CN109323854B - Double-station rotor detection robot device - Google Patents
Double-station rotor detection robot device Download PDFInfo
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- CN109323854B CN109323854B CN201811159347.5A CN201811159347A CN109323854B CN 109323854 B CN109323854 B CN 109323854B CN 201811159347 A CN201811159347 A CN 201811159347A CN 109323854 B CN109323854 B CN 109323854B
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- 238000001514 detection method Methods 0.000 title claims abstract description 59
- 239000000872 buffer Substances 0.000 claims abstract description 17
- 238000007789 sealing Methods 0.000 claims description 18
- 239000007788 liquid Substances 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 239000000758 substrate Substances 0.000 claims description 9
- 239000007853 buffer solution Substances 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 230000003749 cleanliness Effects 0.000 abstract description 3
- 238000003475 lamination Methods 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 210000004243 sweat Anatomy 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a double-station rotor detection robot device which is used for detecting a strip groove on the outer circumference of a rotor and comprises a frame, wherein a feeding assembly is fixedly arranged at the upper part of the frame, two detection stations are respectively and fixedly arranged at two sides of the feeding assembly, a transfer robot is further arranged at the side of the frame, and the feeding assembly, the two detection stations and the transfer robot are electrically connected with a control box at the upper part of the frame. The invention is provided with the transfer robot, the feeding assembly and the two detection stations, the transfer robot continuously transfers the rotor at the feeding assembly to the two detection stations, the strip grooves of the two rotors are respectively detected, the detected rotor is removed by the transfer robot, and then the detection operation of the rotor is finished, so that the detection effect and efficiency are improved, and the cleanliness of the rotor is ensured; due to the fact that the buffer assembly is arranged, vibration in the moving process of the transfer robot can be buffered, and therefore clamping effect and accuracy are improved.
Description
Technical field:
The invention relates to the technical field of robot equipment, in particular to a double-station rotor detection robot device.
The background technology is as follows:
The motor rotor component is an important component in the motor, and in consideration of installation requirements, a vertically arranged strip groove is formed in the outer circumferential surface of the rotor, and the quality of the strip groove is related to whether the subsequent running state of the rotor is stable or not. At present, the detection process of quality is offered to the rectangular groove of rotor is all manual realization, and the manual work is placed the rotor and is detected the bench promptly, detects the back, again the manual work is got it, and not only operating efficiency is slow, is difficult to satisfy high-efficient production's needs, and the manual work is got the process of putting moreover and can also form spot, sweat on the rotor surface, influences rotor surface's cleanliness factor, is unfavorable for going on smoothly of follow-up installation use.
The invention comprises the following steps:
the invention aims at overcoming the defects of the prior art, and provides a double-station rotor detection robot device which is provided with a transfer robot, a feeding assembly and two detection stations, wherein the feeding assembly is used for feeding, the transfer robot continuously transfers rotors at the feeding assembly to the two detection stations, the strip grooves of the two rotors are respectively detected, and the rotors after detection are removed by the transfer robot, so that the detection operation of the rotors is finished.
The technical solution of the invention is as follows:
A double-station rotor inspection robot device for inspecting a long groove on the outer circumference of a rotor; the automatic feeding device comprises a frame, wherein a feeding assembly is fixedly arranged at the upper part of the frame, two sides of the feeding assembly are respectively and fixedly provided with a detection station, a transfer robot is further arranged at the side of the frame, and the feeding assembly, the two detection stations and the transfer robot are electrically connected with a control box at the upper part of the frame; the transfer robot comprises a fixed seat, and the fixed seat is connected with the frame through a connecting beam; the upper part of the fixed seat is provided with a supporting table, and a plurality of buffer components are arranged between the supporting table and the fixed seat; the upper part of the supporting table is rotatably provided with a rotating seat which is in transmission connection with a rotating motor fixedly arranged on the supporting table; the side surface of the rotating seat is rotatably provided with a swing arm which is in transmission connection with a swing motor fixedly arranged on the rotating seat; the upper end of the swing arm is provided with a pitching arm which is in transmission connection with a pitching motor fixedly arranged on the swing arm; the front end of the pitching arm is connected with a telescopic arm which is fixedly connected with a telescopic cylinder fixedly arranged at the front end of the pitching arm; the front end of the telescopic arm is fixedly connected with a motor mounting seat, a fine adjustment motor is fixed on the motor mounting seat, and a material taking clamp is fixedly connected to an output shaft of the fine adjustment motor; the telescopic arm is also provided with a first sensor which is electrically connected with the control box and is used for sensing the clamping position of the material taking clamp; the material taking clamp is further provided with a second sensor for sensing the long-strip groove, and the second sensor is electrically connected with the control box.
The buffer assembly is filled with buffer liquid and comprises a connecting base layer, an elastic layer, an upper cover, a middle sleeve and a lower base part which are sequentially arranged from top to bottom, wherein the lower base part is connected with the fixed seat, and the connecting base layer is detachably connected with the supporting table; wherein, the lower base part is of a hollow structure, and an air-filled spring is arranged in the lower base part; the lower part of the lower base is provided with a sealing plate in a sealing way, the upper end of the lower base is provided with an annular groove, a middle sleeve is inserted in the annular groove in a sealing way, a boss is formed on the inner wall of the lower part of the middle sleeve, a gasket with a square section is pressed between the boss and the upper end face of the lower base, the upper end of the inner side of the gasket is provided with a raised strip with a trapezoid section, and the upper end of the air inflation spring is not contacted with the raised strip; the upper end of the middle sleeve is provided with an annular part extending inwards, the middle sleeve is connected with the upper cover in a sealing way through a sealing component, and the buffer solution chamber is defined by the middle sleeve, the upper cover and the sealing component; a spring retainer is movably arranged on the inner wall of the middle part of the middle sleeve, a lower spring is kept between the spring retainer and the gasket, and an upper spring is kept between the spring retainer and the annular part of the middle sleeve; the middle part of the spring retainer is provided with a balancing weight, the upper side and the lower side of the balancing weight are respectively fixedly connected with a support column, and the end parts of the support columns are respectively provided with a cone; wherein, an upper flow channel is formed between the upper cone and the annular part, and a lower flow channel is formed between the lower cone and the convex strip.
An inlet and an outlet for buffer liquid are arranged on the side wall of the middle sleeve, an upper liquid storage chamber is formed at the upper part of the middle sleeve, and a lower liquid storage chamber is formed at the lower part of the middle sleeve; the buffer solution chamber, the upper liquid storage chamber and the lower liquid storage chamber are all communicated.
Further, the frame includes the many vertical stands of fixed mounting on subaerial, and the upper end fixed mounting of vertical stand has the workstation, is connected with the connecting rod between the adjacent vertical stand, detects station and the equal fixed mounting of feed subassembly on the workstation.
Further, the control box is fixed on the upper portion of the workbench through a control box mounting frame, the control box mounting frame comprises two L-shaped brackets fixed on the upper portion of the workbench side by side, and the control box is fixedly mounted on the two L-shaped brackets.
Further, the material taking clamp comprises a mounting substrate fixedly connected with the output shaft of the fine adjustment motor, two sides of the mounting substrate are fixedly connected with an L-shaped mounting frame respectively, and a first clamping jaw and a second clamping jaw are respectively fixed on the two L-shaped mounting frames; an L-shaped reinforcing plate is arranged between the L-shaped mounting frame and the mounting substrate.
Further, the first clamping jaw and the second clamping jaw are identical in structure and comprise two-way air cylinders, the two-way air cylinders are fixedly arranged on the L-shaped mounting frame, a first movable block and a second movable block are fixedly connected to two piston rods of the two-way air cylinders respectively, a first clamping arm is fixedly connected to the first movable block, and a second clamping arm is fixedly connected to the second movable block; elastic lugs are arranged on the inner sides of the front ends of the first clamping arm and the second clamping arm, and clamping spaces are formed in the front ends of the first clamping arm and the second clamping arm.
Further, the rotating motor, the swinging motor, the pitching motor, the telescopic cylinder and the fine tuning motor are all electrically connected with the control box.
Further, the feeding assembly comprises a mounting seat fixedly mounted on the upper part of the frame, a lower base plate is fixedly connected to the upper part of the mounting seat, a vertical plate is fixedly mounted at the left end and the right end of the lower base plate respectively, an upper base plate is mounted between the two vertical plates, an opening is formed in the front side of the upper base plate, a fixed block mounting plate is fixedly mounted at the two sides of the opening respectively, and an elastic fixed block facing the inner side of the opening is detachably mounted on the fixed block mounting plate; the rear side fixed mounting of upper padding plate has the cylinder block, installs horizontal cylinder on the cylinder block, and horizontal cylinder's piston rod extends forward and the terminal fixedly connected with movable block mounting panel of piston rod can dismantle on the movable block mounting panel and be connected with the elasticity movable block, and movable block mounting panel and elasticity movable block all are located the opening, and two elasticity fixed blocks and an elasticity movable block form spacing passageway jointly.
Further, the front side of the two vertical plates is fixedly connected with a front side plate, two guide sleeves are fixedly arranged on the front side plate, a guide rod is movably arranged in each guide sleeve, the upper ends of the two guide rods are connected with a lifting supporting plate, and the lower parts of the lifting supporting plates are fixedly connected with a piston rod of a lifting cylinder; the lifting supporting plate is positioned in the limiting passage, a semicircular supporting plate is arranged on the front side of the lifting supporting plate, a sliding groove is formed in the middle of the semicircular supporting plate, a loop bar penetrates through the sliding groove, and the lower end of the loop bar is fixedly connected to the flange on the front side of the lower base plate.
Further, the upper end faces of the two elastic fixing blocks and the elastic movable block are flush, the two elastic fixing blocks and the elastic movable block are located on the same circumference, and the included angles between the two elastic fixing blocks are equal.
Further, two detection station structures are the same, all include the Y template of fixed mounting on frame upper portion, Y template includes the main part and is located two branches of main part front end, wherein, the left and right sides of main part is fixed mounting respectively has a extension board, the upper end fixed mounting of extension board has elevator motor, be provided with turbine worm subassembly between two extension boards, wherein, turbine and elevator motor's output shaft fixed connection, worm and turbine meshing set up and the upper end and the positioning mechanism fixed connection of worm.
Further, the positioning mechanism comprises a top plate fixedly arranged at the upper end of the worm, a compression cylinder is fixedly arranged at the lower end of the top plate, an upper fixing plate is fixedly arranged at the lower end of the compression cylinder, a piston rod of the compression cylinder penetrates through the upper fixing plate and is fixedly connected with the first movable plate, a second movable plate is fixedly connected at the lower end of the first movable plate through a first connecting rod, and an upper positioning piece is fixedly arranged at the lower end of the second movable plate; the lower end of the upper fixing plate is fixedly connected with a lower fixing plate through a second connecting rod, and the upper end of the lower fixing plate is fixedly provided with a lower positioning piece.
Further, a vertical guide rod is arranged at the connection position of the two branches and the main body, and the top plate, the upper fixed plate, the first movable plate, the second movable plate and the lower fixed plate penetrate through the vertical guide rod; a detection assembly is arranged on the main body between the two branches and the two support plates respectively, the upper locating piece and the lower locating piece are arranged right opposite to each other, vertical through grooves with right positions are formed in the upper parts of the upper locating piece and the lower locating piece, and one detection assembly corresponds to one vertical through groove.
Further, the detection component comprises a spool, a base is fixed on the upper portion of the spool, a vertical sliding groove is formed in the side face of the base, a lifting vertical plate is arranged in the vertical sliding groove in a sliding mode, an arc-shaped groove is formed in the lifting vertical plate, a horizontal sliding block is arranged in the arc-shaped groove in a sliding mode, a horizontal sliding groove is formed in the horizontal sliding block, a detection head fixing block is arranged in the horizontal sliding groove in a sliding mode, and a detection head is installed in the detection head fixing block.
Further, a first locking piece is arranged on the side face of the vertical chute on the base, and locks or unlocks the lifting vertical plate; the side surface of the arc-shaped groove is provided with a second locking piece which locks or unlocks the horizontal sliding block; the side of horizontal spout is provided with the third retaining member, and the third retaining member locks or the unblock to detecting head fixed block.
The invention has the beneficial effects that: the invention is provided with the transfer robot, the feeding assembly and the two detection stations, the transfer robot continuously transfers the rotor at the feeding assembly to the two detection stations, the strip grooves of the two rotors are respectively detected, the detected rotor is removed by the transfer robot, and then the detection operation of the rotor is finished, so that the detection effect and efficiency are improved, and the cleanliness of the rotor is ensured; due to the fact that the buffer assembly is arranged, vibration in the moving process of the transfer robot can be buffered, and therefore clamping effect and accuracy are improved.
Description of the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a frame structure;
FIGS. 3-4 are schematic illustrations of the structure of the feed assembly at different viewing angles;
FIG. 5 is a schematic view of the structure of the inspection station;
FIG. 6 is a schematic view of the inspection station after removal of the inspection assembly;
FIG. 7 is an elevation view of the inspection station with the inspection assembly removed;
FIG. 8 is a rear view of the inspection station with the inspection assembly removed;
FIGS. 9-10 are schematic diagrams of the structure of the detection assembly at different viewing angles;
FIGS. 11-12 are schematic structural views of the transfer robot from different perspectives;
FIG. 13 is a schematic view of a structure of a take-off clip;
FIG. 14 is a schematic structural view of a mounting plate;
FIG. 15 is an overall view of a cushioning assembly;
fig. 16 is a cross-sectional view of a cushioning assembly.
The specific embodiment is as follows:
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings.
As shown in fig. 1 to 16, a double-station rotor inspection robot device for inspecting an elongated groove 50 on the outer circumference of a rotor 5; the automatic feeding device comprises a frame 1, wherein a feeding component 2 is fixedly installed on the upper portion of the frame 1, two detection stations 3 are fixedly installed on two sides of the feeding component 2 respectively, a transfer robot 4 is further arranged on the side of the frame 1, and the feeding component 2, the two detection stations 3 and the transfer robot 4 are electrically connected with a control box 14 on the upper portion of the frame 1.
The feeding assembly is used for feeding, the transfer robot continuously transfers the rotors at the feeding assembly to the two detection stations, the strip grooves of the two rotors are respectively detected, the detected rotors are removed by the transfer robot, and then the detection operation of the rotors is completed.
Further, the frame 1 includes a plurality of vertical stands 11 of fixed mounting on subaerial, and the upper end fixed mounting of vertical stand 11 has workstation 10, is connected with connecting rod 12 between the adjacent vertical stand 11, and detection station 3 and feed assembly 2 are all fixed mounting on workstation 10.
The control box 14 is fixed on the upper part of the workbench 10 through a control box mounting frame, the control box mounting frame comprises two L-shaped brackets 13 which are fixed on the upper part of the workbench 10 side by side, and the control box 14 is fixedly arranged on the two L-shaped brackets 13.
The transfer robot 4 comprises a fixed seat 40, and the fixed seat 40 is connected with the frame 1 through a connecting beam 401; the upper part of the fixed seat 40 is provided with a supporting table 41, and a plurality of buffer components are arranged between the supporting table 41 and the fixed seat 40; the upper part of the supporting table 41 is rotatably provided with a rotating seat 42, and the rotating seat 42 is in transmission connection with a rotating motor 410 fixedly arranged on the supporting table 41; the side surface of the rotating seat 42 is rotatably provided with a swinging arm 43, and the swinging arm 43 is in transmission connection with a swinging motor 420 fixedly arranged on the rotating seat 42; the upper end of the swing arm 43 is provided with a pitching arm 44 which is in transmission connection with a pitching motor 430 fixedly arranged on the swing arm 43; the front end of the pitching arm 44 is connected with a telescopic arm 45, and the telescopic arm 45 is fixedly connected with a telescopic cylinder 440 fixedly arranged at the front end of the pitching arm 44; the front end fixedly connected with motor mount pad of flexible arm 45 is fixed with fine setting motor 450 on the motor mount pad, fixedly connected with get material tong 7 on the output shaft of fine setting motor 450.
The material taking clamp 7 comprises a mounting substrate 70 fixedly connected with an output shaft of the fine adjustment motor 450, two sides of the mounting substrate 70 are fixedly connected with an L-shaped mounting frame 701 respectively, and a first clamping jaw 71 and a second clamping jaw 72 are fixed on the two L-shaped mounting frames 701 respectively.
An L-shaped reinforcing plate 702 is provided between the L-shaped mount 701 and the mount substrate 70.
The first clamping jaw 71 and the second clamping jaw 72 have the same structure, and each clamping jaw comprises a bidirectional air cylinder 711, wherein the bidirectional air cylinder 711 is fixedly arranged on the L-shaped mounting frame 701, a first movable block 712 and a second movable block 713 are respectively fixedly connected to two piston rods of the bidirectional air cylinder 711, a first clamping arm 715 is fixedly connected to the first movable block 712, and a second clamping arm 714 is fixedly connected to the second movable block 713; the inner sides of the front ends of the first and second clamp arms 715 and 714 are provided with elastic lugs 73, and the front ends of the first and second clamp arms 715 and 714 form clamping spaces.
The buffer assembly is filled with buffer liquid and comprises a connecting base layer 81, an elastic layer 810, an upper cover 82, a middle sleeve 84 and a lower base 86 which are sequentially arranged from top to bottom, wherein the lower base 86 is connected with the fixed seat 40, and the connecting base layer 81 is detachably connected with the supporting table 41; wherein the lower base 86 has a hollow structure, and an air spring 99 is arranged in the lower base; the lower part of the lower base 86 is provided with a sealing plate 87 in a sealing way, the upper end of the lower base 86 is provided with an annular groove, the annular groove is internally provided with a middle sleeve 84 in a sealing way, the inner wall of the lower part of the middle sleeve 84 is provided with a boss, a gasket 85 with a square section is pressed between the boss and the upper end face of the lower base 86, the upper end of the inner side of the gasket 85 is provided with a raised line with a trapezoid section, and the upper end 95 of the air spring 99 is not contacted with the raised line; the upper end of the middle sleeve 84 is formed with an annular part extending inwards, the middle sleeve 84 and the upper cover 82 are in sealing connection through the sealing component 83, and the buffer chamber 90 is defined by the middle sleeve 84, the upper cover 82 and the sealing component 83; a spring retainer 98 is movably mounted on the inner wall of the middle part of the intermediate sleeve 84, a lower spring 931 is held between the spring retainer 98 and the washer 85, and an upper spring 921 is held between the spring retainer 98 and the annular part of the intermediate sleeve 84; the middle part of the spring retainer 98 is provided with a balancing weight 96, the upper side and the lower side of the balancing weight 96 are respectively fixedly connected with a support column 97, and the end parts of the support columns 97 are respectively provided with a cone; wherein, an upper flow channel 91 is formed between the upper cone and the annular part, and a lower flow channel 94 is formed between the lower cone and the convex strip.
The side wall of the middle sleeve 84 is provided with an inlet and an outlet 88 for buffer liquid, the upper part of the middle sleeve 84 is provided with an upper liquid storage chamber 92, and the lower part of the middle sleeve 84 is provided with a lower liquid storage chamber 93; the buffer chamber 90, the upper reservoir 92 and the lower reservoir 93 are all in communication.
The telescopic arm 45 is also provided with a first sensor 46, the first sensor 46 is electrically connected with the control box 14, and the first sensor 46 is used for sensing the clamping position of the material taking clamp 7; the pick-out clamp 7 is further provided with a second sensor for sensing the elongated slot, and the second sensor is electrically connected with the control box 14.
The rotary motor 410, the swing motor 420, the pitch motor 430, the telescopic cylinder 440, and the fine adjustment motor 450 are electrically connected to the control box 14.
The feeding assembly 2 comprises a mounting seat 20 fixedly mounted on the upper part of the frame 1, a lower base plate 211 is fixedly connected to the upper part of the mounting seat 20, a vertical plate 213 is fixedly mounted at the left end and the right end of the lower base plate 211 respectively, an upper base plate 214 is mounted between the two vertical plates 213, an opening part is arranged at the front side of the upper base plate 214, a fixed block mounting plate 223 is fixedly mounted at the two sides of the opening part respectively, and an elastic fixed block 222 facing the inner side of the opening part is detachably mounted on the fixed block mounting plate 223; the rear side of the upper backing plate 214 is fixedly provided with a cylinder seat 215, the cylinder seat 215 is provided with a horizontal cylinder 22, a piston rod of the horizontal cylinder 22 extends forwards, the tail end of the piston rod is fixedly connected with a movable block mounting plate, the movable block mounting plate is detachably connected with an elastic movable block 221, the movable block mounting plate and the elastic movable block 221 are both positioned in an opening part, and two elastic fixed blocks 222 and one elastic movable block 221 jointly form a limiting passage.
The front side of the two vertical plates 213 is fixedly connected with a front side plate 216, two guide sleeves 234 are fixedly arranged on the front side plate 216, one guide rod 233 is movably arranged in each guide sleeve 234, the upper ends of the two guide rods 233 are fixedly connected with a lifting supporting plate 231, and the lower part of the lifting supporting plate 231 is fixedly connected with a piston rod of the lifting cylinder 23; the lifting supporting plate 231 is positioned in the limiting passage, a semicircular supporting plate 232 is arranged on the front side of the lifting supporting plate 231, a sliding groove is formed in the middle of the semicircular supporting plate, a sleeve rod 24 penetrates through the sliding groove, and the lower end of the sleeve rod 24 is fixedly connected to the flange 212 on the front side of the lower base plate 211.
The upper end faces of the two elastic fixing blocks 222 and the elastic movable block 221 are flush, the two elastic fixing blocks and the elastic movable block 221 are positioned on the same circumference, and the included angles between the two elastic fixing blocks and the elastic movable block are 120 degrees.
When feeding, the rotor lamination sleeve is arranged on the loop bar, the lifting supporting plate of the limiting passage is positioned at the lower end of the rotor at the lowest side, and the rotor lamination is pushed to gradually move upwards under the driving of the lifting cylinder, so that lifting feeding is realized.
The two detection stations 3 are identical in structure and comprise Y-shaped plates 30 fixedly mounted on the upper portion of the frame 1, each Y-shaped plate 30 comprises a main body and two branches located at the front end of the main body, one support plate 301 is fixedly mounted on each of the left side and the right side of the main body, a lifting motor 32 is fixedly mounted on the upper end of each support plate 301, a turbine worm assembly is arranged between the two support plates 301, a turbine 321 is fixedly connected with an output shaft of the lifting motor 32, a worm 322 is meshed with the turbine 321, and the upper end of the worm 322 is fixedly connected with a positioning mechanism.
The positioning mechanism comprises a top plate 311 fixedly arranged at the upper end of a worm 322, a compression cylinder 33 is fixedly arranged at the lower end of the top plate 311, an upper fixed plate 312 is fixedly arranged at the lower end of the compression cylinder 33, a piston rod of the compression cylinder 33 penetrates through the upper fixed plate 312 and is fixedly connected with a first movable plate 314, a second movable plate 315 is fixedly connected at the lower end of the first movable plate 314 through a first connecting rod 342, and an upper positioning piece 361 is fixedly arranged at the lower end of the second movable plate 315; the lower end of the upper fixing plate 312 is fixedly connected with a lower fixing plate 313 through a second connecting rod 343, and the upper end of the lower fixing plate 313 is fixedly provided with a lower positioning piece 362.
The two branches are connected to the main body at positions where one vertical guide rod 341 is provided, respectively, and the top plate 311, the upper fixed plate 312, the first movable plate 314, the second movable plate 315, and the lower fixed plate 313 pass through the vertical guide rod 341.
The main bodies between the two branches and the two support plates 301 are respectively provided with a detection component 6, the upper positioning piece 361 and the lower positioning piece 362 are arranged opposite to each other, the upper parts of the upper positioning piece 361 and the lower positioning piece 362 are provided with vertical through grooves 37 opposite to each other, and one detection component 6 corresponds to one vertical through groove 37.
The detection assembly 6 comprises a spool 60, a base 61 is fixed on the upper portion of the spool 60, a vertical sliding groove is formed in the side face of the base 61, a lifting vertical plate 62 is arranged in the sliding mode in the vertical sliding groove, an arc-shaped groove 621 is formed in the lifting vertical plate 62, a horizontal sliding block 63 is arranged in the sliding mode in the arc-shaped groove 621, a horizontal sliding groove is formed in the horizontal sliding block 63, a detection head fixing block 64 is arranged in the sliding mode in the horizontal sliding groove, and a detection head 65 is installed in the detection head fixing block 64.
The side surface of the vertical chute on the base 61 is provided with a first locking member 620, and the first locking member 620 locks or unlocks the lifting vertical plate 62; the side of the arc groove 621 is provided with a second locking piece 630, and the second locking piece 630 locks or unlocks the horizontal slider 63; the side of the horizontal chute is provided with a third locking member 640 which locks or unlocks the head fixing block 64.
When detecting, the rotor lamination sleeve is arranged on the loop bar of the feeding assembly, the lifting supporting plate positioned in the limiting passage is positioned at the lower end of the rotor at the lowest side, the rotor lamination is pushed to gradually move upwards under the driving of the lifting cylinder, and when the two rotors at the uppermost end protrude out of the upper end faces of the two elastic fixing blocks and the upper end face of the elastic movable block, the transfer robot clamps the two rotors by using the two clamping hands respectively and sends the two rotors to corresponding detection stations respectively, so that the simultaneous detection of the two rotors is realized. In the process, the rotor is conveyed into the first positioning piece by the transfer robot, the position of the long groove of the rotor and the position of the vertical through groove are opposite through the sensor, the pressing cylinder is started and drives the first positioning component to move downwards, so that the first positioning component and the second positioning component fix the rotor, and the detection component can detect the long groove of the rotor through the vertical through groove. In the process, the lifting motor can drive the turbine worm assembly to further drive the positioning assembly to integrally lift, the detection position is adjusted, the pressing cylinder can drive the first positioning assembly to lift, and then the positioning and the release of the rotor are realized, so that the rotor is conveniently detected and taken out after the detection.
The examples are presented to illustrate the invention and are not intended to limit the invention. Modifications to the described embodiment may occur to those skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is therefore set forth in the appended claims.
Claims (4)
1. A double-station rotor detection robot device for detecting a long groove (50) on the outer circumference of a rotor (5), characterized in that: the automatic feeding device comprises a frame (1), wherein a feeding component (2) is fixedly arranged at the upper part of the frame (1), two sides of the feeding component (2) are respectively and fixedly provided with a detection station (3), one side of the frame (1) is also provided with a transfer robot (4), and the feeding component (2), the two detection stations (3) and the transfer robot (4) are electrically connected with a control box (14) at the upper part of the frame (1); the transfer robot (4) comprises a fixed seat (40), and the fixed seat (40) is connected with the frame (1) through a connecting beam (401); a supporting table (41) is arranged at the upper part of the fixed seat (40), and a plurality of buffer components are arranged between the supporting table (41) and the fixed seat (40); the upper part of the supporting table (41) is rotatably provided with a rotating seat (42), and the rotating seat (42) is in transmission connection with a rotating motor (410) fixedly arranged on the supporting table (41); a swing arm (43) is rotatably arranged on the side surface of the rotary seat (42), and the swing arm (43) is in transmission connection with a swing motor (420) fixedly arranged on the rotary seat (42); the upper end of the swing arm (43) is provided with a pitching arm (44), and the pitching arm is in transmission connection with a pitching motor (430) fixedly arranged on the swing arm (43); the front end of the pitching arm (44) is connected with a telescopic arm (45), and the telescopic arm (45) is fixedly connected with a telescopic cylinder (440) fixedly arranged at the front end of the pitching arm (44); the front end of the telescopic arm (45) is fixedly connected with a motor mounting seat, a fine adjustment motor (450) is fixed on the motor mounting seat, and a material taking clamp (7) is fixedly connected to an output shaft of the fine adjustment motor (450); the telescopic arm (45) is also provided with a first sensor (46), the first sensor (46) is electrically connected with the control box (14), and the first sensor (46) is used for sensing the clamping position of the material taking clamp (7); the material taking clamp (7) is also provided with a second sensor for sensing the long strip groove, and the second sensor is electrically connected with the control box (14); the rotating motor (410), the swinging motor (420), the pitching motor (430), the telescopic cylinder (440) and the fine adjustment motor (450) are electrically connected with the control box (14);
The buffer assembly is filled with buffer liquid and comprises a connecting base layer (81), an elastic layer (810), an upper cover (82), a middle sleeve (84) and a lower base part (86) which are sequentially arranged from top to bottom, wherein the lower base part (86) is connected with the fixed seat (40), and the connecting base layer (81) is detachably connected with the supporting table (41); wherein the lower base (86) is of a hollow structure, and an air spring (99) is arranged in the lower base; the lower part of the lower base part (86) is provided with a sealing plate (87) in a sealing way, the upper end of the lower base part (86) is provided with an annular groove, a middle sleeve (84) is inserted in the annular groove in a sealing way, a boss is formed on the inner wall of the lower part of the middle sleeve (84), a gasket (85) with a square cross section is pressed between the boss and the upper end face of the lower base part (86), the upper end of the inner side of the gasket (85) is provided with a raised line with a trapezoid cross section, and the upper end (95) of the air spring (99) is not contacted with the raised line; the upper end of the middle sleeve (84) is provided with an annular part extending inwards, the middle sleeve (84) is in sealing connection with the upper cover (82) through a sealing assembly (83), and the buffer chamber (90) is defined by the middle sleeve (84), the upper cover (82) and the sealing assembly (83); a spring retainer (98) is movably arranged on the inner wall of the middle part of the middle sleeve (84), a lower spring (931) is held between the spring retainer (98) and the gasket (85), and an upper spring (921) is held between the spring retainer (98) and the annular part of the middle sleeve (84); the middle part of the spring retainer (98) is provided with a balancing weight (96), the upper side and the lower side of the balancing weight (96) are respectively fixedly connected with a support column (97), and the end parts of the support columns (97) are respectively provided with a cone; wherein an upper flow channel (91) is formed between the upper cone and the annular part, and a lower flow channel (94) is formed between the lower cone and the convex strip; an inlet and an outlet (88) for buffer liquid are arranged on the side wall of the middle sleeve (84), an upper liquid storage chamber (92) is formed at the upper part of the middle sleeve (84), and a lower liquid storage chamber (93) is formed at the lower part of the middle sleeve (84); the buffer solution chamber (90), the upper liquid storage chamber (92) and the lower liquid storage chamber (93) are communicated;
The two detection stations (3) are identical in structure and comprise Y-shaped plates (30) fixedly arranged on the upper portion of the frame (1), each Y-shaped plate (30) comprises a main body and two branches positioned at the front end of the main body, one support plate (301) is fixedly arranged on each of the left side and the right side of the main body, a lifting motor (32) is fixedly arranged at the upper end of each support plate (301), a turbine worm assembly is arranged between the two support plates (301), a turbine (321) is fixedly connected with an output shaft of the lifting motor (32), a worm (322) is meshed with the turbine (321), and the upper end of the worm (322) is fixedly connected with a positioning mechanism;
The positioning mechanism comprises a top plate (311) fixedly arranged at the upper end of a worm (322), a compression cylinder (33) is fixedly arranged at the lower end of the top plate (311), an upper fixing plate (312) is fixedly arranged at the lower end of the compression cylinder (33), a piston rod of the compression cylinder (33) penetrates through the upper fixing plate (312) and is fixedly connected with a first movable plate (314), a second movable plate (315) is fixedly connected at the lower end of the first movable plate (314) through a first connecting rod (342), and an upper positioning piece (361) is fixedly arranged at the lower end of the second movable plate (315); the lower end of the upper fixing plate (312) is fixedly connected with a lower fixing plate (313) through a second connecting rod (343), and the upper end of the lower fixing plate (313) is fixedly provided with a lower positioning piece (362);
the two branches are respectively provided with a vertical guide rod (341) at the connection position with the main body, and the top plate (311), the upper fixed plate (312), the first movable plate (314), the second movable plate (315) and the lower fixed plate (313) penetrate through the vertical guide rods (341); a detection component (6) is arranged on the main body between the two branches and the two support plates (301), the upper positioning piece (361) and the lower positioning piece (362) are arranged opposite to each other, vertical through grooves (37) with opposite positions are arranged on the upper parts of the two branches and the lower positioning piece (362), and one detection component (6) corresponds to one vertical through groove (37);
The detection assembly (6) comprises an I-shaped frame (60), a base (61) is fixed on the upper portion of the I-shaped frame (60), a vertical sliding groove is formed in the side face of the base (61), a lifting vertical plate (62) is arranged in a sliding mode in the vertical sliding groove, an arc-shaped groove (621) is formed in the lifting vertical plate (62), a horizontal sliding block (63) is arranged in the arc-shaped groove (621) in a sliding mode, a horizontal sliding groove is formed in the horizontal sliding block (63), a detection head fixing block (64) is arranged in the horizontal sliding groove in a sliding mode, and a detection head (65) is installed in the detection head fixing block (64);
A first locking piece (620) is arranged on the side surface of the vertical chute on the base (61), and the first locking piece (620) locks or unlocks the lifting vertical plate (62); the side surface of the arc-shaped groove (621) is provided with a second locking piece (630), and the second locking piece (630) locks or unlocks the horizontal sliding block (63); a third locking piece (640) is arranged on the side surface of the horizontal chute and locks or unlocks the detection head fixing block (64);
the machine frame (1) comprises a plurality of vertical columns (11) fixedly mounted on the ground, a workbench (10) is fixedly arranged at the upper ends of the vertical columns (11), connecting rods (12) are connected between adjacent vertical columns (11), and the detection station (3) and the feeding component (2) are fixedly mounted on the workbench (10).
2. The double-station rotor inspection robot device of claim 1, wherein: the control box (14) is fixed on the upper portion of the workbench (10) through a control box mounting frame, the control box mounting frame comprises two L-shaped brackets (13) which are fixed on the upper portion of the workbench (10) side by side, and the control box (14) is fixedly arranged on the two L-shaped brackets (13).
3. The double-station rotor inspection robot device of claim 1, wherein: the material taking clamp (7) comprises a mounting substrate (70) fixedly connected with an output shaft of the fine adjustment motor (450), two sides of the mounting substrate (70) are fixedly connected with an L-shaped mounting frame (701) respectively, and a first clamping jaw (71) and a second clamping jaw (72) are respectively fixed on the two L-shaped mounting frames (701); an L-shaped reinforcing plate (702) is arranged between the L-shaped mounting frame (701) and the mounting substrate (70); the structure of the first clamping jaw (71) is the same as that of the second clamping jaw (72), the two-way clamping jaw comprises a two-way air cylinder (711), the two-way air cylinder (711) is fixedly arranged on an L-shaped mounting frame (701), a first movable block (712) and a second movable block (713) are respectively and fixedly connected to two piston rods of the two-way air cylinder (711), a first clamping arm (715) is fixedly connected to the first movable block (712), and a second clamping arm (714) is fixedly connected to the second movable block (713); elastic protruding blocks (73) are arranged on the inner sides of the front ends of the first clamping arm (715) and the second clamping arm (714), and clamping spaces are formed in the front ends of the first clamping arm (715) and the second clamping arm (714).
4. The double-station rotor inspection robot device of claim 1, wherein: the feeding assembly (2) comprises a mounting seat (20) fixedly mounted on the upper part of the frame (1), a lower base plate (211) is fixedly connected to the upper part of the mounting seat (20), a vertical plate (213) is fixedly mounted at the left end and the right end of the lower base plate (211) respectively, an upper base plate (214) is mounted between the two vertical plates (213), an opening is formed in the front side of the upper base plate (214), a fixed block mounting plate (223) is fixedly mounted at the two sides of the opening respectively, and an elastic fixed block (222) facing the inner side of the opening is detachably mounted on the fixed block mounting plate (223); the rear side of the upper backing plate (214) is fixedly provided with a cylinder seat (215), the cylinder seat (215) is provided with a horizontal cylinder (22), a piston rod of the horizontal cylinder (22) extends forwards, the tail end of the piston rod is fixedly connected with a movable block mounting plate, the movable block mounting plate is detachably connected with an elastic movable block (221), the movable block mounting plate and the elastic movable block (221) are both positioned in the opening part, and two elastic fixed blocks (222) and one elastic movable block (221) form a limiting passage together;
The upper end faces of the two elastic fixed blocks (222) and the elastic movable block (221) are flush, the two elastic fixed blocks and the elastic movable block are positioned on the same circumference, and the included angles between the two elastic fixed blocks and the elastic movable block are all 120 degrees;
The front side of the two vertical plates (213) is fixedly connected with a front side plate (216), two guide sleeves (234) are fixedly arranged on the front side plate (216), one guide rod (233) is movably arranged in each guide sleeve (234), the upper ends of the two guide rods (233) are fixedly connected with a lifting supporting plate (231), and the lower part of the lifting supporting plate (231) is fixedly connected with a piston rod of a lifting cylinder (23); the lifting support plate (231) is positioned in the limiting passage, a semicircular support plate (232) is arranged at the front side of the lifting support plate (231), a chute is formed in the middle of the semicircular support plate, a loop bar (24) penetrates through the chute, and the lower end of the loop bar (24) is fixedly connected to a flange (212) at the front side of the lower base plate (211).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811159347.5A CN109323854B (en) | 2018-09-30 | 2018-09-30 | Double-station rotor detection robot device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811159347.5A CN109323854B (en) | 2018-09-30 | 2018-09-30 | Double-station rotor detection robot device |
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| CN109323854A CN109323854A (en) | 2019-02-12 |
| CN109323854B true CN109323854B (en) | 2024-07-16 |
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| CN208887908U (en) * | 2018-09-30 | 2019-05-21 | 东莞理工学院 | A kind of double-station rotor detection robot device |
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| KR101026858B1 (en) * | 2010-12-28 | 2011-04-06 | 주식회사 윈텍오토메이션 | Numerical control press pickup equipment |
| JP5435308B2 (en) * | 2011-08-02 | 2014-03-05 | 株式会社安川電機 | Adhesive applicator |
| WO2015074113A1 (en) * | 2013-11-21 | 2015-05-28 | Philip Stuart Esnouf | A device for measuring the thickness of automotive disc brake rotors |
| CN105751214B (en) * | 2016-05-23 | 2017-08-18 | 东莞理工学院 | A kind of six axis robot and its method of work for possessing teaching effect |
| CN106643412B (en) * | 2017-01-10 | 2022-06-14 | 福建永强力加动力设备有限公司 | Small generator stator core inspection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208887908U (en) * | 2018-09-30 | 2019-05-21 | 东莞理工学院 | A kind of double-station rotor detection robot device |
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