A bush double position reciprocating detection direct blanking industrial robot

Abstract

The application discloses a bush double-station reciprocating detection direct blanking industrial robot, which comprises a workbench, a vibrating disc feeding assembly, a feeding track assembly, a vertical track, a double-station reciprocating mechanism, a left detection mechanism, a right detection mechanism, a left blanking and distributing mechanism, a right blanking and distributing mechanism, a left blocking and blanking mechanism and a right blocking and blanking mechanism. The bush double-station reciprocating detection direct blanking industrial robot not only adopts the vibrating disc feeding assembly automatic feeding operation mode to completely realize automatic feeding, but also has high detection efficiency. The bush double-station reciprocating detection direct blanking industrial robot can detect unqualified products with a bush inner hole size smaller than a go gauge diameter and unqualified products with a bush inner hole size larger than a not go gauge diameter, and the detection is more comprehensive and reliable. The go gauge and the not go gauge are prevented from being subjected to radial force, and the detection accuracy of the go gauge and the not go gauge is ensured. The bush is separated from a bush fork head through the left blocking and blanking mechanism and the right blocking and blanking mechanism, and the mechanism is more compact. The bush is separated from the bush fork head after detection, and the PLC program development cost is lower.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of detection robots, and in particular, the application relates to a bush double-station reciprocating detection direct blanking industrial robot. BACKGROUND

[0002] A bush is a matched part used outside a mechanical component to achieve sealing, wear protection and the like. The outer shape size precision and the inner hole size precision thereof are required to be high. Traditional detection of the bush is either manually held with a go-no-go gauge for detection or automatically detected by a machine. The manual detection has high labor intensity, low detection efficiency and is not suitable for large-scale batch production detection. The automatic detection basically adopts single-station single-side detection, which has low detection efficiency.

[0003] Patent No. 202222085694.6, a patent for a bush hole diameter bidirectional detection tool, discloses a base, a bush mold base, a first detection mechanism and a second detection mechanism. The base is provided with a guide rail, two sliding blocks are slidingly arranged on the guide rail, and supports are symmetrically arranged on both sides of the base. The bush mold base is hollow in the middle and is tightly connected with the base. The first detection mechanism is connected with the support and the sliding block on one side. The second detection mechanism is connected with the support and the sliding block on the other side. The automatic detection is realized, and the automatic blanking detection is also realized at the same time. The detection is bidirectional, and the detection precision requirement is higher. The labor intensity is small, the detection efficiency is high, and the large-scale batch detection is suitable. However, the technical solution of the patent has the following defects. First, the manual feeding operation mode cannot completely realize automation, and the detection efficiency is low. Second, the single-station detection of the single bush mold base has low detection efficiency. Third, only the unqualified product with the bush inner hole size smaller than the go-gauge diameter can be detected, and the unqualified product with the bush inner hole size larger than the stop-gauge diameter cannot be detected.

[0004] The first generation product developed by the team has the following optimization directions. First, the qualified bush is separated from the bush fork head at the detection station, and the go-no-go gauge is separated from the bush inner hole in a delayed manner, so that the go-no-go gauge is subjected to a radial force, and repeated action affects the detection precision of the go-no-go gauge. Second, the unqualified bush with the bush inner hole size larger than the stop-gauge diameter is separated from the bush fork head at the detection station, and the go-no-go gauge is separated from the bush inner hole in a delayed manner, so that the go-no-go gauge is subjected to a radial force, and repeated action affects the detection precision of the go-no-go gauge. Third, the unqualified bush with the bush inner hole size smaller than the go-gauge diameter is separated from the bush fork head at the detection station by driving the left discharging fork with the left discharging cylinder and driving the right discharging fork with the right discharging cylinder. Fourth, whether the qualified bush is separated from the bush fork head at the detection station or the unqualified bush is separated from the bush fork head at the detection station, the bush fork head is first separated, and then the bush is knocked off by the next bush to be detected, which is relatively high in PLC program development cost. SUMMARY

[0005] The application provides a bushing double-station reciprocating detection direct blanking industrial robot to solve the technical problems in the background art.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the application is as follows: a bushing double-station reciprocating detection direct blanking industrial robot, comprising a workbench, a vibrating disc feeding assembly, a feeding track assembly, a vertical track, a double-station reciprocating mechanism, a left detection mechanism, a right detection mechanism, a left blanking and distributing mechanism, a right blanking and distributing mechanism, a left blocking and blanking mechanism and a right blocking and blanking mechanism, wherein the workbench is provided with a boss, the vibrating disc feeding assembly is connected with the workbench, one end of the feeding track assembly is connected with a discharging port of the vibrating disc feeding assembly, and the other end is connected with an upper end of the vertical track, the vertical track is fastened to the middle of the upper end of the double-station reciprocating mechanism, the double-station reciprocating mechanism is fastened to the boss, the left detection mechanism is located at the left rear of the double-station reciprocating mechanism and is fastened to the boss, the right detection mechanism is located at the right rear of the double-station reciprocating mechanism and is fastened to the boss, the left blanking and distributing mechanism is fastened to the left side of the double-station reciprocating mechanism, the right blanking and distributing mechanism is fastened to the right side of the double-station reciprocating mechanism, the left blocking and blanking mechanism is connected with the inside of the boss, and the right blocking and blanking mechanism is connected with the inside of the boss.

[0007] Preferably, the workbench on both sides of the boss is symmetrically provided with a qualified blanking hole and a wedge-shaped blanking seat; the boss is provided with a backing plate, the boss is symmetrically provided with a rectangular cavity and a rotating shaft hole, and the inner wall of the rectangular cavity is symmetrically provided with a T-shaped groove.

[0008] Preferably, the feeding track assembly comprises a horizontal track assembly and a circular arc track assembly, the horizontal track assembly comprises a horizontal side plate, a horizontal bottom plate and a horizontal top plate, two horizontal side plates are symmetrically arranged, the horizontal bottom plate is clamped between the two horizontal side plates on the lower side, the horizontal top plate is clamped between the two horizontal side plates on the upper side, and the horizontal top plate is provided with a hollow structure; the circular arc track assembly comprises a circular arc side plate, a circular arc bottom plate and a circular arc top plate, two circular arc side plates are symmetrically arranged, the circular arc bottom plate is clamped between the two circular arc side plates on the lower side, the circular arc top plate is clamped between the two circular arc side plates on the upper side, and the circular arc top plate is provided with a hollow structure.

[0009] Preferably, a long groove is vertically arranged in the middle of the vertical track.

[0010] Preferably, the double-station reciprocating mechanism comprises a double-station seat, a guide rail, a sliding block, a cylinder one, an angle iron, a connecting plate and a bushing fork head, both sides of the back of the double-station seat are provided with detection holes, the middle of the back and the two sides of the front of the double-station seat are provided with detection holes, the front of the double-station seat is provided with a waist-shaped hole, and the top of the double-station seat is provided with a feeding port; the double-station seat and the guide rail are arranged in parallel and are tightly connected with the boss, the sliding block is slidingly connected with the guide rail, the cylinder one is tightly connected with the workbench, the angle iron is tightly connected with the sliding block, the connecting plate is tightly connected with the angle iron, and the bushing fork head is tightly connected with the end of the connecting plate.

[0011] Preferably, the double-station reciprocating mechanism further comprises a bracket one, a proximity sensor one, a bracket two, a left proximity sensor, a bracket three and a right proximity sensor, the bracket one is installed above the detection hole in the middle of the back of the double-station seat, the proximity sensor one is tightly connected with the bracket one and is inserted into the detection hole in the middle of the back of the double-station seat; the bracket two is installed above the detection hole on the left side of the front of the double-station seat, the left proximity sensor is tightly connected with the bracket two and is inserted into the detection hole on the left side of the front of the double-station seat to detect the arrival of the left detection mechanism; the bracket three is installed above the detection hole on the right side of the front of the double-station seat, the right proximity sensor is tightly connected with the bracket three and is inserted into the detection hole on the right side of the front of the double-station seat to detect the arrival of the right detection mechanism, and the left proximity sensor and the right proximity sensor detect signals in three grades.

[0012] Preferably, the left detection mechanism comprises a left support, a left detection cylinder, a left guide sleeve, a left guide rod, a left disc, a left detection go-no-go gauge, a compression spring one and a compression spring two, the left support is fastened to the boss, the left detection cylinder is fastened to the rear end of the left support, the left guide sleeve is fastened to the front end of the left support, the front end of the left guide rod is coaxially inserted into the left guide sleeve and is in sliding connection with the left guide sleeve, the left disc is coaxially fixed to the left guide rod, the left detection go-no-go gauge is coaxially fastened to the left guide rod, the rear end of the left guide rod is coaxially inserted into the piston rod of the left detection cylinder, the compression spring one is sleeved on the left guide rod, one end of the compression spring one is in contact with the left disc, and the other end of the compression spring one is in contact with the end of the piston rod of the left detection cylinder, the compression spring two is sleeved on the left guide rod, one end of the compression spring two is in contact with the left disc, and the other end of the compression spring two is in contact with the left guide sleeve; the right detection mechanism comprises a right support, a right detection cylinder, a right guide sleeve, a right guide rod, a right disc, a right detection go-no-go gauge, a compression spring three and a compression spring four, the right support is fastened to the boss, the right detection cylinder is fastened to the rear end of the right support, the right guide sleeve is fastened to the front end of the right support, the front end of the right guide rod is coaxially inserted into the right guide sleeve and is in sliding connection with the right guide sleeve, the right disc is coaxially fixed to the right guide rod, the right detection go-no-go gauge is coaxially fastened to the right guide rod, the rear end of the right guide rod is coaxially inserted into the piston rod of the right detection cylinder, the compression spring three is sleeved on the right guide rod, one end of the compression spring three is in contact with the right disc, and the other end of the compression spring three is in contact with the end of the piston rod of the right detection cylinder, the compression spring four is sleeved on the right guide rod, one end of the compression spring four is in contact with the right disc, and the other end of the compression spring four is in contact with the right guide sleeve.

[0013] Preferably, the left support and the right support are provided with a limiting arc seat, the limiting arc seat is provided with a limiting seat through a bolt fastening, and an adjustable number of spacers are arranged between the limiting arc seat and the limiting seat.

[0014] Preferably, the left blank distributing mechanism comprises a left slide, a left bottom sealing cylinder and a left bottom sealing plate, the left slide is provided with a left upper hollow hole and a left lower hollow hole at the top and bottom respectively; the left slide is fastened to the left side of the double-station seat, the left bottom sealing cylinder is fastened to the bottom of the left slide, the left bottom sealing plate is fastened to the end of the piston rod of the left bottom sealing cylinder and is in sliding connection with the left slide; the right blank distributing mechanism comprises a right slide, a right bottom sealing cylinder and a right bottom sealing plate, the right slide is provided with a right upper hollow hole and a right lower hollow hole at the top and bottom respectively; the right slide is fastened to the right side of the double-station seat, the right bottom sealing cylinder is fastened to the bottom of the right slide, the right bottom sealing plate is fastened to the end of the piston rod of the right bottom sealing cylinder and is in sliding connection with the right slide.

[0015] Preferably, the left material blocking and blanking mechanism comprises a rotating driving part one, a rotating shaft one, a left gear, a left rack one, a left blocking plate, a left rack two and a left unloading fork, the rotating driving part one is fastened with the boss, the rotating shaft one penetrates into the rotating shaft hole and is connected with the boss through a bearing with seat at both ends, the left gear is synchronously connected with the rotating shaft one, the left rack one and the left rack two are simultaneously engaged with the left gear and the back of the left rack one and the left rack two is slidably connected with the T-shaped groove, the left blocking plate is fastened with the end of the left rack one, and the left unloading fork is fastened with the end of the left rack two; the left unloading fork is in a wedge structure; the right material blocking and blanking mechanism comprises a rotating driving part two, a rotating shaft two, a right gear, a right rack one, a right blocking plate, a right rack two and a right unloading fork, the rotating driving part two is fastened with the boss, the rotating shaft two penetrates into the rotating shaft hole and is connected with the boss through a bearing with seat at both ends, the right gear is synchronously connected with the rotating shaft two, the right rack one and the right rack two are simultaneously engaged with the right gear and the back of the right rack one and the right rack two is slidably connected with the T-shaped groove, the right blocking plate is fastened with the end of the right rack one, and the right unloading fork is fastened with the end of the right rack two; the right unloading fork is in a wedge structure; the distance between the left blocking plate and the center line of the left detection mechanism is equal to the radius of the bushing and greater than the distance between the left unloading fork and the center line of the left detection mechanism; the distance between the right blocking plate and the center line of the right detection mechanism is equal to the radius of the bushing and greater than the distance between the right unloading fork and the center line of the right detection mechanism.

[0016] The beneficial effects of the above technical scheme are:

[0017] 1. The bushing double-station reciprocating detection direct blanking industrial robot comprises four detection conditions, specifically including: the first condition, the left detection station detects qualified products and the right detection station detects unqualified products; the second condition, the left detection station detects unqualified products and the right detection station detects qualified products; the third condition, the left detection station detects qualified products and the right detection station detects qualified products; and the fourth condition, the left detection station detects unqualified products and the right detection station detects unqualified products.

[0018] Among them: the unqualified products are divided into two types, one is that the inner hole size of the bushing is greater than the diameter of the go gauge, and the other is that the inner hole size of the bushing is smaller than the diameter of the no-go gauge.

[0019] The following is specifically explained by taking the first left detection station detecting qualified products, the second right detection station detecting unqualified products with the inner hole size of the bushing being greater than the diameter of the go gauge, the third left detection station detecting unqualified products with the inner hole size of the bushing being smaller than the diameter of the no-go gauge, and the fourth right detection station detecting qualified products.

[0020] The specific working process is as follows:

[0021] First step: the machined finished product bushing is poured into the vibration disc feeding assembly, then the vibration disc feeding assembly feeds the bushing to the horizontal rail assembly in the feeding rail assembly, then slides along the circular arc rail assembly in the feeding rail assembly to the vertical rail, and then enters the double-station seat from the feeding port in the double-station seat.

[0022] Second step: the rotary drive in the left blocking and feeding mechanism drives the left gear to rotate clockwise through the rotating shaft, and drives the left rack one to move up and the left rack two to move down at the same time, the left blocking plate moves to the double-station seat with the left rack one, and the left unloading fork moves to the rectangular cavity with the left rack two.

[0023] Third step: the piston rod of the cylinder one in the double-station reciprocating mechanism extends, drives the sliding block, angle iron and connecting plate to move left with the bushing fork head, the C-shaped port on the left side of the bushing fork head pushes the first bushing to be detected to the left detection station, and contacts with the left blocking plate. At this time, the second bushing automatically falls into the double-station seat.

[0024] Fourth step: the piston rod of the left detection cylinder in the left detection mechanism extends, further compresses the compression spring one, and under the elastic recovery force of the compression spring one, the left guide rod extends along the left guide sleeve by pushing the left disc, the left disc further compresses the compression spring two, and the left guide rod inserts the left detection go-no-go gauge from the detection hole on the back left side of the double-station seat, and detects the first bushing on the left detection station.

[0025] The left detection go-no-go gauge can pass through the go gauge and stop the not-go gauge. At this time, the middle notch detection signal of the left proximity sensor is activated because the front end of the left detection go-no-go gauge is located, and the first bushing is recorded as a qualified product, that is, the left detection station is detected as a qualified product.

[0026] Fifth step: the piston rod of the left detection cylinder directly retracts, the piston rod of the left detection cylinder quickly retracts under the action of the compression spring one, the left guide rod quickly retracts with the left detection go-no-go gauge under the action of the compression spring two, and separates from the first bushing. At this time, the left sealing bottom cylinder with the left sealing bottom plate is in a retracted state, and the left lower hollow hole is opened.

[0027] Sixth step: the rotary drive in the left blocking and feeding mechanism drives the left gear to rotate counterclockwise through the rotating shaft, and drives the left rack to move down and the left rack two to move up at the same time, the left blocking plate moves to the rectangular cavity with the left rack, and the left unloading fork moves to the double-station seat with the left rack two. Because the left unloading fork is a wedge-shaped structure, the distance between the left blocking plate and the center line of the left detection mechanism is equal to the radius of the bushing, and is greater than the distance between the left unloading fork and the center line of the left detection mechanism, so in the process of moving up of the left unloading fork, the first bushing is pushed out from the C-shaped port on the left side of the bushing fork head, and then rolls along the left slide to the left lower hollow hole and falls into the left qualified product collection bin.

[0028] Step 7: The rotating drive member two in the right blocking and blanking mechanism drives the right gear through the shaft two to rotate counterclockwise, while driving the right rack one to move up and the right rack two to move down, the right blocking plate moves to the double station seat with the right rack one, and the right unloading fork moves to the rectangular cavity with the right rack two

[0029] Step 8: The piston rod of the cylinder one in the double station reciprocating mechanism retracts, drives the sliding block, angle iron and connecting plate to move right with the bushing fork head, the C-shaped port on the right side of the bushing fork head pushes the second bushing to be detected to the right detection station, and contacts with the right blocking plate. At this time, the third bushing automatically falls into the double station seat.

[0030] Step 9: The piston rod of the right detection cylinder in the right detection mechanism extends, further compresses the compression spring three, and under the elastic recovery force of the compression spring three, the right guide rod is pushed out along the right guide sleeve through the right disc, the right disc further compresses the compression spring four, and the right guide rod inserts the right detection go-no-go gauge from the detection hole on the back right side of the double station seat, and detects the second bushing on the right detection station.

[0031] The right detection go-no-go gauge, the go gauge can pass, and the no-go gauge can pass. At this time, the third detection signal of the right proximity sensor is activated because the front end of the right detection go-no-go gauge is located, and it is recorded that the second bushing is unqualified, that is, the right detection station is unqualified.

[0032] Step 10: The piston rod of the right detection cylinder directly retracts, the piston rod of the right detection cylinder quickly retracts under the action of the compression spring three, the right guide rod quickly retracts with the right detection go-no-go gauge under the action of the compression spring four, and the right guide rod quickly retracts with the right detection go-no-go gauge. At this time, the right bottom sealing cylinder with the right sealing plate is in the extended state, closing the right lower hollow hole.

[0033] Step 11: The rotating drive member two in the right blocking and blanking mechanism drives the right gear to rotate clockwise through the shaft two, while driving the right rack to move down and the right rack two to move up, the right blocking plate moves to the rectangular cavity with the right rack, and the right unloading fork moves to the double station seat with the right rack two. Because the right unloading fork is a wedge-shaped structure, the distance between the right blocking plate and the center line of the right detection mechanism is equal to the radius of the bushing, and is greater than the distance between the right unloading fork and the center line of the right detection mechanism, so in the process of moving up of the right unloading fork, the second bushing is pushed out from the C-shaped port on the right side of the bushing fork head, and then rolls along the right slide to the wedge-shaped blanking seat and falls into the right unqualified product collection bin.

[0034] Step 12: The rotating drive member one in the left blocking and blanking mechanism drives the left gear to rotate clockwise through the shaft one, while driving the left rack one to move up and the left rack two to move down, the left blocking plate moves to the double station seat with the left rack one, and the left unloading fork moves to the rectangular cavity with the left rack two.

[0035] Thirteenth step: the piston rod of the cylinder one in the double-station reciprocating mechanism extends, drives the sliding block, angle iron and connecting plate with the bushing fork head to move left, the C-shaped port on the left side of the bushing fork head pushes the third bushing to be detected to the left detection station, and contacts with the left blocking plate. At this time, the fourth bushing automatically falls into the double-station seat.

[0036] Fourteenth step: the piston rod of the left detection cylinder in the left detection mechanism extends, further extrudes the compression spring one, and under the elastic restoring force of the compression spring one, the left guide rod extends along the left guide sleeve by the left disc, the left disc further compresses the compression spring two, the left guide rod with the left detection go-no-go gauge is inserted from the detection hole on the back left side of the double-station seat, and the third bushing on the left detection station is detected.

[0037] The left detection go-no-go gauge, the go gauge cannot pass, at this time, the first gear detection signal of the left proximity sensor is activated because the front end of the left detection go-no-go gauge is located, and the third bushing is recorded as unqualified product, that is, the left detection station is detected as unqualified product.

[0038] Fifteenth step: since the left detection go-no-go gauge is not inserted into the inner hole of the third bushing, the piston rod of the left detection cylinder directly contracts, under the action of the compression spring one, the piston rod of the left detection cylinder quickly retracts, under the action of the compression spring two, the left guide rod with the left detection go-no-go gauge quickly retracts and separates from the third bushing. At this time, the left sealing bottom cylinder with the left sealing bottom plate is in the extended state, and the left lower hollow hole is closed.

[0039] Sixteenth step: the rotary driving part one in the left blocking material discharging mechanism drives the left gear to rotate counterclockwise through the rotating shaft one, and drives the left rack one to move down and the left rack two to move up at the same time, the left blocking plate moves to the rectangular cavity along with the left rack one moving down, the left discharging fork moves to the double-station seat along with the left rack two moving up, because the left discharging fork is a wedge-shaped structure, the distance between the left blocking plate and the center line of the left detection mechanism is equal to the radius of the bushing, and is greater than the distance between the left discharging fork and the center line of the left detection mechanism, so in the process of the left discharging fork moving up, the third bushing is pushed out from the C-shaped port on the left side of the bushing fork head, and then rolls along the left slide to the wedge-shaped discharging seat and falls into the left unqualified product collection bin.

[0040] Seventeenth step: the rotary driving part two in the right blocking material discharging mechanism drives the right gear to rotate counterclockwise through the rotating shaft two, and drives the right rack one to move up and the right rack two to move down at the same time, the right blocking plate moves to the double-station seat along with the right rack one moving up, the right discharging fork moves to the rectangular cavity along with the right rack two moving down

[0041] Eighteenth step: the piston rod of the cylinder one in the double-station reciprocating mechanism retracts, drives the sliding block, angle iron and connecting plate with the bushing fork head to move right, the C-shaped port on the right side of the bushing fork head pushes the fourth bushing to be detected to the right detection station, and contacts with the right blocking plate. At this time, the fifth bushing automatically falls into the double-station seat.

[0042] Nineteenth step: the piston rod of the right detection cylinder in the right detection mechanism extends, further compresses the compression spring three, and under the elastic restoring force of the compression spring three, the right guide rod is pushed out along the right guide sleeve by the right disc, the right disc further compresses the compression spring four, and the right guide rod inserts the right detection plug gauge from the detection hole on the right side of the back of the double-station seat with the right detection plug gauge, thereby detecting the fourth bushing on the right detection station.

[0043] The right detection plug gauge can pass and stop, at this time, the middle notch detection signal of the right proximity sensor is activated because the front end of the right detection plug gauge is located, and it is recorded that the fourth bushing is a qualified product, that is, the right detection station is detected as a qualified product.

[0044] Twentieth step: the piston rod of the right detection cylinder directly retracts, the piston rod of the right detection cylinder quickly retracts under the action of the compression spring three, the right guide rod quickly retracts with the right detection plug gauge under the action of the compression spring four, and the right detection plug gauge is separated from the fourth bushing. At this time, the right bottom sealing cylinder with the right bottom sealing plate is in a retracted state, and the right lower hollow hole is opened.

[0045] Twenty-first step: the rotary drive part two in the right blocking and discharging mechanism drives the right gear to rotate clockwise through the rotating shaft two, and drives the right rack one to move down and the right rack two to move up at the same time, the right blocking plate moves to the rectangular cavity along with the right rack one moving down, and the right discharging fork moves to the double-station seat along with the right rack two moving up. Because the right discharging fork is a wedge-shaped structure, the distance between the right blocking plate and the center line of the right detection mechanism is equal to the radius of the bushing, and is greater than the distance between the right discharging fork and the center line of the right detection mechanism, so in the process of the right discharging fork moving up, the fourth bushing is pushed out from the C-shaped port on the right side of the bushing fork head, and then rolls along the right slide to the right lower hollow hole and falls into the qualified product collection bin on the right side.

[0046] By analogy, the bushing located at the left detection station is a qualified product, at this time, the left bottom sealing cylinder with the left bottom sealing plate is in a retracted state, and the left lower hollow hole is opened; the qualified product is pushed into the left lower hollow hole by the left blocking and discharging mechanism. The bushing located at the left detection station is unqualified, at this time, the left bottom sealing cylinder with the left bottom sealing plate is in an extended state, and the left lower hollow hole is closed; the unqualified product is pushed into the left side wedge-shaped discharging seat by the left blocking and discharging mechanism.

[0047] The bushing located at the right detection station is a qualified product, at this time, the right bottom sealing cylinder with the right bottom sealing plate is in a retracted state, and the right lower hollow hole is opened; the qualified product is pushed into the right lower hollow hole by the right blocking and discharging mechanism. The bushing located at the right detection station is unqualified, at this time, the right bottom sealing cylinder with the right bottom sealing plate is in an extended state, and the right lower hollow hole is closed; the unqualified product is pushed into the right side wedge-shaped discharging seat by the right blocking and discharging mechanism.

[0048] The sleeve double-station reciprocating detection direct blanking industrial robot of the application not only adopts the automatic feeding mode of the vibrating disc feeding assembly, completely realizes automatic feeding, and adopts double-station reciprocating detection, and the detection efficiency is high.

[0049] The sleeve double-station reciprocating detection direct blanking industrial robot of the application can detect not only the unqualified products with the sleeve inner hole size less than the diameter of the go gauge, but also the unqualified products with the sleeve inner hole size greater than the diameter of the no-go gauge, and the detection is more comprehensive and reliable.

[0050] The sleeve double-station reciprocating detection direct blanking industrial robot of the application has the following advantages: first, the qualified sleeve and the unqualified sleeve with the sleeve inner hole size greater than the diameter of the no-go gauge are separated from the sleeve fork head in the detection station without passing through the delay go-no-go gauge separation from the sleeve inner hole, so that the radial force on the go-no-go gauge is avoided, and the detection accuracy of the go-no-go gauge is ensured; second, the unqualified sleeve with the sleeve inner hole size less than the diameter of the go gauge is separated from the sleeve fork head in the detection station by the left and right material removal forks driven by the left and right material removal cylinders, and is separated from the sleeve fork head by the left and right material removal mechanisms, so that the mechanism is more compact; third, whether the qualified sleeve or the unqualified sleeve is separated from the sleeve fork head in the detection station, the separation is realized by the left and right material removal mechanisms, so that the sleeve is separated from the sleeve fork head during detection, and the sleeve is not impacted by the next sleeve to be detected to realize material removal, and the development cost of the PLC program is relatively low.

[0051] 2、The feeding track assembly comprises a horizontal track assembly and a circular arc track assembly, the horizontal track assembly comprises horizontal side plates, a horizontal bottom plate and a horizontal top plate, two horizontal side plates are symmetrically arranged, the horizontal bottom plate is clamped between the two horizontal side plates on the lower side, the horizontal top plate is clamped between the two horizontal side plates on the upper side, and the horizontal top plate is provided with a hollow structure; the circular arc track assembly comprises circular arc side plates, a circular arc bottom plate and a circular arc top plate, two circular arc side plates are symmetrically arranged, the circular arc bottom plate is clamped between the two circular arc side plates on the lower side, the circular arc top plate is clamped between the two circular arc side plates on the upper side, and the circular arc top plate is provided with a hollow structure. A long groove is vertically arranged in the middle of the vertical track. Not only the stable feeding of the sleeve is realized, but also the visual feeding operation is realized, and in addition, the screwdriver can be inserted into the hollow structure or the long groove to perform the material removal operation.

[0052] 3、The left and right proximity sensors in the double-station reciprocating mechanism detect signals in three gears, and the positions of the front ends of the left and right detection go-no-go gauges are detected, so that not only the unqualified products with the sleeve inner hole size less than the diameter of the go gauge, but also the unqualified products with the sleeve inner hole size greater than the diameter of the no-go gauge can be detected, and the detection is more comprehensive and reliable.

[0053] 4, the compression spring one set in the left guide rod, and one end with the left disc contact, the other end with the left detection cylinder piston rod end contact, the compression spring two set in the left guide rod, and one end with the left disc contact, the other end with the left guide sleeve contact; Ensure the left detection cylinder rapid reset and left detection pass stop gauge rapid disengagement from the bushing.

[0054] The compression spring three set in the right guide rod, and one end with the right disc contact, the other end with the right detection cylinder piston rod end contact, the compression spring four set in the right guide rod, and one end with the right disc contact, the other end with the right guide sleeve contact; Ensure the right detection cylinder rapid reset and right detection pass stop gauge rapid disengagement from the bushing.

[0055] 5, the left support and right support on the set limit arc seat, the limit arc seat is fastened by bolt and set limit seat, and between the limit arc seat and the limit seat is provided with adjustable number of gaskets, realize the left detection pass stop gauge and right detection pass stop gauge extension position adjustment.

[0056] 6, through the switching of the left blocking plate and the left unloading fork in the left blocking and blanking mechanism and the switching of the right blocking plate and the right unloading fork in the right blocking and blanking mechanism, the left blocking plate and the right blocking plate are blocked to detect the bushing, and the left unloading fork and the right unloading fork are directly unloaded. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 is the bushing double station reciprocating detection direct blanking industrial robot assembly drawing of the application;

[0058] Figure 2 is the double station reciprocating detection mechanism assembly Figure One ;

[0059] Figure 3 is the double station reciprocating detection mechanism assembly Figure Two ;

[0060] Figure 4 is the double station reciprocating detection mechanism front view;

[0061] Figure 5 is the double station reciprocating detection mechanism plan view;

[0062] Figure 6 is the guide rail, slider, cylinder one, angle iron, connecting plate, bushing fork head assembly drawing;

[0063] Figure 7 is the double station seat assembly Figure One ;

[0064] Figure 8 is the double station seat assembly Figure Two ;

[0065] Figure 9is the left detection mechanism assembly drawing;

[0066] Figure 10 is the boss, left material blocking and falling mechanism and right material blocking and falling mechanism assembly drawing;

[0067] Figure 11 is the boss and base plate assembly drawing;

[0068] Figure 12 is the left material blocking and falling mechanism and right material blocking and falling mechanism assembly drawing;

[0069] wherein:

[0070] 1, workbench; 2, vibration disc feeding assembly; 3, feeding rail assembly; 4, vertical rail; 5, double-station reciprocating mechanism; 6, left detection mechanism; 7, right detection mechanism; 8, left material falling and separating mechanism; 9, right material falling and separating mechanism; 1-1, left material blocking and falling mechanism; 1-2, right material blocking and falling mechanism;

[0071] 10, boss; 10-1, rectangular cavity; 10-2, T-shaped groove; 10-3, rotating shaft hole; 11, qualified material falling hole; 12, wedge-shaped material falling seat; 13, base plate;

[0072] 3-1, horizontal rail assembly; 3-10, horizontal side plate; 3-11, horizontal bottom plate; 3-12, horizontal top plate;

[0073] 3-2, circular arc rail assembly; 3-20, circular arc side plate; 3-21, circular arc bottom plate; 3-22, circular arc top plate;

[0074] 40, long groove;

[0075] 50, double-station seat; 50-1, detection hole; 50-2, detection hole; 50-3, waist-shaped hole; 50-4, feeding port; 51, guide rail; 52, sliding block; 53, air cylinder one; 54, angle iron; 55, connecting plate; 56, bushing fork head;

[0076] 5-1, support one; 5-2, proximity sensor one; 5-3, support two; 5-4, left proximity sensor; 5-5, support three; 5-6, right proximity sensor;

[0077] 60, left support; 61, left detection air cylinder; 62, left guide sleeve; 63, left guide rod; 64, left disc; 65, left detection go-no-go gauge; 66, compression spring one; 67, compression spring two;

[0078] 70, right support; 71, right detection air cylinder; 72, right guide sleeve; 73, right guide rod; 74, right disc; 75, right detection go-no-go gauge; 76, compression spring three; 77, compression spring four;

[0079] 7-1, limit arc seat; 7-2, gasket; 7-3, limit seat;

[0080] 80, left slide; 80-1, left upper hollow hole; 80-2, left lower hollow hole; 81, left bottom sealing cylinder; 82, left bottom sealing plate;

[0081] 90, right slide; 90-1, right upper hollow hole; 90-2, right lower hollow hole; 91, right bottom sealing cylinder; 92, right bottom sealing plate;

[0082] 1-10, rotating drive one; 1-11, rotating shaft one; 1-12, left gear; 1-13, left rack one; 1-14, left material blocking plate; 1-15, left rack two; 1-16, left unloading fork;

[0083] 1-20, rotating drive two; 1-21, rotating shaft two; 1-22, right gear; 1-23, right rack one; 1-24, right material blocking plate; 1-25, right rack two; 1-26, right unloading fork. DETAILED DESCRIPTION

[0084] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings, and the purpose is to help the technical personnel in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present application, and to help its implementation.

[0085] As Figures 1 to 12 shown, the present application is a bush double-station reciprocating detection direct blanking industrial robot, which not only adopts the automatic feeding mode of the vibrating disc feeding assembly, completely realizes automatic feeding, but also adopts double-station reciprocating detection, which has high detection efficiency. Not only can it detect unqualified products with bush inner hole size smaller than the diameter of the go gauge, but also can detect unqualified products with bush inner hole size larger than the diameter of the stop gauge, and the detection is more comprehensive and reliable. Avoiding the radial force on the go gauge and stop gauge, the detection accuracy of the go gauge and stop gauge is guaranteed. The left material blocking and blanking mechanism and the right material blocking and blanking mechanism are used to realize the separation of the bush from the bush fork head, and the mechanism is more compact. The detection and separation from the bush fork head are realized, and the relative PLC program development cost is lower.

[0086] Specifically, as Figures 1 to 12As shown, it comprises a workbench 1, a vibrating disc feeding assembly 2, a feeding track assembly 3, a vertical track 4, a double-station reciprocating mechanism 5, a left detection mechanism 6, a right detection mechanism 7, a left blank separating mechanism 8, a right blank separating mechanism 9, a left blank blocking and separating mechanism 1-1 and a right blank blocking and separating mechanism 1-2, the workbench 1 is provided with a boss 10, the vibrating disc feeding assembly 2 is connected with the workbench 1, one end of the feeding track assembly 3 is connected with the discharging port of the vibrating disc feeding assembly 2, and the other end is connected with the upper end of the vertical track 4, the vertical track 4 is connected with the middle of the upper end of the double-station reciprocating mechanism 5, the double-station reciprocating mechanism 5 is connected with the boss 10, the left detection mechanism 6 is located at the left rear of the double-station reciprocating mechanism 5 and is connected with the boss 10, the right detection mechanism 7 is located at the right rear of the double-station reciprocating mechanism 5 and is connected with the boss 10, the left blank separating mechanism 8 is connected with the left side of the double-station reciprocating mechanism 5, the right blank separating mechanism 9 is connected with the right side of the double-station reciprocating mechanism 5, the left blank blocking and separating mechanism 1-1 is connected with the inside of the boss 10, and the right blank blocking and separating mechanism 1-2 is connected with the inside of the boss 10.

[0087] The workbench 1 on both sides of the boss 10 is symmetrically provided with a qualified blank hole 11 and a wedge-shaped blank seat 12, the boss is provided with a backing plate 13, the boss 10 is symmetrically provided with a rectangular cavity 10-1 and a rotating shaft hole 10-3, and the inner wall of the rectangular cavity 10-1 is symmetrically provided with a T-shaped groove 10-2.

[0088] The feeding track assembly 3 comprises a horizontal track assembly 3-1 and a circular arc track assembly 3-2, the horizontal track assembly 3-1 comprises a horizontal side plate 3-10, a horizontal bottom plate 3-11 and a horizontal top plate 3-12, two horizontal side plates 3-10 are symmetrically arranged, the horizontal bottom plate 3-11 is clamped between the two horizontal side plates 3-10 on the lower side, the horizontal top plate 3-12 is clamped between the two horizontal side plates 3-10 on the upper side, and the horizontal top plate 3-12 is provided with a hollow structure; the circular arc track assembly 3-2 comprises a circular arc side plate 3-20, a circular arc bottom plate 3-21 and a circular arc top plate 3-22, two circular arc side plates 3-20 are symmetrically arranged, the circular arc bottom plate 3-21 is clamped between the two circular arc side plates 3-20 on the lower side, the circular arc top plate 3-22 is clamped between the two circular arc side plates 3-20 on the upper side, and the circular arc top plate 3-22 is provided with a hollow structure.

[0089] The vertical track 4 is vertically provided with a long groove 40 in the middle.

[0090] The double-station reciprocating mechanism 5 includes a double-station seat 50, a guide rail 51, a sliding block 52, a cylinder 53, an angle iron 54, a connecting plate 55, and a bushing fork head 56. The double-station seat 50 is provided with detection holes 50-1 on both sides of the back surface, detection holes 50-2 on the middle of the back surface and both sides of the front surface, a waist-shaped hole 50-3 on the front surface, and a feeding port 50-4 on the middle of the top. The double-station seat 50 and the guide rail 51 are arranged in parallel and are tightly connected with the boss 10. The sliding block 52 is slidingly connected with the guide rail 51. The cylinder 53 is tightly connected with the workbench 1. The angle iron 54 is tightly connected with the sliding block 52. The connecting plate 55 is tightly connected with the angle iron 54. The bushing fork head 56 is tightly connected with the end of the connecting plate 55.

[0091] The double-station reciprocating mechanism 5 further includes a bracket 5-1, a proximity sensor 5-2, a bracket 5-3, a left proximity sensor 5-4, a bracket 5-5, and a right proximity sensor 5-6. The bracket 5-1 is installed above the detection hole 50-2 on the middle of the back surface of the double-station seat 50. The proximity sensor 5-2 is tightly connected with the bracket 5-1 and is inserted into the detection hole 50-2 on the middle of the back surface of the double-station seat 50. The bracket 5-3 is installed above the detection hole 50-2 on the left side of the front surface of the double-station seat 50. The left proximity sensor 5-4 is tightly connected with the bracket 5-3 and is inserted into the detection hole 50-2 on the left side of the front surface of the double-station seat 50 to detect the arrival of the left detection mechanism 6. The bracket 5-5 is installed above the detection hole 50-2 on the right side of the front surface of the double-station seat 50. The right proximity sensor 5-6 is tightly connected with the bracket 5-5 and is inserted into the detection hole 50-2 on the right side of the front surface of the double-station seat 50 to detect the arrival of the right detection mechanism 7. The left proximity sensor 5-4 and the right proximity sensor 5-6 detect signals in three grades.

[0092] The left detection mechanism 6 comprises a left support 60, a left detection cylinder 61, a left guide sleeve 62, a left guide rod 63, a left disc 64, a left detection pass-stop gauge 65, a compression spring one 66 and a compression spring two 67. The left support 60 is fastened to the boss 10. The left detection cylinder 61 is fastened to the rear end of the left support 60. The left guide sleeve 62 is fastened to the front end of the left support 60. The left guide rod 63 is coaxially inserted into the left guide sleeve 62 at the front end and is in sliding connection with the left guide sleeve 62. The left disc 64 is coaxially fixed to the left guide rod 63. The left detection pass-stop gauge 65 is coaxially fastened to the left guide rod 63. The rear end of the left guide rod 63 is coaxially inserted into the piston rod of the left detection cylinder 61. The compression spring one 66 is sleeved on the left guide rod 63, with one end in contact with the left disc 64 and the other end in contact with the end of the piston rod of the left detection cylinder 61. The compression spring two 67 is sleeved on the left guide rod 63, with one end in contact with the left disc 64 and the other end in contact with the left guide sleeve 62. The right detection mechanism 7 comprises a right support 70, a right detection cylinder 71, a right guide sleeve 72, a right guide rod 73, a right disc 74, a right detection pass-stop gauge 75, a compression spring three 76 and a compression spring four 77. The right support 70 is fastened to the boss 10. The right detection cylinder 71 is fastened to the rear end of the right support 70. The right guide sleeve 72 is fastened to the front end of the right support 70. The right guide rod 73 is coaxially inserted into the right guide sleeve 72 at the front end and is in sliding connection with the right guide sleeve 72. The right disc 74 is coaxially fixed to the right guide rod 73. The right detection pass-stop gauge 75 is coaxially fastened to the right guide rod 73. The rear end of the right guide rod 73 is coaxially inserted into the piston rod of the right detection cylinder 71. The compression spring three 76 is sleeved on the right guide rod 73, with one end in contact with the right disc 74 and the other end in contact with the end of the piston rod of the right detection cylinder 71. The compression spring four 77 is sleeved on the right guide rod 73, with one end in contact with the right disc 74 and the other end in contact with the right guide sleeve 72.

[0093] Limiting arc seats 7-1 are arranged on the left support 60 and the right support 70. Limiting seats 7-3 are arranged on the limiting arc seats 7-1 through bolts. An adjustable number of spacers 7-2 are arranged between the limiting arc seats 7-1 and the limiting seats 7-3.

[0094] The left blanking and distributing mechanism 8 comprises a left slide 80, a left bottom sealing cylinder 81 and a left bottom sealing plate 82, the left slide 80 is provided with a left upper hollow hole 80-1 and a left lower hollow hole 80-2 respectively at the upper and lower portions; the left slide 80 is fixedly connected with the left side of the double-station base 50, the left bottom sealing cylinder 81 is fixedly connected with the bottom of the left slide 80, the left bottom sealing plate 82 is fixedly connected with the end of the piston rod of the left bottom sealing cylinder 81 and is in sliding connection with the left slide 80; the right blanking and distributing mechanism 9 comprises a right slide 90, a right bottom sealing cylinder 91 and a right bottom sealing plate 92, the right slide 90 is provided with a right upper hollow hole 90-1 and a right lower hollow hole 90-2 respectively at the upper and lower portions; the right slide 90 is fixedly connected with the right side of the double-station base 50, the right bottom sealing cylinder 91 is fixedly connected with the bottom of the right slide 90, the right bottom sealing plate 92 is fixedly connected with the end of the piston rod of the right bottom sealing cylinder 91 and is in sliding connection with the right slide 90.

[0095] The left material blocking and blanking mechanism 1-1 comprises a rotating driving part one 1-10, a rotating shaft one 1-11, a left side gear 1-12, a left rack one 1-13, a left blocking plate 1-14, a left rack two 1-15 and a left unloading fork 1-16, the rotating driving part one 1-10 is tightly connected with the boss 10, the rotating shaft one 1-11 penetrates into the rotating shaft hole 10-3 and is connected with the boss 10 through a bearing with a seat at both ends, the left side gear 1-12 is synchronously connected with the rotating shaft one 1-11, the left rack one 1-13 and the left rack two 1-15 are simultaneously engaged with the left side gear 1-12, and the back surface of the left rack one 1-13 and the left rack two 1-15 is slidably connected with the T-shaped groove 10-2, the left blocking plate 1-14 is tightly connected with the end of the left rack one 1-13, and the left unloading fork 1-16 is tightly connected with the end of the left rack two 1-15; the left unloading fork 1-16 is a wedge-shaped structure; the right material blocking and blanking mechanism 1-2 comprises a rotating driving part two 1-20, a rotating shaft two 1-21, a right side gear 1-22, a right rack one 1-23, a right blocking plate 1-24, a right rack two 1-25 and a right unloading fork 1-26, the rotating driving part two 1-20 is tightly connected with the boss 10, the rotating shaft two 1-21 penetrates into the rotating shaft hole 10-3 and is connected with the boss 10 through a bearing with a seat at both ends, the right side gear 1-22 is synchronously connected with the rotating shaft two 1-21, the right rack one 1-23 and the right rack two 1-25 are simultaneously engaged with the right side gear 1-22, and the back surface of the right rack one 1-23 and the right rack two 1-25 is slidably connected with the T-shaped groove 10-2, the right blocking plate 1-24 is tightly connected with the end of the right rack one 1-23, and the right unloading fork 1-26 is tightly connected with the end of the right rack two 1-25; the right unloading fork 1-26 is a wedge-shaped structure; the distance between the left blocking plate 1-14 and the center line of the left detection mechanism 6 is equal to the radius of the bushing and greater than the distance between the left unloading fork 1-16 and the center line of the left detection mechanism 6; the distance between the right blocking plate 1-24 and the center line of the right detection mechanism 7 is equal to the radius of the bushing and greater than the distance between the right unloading fork 1-26 and the center line of the right detection mechanism 7.

[0096] The specific working mode is described by specific embodiments as follows:

[0097] Embodiment 1:

[0098] The bushing double-station reciprocating detection direct blanking industrial robot of the application is divided into four detection working conditions, specifically including: the first kind, the left detection station detects qualified products and the right detection station detects unqualified products; the second kind, the left detection station detects unqualified products and the right detection station detects qualified products; the third kind, the left detection station detects qualified products and the right detection station detects qualified products; and the fourth kind, the left detection station detects unqualified products and the right detection station detects unqualified products.

[0099] Wherein: the unqualified products are divided into two types: the inner hole size of the bushing is larger than the diameter of the stop gauge and the inner hole size of the bushing is smaller than the diameter of the go gauge.

[0100] The following is a specific description of the first left detection station detecting qualified products, the second right detection station detecting unqualified products with the inner hole size of the bushing larger than the diameter of the stop gauge, the third left detection station detecting unqualified products with the inner hole size of the bushing smaller than the diameter of the go gauge, and the fourth right detection station detecting qualified products.

[0101] The specific working process is as follows:

[0102] Step 1: After machining, the finished product bushing is poured into the vibration disc feeding assembly 2, and then the vibration disc feeding assembly 2 feeds the bushing to the horizontal rail assembly 3-1 in the feeding rail assembly 3, and then slides along the circular arc rail assembly 3-2 in the feeding rail assembly 3 to the vertical rail 4, and then enters the double-station seat 50 from the feeding port 50-4 in the double-station seat 50.

[0103] Step 2: The rotary drive member one 1-10 in the left blocking and feeding mechanism 1-1 drives the left gear 1-12 to rotate clockwise through the shaft one 1-11, while driving the left rack one 1-13 to move up and the left rack two 1-15 to move down, and the left blocking plate 1-14 moves up to the double-station seat 50 with the left rack one 1-13, and the left unloading fork 1-16 moves down to the rectangular cavity 10-1 with the left rack two 1-15.

[0104] Step 3: The piston rod of the air cylinder one 53 in the double-station reciprocating mechanism 5 is extended, driving the sliding block 52, angle iron 54 and connecting plate 55 to move left with the bushing fork head 56, and the C-shaped port on the left side of the bushing fork head 56 pushes the first bushing to be detected to the left detection station, and contacts with the left blocking plate 1-14. At this time, the second bushing automatically falls into the double-station seat 50.

[0105] Step 4: The piston rod of the left detection air cylinder 61 in the left detection mechanism 6 is extended, further pressing the compression spring one 66, and under the elastic recovery force of the compression spring one 66, the left guide rod 63 is extended along the left guide sleeve 62 by the left disc 64, the left disc 64 further compresses the compression spring two 67, and the left detection go-stop gauge 65 is inserted from the detection hole 50-1 on the back left side of the double-station seat 50 with the left guide rod 63, and the first bushing on the left detection station is detected.

[0106] The left detection go-stop gauge 65 can pass through the go gauge and stop the stop gauge. At this time, the middle notch detection signal of the left proximity sensor 5-4 is activated because the front end of the left detection go-stop gauge 65 is located, and it is recorded that the first bushing is a qualified product, that is, the left detection station detects a qualified product.

[0107] Fifth step: the left detection cylinder 61 piston rod directly retracts, under the action of the compression spring 66, the left detection cylinder 61 piston rod quickly retracts, under the action of the compression spring 67, the left guide rod 63 with the left detection gauge 65 quickly retracts, and the first bushing is separated. At this time, the left bottom plate 82 is in a retracted state, and the left lower hollow hole 80-2 is opened.

[0108] Sixth step: the rotary drive one 1-10 in the left blocking and blanking mechanism 1-1 drives the left gear 1-12 to rotate counterclockwise through the shaft one 1-11, and drives the left rack one 1-13 to move downward and the left rack two 1-15 to move upward, the left blocking plate 1-14 moves to the rectangular cavity 10-1 with the left rack one 1-13, and the left unloading fork 1-16 moves to the double-station seat 50 with the left rack two 1-15, because the left unloading fork 1-16 is a wedge-shaped structure, the distance between the left blocking plate 1-14 and the center line of the left detection mechanism 6 is equal to the radius of the bushing, and greater than the distance between the left unloading fork 1-16 and the center line of the left detection mechanism 6, so in the process of the left unloading fork 1-16 moving upward, the first bushing is pushed out of the C-shaped port on the left side of the bushing fork head 56, and then rolls along the left slide 80 to the left lower hollow hole 80-2 and falls into the qualified product collection bin on the left side.

[0109] Seventh step: the rotary drive two 1-20 in the right blocking and blanking mechanism 1-2 drives the right gear 1-22 to rotate counterclockwise through the shaft two 1-21, and drives the right rack one 1-23 to move upward and the right rack two 1-25 to move downward, the right blocking plate 1-24 moves to the double-station seat 50 with the right rack one 1-23, and the right unloading fork 1-26 moves to the rectangular cavity 10-1 with the right rack two 1-25

[0110] Eighth step: the piston rod of the cylinder one 53 in the double-station reciprocating mechanism 5 retracts, drives the sliding block 52, the angle iron 54 and the connecting plate 55 to move right with the bushing fork head 56, the C-shaped port on the right side of the bushing fork head 56 pushes the second bushing to be detected to the right detection station, and contacts with the right blocking plate 1-24. At this time, the third bushing automatically falls into the double-station seat 50.

[0111] Ninth step: the piston rod of the right detection cylinder 71 in the right detection mechanism 7 extends, further compresses the compression spring three 76, and under the elastic restoring force of the compression spring three 76, drives the right guide rod 73 to extend along the right guide sleeve 72 through the right disc 74, the right disc 74 further compresses the compression spring four 77, and the right guide rod 73 with the right detection gauge 75 is inserted from the detection hole 50-1 on the back right side of the double-station seat 50, and the second bushing in the right detection station is detected.

[0112] Right detection pass-stop gauge 75, pass gauge can pass, stop gauge can pass, at this time, the third gear detection signal of the right proximity sensor 5-6 is activated because the front end of the right detection pass-stop gauge 75 is located, and it is recorded that the second bushing is unqualified, that is, the right detection station is unqualified.

[0113] Step ten: the piston rod of the right detection cylinder 71 directly retracts, the piston rod of the right detection cylinder 71 quickly retracts under the action of the compression spring three 76, the right guide rod 73 quickly retracts under the action of the compression spring four 77, and the second bushing is separated. At this time, the right bottom sealing cylinder 91 with the right bottom sealing plate 92 is in the extended state, and the right lower hollow hole 90-2 is closed.

[0114] Step ten: the rotating drive part two 1-20 in the right blocking and discharging mechanism 1-2 drives the right gear 1-22 to rotate clockwise through the rotating shaft two 1-21, and drives the right rack one 1-23 to move downward and the right rack two 1-25 to move upward, the right blocking plate 1-24 moves to the rectangular cavity 10-1 along with the downward movement of the right rack one 1-23, and the right discharging fork 1-26 moves to the double-station seat 50 along with the upward movement of the right rack two 1-25. Because the right discharging fork 1-26 is a wedge-shaped structure, the distance between the right blocking plate 1-24 and the center line of the right detection mechanism 7 is equal to the radius of the bushing, and is greater than the distance between the right discharging fork 1-26 and the center line of the right detection mechanism 7. Therefore, during the upward movement of the right discharging fork 1-26, the second bushing is pushed out of the C-shaped port on the right side of the bushing fork head 56, and then rolls along the right slide 90 to the wedge-shaped discharging seat 12 and falls into the unqualified product collection bin on the right side.

[0115] Step twelve: the rotating drive part one 1-10 in the left blocking and discharging mechanism 1-1 drives the left gear 1-12 to rotate clockwise through the rotating shaft one 1-11, and drives the left rack one 1-13 to move upward and the left rack two 1-15 to move downward, the left blocking plate 1-14 moves to the double-station seat 50 along with the upward movement of the left rack one 1-13, and the left discharging fork 1-16 moves to the rectangular cavity 10-1 along with the downward movement of the left rack two 1-15.

[0116] Step thirteen: the piston rod of the cylinder one 53 in the double-station reciprocating mechanism 5 extends, drives the sliding block 52, the angle iron 54 and the connecting plate 55 to move left with the bushing fork head 56, the C-shaped port on the left side of the bushing fork head 56 pushes the third bushing to be detected to the left detection station, and contacts with the left blocking plate 1-14. At this time, the fourth bushing automatically falls into the double-station seat 50.

[0117] Fourteenth step: the piston rod of the left detection cylinder 61 in the left detection mechanism 6 extends, further compresses the compression spring one 66, and pushes the left guide rod 63 along the left guide sleeve 62 through the left disc 64 under the elastic restoring force of the compression spring one 66, the left disc 64 further compresses the compression spring two 67, and the left guide rod 63 inserts the left detection go-no-go gauge 65 from the detection hole 50-1 on the left side of the back of the double-station seat 50, so as to detect the third bushing on the left detection station.

[0118] The left detection go-no-go gauge 65 cannot pass, at this time, the first gear detection signal of the left proximity sensor 5-4 is activated because the front end of the left detection go-no-go gauge 65 is located, and it is recorded that the third bushing is unqualified, that is, the left detection station is unqualified.

[0119] Fifteenth step: since the left detection go-no-go gauge 65 is not inserted into the inner hole of the third bushing, the piston rod of the left detection cylinder 61 directly retracts, the piston rod of the left detection cylinder 61 quickly retracts under the action of the compression spring one 66, the left guide rod 63 quickly retracts with the left detection go-no-go gauge 65 under the action of the compression spring two 67, and the left detection go-no-go gauge 65 is separated from the third bushing. At this time, the left bottom sealing cylinder 81 with the left bottom sealing plate 82 is in the extended state, and the left lower hollow hole 80-2 is closed.

[0120] Sixteenth step: the rotary drive one 1-10 in the left material blocking and discharging mechanism 1-1 drives the left gear 1-12 to rotate counterclockwise through the rotating shaft one 1-11, simultaneously drives the left rack one 1-13 to move downward and the left rack two 1-15 to move upward, the left blocking plate 1-14 moves to the rectangular cavity 10-1 along with the downward movement of the left rack one 1-13, and the left discharging fork 1-16 moves to the double-station seat 50 along with the upward movement of the left rack two 1-15. Because the left discharging fork 1-16 is a wedge-shaped structure, the distance between the left blocking plate 1-14 and the center line of the left detection mechanism 6 is equal to the radius of the bushing and greater than the distance between the left discharging fork 1-16 and the center line of the left detection mechanism 6. Therefore, in the upward movement of the left discharging fork 1-16, the third bushing is pushed out from the C-shaped port on the left side of the bushing fork head 56, and then rolls along the left sliding channel 80 to the wedge-shaped discharging seat 12 and falls into the unqualified product collection bin on the left side.

[0121] Seventeenth step: the rotary drive two 1-20 in the right material blocking and discharging mechanism 1-2 drives the right gear 1-22 to rotate counterclockwise through the rotating shaft two 1-21, simultaneously drives the right rack one 1-23 to move upward and the right rack two 1-25 to move downward, the right blocking plate 1-24 moves to the double-station seat 50 along with the upward movement of the right rack one 1-23, and the right discharging fork 1-26 moves to the rectangular cavity 10-1 along with the downward movement of the right rack two 1-25.

[0122] Eighteenth step: the piston rod of the cylinder one 53 in the double-station reciprocating mechanism 5 retracts, drives the sliding block 52, the angle iron 54 and the connecting plate 55 to move right with the bushing fork head 56, the C-shaped port on the right side of the bushing fork head 56 pushes the fourth bushing to be detected to the right detection station, and contacts with the right blocking plate 1-24. At this time, the fifth bushing automatically falls into the double-station seat 50.

[0123] Nineteenth step: the piston rod of the right detection cylinder 71 in the right detection mechanism 7 extends, further compresses the compression spring three 76, and under the elastic recovery force of the compression spring three 76, pushes the right guide rod 73 along the right guide sleeve 72 to extend out through the right disc 74, the right disc 74 further compresses the compression spring four 77, and the right guide rod 73 inserts the right detection go-no-go gauge 75 from the detection hole 50-1 on the back right side of the double-station seat 50, and detects the fourth bushing on the right detection station.

[0124] The right detection go-no-go gauge 75 can pass the go gauge and stop the not-go gauge. At this time, the intermediate gear detection signal of the right proximity sensor 5-6 is activated because the front end of the right detection go-no-go gauge 75 is located, and it is recorded that the fourth bushing is a qualified product, that is, the right detection station is detected as a qualified product.

[0125] Twentieth step: the piston rod of the right detection cylinder 71 directly retracts, quickly retracts under the action of the compression spring three 76, and the right guide rod 73 quickly retracts with the right detection go-no-go gauge 75 under the action of the compression spring four 77, and separates from the fourth bushing. At this time, the right bottom sealing cylinder 91 with the right bottom sealing plate 92 is in a retracted state, and the right lower hollow hole 90-2 is opened.

[0126] Twenty-first step: the rotary driving part two 1-20 in the right blocking and discharging mechanism 1-2 drives the right side gear 1-22 to rotate clockwise through the shaft two 1-21, and drives the right rack one 1-23 to move downward and the right rack two 1-25 to move upward at the same time, the right blocking plate 1-24 moves to the rectangular cavity 10-1 with the right rack one 1-23 moving downward, and the right discharging fork 1-26 moves to the double-station seat 50 with the right rack two 1-25 moving upward. Because the right discharging fork 1-26 is a wedge-shaped structure, the distance between the right blocking plate 1-24 and the center line of the right detection mechanism 7 is equal to the radius of the bushing, and greater than the distance between the right discharging fork 1-26 and the center line of the right detection mechanism 7, so in the upward movement of the right discharging fork 1-26, the fourth bushing is pushed out from the C-shaped port on the right side of the bushing fork head 56, and then rolls along the right slide 90 to the right lower hollow hole 90-2 and falls into the right qualified product collection bin.

[0127] By analogy, the bushing is located at the left detection station as a qualified product, at this time, the left bottom sealing cylinder 81 with the left bottom sealing plate 82 is in the retracted state, and the left lower hollow hole 80-2 is opened; the qualified product is pushed into the left lower hollow hole 80-2 by the left blocking material falling mechanism 1-1. The bushing is located at the left detection station as an unqualified product, at this time, the left bottom sealing cylinder 81 with the left bottom sealing plate 82 is in the extended state, and the left lower hollow hole 80-2 is closed; the unqualified product is pushed into the left side wedge-shaped falling seat 12 by the left blocking material falling mechanism 1-1.

[0128] The bushing is located at the right detection station as a qualified product, at this time, the right bottom sealing cylinder 91 with the right bottom sealing plate 92 is in the retracted state, and the right lower hollow hole 90-2 is opened; the qualified product is pushed into the right lower hollow hole 90-2 by the right blocking material falling mechanism 1-2. The bushing is located at the right detection station as an unqualified product, at this time, the right bottom sealing cylinder 91 with the right bottom sealing plate 92 is in the extended state, and the right lower hollow hole 90-2 is closed; the unqualified product is pushed into the right side wedge-shaped falling seat 12 by the right blocking material falling mechanism 1-2.

[0129] The bushing double-station reciprocating detection direct falling industrial robot of the application not only adopts the automatic feeding mode of the vibration disc feeding assembly 2, but also realizes automatic feeding, and adopts double-station reciprocating detection, so the detection efficiency is high.

[0130] The bushing double-station reciprocating detection direct falling industrial robot of the application can detect not only the unqualified product with the inner hole size smaller than the diameter of the go gauge, but also the unqualified product with the inner hole size larger than the diameter of the no-go gauge, so the detection is more comprehensive and reliable.

[0131] The bushing double-station reciprocating detection direct falling industrial robot of the application has the following advantages: first, the qualified bushing and the unqualified bushing with the inner hole size larger than the diameter of the no-go gauge are separated from the bushing fork head 56 at the detection station, and the separation is realized without the delay of the go gauge and the no-go gauge from the inner hole of the bushing, so the radial force on the go gauge and the no-go gauge is avoided, and the detection accuracy of the go gauge and the no-go gauge is ensured; second, the unqualified bushing with the inner hole size smaller than the diameter of the go gauge is separated from the bushing fork head 56 at the detection station by the left material falling mechanism 1-1 and the right material falling mechanism 1-2, so the mechanism is more compact; third, whether the qualified bushing or the unqualified bushing is separated from the bushing fork head 56 at the detection station, the separation is realized by the left material falling mechanism 1-1 and the right material falling mechanism 1-2, so the detection and the separation from the bushing fork head 56 are realized, and the falling is realized without being hit by the next bushing to be detected, so the development cost of the PLC program is relatively low.

[0132] Example 2:

[0133] On the basis of embodiment 1, the feeding track assembly 3 comprises a horizontal track assembly 3-1 and a circular arc track assembly 3-2, the horizontal track assembly 3-1 comprises horizontal side plates 3-10, a horizontal bottom plate 3-11 and a horizontal top plate 3-12, two horizontal side plates 3-10 are symmetrically arranged, the horizontal bottom plate 3-11 is clamped between the two horizontal side plates 3-10 on the lower side, the horizontal top plate 3-12 is clamped between the two horizontal side plates 3-10 on the upper side, and the horizontal top plate 3-12 is provided with a hollow structure; the circular arc track assembly 3-2 comprises circular arc side plates 3-20, a circular arc bottom plate 3-21 and a circular arc top plate 3-22, two circular arc side plates 3-20 are symmetrically arranged, the circular arc bottom plate 3-21 is clamped between the two circular arc side plates 3-20 on the lower side, and the circular arc top plate 3-22 is clamped between the two circular arc side plates 3-20 on the upper side, and the circular arc top plate 3-22 is provided with a hollow structure. A long groove 40 is vertically arranged in the middle of the vertical track 4. Not only the stable feeding of the bushing is realized, but also the visual feeding operation is realized, and in addition, the screwdriver can be inserted into the hollow structure or the long groove 40 to perform the stirring operation for the clamped material.

[0134] Embodiment 3:

[0135] On the basis of embodiment 1, the left proximity sensor 5-4 and the right proximity sensor 5-6 in the double-station reciprocating mechanism 5 detect signals in three gears, and through the detection of the positions of the front ends of the left detection go-no-go gauge 65 and the right detection go-no-go gauge 75, not only the unqualified products with the inner hole size of the bushing smaller than the diameter of the go gauge can be detected, but also the unqualified products with the inner hole size of the bushing larger than the diameter of the go gauge can be detected, and the detection is more comprehensive and reliable.

[0136] Embodiment 4:

[0137] On the basis of embodiment 1, the compression spring one 66 is sleeved on the left guide rod 63, one end of the compression spring one 66 is in contact with the left disc 64, and the other end of the compression spring one 66 is in contact with the end of the piston rod of the left detection cylinder 61, the compression spring two 67 is sleeved on the left guide rod 63, one end of the compression spring two 67 is in contact with the left disc 64, and the other end of the compression spring two 67 is in contact with the left guide sleeve 62; the rapid resetting of the left detection cylinder 61 and the rapid disengagement of the left detection go-no-go gauge 65 from the bushing are ensured.

[0138] The compression spring three 76 is sleeved on the right guide rod 73, one end of the compression spring three 76 is in contact with the right disc 74, and the other end of the compression spring three 76 is in contact with the end of the piston rod of the right detection cylinder 71, the compression spring four 77 is sleeved on the right guide rod 73, one end of the compression spring four 77 is in contact with the right disc 74, and the other end of the compression spring four 77 is in contact with the right guide sleeve 72; the rapid resetting of the right detection cylinder 71 and the rapid disengagement of the right detection go-no-go gauge 75 from the bushing are ensured.

[0139] Embodiment 5:

[0140] On the basis of embodiment 1, the left support 60 and the right support 70 are provided with a limiting arc seat 7-1, the limiting arc seat 7-1 is provided with a limiting seat 7-3 through bolt fastening, and an adjustable number of gaskets 7-2 are arranged between the limiting arc seat 7-1 and the limiting seat 7-3, so as to realize the adjustment of the extension position of the left detection go-no-go gauge 65 and the right detection go-no-go gauge 75.

[0141] Embodiment 6:

[0142] On the basis of embodiment 1, through the switching of the left blocking plate 1-14 and the left unloading fork 1-16 in the left blocking material blanking mechanism 1-1 and the switching of the right blocking plate 1-24 and the right unloading fork 1-26 in the right blocking material blanking mechanism 1-2, the left blocking plate 1-14 and the right blocking plate 1-24 are used to block the bushing for detection, and the left unloading fork 1-16 and the right unloading fork 1-26 are used for direct unloading and blanking.

[0143] The above describes the present application in an exemplary manner in combination with the drawings. Obviously, the specific implementation of the present application is not limited by the above-mentioned manner, and various non-essential improvements are made by using the method concept and technical solution of the present application; or the above-mentioned concept and technical solution of the present application is directly applied to other occasions without improvement, which is within the protection scope of the present application.

Claims

1. A bushing dual-station reciprocating inspection and direct blanking industrial robot, characterized in that: The system includes a worktable (1), a vibratory feeder assembly (2), a feeding track assembly (3), a vertical track (4), a dual-station reciprocating mechanism (5), a left detection mechanism (6), a right detection mechanism (7), a left unloading and sorting mechanism (8), a right unloading and sorting mechanism (9), a left blocking and unloading mechanism (1-1), and a right blocking and unloading mechanism (1-2). The worktable (1) is provided with a boss (10). The vibratory feeder assembly (2) is connected to the worktable (1). One end of the feeding track assembly (3) is connected to the outlet of the vibratory feeder assembly (2), and the other end is connected to the upper end of the vertical track (4). The vertical track (4) is connected to the upper end of the dual-station reciprocating mechanism (5). The middle is fastened. The dual-station reciprocating mechanism (5) is fastened to the boss (10). The left detection mechanism (6) is located to the left rear of the dual-station reciprocating mechanism (5) and is fastened to the boss (10). The right detection mechanism (7) is located to the right rear of the dual-station reciprocating mechanism (5) and is fastened to the boss (10). The left unloading and distributing mechanism (8) is fastened to the left side of the dual-station reciprocating mechanism (5). The right unloading and distributing mechanism (9) is fastened to the right side of the dual-station reciprocating mechanism (5). The left blocking and unloading mechanism (1-1) is connected to the inside of the boss (10). The right blocking and unloading mechanism (1-2) is connected to the inside of the boss (10). The boss (10) is symmetrically provided with a rectangular cavity (10-1) and a rotating shaft hole (10-3), and a T-shaped groove (10-2) is symmetrically provided on the inner wall of the rectangular cavity (10-1). The dual-station reciprocating mechanism (5) includes a dual-station base (50), a guide rail (51), a slider (52), a cylinder (53), an angle iron (54), a connecting plate (55), and a bushing fork (56). The dual-station base (50) has detection holes (50-1) on both sides of its back, detection holes (50-2) in the middle of its back and on both sides of its front, and a waist-shaped hole (50-3) on its front. The top center is provided with a feed port (50-4); the double workstation seat (50) and the guide rail (51) are arranged in parallel and are fastened to the boss (10); the slider (52) is slidably connected to the guide rail (51); the cylinder (53) is fastened to the worktable (1); the angle iron (54) is fastened to the slider (52); the connecting plate (55) is fastened to the angle iron (54); and the bushing fork head (56) is fastened to the end of the connecting plate (55). The dual-station reciprocating mechanism (5) also includes a left proximity sensor (5-4) and a right proximity sensor (5-6). The left proximity sensor (5-4) is inserted into the detection hole (50-2) on the left side of the front of the dual-station base (50) to detect the position of the left detection mechanism (6); the right proximity sensor (5-6) is inserted into the detection hole (50-2) on the right side of the front of the dual-station base (50) to detect the position of the right detection mechanism (7). The left proximity sensor (5-4) and the right proximity sensor (5-6) detect signals in three levels. The left detection mechanism (6) includes a left detection cylinder (61), a left guide rod (63), and a left detection go / no-go gauge (65). The left detection go / no-go gauge (65) is coaxially and fastened to the left guide rod (63). The rear end of the left guide rod (63) is coaxially inserted into the piston rod of the left detection cylinder (61). The right detection mechanism (7) includes a right detection cylinder (71), a right guide rod (73), and a right detection go / no-go gauge (75). The right detection go / no-go gauge (75) is coaxially and fastened to the right guide rod (73). The rear end of the right guide rod (73) is coaxially inserted into the piston rod of the right detection cylinder (71). The left material feeding mechanism (1-1) includes a rotary drive component one (1-10), a rotating shaft one (1-11), a left gear one (1-12), a left rack one (1-13), a left baffle plate (1-14), a left rack two (1-15), and a left unloading fork (1-16). The rotary drive component one (1-10) is fastened to the boss (10). The rotating shaft one (1-11) passes through the rotating shaft hole (10-3) and is connected to the boss (10) at both ends by bearings with seats. The left gear (1-12) is synchronously rotated with the rotating shaft one (1-11). The left rack one (1-13) and the left rack two (1-14) are connected to the boss (1-15). Rack 2 (1-15) meshes simultaneously with the left gear (1-12), and the back sides of rack 1 (1-13) and rack 2 (1-15) are slidably connected to the T-slot (10-2). The left baffle plate (1-14) is fastened to the end of rack 1 (1-13), and the left unloading fork (1-16) is fastened to the end of rack 2 (1-15). The left unloading fork (1-16) has a wedge-shaped structure. The right baffle and unloading mechanism (1-2) includes a rotary drive component 2 (1-20), a rotating shaft 2 (1-21), a right gear (1-22), a right rack 1 (1-23), and a right baffle plate (10-2). 1-24), right rack two (1-25) and right unloading fork (1-26), the rotary drive component two (1-20) is fastened to the boss (10), the rotating shaft two (1-21) passes through the rotating shaft hole (10-3) and both ends are connected to the boss (10) through bearings with seats, the right gear (1-22) is synchronously rotated and connected to the rotating shaft two (1-21), the right rack one (1-23) and right rack two (1-25) mesh with the right gear (1-22) at the same time, and the back of the right rack one (1-23) and right rack two (1-25) are slidably connected to the T-slot (10-2), so The right baffle plate (1-24) is fastened to the end of the right rack one (1-23), and the right unloading fork (1-26) is fastened to the end of the right rack two (1-25); the right unloading fork (1-26) has a wedge-shaped structure; the distance between the left baffle plate (1-14) and the center line of the left detection mechanism (6) is equal to the bushing radius and greater than the distance between the left unloading fork (1-16) and the center line of the left detection mechanism (6); the distance between the right baffle plate (1-24) and the center line of the right detection mechanism (7) is equal to the bushing radius and greater than the distance between the right unloading fork (1-26) and the center line of the right detection mechanism (7); The direct blanking process for bushing dual-station reciprocating inspection is as follows: Step 1: The machined finished bushing is fed into the double station base (50) through the feed port (50-4); Step 2: The rotary drive component 1 (1-10) in the left feeder unloading mechanism (1-1) drives the left gear (1-12) to rotate clockwise, so that the left feeder plate (1-14) moves upward to the double station seat (50), and the left unloading fork (1-16) moves downward to the rectangular cavity (10-1); Step 3: The piston rod of cylinder 1 (53) in the double-station reciprocating mechanism (5) extends, driving the slider (52), angle iron (54) and connecting plate (55) to move the bushing fork (56) to the left. The C-shaped opening on the left side of the bushing fork (56) pushes the first bushing to be tested to the left testing station and contacts the left baffle plate (1-14). At this time, the second bushing automatically falls into the double-station seat (50). Step 4: Insert the left inspection go / no-go gauge (65) into the inspection hole (50-1) on the left side of the back of the double station seat (50) to inspect the first bushing on the left inspection station; The detection signal of the left proximity sensor (5-4) is activated; Step 5: The left inspection go / no-go gauge (65) quickly retracts and disengages from the first bushing; Step 6: Rotary drive component 1 (1-10) drives the left gear (1-12) to rotate counterclockwise, causing the left baffle plate (1-14) to move down into the rectangular cavity (10-1), and the left unloading fork (1-16) to move up into the double station seat (50); the first bushing is pushed out from the C-shaped opening on the left side of the bushing fork head (56); Step 7: Rotary drive component 2 (1-20) drives the right gear (1-22) to rotate counterclockwise, the right baffle (1-24) moves upward to the double workstation seat (50), and the right unloading fork (1-26) moves downward to the rectangular cavity (10-1); Step 8: The piston rod of cylinder 1 (53) in the double-station reciprocating mechanism (5) retracts, driving the slider (52), angle iron (54) and connecting plate (55) to move the bushing fork (56) to the right. The C-shaped opening on the right side of the bushing fork (56) pushes the second bushing to be tested to the right testing station and contacts the right baffle plate (1-24). At this time, the third bushing automatically falls into the double-station seat (50). Step 9: Insert the right inspection go / no-go gauge (75) into the inspection hole (50-1) on the right side of the back of the double station seat (50) to inspect the second bushing on the right inspection station; The detection signal of the right proximity sensor (5-6) is activated because of the position of the front end of the right detection go / no-go gauge (75); Step 10: The right-side go / no-go gauge (75) quickly retracts and disengages from the second bushing; Step 11: Rotary drive component 2 (1-20) drives the right gear (1-22) to rotate clockwise, the right baffle (1-24) moves down into the rectangular cavity (10-1), and the right unloading fork (1-26) moves up into the double station seat (50); the second bushing is pushed out from the C-shaped opening on the right side of the bushing fork head (56).

2. The bushing dual-station reciprocating inspection direct blanking industrial robot according to claim 1, characterized in that: The worktables (1) on both sides of the boss (10) are symmetrically provided with qualified material dropping holes (11) and wedge-shaped material dropping seats (12); the boss is provided with a pad (13).

3. The bushing dual-station reciprocating inspection direct blanking industrial robot according to claim 1, characterized in that: The feeding track assembly (3) includes a horizontal track assembly (3-1) and a circular arc track assembly (3-2). The horizontal track assembly (3-1) includes a horizontal side plate (3-10), a horizontal bottom plate (3-11), and a horizontal top plate (3-12). Two horizontal side plates (3-10) are symmetrically arranged. The horizontal bottom plate (3-11) is engaged with the lower side between the two horizontal side plates (3-10). The horizontal top plate (3-12) is engaged with the upper side between the two horizontal side plates (3-10). The horizontal top plate (3-12) has a hollow structure; the arc track assembly (3-2) includes an arc side plate (3-20), an arc bottom plate (3-21) and an arc top plate (3-22). Two arc side plates (3-20) are symmetrically arranged. The arc bottom plate (3-21) is snapped between the two arc side plates (3-20) on the lower side. The arc top plate (3-22) is snapped between the two arc side plates (3-20) on the upper side. The arc top plate (3-22) has a hollow structure.

4. The bushing dual-station reciprocating inspection direct blanking industrial robot according to claim 1, characterized in that: The vertical track (4) has a long groove (40) in the middle.

5. The bushing dual-station reciprocating inspection direct blanking industrial robot according to claim 1, characterized in that: The dual-station reciprocating mechanism (5) further includes a bracket 1 (5-1), a proximity sensor 1 (5-2), a bracket 2 (5-3), and a bracket 3 (5-5). The bracket 1 (5-1) is installed above the detection hole (50-2) in the middle of the back of the dual-station base (50). The proximity sensor 1 (5-2) is fastened to the bracket 1 (5-1) and inserted into the detection hole (50-2) in the middle of the back of the dual-station base (50). The bracket 2 (5-3) is installed above the detection hole (50-2) on the left side of the front of the dual-station base (50). The left proximity sensor (5-4) is fastened to the bracket 2 (5-3). The bracket 3 (5-5) is installed above the detection hole (50-2) on the right side of the front of the dual-station base (50). The right proximity sensor (5-6) is fastened to the bracket 3 (5-5).

6. The bushing dual-station reciprocating inspection direct blanking industrial robot according to claim 1, characterized in that: The left detection mechanism (6) further includes a left support (60), a left guide sleeve (62), a left disc (64), a compression spring one (66), and a compression spring two (67). The left support (60) is fastened to the boss (10), the left detection cylinder (61) is fastened to the rear end of the left support (60), the left guide sleeve (62) is fastened to the front end of the left support (60), and the front end of the left guide rod (63) is coaxially inserted into the left guide sleeve (62). And it is slidably connected to the left guide sleeve (62). The left disc (64) is coaxially fixedly connected to the left guide rod (63). The first compression spring (66) is sleeved on the left guide rod (63), and one end is in contact with the left disc (64), and the other end is in contact with the piston rod end of the left detection cylinder (61). The second compression spring (67) is sleeved on the left guide rod (63), and one end is in contact with the left disc (64), and the other end is in contact with the left guide sleeve (62). The right detection mechanism (7) further includes a right support (70), a right guide sleeve (72), a right disc (74), a third compression spring (76), and a fourth compression spring (77). The right support (70) is fastened to the boss (10), the right detection cylinder (71) is fastened to the rear end of the right support (70), the right guide sleeve (72) is fastened to the front end of the right support (70), and the front end of the right guide rod (73) is coaxially inserted into the right guide sleeve (72). And it is slidably connected to the right guide sleeve (72). The right disc (74) is coaxially fixedly connected to the right guide rod (73). The compression spring three (76) is sleeved on the right guide rod (73), and one end is in contact with the right disc (74), and the other end is in contact with the piston rod end of the right detection cylinder (71). The compression spring four (77) is sleeved on the right guide rod (73), and one end is in contact with the right disc (74), and the other end is in contact with the right guide sleeve (72).

7. The bushing dual-station reciprocating inspection direct blanking industrial robot according to claim 6, characterized in that: The left support (60) and the right support (70) are provided with limiting arc seats (7-1), and the limiting arc seats (7-1) are fastened with limiting seats (7-3) by bolts. An adjustable number of shims (7-2) are provided between the limiting arc seats (7-1) and the limiting seats (7-3).

8. The bushing dual-station reciprocating inspection direct blanking industrial robot according to claim 1, characterized in that: The left material feeding and distributing mechanism (8) includes a left slide rail (80), a left bottom sealing cylinder (81), and a left bottom sealing plate (82). The left slide rail (80) is provided with an upper left hollow hole (80-1) and a lower left hollow hole (80-2) respectively. The left slide rail (80) is fastened to the left side of the double workstation seat (50). The left bottom sealing cylinder (81) is fastened to the bottom of the left slide rail (80). The left bottom sealing plate (82) is fastened to the piston rod end of the left bottom sealing cylinder (81) and is slidably connected to the left slide rail (80). The right material feeding and distributing mechanism (9) includes a right slide (90), a right bottom sealing cylinder (91), and a right bottom sealing plate (92). The right slide (90) is provided with a right upper hollow hole (90-1) and a right lower hollow hole (90-2) respectively. The right slide (90) is fastened to the right side of the double workstation seat (50). The right bottom sealing cylinder (91) is fastened to the bottom of the right slide (90). The right bottom sealing plate (92) is fastened to the piston rod end of the right bottom sealing cylinder (91) and is slidably connected to the right slide (90).

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