CN111152061B

CN111152061B - A on-line measuring device for unloading on auto parts

Info

Publication number: CN111152061B
Application number: CN201911215202.7A
Authority: CN
Inventors: 杨龙兴; 顾杰宁; 杨浩轩; 张陈
Original assignee: Jiangsu University of Technology
Current assignee: Jiangsu University of Technology
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2021-01-19
Anticipated expiration: 2039-12-02
Also published as: CN111152061A

Abstract

The invention particularly relates to an online detection device for loading and unloading of automobile parts, which comprises a loading and unloading mechanism and a detection mechanism, wherein the loading and unloading mechanism comprises a truss, a first mechanical arm and a second mechanical arm which are sequentially arranged on the truss in a sliding manner along the horizontal direction, the first mechanical arm and the second mechanical arm have the same structure and respectively comprise an arm, a rotary cylinder and two gas claws, the arm is connected with the truss in a sliding manner along the vertical direction, the rotary cylinder is fixedly arranged at the bottom end of the arm, an output end of the rotary cylinder is fixedly provided with a mounting block, the two gas claws are fixedly arranged on the mounting block, and a first proximity switch is fixedly arranged on the mounting block; the detection mechanism comprises an inner diameter laser displacement sensor and an outer diameter laser displacement sensor, the inner diameter laser displacement sensor is arranged at the center of the gas claw, the inner diameter laser displacement sensor is driven by the first driving assembly to move along the axial direction of the gas claw, the outer diameter laser displacement sensor is arranged on the side of the gas claw, and the outer diameter laser displacement sensor is driven by the second driving assembly to move along the axial direction of the gas claw.

Description

A on-line measuring device for unloading on auto parts

Technical Field

The invention belongs to the technical field of machining detection equipment, and particularly relates to an online detection device for loading and unloading of automobile parts.

Background

The automation of loading and unloading and online detection are required to be realized for the processing of automobile parts. Taking the automobile transmission bushing part needing to be subjected to loading and unloading and detecting the inner and outer apertures and the step height size on line as an example, a manipulator needs to accurately convey a blank and a semi-finished product to two oppositely-arranged machine tools respectively to process the steps on two sides and the inner and outer cylindrical surfaces, loading and unloading and multi-size detection actions are needed, and all the process actions are finished manually at present. Because of the machined surface is more, go up unloading and detect the number of times many, waste time and energy, manpower and materials cost is high, and production efficiency is low, and the accuracy is relatively poor, is unfavorable for the development of information interconnection and intelligent manufacturing, need design an intelligent device that collection unloading and automatic on-line measuring are as an organic whole in the automation to reduce the manpower and materials cost of manufacturing, improve the manufacturing precision, improve production efficiency, adapt to automated production's development needs.

Disclosure of Invention

The invention provides an online detection device for loading and unloading of automobile parts, which aims to solve the problems of manual loading and unloading and manual detection during automobile part processing in the prior art.

In order to solve the technical problems, the invention adopts the following technical scheme that the on-line detection device for loading and unloading of the automobile parts comprises a loading and unloading mechanism and a detection mechanism, wherein the loading and unloading mechanism comprises a truss, a first mechanical arm and a second mechanical arm which are sequentially arranged on the truss in a sliding manner along the horizontal direction, the first mechanical arm and the second mechanical arm have the same structure and respectively comprise an arm, a rotary cylinder and two gas claws, the arm is connected with the truss in a sliding manner along the vertical direction, the rotary cylinder is fixedly arranged at the bottom end of the arm, an output end of the rotary cylinder is fixedly provided with a mounting block, the two gas claws are fixedly arranged on the mounting block, a first proximity switch is fixedly arranged on the mounting block and positioned at the side of the gas claws, and the rotary cylinder drives the gas claws to switch in the horizontal direction and the vertical direction, the grabbing directions of the two air claws are mutually vertical, and the air claws in the horizontal direction on the first mechanical arm and the second mechanical arm are oppositely arranged;

detection mechanism includes internal diameter laser displacement sensor and external diameter laser displacement sensor, internal diameter laser displacement sensor passes through first support setting at the center of gas claw, internal diameter laser displacement sensor is driven along the axial displacement of gas claw by first drive assembly, external diameter laser displacement sensor passes through the second support setting in the side of gas claw, external diameter laser displacement sensor is driven along the axial displacement of gas claw by second drive assembly.

Preferably, the first driving assembly and the second driving assembly are identical in structure and respectively comprise a micro motor, a nut and a screw rod, the nut and the screw rod are matched with each other, the output end of the micro motor is in transmission connection with the screw rod, a limiting groove is formed in the second support along the axial direction of the gas claw, the nut moves along the limiting groove, and the outer diameter laser displacement sensor is fixedly arranged on the nut. First drive assembly drive internal diameter laser displacement sensor is used for measuring the internal diameter of the part that awaits measuring along the axial displacement of gas claw, and second drive assembly drive external diameter laser displacement sensor is along the axial displacement of gas claw, and external diameter laser displacement sensor is used for measuring the external diameter and the ladder height of the part that awaits measuring, and first drive assembly and second drive assembly's simple structure is reliable, and the manufacturing of being convenient for is convenient for, and the measurement operation of being convenient for, and the cost is lower.

Preferably, the feeding and discharging mechanism further comprises a third driving assembly and a positioning assembly, the third driving assembly comprises a first motor, a first gear, a first rack, a second motor, a second gear and a second rack, the first rack is fixedly arranged on the truss along the horizontal direction, the second rack is fixedly arranged on the arm along the vertical direction, the first motor is fixedly arranged on the arm, the second motor is fixedly connected with the first motor, the first motor drives the first gear to be meshed with the first rack, and the second motor drives the second gear to be meshed with the second rack;

the positioning assembly comprises a second proximity switch and an induction block, the positioning assembly is arranged between the first motor and the arm, and the positioning assembly is also arranged between the second motor and the truss. The positioning assembly is used for positioning the arm in the horizontal direction and the vertical direction, so that the first manipulator and the second manipulator can be accurately positioned at each station, and the positioning structure is simple and reliable and is convenient to realize; the third driving assembly is simple and reliable in structure, convenient to operate in cooperation with the positioning assembly and low in cost.

Preferably, the first motor and the second motor are both step motors. The on-line detection device for the loading and unloading of the automobile parts is convenient to control, and improves the production and processing precision.

Preferably, the rotary cylinder is a 90-degree rotary cylinder. The on-line detection device for the loading and unloading of the automobile parts is convenient to control, and improves the production and processing precision.

Further, this an on-line measuring device for unloading on auto parts still includes first lathe and second lathe, be provided with first chuck on the first lathe, be provided with the second chuck on the second lathe, first chuck and second chuck set gradually along the horizontal direction, first chuck and second chuck are located between first manipulator and the second manipulator, the gas claw that is in the horizontal direction on first chuck and the first manipulator sets up relatively, the gas claw that is in the horizontal direction on second chuck and the second manipulator sets up relatively. The first mechanical arm and the second mechanical arm realize the online exchange of parts, and in the part machining and detecting process, the parts do not need to be placed, turned around again and repeatedly grabbed, so that the machining time and the detecting time of the parts are greatly saved.

Furthermore, the air claw is a three-claw air claw, and the first chuck and the second chuck are both three-claw chucks. When the three-jaw gas claw and the three-jaw chuck are convenient for grabbing parts, the parts are automatically centered, and the machining and detection precision of the parts is improved.

Has the advantages that: according to the online detection device for loading and unloading of the automobile parts, the automation of loading and unloading operation during the processing of the automobile parts is realized by utilizing the loading and unloading mechanism, and the work efficiency of simultaneously grabbing two parts by the first mechanical arm and the second mechanical arm is high; according to the online detection device for loading and unloading of the automobile parts, the detection mechanism realizes automatic detection of the inner diameter, the outer diameter and the step height of the parts while automatic loading and unloading operation is carried out, additional part clamping is not needed for detection, the detection efficiency is high, the detection mechanisms on the first mechanical arm and the second mechanical arm realize simultaneous detection of the two parts, and the detection efficiency is further improved; according to the on-line detection device for loading and unloading of the automobile parts, the first mechanical arm and the second mechanical arm realize on-line exchange of part processing and detection, repeated operation of turning around after the parts are not needed to be placed is not needed, the structure is simple and easy to realize, the design is ingenious, the processing and detection efficiency is greatly improved, and the cost is reduced.

Drawings

FIG. 1 is a schematic perspective view of an on-line detection device for loading and unloading of automobile parts according to the present invention;

FIG. 2 is an enlarged partial schematic view of A of FIG. 1;

FIG. 3 is a schematic perspective view of another angle of the on-line detecting device for loading and unloading of automobile parts according to the present invention;

FIG. 4 is an enlarged partial schematic view of B in FIG. 3;

FIG. 5 is a schematic front view of the on-line inspection device for loading and unloading of automobile parts according to the present invention;

FIG. 6 is a schematic view of a partially enlarged perspective structure of a first manipulator of the on-line detection apparatus for loading and unloading of auto parts according to the present invention;

FIG. 7 is a schematic view of a partially enlarged perspective view of another angle of the first manipulator of the on-line detecting device for loading and unloading automobile parts according to the present invention;

in the figure: 1. a loading and unloading mechanism, 11, a truss, 12, a first manipulator, 13, a second manipulator, 131, an arm, 132, a rotating cylinder, 133, a pneumatic claw, 134, a mounting block, 135, a first proximity switch, 14, a third driving component, 141, a first motor, 142, a first gear, 143, a first rack, 144, a second motor, 145, a second gear, 146, a second rack, 15, a positioning component, 151, a second proximity switch, 152, a sensing block, 2, a detection mechanism, 21, an inner diameter laser displacement sensor, 22, a first bracket, 23, a first driving component, 24, an outer diameter laser displacement sensor, 25, a second bracket, 251, a limiting groove, 26, a second driving component, 261, a micro motor, 262, a nut, 263, a screw rod, 3, a first machine tool, 31, a first chuck, 4, a second machine tool, 41, a second, 5, a bushing, 51, a first sleeve, 52. a second sleeve, 53, a third sleeve.

Detailed Description

Examples

As shown in fig. 1 to 7, an online detection device for loading and unloading of automobile parts comprises a loading and unloading mechanism 1 and a detection mechanism 2, wherein the loading and unloading mechanism 1 comprises a truss 11 and a first manipulator 12 and a second manipulator 13 sequentially arranged on the truss 11 in a sliding manner along a horizontal direction, the first manipulator 12 and the second manipulator 13 have the same structure and respectively comprise an arm 131, a rotary cylinder 132 and two air claws 133, the arm 131 is connected with the truss 11 in a sliding manner along a vertical direction, the rotary cylinder 132 is fixedly arranged at the bottom end of the arm 131, the rotary cylinder 132 is a 90-degree rotary cylinder, an output end of the rotary cylinder 132 is fixedly provided with an installation block 134, the two air claws 133 are fixedly arranged on the installation block 134, a first proximity switch 135 is fixedly arranged on the installation block 134, the first proximity switch 135 is located on a side of the air claws 133, the rotary air cylinder 132 drives the air claws 133 to switch between the horizontal direction and the vertical direction, the grabbing directions of the two air claws 133 are perpendicular to each other, and the air claws 133 in the horizontal direction on the first manipulator 12 and the second manipulator 13 are oppositely arranged;

as shown in fig. 1 to 5, in order to facilitate the positioning of the first manipulator 12 and the second manipulator 13 at each station and improve the motion reliability and the motion precision of the first manipulator 12 and the second manipulator 13, the loading and unloading mechanism 1 further includes a third driving assembly 14 and a positioning assembly 15, the third driving assembly 14 includes a first motor 141, a first gear 142, a first rack 143, a second motor 144, a second gear 145 and a second rack 146, the first rack 143 is fixedly disposed on the truss 11 along the horizontal direction, the second rack 146 is fixedly disposed on the arm 131 along the vertical direction, the first motor 141 is fixedly disposed on the arm 131, the second motor 144 is fixedly connected to the first motor 141, the first motor 141 drives the first gear 142 to mesh with the first rack 143, the second motor 144 drives the second gear 145 to mesh with the second rack 146, the first motor 141 and the second motor 144 both adopt stepping motors; the positioning assembly 15 comprises a second proximity switch 151 and an induction block 152, the positioning assembly 15 is arranged between the first motor 141 and the arm 131, and the positioning assembly 15 is also arranged between the second motor 144 and the truss 11;

as shown in fig. 2, 4, 6 and 7, the detection mechanism 2 includes an inner diameter laser displacement sensor 21 and an outer diameter laser displacement sensor 24, the inner diameter laser displacement sensor 21 is disposed at the center of the gas claw 133 through a first bracket 22, the inner diameter laser displacement sensor 21 is driven by a first driving assembly 23 to move along the axial direction of the gas claw 133, the outer diameter laser displacement sensor 24 is disposed at the side of the gas claw 133 through a second bracket 25, and the outer diameter laser displacement sensor 24 is driven by a second driving assembly 26 to move along the axial direction of the gas claw 133; specifically, the first driving assembly 23 and the second driving assembly 26 have the same structure, and each of the first driving assembly 23 and the second driving assembly 26 includes a micro motor 261, and a nut 262 and a lead screw 263 that are matched with each other, an output end of the micro motor 261 is in transmission connection with the lead screw 263, a limit groove 251 is formed in the second bracket 25 along the axial direction of the gas claw 133, the nut 262 moves along the limit groove 251, and the outer diameter laser displacement sensor 24 is fixedly disposed on the nut 262; the inner diameter laser displacement sensor 21 and the outer diameter laser displacement sensor 24 are electrically connected with an upper computer.

The online detection device for loading and unloading of the automobile parts further comprises a first machine tool 3 and a second machine tool 4, wherein a first chuck 31 is arranged on the first machine tool 3, a second chuck 41 is arranged on the second machine tool 4, the first chuck 31 and the second chuck 41 are sequentially arranged along the horizontal direction, the first chuck 31 and the second chuck 41 are positioned between the first manipulator 12 and the second manipulator 13, the first chuck 31 and a gas claw 133 in the horizontal direction on the first manipulator 12 are oppositely arranged, and the second chuck 41 and the gas claw 133 in the horizontal direction on the second manipulator 13 are oppositely arranged; in order to facilitate automatic centering when grabbing the part, the air gripper 133 is a three-jaw air gripper 133, and the first chuck 31 and the second chuck 41 are both three-jaw chucks.

As shown in fig. 7, the part to be processed and detected in this embodiment is a bushing 5 of an automobile transmission, the bushing 5 includes a first sleeve 51, a second sleeve 52 and a third sleeve 53 which are fixedly connected in sequence, the first sleeve 51, the second sleeve 52 and the third sleeve 53 are coaxial, and the bushing 5 detects the inner diameter and the outer diameter of each sleeve and the step height of each sleeve.

The working steps of the on-line detection device for loading and unloading of the automobile parts are as follows:

1) the pneumatic gripper 133 of the first robot 12 grips the first sleeve 51 of the bush 5 to be machined, the first motor 141 of the first robot 12 drives the first robot 12 to move in the horizontal direction, and the positioning assembly 15 between the second motor 144 of the first robot 12 and the truss 11 controls the positioning of the first robot 12 in the horizontal direction; the second motor 144 of the first manipulator 12 drives the first manipulator 12 to move in the vertical direction, and the positioning assembly 15 between the first motor 141 of the first manipulator 12 and the first manipulator 12 controls the positioning of the first manipulator 12 in the vertical direction;

2) the first mechanical hand 12 puts the third sleeve 53 of the bush 5 into the first chuck 31, after the first chuck 31 grabs the third sleeve 53 of the bush 5, the pneumatic claw 133 of the first mechanical hand 12 is closed, and then the bush 5 is withdrawn, and then the first machine tool 3 processes the inner holes and the outer holes of the first sleeve 51 and the second sleeve 52 of the bush 5;

3) after the first machine tool 3 is finished, the pneumatic claw 133 of the first robot 12 grips the liner 5 on the first chuck 31, when the first proximity switch 135 of the first robot 12 senses the liner 5, the gas claw 133 of the first robot 12 opens to grab the liner 5, the first chuck 31 is released again, the first robot 12 and the second robot 13 approach each other to the transfer liner 5, after the gas claw 133 of the second robot 13 grabs the liner 5 of the first robot 12, the gas claw 133 of the first robot 12 is released, before the first robot 12 delivers the bush 5 to the second robot 13, the inner diameter laser displacement sensor 21 of the first robot 12 moves in the axial direction of the bush 5, detects the inner diameters of the first and

second sleeves

51 and 52, the outer diameter laser displacement sensor 24 moves in the axial direction of the bush 5, detects the outer diameters of the first and

second sleeves

51 and 52 and the step heights of the first and

second sleeves

51 and 52;

4) after the second robot 13 transfers from the first robot 12 to the second robot through the bushing 5, the first motor 141 of the second robot 13 drives the second robot 13 to move in the horizontal direction, and the positioning assembly 15 between the second motor 144 of the second robot 13 and the truss 11 controls the positioning of the second robot 13 in the horizontal direction; the second motor 144 of the second robot arm 13 drives the second robot arm 13 to move in the vertical direction, and the positioning assembly 15 between the first motor 141 of the second robot arm 13 and the second robot arm 13 controls the positioning of the second robot arm 13 in the vertical direction; the second manipulator 13 puts the first sleeve 51 of the bush 5 into the second chuck 41, after the second chuck 41 grabs the first sleeve 51 of the bush 5, the gas claw 133 of the second manipulator 13 is closed, and then the bush 5 is withdrawn, then the second machine tool 4 processes the inner hole and the outer hole of the third sleeve 53 of the bush 5, after the second machine tool 4 finishes processing, the gas claw 133 of the second manipulator 13 grabs the bush 5 on the second chuck 41, when the first proximity switch 135 of the second manipulator 13 senses the bush 5, the gas claw 133 of the second manipulator 13 opens to grab the bush 5, the second chuck 41 is released again, after the second manipulator 13 moves to the blanking position again, the gas claw 133 of the second manipulator 13 is released, the bush 5 is placed to the blanking position, before the second manipulator 13 blanks, the inner diameter laser displacement sensor 21 of the second manipulator 13 moves along the axial direction of the bush 5 to detect the inner diameter of the third sleeve 53, the outer diameter laser displacement sensor 24 moves along the axial direction of the bush 5, and detects the outer diameter of the third sleeve 53 and the step height of the third sleeve 53;

5) finally, the data measured by the inner diameter laser displacement sensor 21 and the outer diameter laser displacement sensor 24 of the first manipulator 12 are uploaded to the upper computer, the upper computer performs data comparison, the maximum value, the minimum value and the average value are taken out, whether the size value is in the corresponding set range is judged, and if the size value is in the set range, the inner diameter, the outer diameter and the step heights of the first sleeve 51, the second sleeve 52 and the third sleeve 53 are respectively calculated.

The two air claws 133 of the first manipulator 12 and the two air claws 133 of the second manipulator 13 can be switched in the horizontal direction and the vertical direction under the driving of the corresponding rotating cylinders 132 respectively, so that the first manipulator 12 and the second manipulator 13 can grab the two bushings 5 simultaneously, and the working efficiency is greatly improved.

Claims

1. The utility model provides an on-line measuring device for unloading on auto parts which characterized in that: including last unloading mechanism (1) and detection mechanism (2), last unloading mechanism (1) includes truss (11) and slides in proper order along the horizontal direction and set up first manipulator (12) and second manipulator (13) on truss (11), first manipulator (12) and second manipulator (13) the structure is the same, all includes arm (131), revolving cylinder (132) and two gas claws (133), arm (131) are along vertical direction and truss (11) sliding connection, revolving cylinder (132) are fixed to be set up in the bottom of arm (131), the fixed installation piece (134) that is provided with of output of revolving cylinder (132), two gas claws (133) are all fixed to be set up on installation piece (134), the fixed first proximity switch (135) that is provided with on installation piece (134), first proximity switch (135) are located the side of gas claw (133), the rotary air cylinder (132) drives the air claws (133) to be switched between the horizontal direction and the vertical direction, the grabbing directions of the two air claws (133) are perpendicular to each other, and the air claws (133) in the horizontal direction on the first mechanical hand (12) and the second mechanical hand (13) are oppositely arranged;

detection mechanism (2) include internal diameter laser displacement sensor (21) and external diameter laser displacement sensor (24), internal diameter laser displacement sensor (21) set up the center in gas claw (133) through first support (22), internal diameter laser displacement sensor (21) are driven along the axial displacement of gas claw (133) by first drive assembly (23), external diameter laser displacement sensor (24) set up the side in gas claw (133) through second support (25), external diameter laser displacement sensor (24) are driven by second drive assembly (26) and are followed the axial displacement of gas claw (133).

2. The on-line detection device for loading and unloading of automobile parts as claimed in claim 1, wherein: the structure of first drive assembly (23) and second drive assembly (26) is the same, all includes micro motor (261) and nut (262) and lead screw (263) that mutually support, the output and the lead screw (263) transmission of micro motor (261) are connected, spacing groove (251) have been seted up along the axial of gas claw (133) on second support (25), nut (262) remove along spacing groove (251), external diameter laser displacement sensor (24) are fixed to be set up on nut (262).

3. The on-line detection device for loading and unloading of automobile parts as claimed in claim 1, wherein: the feeding and discharging mechanism (1) further comprises a third driving assembly (14) and a positioning assembly (15), the third driving assembly (14) comprises a first motor (141), a first gear (142), a first rack (143), a second motor (144), a second gear (145) and a second rack (146), the first rack (143) is fixedly arranged on the truss (11) along the horizontal direction, the second rack (146) is fixedly arranged on the arm (131) along the vertical direction, the first motor (141) is fixedly arranged on the arm (131), the second motor (144) is fixedly connected with the first motor (141), the first motor (141) drives the first gear (142) to be meshed with the first rack (143), and the second motor (144) drives the second gear (145) to be meshed with the second rack (146);

the positioning assembly (15) comprises a second proximity switch (151) and an induction block (152), the positioning assembly (15) is arranged between the first motor (141) and the arm (131), and the positioning assembly (15) is also arranged between the second motor (144) and the truss (11).

4. The on-line detection device for loading and unloading of automobile parts as claimed in claim 3, wherein: the first motor (141) and the second motor (144) are both step motors.

5. The on-line detection device for loading and unloading of automobile parts as claimed in claim 1, wherein: the rotary cylinder (132) is a 90-degree rotary cylinder.

6. The on-line detection device for loading and unloading of the automobile parts as claimed in any one of claims 1 to 5, wherein: the on-line detection device for the loading and unloading of the automobile parts further comprises a first machine tool (3) and a second machine tool (4), a first chuck (31) is arranged on the first machine tool (3), a second chuck (41) is arranged on the second machine tool (4), the first chuck (31) and the second chuck (41) are sequentially arranged along the horizontal direction, the first chuck (31) and the second chuck (41) are located between the first manipulator (12) and the second manipulator (13), an air claw (133) in the horizontal direction on the first chuck (31) and the first manipulator (12) is relatively arranged, and an air claw (133) in the horizontal direction on the second chuck (41) and the second manipulator (13) is relatively arranged.

7. The on-line detection device for loading and unloading of automobile parts as claimed in claim 6, wherein: the pneumatic claw (133) is a three-claw pneumatic claw (133), and the first chuck (31) and the second chuck (41) are both three-claw chucks.