An automatic loading and unloading detection device for irregularly shaped workpieces

Abstract

This invention relates to the field of robotic arm technology, specifically to an automatic loading and unloading inspection device for irregularly shaped workpieces. It includes a robotic arm and two grippers on a clamping arm connected to the end of the robotic arm. The two grippers are movably connected to the end of the clamping arm under the control of a controller. A detection cylinder is movably connected to the outer wall of one of the grippers. The central axis of the detection cylinder is located at the clamping center of the two grippers. The detection cylinder can move closer to or away from the grippers. A cylindrical detection groove is provided at the end of the detection cylinder near the grippers. A circular groove is provided inside the detection cylinder away from the grippers. This invention inspects the processed workpiece during the loading and unloading process, thus completing the workpiece inspection process during unloading. Compared to inspecting the workpiece using a separate device after unloading, this greatly improves the efficiency of mass production.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an automatic loading and unloading detection device for irregularly shaped workpieces. Background Technology

[0002] Robotic arms are one of the most common automated loading and unloading devices. They play a crucial role in automated loading and unloading. They can accurately grasp, move, and place workpieces according to preset programs and instructions. By combining vision systems and sensors, robotic arms can achieve precise positioning and grasping of workpieces, ensuring safe and efficient material handling.

[0003] Currently, after the robotic arm picks up the rod-shaped blank, it loads the blank onto the processing equipment. After the processing equipment completes the machining of the outer circle and the center hole, the robotic arm removes the machined workpiece from the processing equipment and places it in the inspection area to start the center hole concentricity inspection. Through inspection, irregularly shaped workpieces, i.e. unqualified workpieces, are rejected. However, for mass production, the overall processing efficiency of using separate inspection equipment to inspect workpieces after processing is undoubtedly low. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes an automatic loading and unloading detection device for irregularly shaped workpieces. This invention detects the processed workpieces during the loading and unloading process, thereby completing the workpiece detection process during unloading. Compared with detecting the workpieces using a separate device after unloading, this greatly improves the efficiency of mass production of workpieces.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: An automatic loading and unloading detection device for irregularly shaped workpieces, comprising a robotic arm and two grippers on a clamping arm connected to the end of the robotic arm; the two grippers are movably connected to the end of the clamping arm under the control of a controller; the two grippers move closer to or further away from each other under the control of the controller; an arc-shaped clamping groove for clamping the workpiece is provided on the side of the two grippers that are close to each other; a detection cylinder is movably connected to the outer wall of one of the grippers; the central axis of the detection cylinder is located at the clamping center of the two grippers; the detection cylinder can move closer to or further away from the grippers; a cylindrical detection groove is provided at the end of the detection cylinder near the grippers; a circular groove is provided inside the detection cylinder away from the grippers; the circular groove and the bottom of the detection groove are connected by a connecting groove; a detection rod is provided in the connecting groove; one end of the detection rod extends into the detection groove and is fixedly connected to a conical detection head, and the other end extends into the circular groove and is connected to a pressure sensor through a first spring.

[0006] Preferably, the pressure sensors are uniformly arranged on the arc-shaped inner wall of the circular groove; a disc is movably connected inside the circular groove; the axial thickness of the disc is the same as the axial thickness of the circular groove; the diameter of the disc is larger than the diameter of the circular connecting groove; one end of the first spring is fixedly connected to the pressure sensor, and the other end is fixedly connected to the arc-shaped outer wall of the disc; one end of the detection rod is fixedly connected to the center of the end face of the disc, and the other end is connected to the center of the end face of the detection head; the upper limit diameter of the tapered surface of the detection head is larger than the diameter of the center hole of the workpiece.

[0007] A square rod is fixedly connected to the outer wall of the chuck; a square sleeve is slidably connected to the outer wall of the square rod along its length; the square sleeve is fixedly connected to the outer wall of the detection cylinder; the detection cylinder can move closer to or further away from the chuck along the length of the square rod.

[0008] Preferably, the detection head is located in the middle section of the inner side of the detection cylinder; an annular plate is movably and sealingly connected to the inner side of the port of the detection cylinder; the inner diameter of the annular plate is not less than the upper limit diameter of the conical surface of the detection head; the outer diameter of the annular plate is not greater than the outer wall diameter of the workpiece; and the annular plate is connected to the bottom of the detection groove by a second spring.

[0009] Preferably, the side of the annular plate near the second spring is rotatably and sealingly connected to the annular rotating plate via an annular groove; one end of the second spring is fixedly connected to the bottom of the detection groove, and the other end is fixedly connected to the rotating plate; a spiral groove is provided on the inner wall of the detection groove; a movable block is fixedly connected to the arc-shaped outer wall of the annular plate; the movable block is movably and sealingly connected in the spiral groove.

[0010] Preferably, the outer wall of the detection rod is provided with external threads; the center of the end face of the detection head is provided with a threaded hole; one end of the detection rod is threadedly connected to the threaded hole; the bottom of the threaded hole is rotatably connected to a hole seat; the hole seat is connected to one end of the detection rod by a third spring.

[0011] Preferably, the outer wall of the cone surface of the detection head is provided with a strip groove; one end of the strip groove extends to the head of the detection head, and the other end extends to the tail of the detection head.

[0012] Preferably, the square bar has an axial groove along its length at its center; a gravity bar is slidably connected within the axial groove along its length; the end of the gravity bar away from the clamp is connected to the bottom of the axial groove by a tension spring; the wall of the axial groove is connected to the outer wall of the square bar by a radial groove; a locking block is movably connected within the radial groove; a triangular groove is provided on the outer wall of the gravity bar at a position corresponding to the locking block; the inclined surface of the triangular groove and the inclined surface on the locking block drive each other via inclined surface transmission; as the gravity bar moves away from the clamp under the action of the tension spring, it can drive the locking block to extend out of the radial groove via inclined surface transmission.

[0013] Preferably, the square bar is fixedly connected to a limiting block at the end away from the chuck; the radial groove is located near the limiting block; a slot is provided on the inner wall of the square sleeve at a position corresponding to the radial groove; the end of the locking block away from the gravity bar can be locked into the slot; the end of the locking block away from the gravity bar is inclined towards the chuck and has a guide surface; the square sleeve can press the guide surface at the end of the locking block, causing the locking block to retract into the radial groove.

[0014] The beneficial effects of this invention are as follows:

[0015] 1. This invention uses a loading and unloading detection device to detect the processed workpiece during the loading and unloading process, thereby enabling the workpiece to be detected during the unloading process. Compared with detecting the workpiece using a separate device after unloading, this greatly improves the efficiency of mass production of workpieces.

[0016] 2. This invention cleans impurities inside the center hole and at the hole opening before detecting the concentricity of the center hole of the workpiece, thereby avoiding the influence of debris and other impurities on the accuracy of the detection head and thus improving the detection precision.

[0017] 3. This invention utilizes the movement of a gravity block within an axial groove, which, in conjunction with the pulling action of a tension spring, allows the detection cylinder to unlock and inspect the workpiece when the square bar is vertical. Simultaneously, when the detection cylinder is horizontal, it returns to its original position and is locked, preventing the detection cylinder from affecting the clamping of the chuck during loading and unloading and also preparing for subsequent workpiece inspection. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram illustrating the use of the present invention;

[0020] Figure 2 This is a perspective view of the present invention;

[0021] Figure 3 This is a perspective view of the clamping arm and the detection cylinder in this invention;

[0022] Figure 4 This is a perspective view of the workpiece held by the clamping arm in this invention;

[0023] Figure 5 This is a cross-sectional view of the detection cylinder structure in this invention;

[0024] Figure 6 yes Figure 5 Enlarged view of point A in the middle;

[0025] Figure 7 yes Figure 5 Enlarged view of point B in the middle;

[0026] Figure 8 This is a three-dimensional view of the detection head in this invention.

[0027] In the diagram: 1. Manipulator arm; 2. Clamping arm; 21. Gripper; 22. Grip groove; 3. Detection cylinder; 31. Detection groove; 32. Circular groove; 33. Through groove; 34. Spiral groove; 35. Movable block; 4. Detection head; 41. Detection rod; 42. First spring; 43. Pressure sensor; 44. Disc; 45. Threaded hole; 46. Hole seat; 47. Third spring; 48. Strip groove; 5. Square rod; 51. Axial groove; 52. Gravity bar; 521. Triangular groove; 53. Tension spring; 54. Radial groove; 55. Locking block; 55. Guide surface; 551. Limiting block; 56. Square sleeve; 61. Locking groove; 7. Annular plate; 71. Second spring; 72. Rotating groove; 73. Rotating plate. Detailed Implementation

[0028] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0029] like Figures 1 to 8 As shown, the present invention includes the following embodiments: Example

[0030] An automatic loading and unloading inspection device for irregularly shaped workpieces includes a robotic arm 1 and two grippers 21 on a gripping arm 2 connected to the end of the robotic arm 1. The two grippers 21 are movably connected to the end of the gripping arm 2 under the control of a controller. The two grippers 21 can move closer to or further apart under the control of the controller. An arc-shaped clamping groove 22 for clamping the workpiece is provided on the side of the two grippers 21 that is close to each other. A detection cylinder 3 is movably connected to the outer wall of one of the grippers 21. The central axis of the detection cylinder 3 is located at the gripping position of the two grippers 21. The detection cylinder 3 is able to move closer to or further away from the chuck 21; a cylindrical detection groove 31 is provided at one end of the detection cylinder 3 near the chuck 21; a circular groove 32 is provided inside the detection cylinder 3 away from the chuck 21; the circular groove 32 and the bottom of the detection groove 31 are connected by a connecting groove 33; a detection rod 41 is provided in the connecting groove 33; one end of the detection rod 41 extends into the detection groove 31 and is fixedly connected to a conical detection head 4, and the other end extends into the circular groove 32 and is connected to a pressure sensor 43 by a first spring 42.

[0031] In this embodiment, the pressure sensors 43 are uniformly arranged on the arc-shaped inner wall of the circular groove 32; a disk 44 is movably connected inside the circular groove 32; the axial thickness of the disk 44 is the same as the axial thickness of the circular groove 32; the diameter of the disk 44 is larger than the diameter of the circular connecting groove 33; one end of the first spring 42 is fixedly connected to the pressure sensor 43, and the other end is fixedly connected to the arc-shaped outer wall of the disk 44; one end of the detection rod 41 is fixedly connected to the center of the end face of the disk 44, and the other end is connected to the center of the end face of the detection head 4; the upper limit diameter of the conical surface of the detection head 4 is larger than the diameter of the center hole of the workpiece.

[0032] The outer wall of the chuck 21 is fixedly connected to a square rod 5; the outer wall of the square rod 5 is slidably connected to a square sleeve 6 along its length; the square sleeve 6 is fixedly connected to the outer wall of the detection cylinder 3; the detection cylinder 3 can move closer to or further away from the chuck 21 along the length of the square rod 5.

[0033] Specifically, after the operator programs the robotic arm 1, the robotic arm 1 controls the clamping arm 2 and drives the chuck 21 at the end of the clamping arm 2 to move. The robotic arm 1 controls the chuck 21 to move closer to the placed blank. During the movement of the chuck 21, the square rod 5 moves synchronously. The square rod 5 drives the square sleeve 6 and the detection cylinder 3 to move. During the movement of the detection cylinder 3 driven by the robotic arm 1, the square rod 5 is kept in a horizontal state. In this way, the detection cylinder 3 will not get close to the chuck 21, leaving clamping space for the clamping of the chuck 21 and avoiding the detection cylinder 3 from affecting the clamping of the chuck 21. In the initial state, the rod-shaped blank is horizontally placed on the loading rack, and the arc-shaped clamping groove 22 of the chuck 21 controlled by the robotic arm 1 is located on the outer wall of the rod-shaped blank.

[0034] The robot arm 1 controls two chucks 21 to move closer to each other, and the chuck grooves 22 of the chucks 21 clamp the outer wall of the rod-shaped blank. Then, the robot arm 1 will drive the clamping arm 2, the chucks 21 and the rod-shaped blank to feed them toward the processing equipment. The chuck of the processing equipment will clamp the rod-shaped blank. Note that the rod-shaped blank can be processed into multiple workpieces. After the rod-shaped blank is exposed to a suitable processing length, the robot arm 1 controls the two chucks 21 to move away from each other, so that the chucks 21 are released from the outer wall of the rod-shaped blank. Then, the processing equipment will start to turn the rod-shaped blank with cutting tools. The turning includes end milling, external turning and center hole machining.

[0035] After the initial processing of the workpiece is completed, the robot arm 1 moves the two chucks 21 to one end of the processed workpiece's outer wall. While the detection cylinder 3 remains horizontal as the robot arm 1 moves, it is positioned away from the chucks 21, creating a detection gap between them. With the two chucks 21 clamping the processed workpiece's outer wall, one end of each chuck is extended into the detection gap. As the two chucks 21 approach each other, they clamp onto the workpiece's outer wall. Then, the chuck of the processing equipment is released, and the workpiece is controlled to... The blank connected to the other end of the workpiece is pulled outward, so that the blank connected to the other end of the workpiece stops moving after it has moved to a suitable length. Then the chuck clamps the blank connected to the other end of the workpiece, and the tool cuts off the connection between the other end of the workpiece and the blank. Then the robot arm 1 controls the chuck 21 to move the processed workpiece out of the processing position of the processing equipment. The processing equipment will process the blank at the next position. After the chuck 21 moves the horizontally processed workpiece out of the inside of the processing equipment, the robot arm 1 will move the workpiece upward towards the unloading box.

[0036] During the process of the robot arm 1 unloading the workpiece by using the chuck 21, the robot arm 1 controls the clamping arm 2 to rotate the chuck 21, causing the chuck 21 to rotate the square bar 5, making the central axis of the bar-shaped workpiece perpendicular to the horizontal plane. After rotating, the detection cylinder 3 moves to directly above the workpiece. Under its own weight, the detection cylinder 3 moves downward. During the downward movement of the detection cylinder 3, it will drive the square sleeve 6 to move along the square bar 5 closer to the chuck 21. During the downward movement of the detection cylinder 3, it will drive the inner detection head 4 to move downward synchronously. The central axis of the detection cylinder 3 is kept coincident with the clamping center of the two chucks 21. That is to say, the central axis of the detection cylinder 3 is coincident with the central axis of the bar-shaped workpiece. In order to avoid impurities on the outer wall of the workpiece from affecting the clamping effect of the chuck 21 on the outer wall of the workpiece, before the chuck 21 clamps the workpiece, the impurities on the outer wall of the workpiece will be removed by using an air gun and cutting fluid. This ensures that after the chuck 21 clamps the workpiece, the clamping center of the chuck 21 is coincident with the central axis of the workpiece.

[0037] After the detection cylinder 3 is flipped to be directly above the workpiece, the disc 44 is moved to the center position of the circular groove 32 by the push of multiple first springs 42. The disc 44 will drive the detection rod 41 and the detection head 4 to be at the central axis position of the detection cylinder 3 under horizontal movement. At this time, the pressure values ​​of multiple pressure sensors 43 are the same. During the process of the detection cylinder 3 driving the detection head 4 to move down, the smaller conical end of the detection head 4 will enter the central hole along the central hole of the workpiece. Since the limit outer diameter on the conical surface of the detection head 4 is larger than the inner diameter of the central hole, the detection head 4 can detect central holes of different specifications.

[0038] After the detection head 4 moves down, the conical surface of the detection head 4 abuts against the opening of the central hole. If the central axis of the central hole deviates from the central axis of the workpiece after processing, the detection head 4 will move horizontally while the conical surface of the detection head 4 abuts against the opening of the central hole. The detection head 4 will drive the detection rod 41 to move horizontally, and the detection rod 41 will drive the disc 44 to move horizontally. During the horizontal movement of the disc 44, it will deviate from the center of the circular groove 32. The degree to which the disc 44 squeezes the surrounding first springs 42 will change. After the degree of squeezing of the multiple first springs 42 by the disc 44 changes, the force transmitted by the first springs 42 to the corresponding pressure sensors 43 will change. If the difference between the multiple pressure sensors 43 is greater than the preset threshold, it means that the central hole of the workpiece is not processed. If the difference between the multiple pressure sensors 43 is less than the preset threshold, it means that the central hole of the workpiece is processed. In this way, the detection process of the central hole of the workpiece can be completed during the process of the robot 1 driving the workpiece to unload.

[0039] After the robotic arm 1 moves the chuck 21 above the unloading box, the robotic arm 1 controls the chuck 21 at the end of the clamping arm 2 to flip in the opposite direction, thereby controlling the opening of the detection cylinder 3 to face upwards and then to a horizontal position. After the opening of the detection cylinder 3 faces upwards, the detection cylinder 3 will drive the square sleeve 6 to move away from the chuck 21 along the square rod 5. The detection cylinder 3 will drive the detection head 4 to disengage from the workpiece, so that the workpiece moves out from the inside of the detection cylinder 3. After maximizing the detection gap, the two chucks 21 are released. After the two chucks 21 are released, the workpiece held by the two chucks 21 will fall into the unqualified unloading box or the qualified unloading box. The chuck 21 will perform detection while unloading the next workpiece. After the blank is processed in multiple stages, it is consumed. Then the robotic arm 1 uses the chuck 21 again to load the rod-shaped blank to the horizontally placed processing position, and so on. The irregular workpiece in this invention refers to the unqualified workpiece, which is detected and rejected during the unloading process.

[0040] This invention uses a loading and unloading detection device to inspect the processed workpieces during the loading and unloading process, thereby enabling the workpieces to be inspected during the unloading process. Compared with using a separate device to inspect the workpieces after unloading, this greatly improves the efficiency of mass production of workpieces. Example

[0041] The detection head 4 is located in the middle of the inner side of the detection cylinder 3; the inner side of the port of the detection cylinder 3 is movably and sealingly connected to the annular plate 7; the inner diameter of the annular plate 7 is not less than the upper limit diameter of the conical surface of the detection head 4; the outer diameter of the annular plate 7 is not greater than the outer wall diameter of the workpiece; the annular plate 7 is connected to the bottom of the detection groove 31 by the second spring 71.

[0042] In this embodiment, the side of the annular plate 7 near the second spring 71 is rotatably and sealingly connected to the annular rotating plate 73 through the annular rotating groove 72; one end of the second spring 71 is fixedly connected to the bottom of the detection groove 31, and the other end is fixedly connected to the rotating plate 73; the inner wall of the detection groove 31 is provided with a spiral groove 34; the arc-shaped outer wall of the annular plate 7 is fixedly connected to the movable block 35; the movable block 35 is movably and sealingly connected in the spiral groove 34.

[0043] In this embodiment, the outer wall of the detection rod 41 is provided with external threads; the center of the end face of the detection head 4 is provided with a threaded hole 45; one end of the detection rod 41 is threadedly connected to the threaded hole 45; the bottom of the threaded hole 45 is rotatably connected to a hole seat 46; the hole seat 46 is connected to one end of the detection rod 41 by a third spring 47.

[0044] In this embodiment, a strip groove 48 is provided on the outer wall of the conical surface of the detection head 4; one end of the strip groove 48 extends to the head of the detection head 4, and the other end extends to the tail of the detection head 4.

[0045] During the workpiece unloading process, the chuck 21, under control, drives the central axis of the workpiece to be perpendicular to the horizontal plane, and controls the detection cylinder 3 to be positioned directly above the workpiece. When the detection cylinder 3 is directly above the workpiece, it will move downward under its own gravity. During the downward movement of the detection cylinder 3, it will drive the inner annular plate 7 and the detection head 4 to move downward synchronously. During the downward movement of the detection cylinder 3, it will drive the inner annular plate 7 to contact one end of the workpiece. The workpiece is rod-shaped, and the annular plate 7 will contact the end face of one end of the workpiece. The detection cylinder 3 will continue to move downward, so that the annular plate 7 will drive the movable block 35 to move along the spiral groove 34. Under the guidance of the movement of the movable block 35 and the spiral groove 34, the annular plate 7 will rotate while approaching the bottom of the detection groove 31 inside the detection cylinder 3. During the rotation of the annular plate 7, it can generate friction on the end face of one end of the workpiece, thereby polishing the end face of one end of the workpiece, thus reducing the subsequent workpiece polishing steps. After the end face of one end of the workpiece is polished, the contact sealing between the end face of one end of the workpiece and the annular plate 7 is improved.

[0046] During the rotation of the annular plate 7, since the side of the annular plate 7 closest to the second spring 71 is connected to the annular plate through the rotating groove 72, the setting of the second spring 71 does not affect the rotation of the annular plate 7. As the annular plate 7 moves closer to the bottom of the detection groove 31, the gas in the detection groove 31 enters the workpiece's central hole along the inner side of the annular plate 7 and exits along the central hole. Impurities inside the central hole are dislodged under the impact of the airflow, preventing impurities from affecting the detection head 4. During the process of the annular plate 7 pressing against one end of the workpiece, the distance between the annular plate 7, one end of the workpiece, and the bottom of the detection groove 31 decreases as the detection cylinder 3 moves downwards. The head of the detection head 4 is inserted into the center hole of the workpiece. One end of the workpiece will continuously move closer to the bottom of the detection groove 31, which pushes the detection head 4 closer to the bottom of the detection groove 31. The disc 44 cannot rotate in the groove 32 under the connection of the first spring 42, so the detection rod 41 will not rotate. The detection rod 41 is connected to the threaded hole 45 on the tail end face of the detection head 4 by threaded transmission. Therefore, the detection head 4 will rotate while moving closer to the bottom of the detection groove 31. The rotating detection head 4 will generate friction with the center hole of the workpiece, so that the burrs at the center hole of the workpiece will be polished under the action of friction.

[0047] The rotating detection head 4 drives the conical groove 48 to rotate synchronously. The groove 48 further improves the grinding effect of the detection head 4 on the center hole of the workpiece. After the burrs in the center hole of the workpiece are ground off, they fall into the groove 48. As the annular plate 7 continues to move closer to the bottom of the detection groove 31, the gas in the detection groove 31 is discharged into the center hole along the groove 48, so that the debris in the groove 48 is cleaned up. This prevents the debris residue in the groove 48 from affecting the effect of the conical surface of the detection head 4 against the opening of the center hole. After cleaning the debris at the opening of the center hole, the detection accuracy of the detection head 4 is improved, thus improving the detection accuracy.

[0048] After the pressure sensor 43 completes the acquisition of the elastic force of multiple first springs 42, the robot arm 1 moves the workpiece to the position of the unloading box through the chuck 21. Then, the chuck 21 controls the detection cylinder 3 and the workpiece to turn in the horizontal direction. At the moment when the detection cylinder 3 and the square bar 5 are placed horizontally, the two chucks 21 are released. The second spring 71 will push the annular plate 7 away from the bottom of the detection groove 31. The elastic force of the second spring 71 is transmitted to the bottom of the detection cylinder 3 and the annular plate 7 respectively. The annular plate 7 will rotate during the movement away from the bottom of the detection groove 31. The annular plate 7 will transmit the force to the workpiece. There is friction between the annular plate 7 and the workpiece, so that the workpiece will also rotate after the annular plate 7 rotates. In this way, the workpiece moves out from the inside of the detection cylinder 3 while rotating, and moves out from between the two chucks 21 while rotating.

[0049] The detection cylinder 3 moves away from the chuck 21 under the reaction force of the second spring 71, which increases the detection gap and prepares for the next workpiece inspection; the annular plate 7 moves to the inner side of the detection groove 31 under the push of the second spring 71, and the detection head 4 also moves away from the extreme position of the bottom of the detection groove 31 under the action of the third spring 47; the hole seat 46 is set so that the third spring 47 can maintain the connection between one end of the detection rod 41 and the bottom of the threaded hole 45 without affecting the rotation of the detection head 4;

[0050] In this embodiment, as the annular plate 7 moves close to the detection groove 31, the gas in the detection groove 31 is discharged along the central hole at a limited speed, thus forming damping. In conjunction with the second spring 71, a buffer is formed during the process of one end of the workpiece entering the detection groove 31, avoiding damage.

[0051] This embodiment cleans impurities inside the center hole and at the hole opening before detecting the concentricity of the center hole of the workpiece, thereby avoiding the impact of debris and other impurities on the accuracy of the detection head 4 and thus improving the detection precision. Example

[0052] An axial groove 51 is provided at the center of the square rod 5 along its length direction; a gravity bar 52 is slidably connected in the axial groove 51 along its length direction; the end of the gravity bar 52 away from the clamp 21 is connected to the bottom of the axial groove 51 by a tension spring 53; the wall of the axial groove 51 is connected to the outer wall of the square rod 5 by a radial groove 54; a locking block 55 is movably connected in the radial groove 54; a triangular groove 521 is provided at the corresponding position of the outer wall of the gravity bar 52 and the locking block 55; the inclined surface of the triangular groove 521 and the inclined surface on the locking block 55 are driven by inclined surface transmission; as the gravity bar 52 moves away from the clamp 21 under the action of the tension spring 53, it can drive the locking block 55 to extend out of the radial groove 54 through inclined surface transmission.

[0053] In this embodiment, the square rod 5 is fixedly connected to the limiting block 56 at the end away from the clamp 21; the radial groove 54 is provided close to the limiting block 56; the inner wall of the square sleeve 6 is provided with a slot 61 corresponding to the radial groove 54; the end of the locking block 55 away from the gravity bar 52 can be locked into the slot 61; the end of the locking block 55 away from the gravity bar 52 is provided with a guide surface 551 inclined towards the clamp 21; the square sleeve 6 can press the guide surface 551 at the end of the locking block 55, causing the locking block 55 to retract into the radial groove 54;

[0054] During the workpiece unloading process as the chuck 21 moves, the chuck 21 causes the detection cylinder 3 to rotate, so that the detection cylinder 3 is positioned directly above the chuck 21 after rotation. Under its own weight, the gravity bar 52 moves downwards, pulling the tension spring 53. The gravity bar 52 moves closer to the chuck 21 and moves within the axial groove 51. As the gravity bar 52 moves closer to the chuck 21, it causes the triangular groove 521 to move. Since one end of the locking block 55 is engaged in the locking groove 61 and the other end is located within the triangular groove 521, the other end of the locking block 55... The inclined surface of the triangular groove 521 is slidably connected and will not disengage. Therefore, during the downward movement of the gravity bar 52, the connection between the inclined surface of the triangular groove 521 and the other end of the locking block 55 will cause the locking block 55 to retract into the radial groove 54. One end of the locking block 55 will move out of the locking groove 61. During the process of the locking block 55 moving out of the locking groove 61, the square sleeve 6 will be unlocked. After the square sleeve 6 is unlocked, the detection cylinder 3 will move down and move closer to the chuck 21. During the downward movement of the detection cylinder 3, the detection head 4 on the inner side will be used for detection.

[0055] After the inspection is completed, the chuck 21 will control the inspection cylinder 3 and the square bar 5 to be placed horizontally and release the workpiece. The reaction force of the second spring 71 will cause the inspection cylinder 3 to move away from the chuck 21 during the reset process of the second spring 71. An elastic rope can be added between the square sleeve 6 and the limit block 56 for auxiliary reset, or the movement of the square sleeve 6 can be controlled by some linear movement components. In other words, the movement of the square sleeve 6 has multiple ways.

[0056] As the detection cylinder 3 moves away from the chuck 21, it drives the square sleeve 6 to move along the length of the square bar 5 towards the limiting block 56. The square sleeve 6 presses against the guide surface 551 at one end of the clamping block 55, causing the clamping block 55 to be compressed back into the radial groove 54 by the square sleeve 6. After the square sleeve 6 abuts against the limiting block 56, the position of the clamping groove 61 is aligned with the radial groove 54. The tension spring 53 pulls the gravity bar 52 in a horizontal state, causing the gravity bar 52 to be pulled away from the chuck 21. The gravity bar 52 will push one end of the clamping block 55 out of the radial groove 54 and into the clamping groove 61 by means of inclined plane transmission, so that the square sleeve 6 is locked in a position away from the chuck 21. In this way, the detection cylinder 3 is not easy to move during the process of the chuck 21 clamping the workpiece, ensuring the detection gap between the detection cylinder 3 and the chuck 21, and avoiding the detection cylinder 3 from affecting the clamping of the chuck 21 and the subsequent detection of the workpiece.

[0057] In this embodiment, the movement of the gravity block within the axial groove 51, in conjunction with the pulling action of the tension spring 53, allows the detection cylinder 3 to unlock and inspect the workpiece when the square bar 5 is vertical, and simultaneously locks itself back to its horizontal position when the detection cylinder 3 is horizontal. This prevents the detection cylinder 3 from affecting the clamping of the chuck 21 during loading and unloading, and also prepares for subsequent workpiece inspection.

[0058] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0059] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic loading and unloading detection device for irregularly shaped workpieces, comprising a robotic arm and two grippers on a clamping arm connected to the end of the robotic arm; the two grippers are movably connected to the end of the clamping arm under the control of a controller; characterized in that: One of the clamps has a detection cylinder movably connected to its outer wall; the central axis of the detection cylinder is located at the clamping center of the two clamps; the detection cylinder can move closer to or further away from the clamps; a cylindrical detection groove is provided at the end of the detection cylinder near the clamps; a circular groove is provided inside the detection cylinder away from the clamps; the circular groove and the bottom of the detection groove are connected by a connecting groove; a detection rod is provided in the connecting groove; one end of the detection rod extends into the detection groove and is fixedly connected to a conical detection head, and the other end extends into the circular groove and is connected to a pressure sensor through a first spring.

2. The automatic loading and unloading detection device for irregularly shaped workpieces according to claim 1, characterized in that: The pressure sensors are uniformly arranged on the arc-shaped inner wall of the circular groove; a disc is movably connected inside the circular groove; the axial thickness of the disc is the same as the axial thickness of the circular groove; the diameter of the disc is larger than the diameter of the circular connecting groove; one end of the first spring is fixedly connected to the pressure sensor, and the other end is fixedly connected to the arc-shaped outer wall of the disc; one end of the detection rod is fixedly connected to the center of the end face of the disc, and the other end is connected to the center of the end face of the detection head; the upper limit diameter of the tapered surface of the detection head is larger than the diameter of the center hole of the workpiece. A square rod is fixedly connected to the outer wall of the chuck; a square sleeve is slidably connected to the outer wall of the square rod along its length; the square sleeve is fixedly connected to the outer wall of the detection cylinder; the detection cylinder can move closer to or further away from the chuck along the length of the square rod.

3. The automatic loading and unloading detection device for irregularly shaped workpieces according to claim 2, characterized in that: The detection head is located in the middle section of the inner side of the detection cylinder; an annular plate is movably and sealingly connected to the inner side of the port of the detection cylinder; the inner diameter of the annular plate is not less than the upper limit diameter of the conical surface of the detection head; the outer diameter of the annular plate is not greater than the outer wall diameter of the workpiece; the annular plate is connected to the bottom of the detection groove by a second spring.

4. The automatic loading and unloading detection device for irregularly shaped workpieces according to claim 3, characterized in that: The annular plate is rotatably and sealingly connected to the annular rotating plate via an annular groove on the side near the second spring; one end of the second spring is fixedly connected to the bottom of the detection groove, and the other end is fixedly connected to the rotating plate; a spiral groove is provided on the inner wall of the detection groove; a movable block is fixedly connected to the arc-shaped outer wall of the annular plate; the movable block is movably and sealingly connected in the spiral groove.

5. The automatic loading and unloading detection device for irregularly shaped workpieces according to claim 4, characterized in that: The outer wall of the detection rod is provided with external threads; the center of the end face of the detection head is provided with a threaded hole; one end of the detection rod is threadedly connected to the threaded hole; the bottom of the threaded hole is rotatably connected to a hole seat; the hole seat is connected to one end of the detection rod by a third spring.

6. The automatic loading and unloading detection device for irregularly shaped workpieces according to claim 5, characterized in that: The outer wall of the cone surface of the detection head is provided with a strip groove; one end of the strip groove extends to the head of the detection head, and the other end extends to the tail of the detection head.

7. The automatic loading and unloading detection device for irregularly shaped workpieces according to claim 4, characterized in that: An axial groove is provided at the center of the square bar along its length; a gravity bar is slidably connected in the axial groove along its length; the end of the gravity bar away from the clamp is connected to the bottom of the axial groove by a tension spring; the wall of the axial groove is connected to the outer wall of the square bar by a radial groove; a locking block is movably connected in the radial groove; a triangular groove is provided on the outer wall of the gravity bar at a position corresponding to the locking block; the inclined surface of the triangular groove and the inclined surface on the locking block drive each other through inclined surface transmission; as the gravity bar moves away from the clamp under the action of the tension spring, it can drive the locking block to extend out of the radial groove through inclined surface transmission.

8. The automatic loading and unloading detection device for irregularly shaped workpieces according to claim 7, characterized in that: The square bar is fixed to a limiting block at the end away from the chuck; the radial groove is located near the limiting block; a slot is provided on the inner wall of the square sleeve at a position corresponding to the radial groove; the end of the locking block away from the gravity bar can be locked into the slot; the end of the locking block away from the gravity bar is inclined towards the chuck and has a guide surface; the square sleeve can press the guide surface at the end of the locking block, causing the locking block to retract into the radial groove.

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