CN220296947U - Double-freedom-degree rotating device - Google Patents

Abstract

The application relates to a two degrees of freedom rotary device, including workstation, base and second power spare, the workstation includes frame, first power spare, drive assembly and a plurality of rotation axis, first power spare and frame fixed connection, and a plurality of rotation axes are arranged along frame length direction, and a plurality of rotation axes all are equipped with the gear along self axial cover. The first power piece is connected with the transmission assembly to output power, and the meshing end of the transmission assembly is meshed with the gears to drive the rotating shafts to rotate around the axes of the rotating shafts. The second power piece is used for driving the workbench to rotate relative to the base. The double-freedom-degree rotating device provided by the application can enable the rotating shaft to rotate around the axis of the rotating shaft, and also can rotate relative to the base, and the rotating shaft drives the rotation of two freedom degrees of the piece to be detected, so that the appearance of the piece to be detected is presented in front of the camera in multiple angles, the probability that the appearance defect of the piece to be detected is detected by the camera is greatly increased, and the delivery qualification rate of the piece to be detected is guaranteed.

Description

Double-freedom-degree rotating device

Technical Field

The application relates to the technical field of automation equipment, in particular to a double-degree-of-freedom rotating device.

Background

Along with the development of industrialization, the manufacturing efficiency of a plurality of pieces to be detected (industrial articles) is greatly improved, and whether the appearance meets the requirements in the production of the pieces to be detected influences the qualification rate of the pieces to be detected.

Through waiting to detect a fixed connection on the rotation axis, along with the rotation of rotation axis, wait to detect the piece and also can rotate, through the detection of rotation axis top or side camera, discovery outward appearance that can be quick is not up to standard wait to detect the piece.

At present, a plurality of rotating shafts can be synchronously rotated through power parts such as a motor and the like so as to improve the appearance detection efficiency of the part to be detected, however, the existing equipment has only one rotation degree of freedom, namely the part to be detected can only be rotated along an axis, the detection angle cannot be adjusted, and a camera can only fixedly shoot the side face of the part to be detected at an angle. Part of the parts to be detected with poor appearance cannot show the appearance at multiple angles, the camera has the risk of missing detection, and if the parts to be detected with the appearance defects flow into the market, bad experience can be brought to consumers.

Disclosure of Invention

Based on this, it is necessary to provide a two-degree-of-freedom rotating device, which includes:

the operation table comprises a frame, a first power piece, a transmission assembly and a plurality of rotating shafts, wherein the first power piece is fixedly connected with the frame, the plurality of rotating shafts are distributed along a first direction, the plurality of rotating shafts are axially sleeved with gears, and the plurality of gears are fixedly connected with the plurality of rotating shafts in a one-to-one correspondence manner; the first power piece is connected with the transmission assembly to output power, and the meshing end of the transmission assembly is meshed with the gears to drive the rotating shafts to rotate around the axes of the rotating shafts; wherein the first direction is the length direction of the workbench;

the base is rotationally connected with the workbench around a rotation axis in the first direction;

the shell of the second power piece is fixedly connected with the workbench or the base, and the second power piece is used for driving the workbench to rotate relative to the base.

In one embodiment, the transmission assembly comprises a rack, a screw, a nut and a connecting piece, wherein the length direction of the rack extends along a first direction, and the rack is meshed with a plurality of gears; the screw rod extends along a first direction, one end of the screw rod is connected with the first power piece to drive the screw rod to rotate, the nut is in threaded connection with the screw rod, and the connecting piece is fixedly connected with the rack and is in rotary connection with the nut.

In one embodiment, the transmission assembly comprises a conveyor belt system and a transmission shaft, the output end of the first power piece is fixedly connected with the driving wheel of the conveyor belt system in a coaxial manner, and the transmission shaft is fixedly connected with the driven wheel of the conveyor belt system in a coaxial manner and is rotatably connected with the frame; the driving wheel transmits power to the driven wheel through a conveyor belt of the conveyor belt system;

the transmission shaft is coaxially provided with a plurality of drive bevel gears which are arranged at intervals, gears which are coaxially arranged on each rotation shaft are driven bevel gears, the plurality of drive bevel gears are meshed with the plurality of driven bevel gears in a one-to-one correspondence manner, the plurality of rotation shafts are positioned on one side of the transmission shaft, the axes of the rotation shafts are parallel to each other, and the drive bevel gears are perpendicular to the axes of the driven bevel gears.

In one embodiment, the drive assembly is located between the two ends of the frame.

In one embodiment, the rack comprises a table top and two connecting parts arranged at two ends of the table top, the base is rotationally connected with the connecting parts, the table top is provided with an accommodating space, and the meshed areas of the rotating shafts and the transmission assembly are positioned in the accommodating space; the rotating shaft is used for connecting one end of the piece to be detected to extend out of the table top.

In one embodiment, the drive assembly and the first power member are both positioned on a side of the table surface facing away from the member to be inspected.

In one embodiment, one end of the plurality of rotating shafts, which deviates from the to-be-detected piece, is provided with an air tap which is rotationally connected with the rotating shaft, a gas channel is arranged in the rotating shaft, one end of the gas channel is arranged on the end face of the rotating shaft, which is close to the to-be-detected piece, of the rotating shaft, the other end of the gas channel is communicated with the air tap, and the air tap is used for being communicated with an external air pump device.

In one embodiment, the air pump further comprises a plurality of check valves and a pipeline, wherein the check valves are communicated with the pipeline and are communicated with the air nozzles in a one-to-one correspondence manner, and the pipeline is used for being communicated with an external air pump device.

In one embodiment, the workbench further comprises an air tap, and the air tap is positioned in the accommodating space of the workbench surface and is fixedly connected with the workbench surface; the air tap is rotationally connected with the rotating shaft;

the rotary shaft is provided with a gas channel, one end of the gas channel is arranged on the end face of the rotary shaft, which is away from the table top, the rotary shaft is provided with a groove along the peripheral surface of the rotary shaft, and the other end of the gas channel is arranged at the bottom of the groove;

along with the rotation of the rotating shaft, the opening of the gas channel on the groove is communicated with the gas tap, and the gas tap is used for being connected with an external gas supply device.

In one embodiment, the rotation angle of the workbench relative to the base is in the range of-90 degrees to 90 degrees by taking the vertical direction as a reference degree.

The double-freedom-degree rotating device provided by the application can enable the rotating shaft to rotate around the axis of the rotating shaft, and also can rotate relative to the base, and the rotating shaft drives the rotation of two degrees of freedom of the to-be-detected piece attached to the rotating shaft, so that the appearance of the to-be-detected piece is presented in front of the camera in multiple angles, the probability that the appearance defect of the to-be-detected piece is detected by the camera is greatly increased, and the delivery qualification rate of the to-be-detected piece is guaranteed.

Drawings

FIG. 1 is a schematic diagram of a two-degree-of-freedom rotary device according to an embodiment.

Fig. 2 is a schematic view of another view of the dual-degree-of-freedom rotary device in the embodiment of fig. 1.

Fig. 3 is a schematic structural view of a two-degree-of-freedom rotation device in a second embodiment.

FIG. 4 is a schematic view of another view of the dual-degree-of-freedom rotary device of the embodiment of FIG. 3.

Fig. 5 is a front cross-sectional view of the embodiment of fig. 3 at area a.

Reference numerals: a part to be inspected 10; a work table 100; a frame 110; a mesa 111; a connection portion 112; a stabilizing section 113; a first power member 120; a rack 131; a lead screw 132; a nut 133; a connecting piece 134; a conveyor belt system 135; a drive shaft 136; a drive bevel gear 1361; a coupling 1362; a rotation shaft 140; a gear 141; driven bevel gear 1411; a gas passage 142; a groove 143; a seal ring 1431; an air tap 150; a check valve 160; a conduit 170; a first decelerator 180; a second decelerator 190; a base 200; and a second power member 210.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that, if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., these terms refer to the orientation or positional relationship based on the drawings, which are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In this application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.

Referring to fig. 1-5, the present application provides a dual-degree-of-freedom rotating device, specifically including a workbench 100 and a base 200, where the workbench 100 includes a frame 110, a first power member 120, a transmission assembly and a plurality of rotating shafts 140, the first power member 120 is fixedly connected with the frame 110, the plurality of rotating shafts 140 are arranged along a first direction, the plurality of rotating shafts 140 are all sleeved with gears 141 along their own axes, and the plurality of gears 141 are fixedly connected with the plurality of rotating shafts 140 in a one-to-one correspondence; the first power member 120 is connected with a transmission assembly to output power, and the other end of the transmission assembly is meshed with a plurality of gears 141 to drive a plurality of rotating shafts 140 to rotate around their own axes. The base 200 is rotatably connected with the workbench 100 around a rotation axis in the first direction; the housing of the second power element 210 is fixedly connected with the base 200 or the workbench 100, and the second power element 210 is used for driving the workbench 100 to rotate relative to the base 200. The first direction is a longitudinal direction of the table 100.

Specifically, the housing of the second power element 210 is fixedly connected with the base 200 or the workbench 100, if the housing of the second power element 210 is fixedly connected with the base 200, the output shaft of the second power element is rotationally connected with the base 200 and is connected with the workbench 100, the rotationally connected mode can be connected through a bearing, and the fixedly connected mode can be flange connection, which is a lot of methods and is not described in detail herein. If the housing of the second power element 210 is fixedly connected with the workbench 100, the housing of the second power element 210 will also rotate synchronously when the workbench 100 rotates relative to the base 200, in which case in the first case, the output shaft of the second power element 210 is not connected with the workbench 100, the housing of the second power element 210 will rotate when the output shaft rotates, so as to drive the workbench 100 to rotate relative to the base 200; in another case, the output shaft of the second power element 210 is connected to the workbench 100, and when the output shaft rotates by a certain angle, the workbench 100 and the housing of the second power element 210 also synchronously rotate by a certain angle, and the output shaft is relatively stationary with respect to the housing of the second power element 210, so that in order to avoid this, a speed reducer or other device may be added between the output shaft and the workbench 100, so that the rotation angle of the output shaft of the second power element 210 is inconsistent with the rotation angle of the housing of the second power element 210, so as to drive the workbench to rotate. In some embodiments, the working platform 100 and the base 200 are rotatably connected through a hollow rotating platform, and the output shaft of the second power member 210 is connected to the hollow rotating platform to drive the working platform 100 and the base 200 to rotate relatively.

In the above embodiment, the fixed connection between the housing of the second power element 210 and the base 200 does not represent that the housing of the second power element 210 has a contact relationship with the base 200, and the two are in indirect fixed connection and also in fixed connection relationship. Generally, when the housing of the second power member 210 is in a relatively stationary relationship with respect to the base 200 during operation of the device, a fixed connection is established therebetween.

Specifically, referring to fig. 1 and 2, in one embodiment, the transmission assembly includes a rack 131, a screw 132, a nut 133, and a connector 134, a length direction of the rack 131 extends in a first direction, and the rack 131 is engaged with a plurality of gears 141. The screw 132 extends along a first direction, the first power member 120 is connected to one end of the screw 132 to drive the screw 132 to rotate, the nut 133 is in threaded connection with the screw 132, and the connecting member 134 is fixedly connected with the rack 131 and fixedly connected with the nut 133.

The first power member 120 drives the screw 132 to rotate, the nut 133 moves linearly relative to the screw 132, the nut 133 sequentially drives the connecting member 134 and the rack 131 to move linearly, and the rack 131 is meshed with the gear 141, so that the gear 141 and the rotating shaft 140 fixedly connected with the gear 141 are driven to rotate around the axis of the rotating shaft. Thereby effecting rotation of the first degree of freedom of the rotary shaft 140.

Referring to fig. 3 and 4, in a second embodiment, the transmission assembly may also include a conveyor belt system 135 and a transmission shaft 140, where the conveyor belt system 135 includes a driving wheel, a driven wheel, and a conveyor belt wound around the driving wheel and the driving wheel rotates to drive the movement of the conveyor belt and thus the driven wheel. The output end of the first power member is fixedly connected with the driving wheel of the conveyor belt system 135, and the transmission shaft 136 is fixedly connected with the driven wheel of the conveyor belt system 135 coaxially and rotatably connected with the frame 110 so as to stably receive the power output of the driven wheel.

The transmission shaft 136 is coaxially provided with a plurality of drive bevel gears 1361 which are arranged at intervals, the gear 141 coaxially arranged on each rotation shaft 140 is a driven bevel gear 1411, the plurality of drive bevel gears 1361 are meshed with the driven bevel gears 1411 of the plurality of rotation shafts 140 in a one-to-one correspondence manner, the plurality of rotation shafts 140 are positioned on one side of the transmission shaft 136, the axes of the plurality of rotation shafts 140 are parallel to each other, and the drive bevel gears 1361 are perpendicular to the axes of the driven bevel gears 1411 to form right-angle transmission.

Preferably, the first power member 120 is located on one radial side of the drive shaft 136, and the longitudinal space is fully utilized by the conveyor belt system 135, so that the first power member 120 and the drive shaft 136 are not required to be fixedly connected coaxially, which increases the length of the whole device, and the first power member 120 can be placed on one radial side of the drive shaft 136 by using the conveyor belt system 136, so that the space in the width or height direction of the work table 100 can be utilized.

In the above two embodiments of the different transmission assemblies, the manner in which the working table 100 is rotatably connected to the base 200 may be implemented by a bearing or a hollow rotating platform, and the principles thereof are not repeated herein because both are well known in the art.

The two transmission assemblies can realize the technical effect that the plurality of rotation shafts 140 rotate around themselves simultaneously, namely, the rotation of the first degree of freedom is realized, the second power piece 210 can enable the workbench 100 to rotate relative to the base 200, and the workbench 100 can drive the rotation shafts 140 to rotate in the second degree of freedom because the axes of the rotation shafts 140 are perpendicular to the axes of the rotation shafts 140.

Compared with the prior art, the rotary shaft 140 rotates around the rotary shaft through belt transmission, and the rotary shaft has the advantages of large transmission power and stable power through rack and pinion transmission or bevel gear right-angle transmission. The device has long service life, stable work and high reliability. And compare the mode that rack and pinion conveyer belt made rotation axis 140 rotatory, the two kinds of drive assembly that this application provided can guarantee invariable transmission ratio to make this device working process more stable.

The application provides a two degree of freedom rotary device can make rotation axis 140 rotate around self axis, also can rotate relative base 200, and rotation axis 140 has driven the rotation of two degrees of freedom of attached waiting to detect piece 10 to the outward appearance multi-angle that will wait to detect piece 10 presents in the camera face, realizes waiting to detect the multiaspect of piece 10, the omnidirectional detection of multi-angle, has improved the comprehensiveness and the accuracy of detection.

Specifically, the first power member 120 may be a motor, where a main body structure of the motor is fixed on the frame 110, and an output shaft of the motor rotates to drive the screw 132 to rotate or drive a driving wheel in the conveyor system 135 to rotate.

In one embodiment, all the components in the transmission assembly are located between two ends of the frame 110, so that the length of the whole device in the horizontal direction can be shortened, and the space in the vertical direction is fully utilized, so that the structure of the whole device is more reasonable.

Referring to fig. 1, in one embodiment, the stand 110 includes a table 111 and two connection parts 112 disposed at both ends of the table 111, the base 200 is rotatably connected with the connection parts 112, and when the transmission assembly selects the gear 141 and the rack 131 to engage the transmission mode, the table 111 is provided with an accommodating space (the accommodating space is not shown in fig. 1 to facilitate the view of the engagement relationship between the rack 131 and the rotation shaft 140), and the rack 131 is located in the accommodating space; the portion of the rotation shaft 140 engaged with the rack 131 is located in the accommodating space, and the rotation shaft 140 is used to connect one end of the member to be inspected 10 to protrude from the table 111.

Specifically, the table top 111 and the two connecting parts 112 form a U-shaped structure, the table top 111 is located between one end of the rotating shaft 140 for fixing the to-be-detected piece 10 and the lead screw 132, the engagement of the rack 131 and the gear 141 is a key ring in the transmission system, and the transmission system can be effectively protected by placing the rack 131 and the gear 141 in the accommodating space, and meanwhile, the layout of the whole device can be more reasonable.

In one embodiment, the lead screw 132 and the first power member 120 are both positioned on the side of the table 111 facing away from the workpiece 10 to be inspected, and as such, the position distribution can make full use of the longitudinal space.

Referring to fig. 1 or fig. 2, in one embodiment, one end of the plurality of rotating shafts 140 facing away from the to-be-detected member 10 is provided with air nozzles 150, the air nozzles 150 are rotatably connected with the rotating shafts 140, the rotating shafts 140 are provided with air channels 142 (refer to fig. 5 herein, but note that the embodiment represented by fig. 5 is not the present embodiment, but the air channels 142 are similar to fig. 5), one end of each air channel 142 is provided on an end surface of the rotating shaft 140, which is close to the to-be-detected member 10, and the other end is in communication with the air nozzles 150, where the air nozzles 150 are used for communicating with an external air pump device, and the external air pump device may be a vacuum pump or another device capable of exhausting air.

Specifically, vacuum adsorption is an effective way of connecting the rotary shaft 140 with the member to be inspected 10, and has an advantage of not blocking the outer surface of the member to be inspected 10 as much as possible in terms of conveniently fixing the member to be inspected 10 and conveniently releasing the connection with the member to be inspected 10. The air tap 150 is communicated with an external air pump device, and draws out internal air through the air channel 142, thereby sucking the object to be inspected 10. After the detection, the gas is filled again to separate the part 10 to be detected from the rotating shaft 140.

Referring to fig. 2, in one embodiment, the air pump further comprises a plurality of check valves 160 and a pipe 170, wherein the check valves 160 are communicated with the pipe 170, and are communicated with the air nozzles 150 in a one-to-one correspondence manner, and the pipe 170 is used for communicating with an external air pump device. The two ends of the pipeline 170 are fixed on the frame 110, the middle part of the pipeline 170 is provided with a channel at intervals to be communicated with the check valve 160, after the pipeline 170 is communicated with the external air pump device, the external air pump device can extract and release air in the air channel 142 of the rotating shaft 140 through the pipeline 170, the check valve 160 and the air tap 150, and as the pipeline 170 is provided with a plurality of check valves 160 along the length direction at intervals, the connection relation between all the rotating shafts 140 on the frame 110 and the to-be-detected piece 10 can be controlled through one pipeline 170 (the vacuumizing rotating shaft 140 adsorbs the to-be-detected piece, and the to-be-detected piece releases air and breaks away from the rotating shaft 140), so that the production efficiency can be greatly improved.

Referring to fig. 3-5, in one embodiment, when the rotation shaft 140 and the transmission assembly are driven by bevel gears at right angles, the accommodating space of the table top 111 includes a plurality of stabilizing portions 113 corresponding to the rotation shaft 140 and arranged below, an accommodating cavity is formed in the stabilizing portion 113, the transmission shaft 136 penetrates through the accommodating cavity and is rotatably connected with the stabilizing portion 113, and the drive bevel gear 1361 is located in the accommodating space.

In particular, the stabilizing portion 113 may be understood as a box, the upper surface of which is fixedly connected to the lower surface of the table 111, such as by bolting or magnetically coupling, etc., and the drive shaft 136 is rotatably connected to the stabilizing portion 113 by means of a bearing. The stabilizing section 113 serves to shield the drive bevel gear 1361 on the drive shaft 136 and the driven bevel gear 1411 on the rotary shaft 140. Since the bevel gear transmission is precise, the stabilizer 113 can prevent it from being contaminated to lower the precision and thus increase the maintenance cost.

Similarly, referring to fig. 3 to 5, with the gear rack transmission adopted by the transmission assembly, the air tap 150 is located at one end of the rotation shaft 140 away from the assembly to be tested, in this embodiment, the air tap 150 is located in the accommodating space of the table top 111 and is fixedly connected with the table top 111, and is rotatably connected with the rotation shaft 140.

Referring to fig. 5, the rotary shaft 140 and the member to be detected 10 are connected in the same manner by vacuum adsorption, one end of the air tap 150 is connected to a vacuum pump, and the vacuum pump realizes the adsorption relationship between the rotary shaft 140 and the member to be detected 10 through the air tap 150. As can be seen from the sectional view, the rotating shaft 140 is provided with the gas channel 142, one end of the gas channel 142 is disposed on the end surface of the rotating shaft 140 away from the transmission shaft 136, a circle of groove 143 is disposed on the circumferential surface of the transmission shaft 136, the other end of the gas channel 142 is disposed on the bottom of the groove 143, and when the rotating shaft 140 rotates, the groove 143 rotates around the axis of the rotating shaft 140, but the groove 143 is circular, so that the groove 143 is understood to be in a stationary state at all times, so that one end of the air tap 150 is always communicated with the groove 143 (of course in a relative sliding state), and when the air tap 150 pumps air, the gas inside the groove 143 and the gas inside the gas channel 142 can be pumped away, thereby realizing the adsorption of the to-be-detected element 10.

In order to prevent air leakage, two sealing rings 1431 are provided above and below the groove 143.

In one embodiment, the gas channel 142 is provided with four openings on the circumferential surface of the rotating shaft 140, and the four openings are uniformly arranged along the grooves of the rotating shaft 140 at equal angles, so that the center of gravity of the rotating shaft 140 is located on the axis, and the friction between the rotating shaft 140 and other components is uniform. Of course, the number of openings is not limited to four, as long as it is larger than one capable of communicating the gas passage 142 and the gas nozzle 150, and is arranged at equal angles in the circumferential direction.

Referring to fig. 3, in one embodiment, drive shaft 136 is comprised of a plurality of shaft segments connected in series along its axis, with adjacent shaft segments being connected by a coupling 1362. The coupling 1362 may function as overload protection.

Preferably, in any of the above embodiments, the second power member 210 is located between the two connection portions 112, and as can be seen in fig. 1-4, the second power member 210 and the first power member 120 are disposed together on a side of the table 111 facing away from the rotation axis 140, so as to achieve a space-saving effect.

In one embodiment, the device further comprises a first speed reducer 180, the main body of the first speed reducer 180 is fixedly connected with the workbench 100, and the first power piece 120 outputs power to the screw 132 through the first speed reducer 180.

Similarly, a second speed reducer 190 may be installed between the second power element 210 and the working table 100, where the main body of the second speed reducer 190 is fixedly connected with the base 200, and the second power element 210 drives the working table 100 to rotate relative to the base 200 through the second speed reducer 190. The first speed reducer 180 and the second speed reducer 190 can reduce the output rotation speed, increase the torque, and improve the load capacity, thereby achieving the ideal transmission effect and meeting the working requirements.

In one embodiment, the range of rotation angle of the work table 100 relative to the base 200 is-90 ° to 90 ° with respect to the vertical direction of 0 °. That is, after the rotation reaches the maximum range, the axis of the rotation shaft 140 is in the horizontal direction, so that the appearance of the part to be detected 10 can be presented in front of the camera in multiple angles, the probability of detecting the appearance defect of the part to be detected 10 by the camera is greatly increased, and the delivery qualification rate of the part to be detected 10 is ensured.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not thereby to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (10)

1. A two-degree-of-freedom rotary device, comprising:

the workbench (100) comprises a frame (110), a first power piece (120), a transmission assembly and a plurality of rotating shafts (140), wherein the first power piece (120) is fixedly connected with the frame (110), the rotating shafts (140) are arranged along a first direction, the rotating shafts (140) are respectively sleeved with gears (141) along the axial direction of the rotating shafts, and the gears (141) are fixedly connected with the rotating shafts (140) in a one-to-one correspondence manner; the first power piece (120) is connected with the transmission assembly to output power, and the meshing end of the transmission assembly is meshed with the gears (141) to drive the rotating shafts (140) to rotate around the axes of the rotating shafts; wherein the first direction is a longitudinal direction of the work table (100);

a base (200) rotatably connected to the work table (100) about the rotation axis in the first direction;

the second power piece (210), the casing of second power piece (210) with workstation (100) or base (200) fixed connection, second power piece (210) are used for driving workstation (100) relative base (200) rotation.

2. The two-degree-of-freedom rotating apparatus according to claim 1, wherein the transmission assembly includes a rack (131), a screw (132), a nut (133), and a connecting member (134), a length direction of the rack (131) extending in the first direction, the rack (131) being engaged with a plurality of the gears (141); the screw rod (132) extends along the first direction, the first power piece (120) is connected with one end of the screw rod (132) so as to drive the screw rod (132) to rotate, the nut (133) is in threaded connection with the screw rod (132), and the connecting piece (134) is fixedly connected with the rack (131) and fixedly connected with the nut (133).

3. The two-degree-of-freedom rotary apparatus of claim 1 wherein the drive assembly includes a conveyor belt system (135) and a drive shaft (136), the output end of the first power member (120) being fixedly connected coaxially with a drive wheel of the conveyor belt system (135), the drive shaft (136) being fixedly connected coaxially with a driven wheel of the conveyor belt system (135) and being rotatably connected with the frame (110); the drive wheel transmitting power to the driven wheel via a conveyor belt of the conveyor belt system (135);

the transmission shaft (136) is coaxially provided with a plurality of drive bevel gears (1361) which are arranged at intervals, the gears (141) which are coaxially arranged on each rotation shaft (140) are driven bevel gears (1411), the plurality of drive bevel gears (1361) are meshed with the plurality of driven bevel gears (1411) in a one-to-one correspondence manner, the plurality of rotation shafts (140) are positioned on one side of the transmission shaft (136) and are parallel to each other in axis, and the drive bevel gears (1361) are perpendicular to the axes of the driven bevel gears (1411).

4. The two degree of freedom rotary apparatus of claim 1 wherein the drive assembly is located between two ends of the frame (110).

5. The two-degree-of-freedom rotating apparatus according to claim 4, wherein the frame (110) includes a table top (111) and two connection portions (112) provided at both ends of the table top (111), the base (200) is rotatably connected to the connection portions (112), the table top (111) is provided with a receiving space in which a plurality of regions where the rotating shafts (140) are engaged with the transmission assembly are located; the rotating shaft (140) is used for connecting one end of the piece (10) to be detected to extend out of the table top (111).

6. The two degree of freedom rotary apparatus of claim 5 wherein the drive assembly and the first power member (120) are both located on a side of the table top (111) facing away from the part (10) to be inspected.

7. The dual-degree-of-freedom rotating device of claim 5, wherein a plurality of rotating shafts (140) are provided with air nozzles (150) at one ends deviating from the to-be-detected piece (10), the air nozzles (150) are rotatably connected with the rotating shafts (140), gas channels (142) are arranged in the rotating shafts (140), one ends of the gas channels (142) are arranged on the end surfaces, close to the to-be-detected piece (10), of the rotating shafts (140), the other ends of the gas channels are communicated with the air nozzles (150), and the air nozzles (150) are used for being communicated with an external air pump device.

8. The dual degree of freedom rotary apparatus of claim 7 further including a plurality of check valves (160) and a conduit (170), a plurality of the check valves (160) each communicating with the conduit (170) and in one-to-one correspondence with a plurality of air nozzles (150), the conduit (170) for communicating with the ambient air pump apparatus.

9. The dual degree of freedom swivel arrangement of claim 5 wherein the work head (100) further comprises an air tap (150), the air tap (150) being located in the receiving space of the table top (111) and being fixedly connected to the table top (111); the air tap (150) is rotationally connected with the rotating shaft (140);

the rotary shaft (140) is provided with a gas channel (142), one end of the gas channel (142) is arranged on the end face of the rotary shaft (140) deviating from the table top (111), the rotary shaft (140) is provided with a groove (143) along the peripheral surface of the rotary shaft, and the other end of the gas channel (142) is arranged at the bottom of the groove (143);

along with the rotation of the rotating shaft (140), an opening of the gas channel (142) on the groove (143) is communicated with the gas tap (150), and the gas tap (150) is used for being connected with an external gas supply device.

10. The two-degree-of-freedom rotation device of any one of claims 1 to 9 wherein the range of rotation angle of the work table (100) relative to the base (200) is-90 ° to 90 ° with respect to the vertical direction of 0 °.