An internal thread hole floating detection device and detection method based on a six-axis robotic arm

Abstract

The present invention discloses an internal thread hole floating detection device and a detection method based on a six-axis robotic arm, including a six-axis robotic arm for connecting and controlling an internal thread hole detection mechanism; the internal thread hole detection mechanism includes a go-gage detection component and a no-go gage detection component, and the internal thread holes of the products to be detected on a conveying mechanism are sequentially subjected to go-gage detection and no-go gage detection through the internal thread hole detection mechanism; a detection station is arranged on the conveying mechanism directly below the internal thread hole detection mechanism, and the detection station is equipped with a linkage clamping mechanism for clamping and fixing the products to be detected at the detection station, so as to facilitate the go-gage detection component and the no-go gage detection component to sequentially perform go-gage detection and no-go gage detection on the internal thread holes of the products to be detected. To solve the problem that in the existing thread detection device, the entire detection structure and the detection head are rigidly connected, and it is difficult to detect internal thread holes with position deviation or axis eccentricity.

Description

Technical Field

[0001] The present invention relates to the technical field of internal thread hole detection, and particularly relates to a floating detection device and method for internal thread holes based on a six-axis robotic arm. Background Art

[0002] Thread detection is an important part within the scope of modern mechanical manufacturing inspection. Internal thread detection has always been a difficult problem in thread detection. When detecting external threads, methods such as thread gauges, thread micrometers in combination with three-wire gauges, and optical projection can be used, while internal thread detection can only adopt the contour method. For the internal thread detection of complex die-cast housing parts in large-scale production, manual detection not only has low detection efficiency and cannot meet the requirements of on-line detection, but also has high costs and is difficult to ensure its detection quality.

[0003] Existing thread detection devices, such as an internal thread detection structure and method disclosed in Patent 201811106100.7, have a rigid connection for the entire detection structure and the detection head. When there is an error in the pitch of the internal thread, the entire detection structure is likely to get stuck with the internal thread hole of the product to be detected or directly cause damage to the internal thread. When there is a deviation or eccentricity in the position of the internal thread hole of the product to be detected, the rigidly connected detection head cannot adjust its position, and even if it enters the eccentric internal thread hole, it is likely to cause the detection head to break, increasing the detection cost and affecting the detection efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a floating detection device and method for internal thread holes based on a six-axis robotic arm to solve the problem that the entire detection structure and the detection head of the existing thread detection device are rigidly connected, making it difficult to detect internal thread holes with positional deviations or axis eccentricities.

[0005] To solve the above technical problems, the present invention provides a floating detection device for internal thread holes based on a six-axis robotic arm, including a six-axis robotic arm, and the six-axis robotic arm is connected to and controls an internal thread hole detection mechanism;

[0006] The internal thread hole detection mechanism includes a go-gauge detection component and a no-go-gauge detection component, and the internal thread hole of the product to be detected on the conveying mechanism is sequentially subjected to go-gauge detection and no-go-gauge detection through the internal thread hole detection mechanism;

[0007] A detection station is provided on the conveying mechanism directly below the internal thread hole detection mechanism, and the detection station is equipped with a linkage clamping mechanism. The product to be detected at the detection station is clamped and fixed through the linkage clamping mechanism to facilitate the go-gauge detection component and the no-go-gauge detection component to sequentially perform go-gauge detection and no-go-gauge detection on the internal thread hole of the product to be detected.

[0008] Preferably, the internal thread hole detection mechanism includes a go - gauge detection component, a no - go - gauge detection component, and a mounting plate. The go - gauge detection component and the no - go - gauge detection component are symmetrically installed at both ends of the mounting plate, and the six - axis robotic arm is connected to the center of the mounting plate, so that the six - axis robotic arm can drive the mounting plate and the go - gauge detection component and the no - go - gauge detection component mounted on the mounting plate to move or rotate, thereby driving the go - gauge detection component or the no - go - gauge detection component to detect the internal thread hole of the product to be detected.

[0009] Preferably, the go - gauge detection component includes a go - gauge detection motor and a go - gauge detection head. The go - gauge detection motor is connected to the go - gauge detection head through a go - gauge detection head floating mechanism, so that the go - gauge detection head is floatingly connected to the go - gauge detection motor;

[0010] Wherein, the output shaft of the go - gauge detection motor is connected to the go - gauge detection head floating mechanism through a first coupling.

[0011] Preferably, the no - go - gauge detection component includes a no - go - gauge detection motor and a no - go - gauge detection head. The no - go - gauge detection motor is connected to the no - go - gauge detection head through a no - go - gauge detection head floating mechanism, so that the no - go - gauge detection head is floatingly connected to the no - go - gauge detection motor;

[0012] Wherein, the output shaft of the no - go - gauge detection motor is connected to the no - go - gauge detection head floating mechanism through a second coupling.

[0013] Preferably, the go - gauge detection head floating mechanism includes a motor connecting rod, a go - gauge floating spring, and a detection head sleeve. One end of the motor connecting rod is connected to the output shaft of the go - gauge detection motor through the first coupling, and the other end is rotatably connected to the detection head sleeve. While the motor connecting rod transmits the rotational force to the detection head sleeve and the go - gauge detection head installed in the detection head sleeve, the detection head sleeve can also swing relative to the motor connecting rod.

[0014] Preferably, the go - gauge floating spring is sleeved on the motor connecting rod, and both ends of the go - gauge floating spring are in contact with the detection head sleeve and the first coupling respectively, so that the detection head sleeve and the motor connecting rod are always in floating connection.

[0015] Preferably, the detection head sleeve and the motor connecting rod are rotatably connected through a rotating shaft, and the hole of the motor connecting rod through which the rotating shaft passes is an oblong hole, so that the detection head sleeve connected to the rotating shaft can both rotate and move parallel to the oblong hole.

[0016] Preferably, an adjusting nut is connected to the first coupling, and the adjusting nut contacts the end of the floating spring of the go gauge. By screwing the floating spring of the go gauge, the pressing force of the floating spring of the go gauge can be adjusted.

[0017] Preferably, an adjusting nut is connected to the first coupling, and the adjusting nut contacts the end of the floating spring of the go gauge. By screwing the floating spring of the go gauge, the pressing force of the floating spring of the go gauge can be adjusted;

[0018] Moreover, floating springs of the detection components are respectively arranged on two side surfaces of the floating plate, and the ends of the two floating springs of the detection components are fixedly connected to the go gauge detection motor, so that the go gauge detection component floats horizontally relative to the mounting plate.

[0019] The present invention also provides a floating detection method for internal threaded holes based on a six-axis robotic arm, including the following steps:

[0020] Step A: The product to be detected is placed on the conveying mechanism and driven by it to move towards the detection station.

[0021] Step B: When the product to be detected moves towards the detection station, the appearance detection component detects the appearance of the product to be detected. The product with qualified appearance detection continues to move towards the detection station, otherwise it is directly conveyed to the blanking station and the detection of the internal threaded hole is no longer carried out.

[0022] Step C: When the product to be detected reaches the detection station, the conveying mechanism stops running. At this time, the product to be detected waits for detection at the detection station.

[0023] Step D: Driven by the six-axis robotic arm, the internal threaded hole detection mechanism reaches directly above the detection station, and the go gauge detection component is turned downward by rotating the internal threaded hole detection mechanism, and the go gauge detection is first carried out.

[0024] Step E: Driven by the six-axis robotic arm, the go gauge detection component approaches the internal threaded hole of the product to be detected. When the go gauge detection head contacts the internal threaded hole of the product to be detected, if there is a position deviation, the go gauge detection head can move parallel to the waist hole to adapt to the position of the internal threaded hole of the product to be detected, so that the go gauge detection head can still enter the internal threaded hole of the product to be detected for detection. If there is an angular deviation, the go gauge detection head can rotate around the rotation axis to adapt to the axis of the internal threaded hole of the product to be detected, and similarly, the go gauge detection head can enter the internal threaded hole of the product to be detected for detection.

[0025] Step F: When the go - gauge detection head of the go - gauge detection component contacts the internal thread of the product to be detected, the go - gauge detection component includes that the go - gauge detection head is in a floating state under the action of the go - gauge floating spring, which can avoid damaging the internal thread of the product to be detected during the detection process;

[0026] Step G: If the displacement sensor detects that the go - gauge detection head fails to move down to the set position, it is determined that the internal thread of the product to be detected is unqualified and is directly conveyed to the blanking station without further subsequent detection. Otherwise, it indicates that the go - gauge detection is qualified;

[0027] Step H: The six - axis robotic arm drives the internal - thread hole detection mechanism to move up and rotate 180 degrees, making the no - go - gauge detection component face downwards, and repeats the same operation as the go - gauge detection for the no - go - gauge detection. Similarly, if the displacement sensor detects that the no - go - gauge detection head fails to move down to the set position, it is determined that the internal thread of the product to be detected is unqualified and is directly conveyed to the blanking station. Otherwise, it indicates that the no - go - gauge detection is qualified. Only the products that pass both the go - gauge detection and the no - go - gauge detection can be determined to be qualified;

[0028] Step I: Repeat the detection steps to detect the products on the conveying mechanism in turn.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. The go - gauge detection component and the no - go - gauge detection component of the internal - thread hole floating detection device based on a six - axis robotic arm are both provided with a detection component floating mechanism, so that the detection head of the detection component is in a floating state when contacting the thread of the internal - thread hole of the product to be detected, and can be adjusted according to the spacing between the threads, thus effectively avoiding secondary damage to the internal - thread hole by the detection head during detection and effectively improving the qualified rate of the product.

[0031] 2. The detection head of the internal - thread hole floating detection device based on a six - axis robotic arm is configured with a detection - head floating mechanism, which can drive the detection head to move parallel or rotate eccentrically, enabling the detection head to detect not only the internal - thread holes with offset detection positions but also the internal - thread holes with eccentric axes, and will not cause secondary damage to the internal - thread holes during the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of the internal - thread hole floating detection device based on a six - axis robotic arm provided by the present invention from the first perspective;

[0033] Figure 2 is a schematic structural diagram of the internal - thread hole floating detection device based on a six - axis robotic arm provided by the present invention from the second perspective;

[0034] Figure 3It is a schematic diagram of the connection structure between the six-axis robotic arm and the internal thread hole detection mechanism provided by the present invention;

[0035] Figure 4 It is a schematic diagram of the structure of the internal thread hole detection mechanism from the first perspective provided by the present invention;

[0036] Figure 5 It is the front view of the internal thread hole detection mechanism provided by the present invention;

[0037] Figure 6 It is the side view of the internal thread hole detection mechanism provided by the present invention;

[0038] Figure 7 It is a schematic diagram of the structure of the internal thread hole detection mechanism from the second perspective provided by the present invention;

[0039] Figure 8 It is an exploded view of the floating mechanism of the go gauge detection head provided by the present invention;

[0040] Figure 9 It is a schematic diagram of the parallel offset of the go gauge detection head in the floating mechanism of the go gauge detection head provided by the present invention;

[0041] Figure 10 It is a schematic diagram of the rotational eccentricity of the go gauge detection head in the floating mechanism of the go gauge detection head provided by the present invention;

[0042] Figure 11 It is a schematic diagram of the structure of the floating mechanism of the detection component provided by the present invention;

[0043] Figure 12 It is a schematic diagram of the first perspective of the internal thread detection at the mouth of the aluminum bottle in the third embodiment of the present invention;

[0044] Figure 13 It is a schematic diagram of the second perspective of the internal thread detection at the mouth of the aluminum bottle in the third embodiment of the present invention.

[0045] In the figure: 1. Six-axis robotic arm; 2. Internal thread hole detection mechanism; 3. Conveyor mechanism; 4. Linkage clamping mechanism; 5. Floating mechanism of the detection component; 6. Appearance detection component; 10. Aluminum bottle; 100. Waist hole; 201. Go gauge detection component; 202. Not-go gauge detection component; 203. Mounting plate; 204. First coupling; 205. Second coupling; 206. Adjusting nut; 2011. Go gauge detection motor; 2012. Go gauge detection head; 2013. Floating mechanism of the go gauge detection head; 20131. Motor connecting rod; 20132. Go gauge floating spring; 20133. Detection head sleeve; 20134. Rotating shaft; 501. Floating plate; 502. Guide rod; 503. Detection component floating spring. Detailed implementation manners

[0046] The following further detailed description of the present invention is made in conjunction with the accompanying drawings and specific embodiments. According to the following description and claims, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings are all in very simplified forms and use non-precise scales, only for the purpose of facilitating and clearly assisting in explaining the objectives of the embodiments of the present invention.

[0047] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0048] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0049] Embodiment 1

[0050] The present invention provides an internal thread hole floating detection device based on a six-axis robotic arm. Please refer to Figure 1 and Figure 2, including a six-axis robotic arm 1 (this six-axis robotic arm is a purchased component, using a common six-axis robotic arm, which is prior art and will not be elaborated in this patent), the six-axis robotic arm 1 is connected to and controls an internal thread hole detection mechanism 2; the internal thread hole detection mechanism 2 includes a go-gage detection component and a no-go-gage detection component, and the internal thread holes of the products to be detected on the conveying mechanism 3 are sequentially subjected to go-gage detection and no-go-gage detection through the internal thread hole detection mechanism 2; a detection station is provided on the conveying mechanism 3 directly below the internal thread hole detection mechanism 2, and the detection station is equipped with a linkage clamping mechanism 4, and the products to be detected on the detection station are clamped and fixed through the linkage clamping mechanism 4, so as to facilitate the go-gage detection component and the no-go-gage detection component to sequentially perform go-gage detection and no-go-gage detection on the internal thread holes of the products to be detected.

[0051] In the present invention, please refer to Figures 3 - 6 , the internal thread hole detection mechanism 2 includes a go-gage detection group 201, a no-go-gage detection component 202 and a mounting plate 203, the go-gage detection component 201 and the no-go-gage detection component 202 are symmetrically installed at both ends of the mounting plate 203, and the six-axis robotic arm 1 is connected to the center of the mounting plate 203, so that the six-axis robotic arm 1 can drive the mounting plate 203 and the go-gage detection component 201 and the no-go-gage detection component 202 mounted on the mounting plate 203 to move or rotate, thereby driving the go-gage detection component 201 or the no-go-gage detection component 202 to detect the internal thread holes of the products to be detected.

[0052] As Figure 7 shown, the go-gage detection component 201 includes a go-gage detection motor 2011 and a go-gage detection head 2012, and the go-gage detection motor 2011 and the go-gage detection head 2012 are connected through a go-gage detection head floating mechanism 2013, so that the go-gage detection head 2012 is floatingly connected to the go-gage detection motor 2011; wherein, the output shaft of the go-gage detection motor 2011 is connected to the go-gage detection head floating mechanism 2013 through a first coupling 204.

[0053] As Figure 7 shown, the no-go-gage detection component 202 includes a no-go-gage detection motor 2021 and a no-go-gage detection head 2022, and the no-go-gage detection motor 2021 and the no-go-gage detection head 2022 are connected through a no-go-gage detection head floating mechanism 2023, so that the no-go-gage detection head 2022 is floatingly connected to the no-go-gage detection motor 2021; wherein, the output shaft of the no-go-gage detection motor 2021 is connected to the no-go-gage detection head floating mechanism 2023 through a second coupling 205.

[0054] In the present invention, please refer to Figure 8, the go - gauge detection head floating mechanism 2013 includes a motor connecting rod 20131, a go - gauge floating spring 20132, and a detection head sleeve 20133. One end of the motor connecting rod 20131 is connected to the output shaft of the go - gauge detection motor 2011 through the first coupling 204, and the other end is rotatably connected to the detection head sleeve 20133. While the motor connecting rod 20131 transmits rotational force to the detection head sleeve 20133 and the go - gauge detection head 2012 installed within the detection head sleeve 20133, the detection head sleeve 20133 can also swing relative to the motor connecting rod 20131.

[0055] The go - gauge floating spring 20132 is sleeved on the motor connecting rod 20131, and both ends of the go - gauge floating spring 20132 are in contact with the detection head sleeve 20133 and the first coupling 204 respectively, such that the detection head sleeve 20133 and the motor connecting rod 20131 are always in a floating connection.

[0056] The detection head sleeve 20133 and the motor connecting rod 20131 are rotatably connected through a rotating shaft 20134, and the hole on the motor connecting rod 20131 through which the rotating shaft 20134 passes is an elongated hole 100, such that the detection head sleeve 20133 connected to the rotating shaft 20134 can both rotate and move parallel along the elongated hole 100.

[0057] In some embodiments, a bearing is sleeved on the rotating shaft 20134 to move parallel or rotate within the elongated hole 100 through the bearing.

[0058] As Figure 9 shown, when there is a position deviation between the go - gauge detection head 2012 and the internal thread hole of the product to be detected, the go - gauge detection head 2012 can move parallel along the elongated hole 100 to adapt to the position of the internal thread hole of the product to be detected, thereby detecting the position deviation of the internal thread hole of the product to be detected;

[0059] As Figure 10 shown, when the go - gauge detection head 2012 is eccentric to the internal thread hole of the product to be detected, the go - gauge detection head 2012 can rotate around the rotating shaft 20134 to adapt to the axis of the internal thread hole of the product to be detected, thereby detecting the eccentricity of the internal thread hole of the product to be detected.

[0060] An adjusting nut 206 is connected to the first coupling 204, and the adjusting nut 206 is in contact with the end of the go - gauge floating spring 20132. By screwing the adjusting nut 206, the compression force of the go - gauge floating spring 20132 can be adjusted.

[0061] In the present invention, the structure of the no-go gauge detection head floating mechanism 2023 of the no-go gauge detection assembly 202 is the same as that of the go gauge detection head floating mechanism 2013, and the functions achieved are also the same, so it will not be elaborated here.

[0062] In the present invention, please refer to Figure 11 , a detection assembly floating mechanism 5 is provided between the go gauge detection assembly 201 and the mounting plate 203. The detection assembly floating mechanism 5 includes a floating plate 501 which passes through and is slidably connected to a guide rod 502 parallel to the mounting plate 203; and, detection assembly floating springs 503 are respectively arranged on both side surfaces of the floating plate 501, and the ends of the two detection assembly floating springs 503 are fixedly connected to the go gauge detection motor 2011, so that the go gauge detection assembly 201 floats horizontally relative to the mounting plate 203.

[0063] In an embodiment of the present invention, in order to stably perform detection when the product to be detected reaches the detection station, a linkage clamping mechanism 4 is provided on both sides of the detection station. The linkage clamping mechanism 4 includes two symmetrically arranged clamping arms and a clamping cylinder for pushing the clamping arms to move towards or away from each other. The clamping cylinder drives one of the clamping arms to approach the other clamping arm, so as to clamp and fix the product to be detected, so as to facilitate the subsequent go gauge detection and no-go gauge detection of the internal thread hole of the product to be detected on the conveying mechanism 3 by the internal thread hole detection mechanism 2 in sequence.

[0064] The conveying mechanism 3 includes a plurality of conveying rollers and a conveying motor. The conveying motor drives the conveying rollers to rotate through a sprocket assembly, so as to drive the product to be detected placed on the conveying rollers to move forward to the detection station.

[0065] The internal thread hole floating detection device is further configured with a displacement sensor. The displacement sensor is installed on one side of the internal thread hole detection mechanism 2 and is used to detect the downward movement distance of the go gauge detection assembly or the no-go gauge detection assembly, so as to judge whether the internal thread hole of the product to be detected is qualified. Only when the go gauge detection head of the go gauge detection assembly and the no-go gauge detection head of the no-go gauge detection assembly can both move downward to a set distance can it be judged that the internal thread hole of the product to be detected is qualified. If any one of the go gauge detection head of the go gauge detection assembly and the no-go gauge detection head of the no-go gauge detection assembly fails to reach the set downward movement distance, it is determined that the internal thread hole of the product to be detected is unqualified.

[0066] In order to realize automated detection, the internal thread hole floating detection device can also be equipped with an appearance detection component 6 before the detection station on the conveying mechanism 3. The appearance detection component 6 includes a 3D camera and a 2D camera. The appearance of the product to be inspected is determined by visual inspection. When the product is detected as unqualified by the appearance detection component 6, it is directly discarded without performing internal thread hole inspection, thereby reducing invalid inspections and improving the overall inspection efficiency of the internal thread hole floating detection device.

[0067] Example 2

[0068] The present invention also provides a floating detection method for internal threaded holes based on a six-axis robotic arm. Figures 1 - 11 , including the following steps:

[0069] Step A: The product to be inspected is placed on the conveying mechanism 3 and driven by it to move toward the inspection station;

[0070] Step B: When the product to be inspected moves toward the inspection station, the appearance inspection component 6 inspects the appearance of the product to be inspected. Products that pass the appearance inspection continue to move toward the inspection station. Otherwise, they are directly transported to the unloading station without further inspection of the internal threaded holes.

[0071] Step C: When the product to be inspected arrives at the inspection station, the conveying mechanism 3 stops running, and the product to be inspected waits for inspection at the inspection station;

[0072] Step D: The internal thread hole detection mechanism 2 is driven by the six-axis robot arm 1 to arrive directly above the detection station, and the internal thread hole detection mechanism 2 is rotated so that the through gauge detection component faces downward, and the through gauge detection is first performed;

[0073] Step E: The go gauge detection assembly is driven by the six-axis robot arm 1 to approach the internal threaded hole of the product to be detected. When the go gauge detection head 2012 contacts the internal threaded hole of the product to be detected, if there is a position deviation, the go gauge detection head 2012 can move parallel to the waist hole 100 to adapt to the position of the internal threaded hole of the product to be detected, so that the go gauge detection head 2012 can still enter the internal threaded hole of the product to be detected for detection. If there is an angle deviation; the go gauge detection head 2012 can rotate around the rotating shaft 20134 to adapt to the axis of the internal threaded hole of the product to be detected, so that the go gauge detection head 2012 can also enter the internal threaded hole of the product to be detected for detection;

[0074] Step F: When the go gauge detection head 2012 of the go gauge detection assembly contacts the internal thread of the product to be detected, the go gauge detection assembly includes the go gauge detection head 2012 in a floating state under the action of the go gauge floating spring 20132, which can prevent the go gauge detection head 2012 from damaging the internal thread of the product to be detected during the detection process;

[0075] Step G: If the displacement sensor detects that the go - gauge detection head 2012 fails to move down to the set position, it is determined that the internal thread of the product to be detected is unqualified, and the product is directly conveyed to the blanking station without further subsequent detection. Otherwise, it indicates that the go - gauge detection is qualified;

[0076] Step H: The six - axis robotic arm 1 drives the internal - thread hole detection mechanism 2 to move up and rotate 180 degrees, making the no - go - gauge detection component face downwards, and repeats the same operation as the go - gauge detection for the no - go - gauge detection. Similarly, if the displacement sensor detects that the no - go - gauge detection head fails to move down to the set position, it is determined that the internal thread of the product to be detected is unqualified, and the product is directly conveyed to the blanking station. Otherwise, it indicates that the no - go - gauge detection is qualified. Only the products that pass both the go - gauge detection and the no - go - gauge detection can be determined to be qualified;

[0077] Step I: Repeat the detection steps to detect the products on the conveying mechanism 3 in sequence.

[0078] Embodiment III

[0079] The present invention also provides a method for detecting the internal thread of the aluminum bottle mouth. Please refer to Figure 12 and Figure 13 , which includes the following steps:

[0080] Step A: The aluminum bottle 10 to be detected is placed on the conveying mechanism 3, and is driven by it to move towards the detection station;

[0081] Step B: When the aluminum bottle 10 to be detected moves towards the detection station, the appearance detection component 6 detects the bottle body and the bottle mouth of the aluminum bottle to be detected. The aluminum bottles with qualified bottle body and bottle mouth continue to move towards the detection station. Otherwise, they are directly conveyed to the blanking station without further detection of the internal - thread hole;

[0082] Step C: When the aluminum bottle 10 to be detected reaches the detection station, the conveying mechanism 3 stops running. At this time, the aluminum bottle 10 to be detected waits for detection at the detection station;

[0083] Step D: The internal - thread hole detection mechanism 2, driven by the six - axis robotic arm 1, reaches directly above the detection station, and by rotating the internal - thread hole detection mechanism 2, the go - gauge detection component faces downwards, and the go - gauge detection is carried out first;

[0084] Step E: The go - gauge detection component approaches the internal thread hole at the mouth of the aluminum bottle 10 to be detected under the drive of the six - axis robotic arm 1. When the go - gauge detection head 2012 contacts the internal thread hole, if there is a position deviation, the go - gauge detection head 2012 can move parallel to the waist hole 100 to adapt to the position of the internal thread hole at the mouth of the aluminum bottle, so that the go - gauge detection head 2012 can still enter the internal thread hole at the mouth of the aluminum bottle for detection. If there is an angular deviation, the go - gauge detection head 2012 can rotate around the rotation axis 20134 to adapt to the axis of the internal thread hole at the mouth of the aluminum bottle, and also enable the go - gauge detection head 2012 to enter the internal thread hole at the mouth of the aluminum bottle for detection;

[0085] Step F: When the go - gauge detection head 2012 of the go - gauge detection component contacts the internal thread at the mouth of the aluminum bottle, the go - gauge detection component includes that the go - gauge detection head 2012 is in a floating state under the action of the go - gauge floating spring 20132, which can avoid damaging the internal thread at the mouth of the aluminum bottle during the detection process;

[0086] Step G: If the displacement sensor detects that the go - gauge detection head 2012 fails to move down to the set position, it is determined that the internal thread of the aluminum bottle 10 to be detected is unqualified, and it is directly conveyed to the blanking station without further subsequent detection. Otherwise, it indicates that the go - gauge detection is qualified;

[0087] Step H: The six - axis robotic arm 1 drives the internal thread hole detection mechanism 2 to move up and rotate 180 degrees, making the no - go - gauge detection component face down, and repeating the same operation as the go - gauge detection for no - go - gauge detection. Similarly, if the displacement sensor detects that the no - go - gauge detection head fails to move down to the set position, it is determined that the internal thread of the aluminum bottle 10 to be detected is unqualified, and it is directly conveyed to the blanking station. Otherwise, it indicates that the no - go - gauge detection is qualified. Only the aluminum bottles that pass both the go - gauge detection and the no - go - gauge detection can be determined to be qualified;

[0088] Step I: Repeat the detection steps to detect the aluminum bottles on the conveying mechanism 3 in sequence.

[0089] The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention in any way. Any changes and modifications made by those of ordinary skill in the art of the present invention according to the above disclosure shall fall within the protection scope of the claims.

Claims

1. An internal thread hole floating detection device based on a six-axis robotic arm, comprising a six-axis robotic arm (1), characterized in that, The six-axis robotic arm (1) is connected to and controls the internal thread hole detection mechanism (2). The internal thread hole detection mechanism (2) includes a go-gauge detection component and a no-go-gauge detection component. The internal thread holes of the products to be detected on the conveying mechanism (3) are sequentially subjected to go-gauge detection and no-go-gauge detection through the internal thread hole detection mechanism (2). A detection station is provided on the conveying mechanism (3) directly below the internal thread hole detection mechanism (2), and the detection station is equipped with a linkage clamping mechanism (4). The products to be detected on the detection station are clamped and fixed by the linkage clamping mechanism (4) to facilitate the go-gauge detection component and the no-go-gauge detection component to sequentially perform go-gauge detection and no-go-gauge detection on the internal thread holes of the products to be detected. The internal thread hole detection mechanism (2) includes a go-gauge detection component (201), a no-go-gauge detection component (202) and a mounting plate (203). The go-gauge detection component (201) includes a go-gauge detection motor (2011) and a go-gauge detection head (2012). The go-gauge detection motor (2011) is connected to the go-gauge detection head (2012) through a go-gauge detection head floating mechanism (2013), so that the go-gauge detection head (2012) is floatingly connected to the go-gauge detection motor (2011). The go-gauge detection head floating mechanism (2013) includes a motor connecting rod (20131), a go-gauge floating spring (20132) and a detection head sleeve (20133). One end of the motor connecting rod (20131) is connected to the output shaft of the go-gauge detection motor (2011) through a first coupling (204), and the other end is rotatably connected to the detection head sleeve (20133). While the motor connecting rod (20131) transmits the rotational force to the detection head sleeve (20133) and the go-gauge detection head (2012) installed in the detection head sleeve (20133), the detection head sleeve (20133) can also swing relative to the motor connecting rod (20131).

2. The floating detection device for internal threaded holes based on a six-axis robotic arm according to claim 1, wherein The go-gauge detection component (201) and the no-go-gauge detection component (202) are symmetrically installed at both ends of the mounting plate (203), and the six-axis robotic arm (1) is connected to the center of the mounting plate (203), so that the six-axis robotic arm (1) can drive the mounting plate (203) and the go-gauge detection component (201) and the no-go-gauge detection component (202) installed on the mounting plate (203) to move or rotate, thereby driving the go-gauge detection component (201) or the no-go-gauge detection component (202) to detect the internal thread holes of the products to be detected.

3. The floating detection device for internal thread holes based on a six-axis robotic arm according to claim 2, wherein, The output shaft of the go-gauge detection motor (2011) is connected to the go-gauge detection head floating mechanism (2013) through the first coupling (204).

4. The floating detection device for internal threaded holes based on a six-axis robotic arm according to claim 2, wherein, The no-go gauge detection component (202) includes a no-go gauge detection motor (2021) and a no-go gauge detection head (2022). The no-go gauge detection motor (2021) is connected to the no-go gauge detection head (2022) through a no-go gauge detection head floating mechanism (2023), so that the no-go gauge detection head (2022) is floatingly connected to the no-go gauge detection motor (2021). Among them, the output shaft of the no-go gauge detection motor (2021) is connected to the no-go gauge detection head floating mechanism (2023) through a second coupling (205).

5. The floating detection device for internal threaded holes based on a six-axis robotic arm according to claim 1, wherein The go gauge floating spring (20132) is sleeved on the motor connecting rod (20131), and both ends of the go gauge floating spring (20132) are in contact with the detection head sleeve (20133) and the first coupling (204) respectively, so that the detection head sleeve (20133) and the motor connecting rod (20131) are always in floating connection.

6. The floating detection device for internal threaded holes based on a six-axis robotic arm according to claim 5, wherein, The detection head sleeve (20133) is rotationally connected to the motor connecting rod (20131) through a rotating shaft (20134), and the hole of the motor connecting rod (20131) through which the rotating shaft (20134) passes is an oblong hole (100), so that the detection head sleeve (20133) connected to the rotating shaft (2013) can rotate and move parallel to the oblong hole (100).

7. The floating detection device for internal threaded holes based on a six-axis robotic arm according to claim 5, wherein An adjusting nut (206) is connected to the first coupling (204), and the adjusting nut (206) is in contact with the end of the go gauge floating spring (20132). By screwing the go gauge floating spring (20132), the pressing force of the go gauge floating spring (20132) can be adjusted.

8. The floating detection device for internal threaded holes based on a six-axis robotic arm according to claim 3, wherein A detection component floating mechanism (5) is provided between the go gauge detection component (201) and the mounting plate (203). The detection component floating mechanism (5) includes a floating plate (501). The floating plate (501) passes through and is slidably connected to a guide rod (502) parallel to the mounting plate (203). Moreover, detection component floating springs (503) are respectively arranged on both sides of the floating plate (501), and the ends of the two detection component floating springs (503) are fixedly connected to the go gauge detection motor (2011), so that the go gauge detection component (201) floats horizontally relative to the mounting plate (203).

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