecting head, and a first vacuum tube connected to the first vacuum adsorption hole is provided on the side wall of the mounting seat, and the first vacuum tube is used to connect to an external vacuum generator.

[0032] When the robotic arm 1 selects the pneumatic triangular claw 8 and the vacuum adsorption plate 10, the positioning column is inserted into the positioning hole 15, and then the side of the mounting seat provided with the positioning column is tightly attached to the end face of the first connecting head 14, so that the end face of the first connecting head 14 blocks several first vacuum adsorption holes, and then the vacuum generated by the external vacuum generator connected to the first vacuum tube causes the mounting seat to adsorb the first connecting head 14, thereby connecting the connecting seat 47 to the pneumatic triangular claw 8 or the vacuum adsorption plate 10. In this way, it can be quickly connected and disassembled, and is convenient for replacement at any time.

[0033] The preferred technical solution is that the vacuum adsorption plate 10 includes a substrate 13, and the lower surface array of the substrate 13 is provided with a plurality of rubber covers 16, and the connecting structure is provided on the upper surface of the substrate 13, and the upper surface of the substrate 13 is provided with a second connecting head 17, and the second connecting head 17 is provided with a slot 24, and the inner wall of the second connecting head 17 is provided with a vacuum cavity, and the side wall of the second connecting head 17 is provided with a first connecting tube 23 connected to the vacuum cavity, and the first connecting tube 23 is connected one by one with the plurality of rubber covers 16 through a plurality of second connecting tubes 26, and the connecting seat 47 is provided with a plug matching the slot 24, and the plug is provided with a second vacuum tube, and after the plug is inserted into the slot 24, the second vacuum tube is connected to the vacuum cavity, and the second vacuum tube is connected to an external vacuum generator.

[0034] When the vacuum adsorption plate 10 grabs the iron core placement plate 2, several rubber covers 16 are pressed tightly against the substrate 13 of the iron core placement plate 2, and then negative pressure is generated through an external vacuum generator. The rubber cover 16 is made to have negative pressure through the second vacuum tube, vacuum chamber, first connecting tube 23 and second connecting tube 26, thereby adsorbing the iron core placement plate 2. The flexible rubber cover 16 can ensure easier sealing contact with the substrate 13 and is not easy to damage the surface of the substrate 13.

[0035] The preferred technical solution is that a plurality of cannulas 25 connected to the vacuum chamber are protruding from the slot 24, and the end face of the plug inserted into one end of the slot 24 has a plurality of sockets matching the cannulas 25, and the plurality of cannulas 25 correspond one-to-one to the plurality of sockets, and the plurality of sockets are connected to the second vacuum tube.

[0036] When the robot arm 1 grabs the vacuum adsorption plate 10, the plug is inserted into the slot 24, and the multiple inserts 25 are inserted into the multiple holes one by one. In this way, the negative pressure chamber and the second vacuum tube are connected. This structure can improve the sealing and avoid pressure release.

[0037] The preferred technical solution is that the upper end of the placement rack 12 is provided with two first support columns 18 and two second support columns 19, the two first support columns 18 are arranged at intervals, and the two second support columns 19 are arranged at intervals, the midpoint of the line connecting the two first support columns 18 coincides with the midpoint of the line connecting the two second support columns 19, and the line connecting the two first support columns 18 intersects the line connecting the two second support columns 19 vertically, the substrate 13 is supported on the upper ends of the two first support columns 18 and the two second support columns 19, the intersection of the line connecting the two first support columns 18 and the line connecting the two second support columns 19 is located below the center of the substrate 13, the upper end of the first support column 18 is protruded with a limit column 20, the size of the limit column 20 is smaller than the size of the first support column 18, and the substrate 13 has two limit holes 27 that match the two limit columns 20 respectively, and the limit column 20 is inserted into the limit hole 27.

[0038] The vacuum adsorption plate 10 is supported by the two first support columns 18 and the second support columns 19 , and the limiting columns 20 are inserted into the limiting holes 27 to prevent the vacuum adsorption plate 10 from sliding and falling.

[0039] The preferred technical solution is that three support rods 22 are extended outward from the upper side wall of the pneumatic triangular claw 8, and the angle between the three support rods 22 is 120°. The placement rack 12 is provided with three support vertical plates 21, and the three support vertical plates 21 correspond to the three support rods 22 respectively. The upper ends of the support vertical plates 21 have card slots matching the support rods 22, and the three support rods 22 are respectively inserted into the three card slots to support the pneumatic triangular claw 8. The outer wall of the pneumatic triangular claw 8 has a third vacuum tube connected to the cylinder in the pneumatic triangular claw 8, and the third vacuum tube is used to connect to an external vacuum generator.

[0040] The pneumatic triangular claw 8 is supported by three supporting uprights 21 and is locked in a slot by a supporting rod 22 to prevent the pneumatic triangular claw 8 from sliding and falling.

[0041] The preferred technical solution is that the detection device includes a size detection device, an end face detection device and a side wall detection device. The size detection device is used to detect the size of the motor core. The size detection device includes a cylindrical bracket 5 arranged horizontally on the detection table 4. One end of the cylindrical bracket 5 is connected to the visual detection system 6. The motor core is inserted into the cylindrical bracket 5 horizontally from the other end of the cylindrical bracket 5. The visual detection system 6 detects the external size of the motor core from one end of the motor core.

[0042] A mounting bracket 28 is fixedly provided in the detection table 4, and a vertically movable lifting plate 29 is provided in the mounting bracket 28. A vertically arranged connecting rod is fixedly provided at the lower end center of the lifting plate 29. A lifting cylinder 44 is installed at the lower end of the mounting bracket 28. The telescopic rod of the lifting cylinder 44 is connected to the lower end of the connecting rod by a rotating connector. A plurality of detection cleaning rods 30 are vertically provided on the lifting plate 29. The cross-sectional shape of the detection cleaning rods 30 matches the through-grooves of the motor core. A plurality of detection cleaning rods 30 are arranged around a circle and correspond one to one with the plurality of through-grooves on the motor core. A plurality of detection cleaning rods 30 are provided above the mounting bracket 28. A supporting plate 35 is mounted on the test table 4. A first rotating disk 38 is rotatably mounted on the supporting plate 35. The first rotating disk 38 is driven by a rotation drive mechanism. A placement groove 43 is provided at the center of the upper surface of the first rotating disk 38, which matches the motor core. A plurality of second through holes corresponding to the plurality of first through holes 32 are formed through the bottom of the placement groove 43. The supporting plate 35 has a central hole corresponding to the plurality of second through holes. The upper ends of the plurality of test cleaning rods 30 are inserted into the corresponding second through holes after passing through the central hole. Initially, the upper ends of the test cleaning rods 30 slightly protrude from the second through holes to form a positioning structure.

[0043] The motor core is transferred to the placement slot 43 by the robot arm 1, and the motor core is rotated so that the plurality of through slots on the motor core are aligned. The lifting cylinder 44 drives the lifting plate 29 to rise, driving a plurality of detection cleaning rods 30 to rise and insert into and pass through the through slots. Since the motor core is composed of a plurality of stacked silicon steel sheets, if any silicon steel sheet is not completely overlapped when stacked and deviates, it will form an obstruction in the through slot. Whether the detection cleaning rods 30 can pass through the through slots can be used to detect whether any silicon steel sheet is not completely overlapped when stacked.

[0044] The end face detection device includes a first displacement sensor 40 installed on the supporting plate 35, and the pull rod of the first displacement sensor 40 is vertically arranged and located above the end face of the motor core; the side wall detection device includes a second displacement sensor 41 installed on the supporting plate 35, and the pull rod of the second displacement sensor 41 is horizontally arranged and located on one side of the motor core.

[0045] The lower end of the pull rod of the first displacement sensor 40 descends and rests on the upper end face of the motor core, and one end of the second displacement sensor 41 rests on the side wall of the motor core. The first rotating disk 38 drives the motor core to rotate, and the pull rod of the first displacement sensor 40 slides on the upper end face of the motor core as the motor core rotates. During this process, whether the first displacement sensor 40 detects a displacement change is used to determine whether the height of the end face of the motor core is consistent in the circumferential direction. The pull rod of the second displacement sensor 41 slides on the side wall of the motor core as the motor core rotates. During this process, whether the second displacement sensor 41 detects a displacement change is used to determine whether the thickness of the side wall of the motor core is consistent in the circumferential direction.

[0046] The preferred technical solution is that the first displacement sensor 40 is installed on the detection table 4 through a support frame 42. The upper end of the support frame 42 is provided with a horizontally arranged slide rail 45. The direction of the slide rail 45 is parallel to the diameter direction of the placement slot 43. A movable frame 46 is provided on the slide rail 45 for matching sliding. The movable frame 46 is driven to move by a pushing cylinder installed on the support frame 42. The first displacement sensor 40 is installed on the movable frame 46.

[0047] The cylinder drives the movable frame 46 to move, thereby driving the first displacement sensor 40 to move. When placing or removing the motor core, the first displacement sensor 40 moves away from the placement slot 43 to avoid obstruction.

[0048] According to the preferred technical solution, the supporting plate 35 is slidably mounted on the inspection platform 4 through two guide rails 34. The two guide rails 34 are respectively located on both sides of the mounting bracket 28 and are arranged on the inspection platform 4. The supporting plate 35 is matched and slidably mounted on the two guide rails 34. A wire hole parallel to the guide rail 34 is penetrated on one side of the supporting plate 35. A screw rod 36 is matched and passed through the wire hole. Both ends of the screw rod 36 are rotatably mounted on the inspection platform 4. The screw rod 36 is driven to rotate by a first rotating motor 37.

[0049] According to a preferred technical solution, the rotary drive mechanism includes a second rotary motor 39, the first rotating disk 38 is circular, a circle of teeth is provided on the side wall of the first rotating disk 38, and a transmission gear meshing with the teeth is rotatably mounted on the supporting plate 35, and the transmission gear is driven to rotate by the second rotary motor 39.

[0050] A preferred technical solution is that a top plate 31 is provided at the upper end of the mounting bracket 28, and the top plate 31 has a mounting center hole. A second rotating disk 33 is rotatably provided in the mounting center hole, and the second rotating disk 33 has a plurality of first through holes 32 corresponding one-to-one to a plurality of detection rods 30.

[0051] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0053] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

Claims

1. An automatic grasping and detecting device, characterized in that: The invention comprises a rotatably arranged mechanical arm (1), a connecting seat (47) being provided at a grasping end of the mechanical arm (1), a sensor (9) being provided on one side of the connecting seat (47), a core frame, a detection frame and a gripping frame (7) being provided around the mechanical arm (1), the core frame comprising a first supporting frame (42), a core placement plate (2) being provided at the upper end of the first supporting frame (42), a plurality of core placement holes (3) being provided in an array on the core placement plate (2), the core placement holes (3) being matched with the motor core, the detection frame (42) being provided with a plurality of core placement holes (3) being provided in an array on the core placement plate (2), the core placement holes (3) being matched with the motor core, and the detection frame (42) being provided with a plurality of core placement holes (3 ... The measuring frame comprises a second supporting frame (42), the upper end of which is provided with a testing platform (4), the testing platform (4) being provided with a testing device, the gripping frame (7) comprises a third supporting frame (11), the upper end of which is provided with a placing frame (12), the placing frame (12) being provided with a pneumatic triangular claw (8) and a vacuum adsorption plate (10), the upper ends of the pneumatic triangular claw (8) and the vacuum adsorption plate (10) being provided with a connecting structure which can be detachably connected to a connecting seat (47).

2. The automatic grasping and detecting device according to claim 1, characterized in that: The connection structure comprises a first connecting head (14) fixedly arranged on the pneumatic triangular claw (8) and the upper end of the vacuum adsorption plate (10), the upper end surface of the first connecting head (14) is smoothly and flatly arranged, a positioning hole (15) is arranged at the center of the upper end surface of the first connecting head (14), the connecting seat (47) comprises a mounting seat fixedly connected to the robot arm (1), a positioning column matching the positioning hole (15) is arranged at the center of the mounting seat, a plurality of first vacuum adsorption holes are arranged around the positioning column on the mounting seat, the plurality of first vacuum adsorption holes correspond to the upper end surface of the connecting head, and a first vacuum tube connected to the first vacuum adsorption hole is arranged on the side wall of the mounting seat.

3. The automatic grasping and detecting device according to claim 1, characterized in that: The vacuum adsorption plate (10) comprises a substrate (13), the lower surface of the substrate (13) is provided with a plurality of rubber covers (16) in an array, the connection structure is provided on the upper surface of the substrate (13), the upper surface of the substrate (13) is provided with a second connector (17), the second connector (17) is provided with a slot (24), the inner wall of the second connector (17) is provided with a vacuum cavity, the side wall of the second connector (17) is provided with a first connecting tube (23) connected to the vacuum cavity, the first connecting tube (23) is connected to the plurality of rubber covers (16) one by one through a plurality of second connecting tubes (26), the connecting seat (47) is provided with a plug matching the slot (24), the plug is provided with a second vacuum tube, and after the plug is inserted into the slot (24), the second vacuum tube is connected to the vacuum cavity.

4. The automatic grasping and detecting device according to claim 3, characterized in that: A plurality of inserting tubes (25) communicating with the vacuum chamber are protruded from the slot (24); an end surface of the plug inserted into the slot (24) has a plurality of inserting holes matching the inserting tubes (25); the plurality of inserting tubes (25) correspond to the plurality of inserting holes one by one, and the plurality of inserting holes are connected with the second vacuum tube.

5. The automatic grasping and detecting device according to claim 3, characterized in that: The upper end of the placement rack (12) is provided with two first support columns (18) and two second support columns (19), the two first support columns (18) are arranged at intervals, the two second support columns (19) are arranged at intervals, the midpoint of the line connecting the two first support columns (18) coincides with the midpoint of the line connecting the two second support columns (19), and the line connecting the two first support columns (18) intersects with the line connecting the two second support columns (19) vertically, and the base plate (13) is supported on the two first support columns (18) and the two second support columns (19). The upper ends of the two support columns (19) and the intersection of the line connecting the two first support columns (18) and the line connecting the two second support columns (19) are located below the center of the base plate (13); a limiting column (20) is protruding from the upper end of the first support column (18); the size of the limiting column (20) is smaller than the size of the first support column (18); the base plate (13) has two limiting holes (27) respectively matching the two limiting columns (20); the limiting column (20) is inserted into the limiting hole (27).

6. The automatic grasping and detecting device according to claim 1, characterized in that: Three support rods (22) are provided on the side wall of the upper end of the pneumatic triangular claw (8) and extend outward, and the angle between the three support rods (22) is 120 degrees. The placement frame (12) is provided with three support vertical plates (21), and the three support vertical plates (21) correspond to the three support rods (22) respectively. The upper end of the support vertical plate (21) has a slot matching the support rod (22), and the three support rods (22) are respectively inserted into the three slots for supporting the pneumatic triangular claw (8).

7. The automatic grasping and detecting device according to claim 1, characterized in that: The detection device comprises a size detection device, an end face detection device and a side wall detection device. The size detection device comprises a cylindrical bracket (5) arranged transversely on the detection platform (4), one end of the cylindrical bracket (5) is connected to the visual detection system (6); a mounting bracket (28) is fixedly arranged in the detection platform (4), a vertically movable lifting plate (29) is arranged in the mounting bracket (28), a vertically arranged connecting rod is fixedly arranged at the lower end center of the lifting plate (29), a lifting cylinder (44) is installed at the lower end of the mounting bracket (28), the telescopic rod of the lifting cylinder (44) is connected to the lower end of the connecting rod through a rotating connector, a plurality of detection cleaning rods (30) are vertically arranged on the lifting plate (29), the cross-sectional shape of the detection cleaning rods (30) matches the through slots of the motor core, the plurality of detection cleaning rods (30) are arranged around a circle and correspond one to one to the plurality of through slots on the motor core, and a mounting bracket (28) is arranged above the mounting bracket (4) and is installed on the detection platform (4). ) on a bearing plate (35), a first rotating disk (38) is rotatably mounted on the bearing plate (35), the first rotating disk (38) is driven by a rotating drive mechanism, a placement groove (43) matching the motor core is provided at the center of the upper surface of the first rotating disk (38), a plurality of second through holes corresponding to the plurality of first through holes (32) are penetrated through the bottom of the placement groove (43), the bearing plate (35) has a center hole corresponding to the plurality of second through holes, the upper ends of the plurality of detection rods (30) are inserted into the corresponding second through holes after passing through the center hole; the end face detection device comprises a first displacement sensor (40) mounted on the bearing plate (35), the pull rod of the first displacement sensor (40) is vertically arranged and located above the end face of the motor core; the side wall detection device comprises a second displacement sensor (41) mounted on the bearing plate (35), the pull rod of the second displacement sensor (41) is horizontally arranged and located on one side of the motor core.

8. The automatic grasping and detecting device according to claim 7, characterized in that: The bearing plate (35) is slidably mounted on the detection platform (4) via two guide rails (34), the two guide rails (34) are respectively located on both sides of the mounting bracket (28) and are mounted on the detection platform (4), the bearing plate (35) is matched and slidably mounted on the two guide rails (34), one side of the bearing plate (35) is penetrated by a thread hole parallel to the guide rail (34), a thread rod (36) is matched and passed through the thread hole, both ends of the thread rod (36) are rotatably mounted on the detection platform (4), and the thread rod (36) is driven to rotate by a first rotating motor (37).

9. The automatic grasping and detecting device according to claim 7, characterized in that: The rotary drive mechanism comprises a second rotary motor (39); the first rotating disk (38) is circular; a circle of teeth is provided on the side wall of the first rotating disk (38); a transmission gear meshing with the teeth is rotatably mounted on the carrier plate (35); the transmission gear is driven to rotate by the second rotary motor (39).

10. The automatic grasping and detecting device according to claim 7, characterized in that: A top plate (31) is provided at the upper end of the mounting bracket (28), the top plate (31) having a mounting center hole, a second rotating disk (33) rotatably provided in the mounting center hole, and the second rotating disk (33) having a plurality of first through holes (32) corresponding one-to-one to a plurality of detection cleaning rods (30).

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