Automatic feeding detection device and method for false tooth blank processing

Abstract

The invention discloses an automatic feeding detection device and method for false tooth blank machining. The automatic feeding detection device comprises a mechanical arm assembly, a conveying mechanism and a detection mechanism. A clamping mechanism is arranged at the driving end of the mechanical arm assembly and comprises two clamping jaw assemblies. The conveying mechanism comprises a conveying belt assembly, a clamp assembly arranged above the conveying belt assembly and a lifting assembly arranged on one side of the conveying belt assembly; the detection mechanism is arranged above the conveying mechanism and comprises a box body, a stripe projection assembly and a camera shooting assembly, the stripe projection assembly and the camera shooting assembly are arranged in the box body, the stripe projection assembly is slidably connected to the annular rail, and a first driving part is arranged at one end of the stripe projection assembly; according to the scheme, automatic feeding of the mechanical arms, precise conveying of the conveying belt, all-directional detection of stripe projection and matching of the sorting system are ingeniously integrated, work can be completed through a single set of mechanical arms, the working process can be simplified, the working efficiency is improved, and the equipment cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to an automatic feeding detection device and method for processing denture blanks. Background Art

[0002] In the field of modern oral rehabilitation, the demand for dentures is increasing. The manufacture of dentures requires precise processing and strict quality control to ensure that they meet the individual needs of patients and the oral environment. With the advancement of technology, automated and intelligent manufacturing processes have gradually been widely used in the denture processing industry. This not only improves production efficiency, but also significantly improves product quality and consistency. However, denture blank processing still faces many challenges, especially in the loading, conveying, inspection and sorting links, which require more sophisticated and efficient solutions to cope with complex process requirements.

[0003] In the existing denture blank processing technology, although automated conveying equipment has been adopted, at least two sets of mechanical gripper equipment are usually required to realize the transfer and sorting of blanks. This system of multiple sets of mechanical grippers has complex coordination algorithms, high equipment costs, and difficult maintenance. In addition, multiple sets of mechanical grippers are prone to coordination problems in actual operation, resulting in low efficiency and high failure rate. These shortcomings make the existing technology obviously insufficient in large-scale production and high quality control.

[0004] In view of this, it is necessary to improve the conveying detection equipment in the prior art to solve the technical problem of high production cost. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic feeding detection device and method for processing denture blanks to solve the above technical problems.

[0006] To achieve this object, the present invention adopts the following technical solutions: An automatic feeding and detecting device for processing denture blanks, comprising: A mechanical arm assembly, wherein a driving end of the mechanical arm assembly is provided with a clamping mechanism, and the clamping mechanism comprises two clamping jaw assemblies arranged side by side; The conveying mechanism comprises a conveyor belt assembly, a clamp assembly arranged above the conveyor belt assembly, and a lifting assembly arranged on one side of the conveyor belt assembly; the clamp assembly is connected to the driving end of the lifting assembly, and the clamp assembly is provided with a U-shaped groove for limiting the workpiece; wherein, a receiving box is arranged at one end of the conveying mechanism close to the clamp assembly, and a material unloading assembly is connected to the other end; The detection mechanism is arranged above the conveying mechanism, and the detection mechanism includes a box body, and a fringe projection assembly and a camera assembly arranged in the box body; an annular track is arranged on the inner wall of the box body, and the fringe projection assembly is slidably connected to the annular track. A first driving member is arranged at one end of the fringe projection assembly for driving the fringe projection assembly to rotate along the annular track.

[0007] Optionally, the clamping mechanism comprises a rotating motor, a driving end of the rotating motor is provided with a connecting plate, and the two clamping jaw assemblies are respectively provided on two sides of the connecting plate; The clamping jaw assembly comprises a cylinder body, one end surface of which is provided with three sliding grooves along its radial direction, and the clamping jaw body is slidably connected in the sliding groove; wherein the angle between two adjacent clamping jaw bodies is 120°.

[0008] Optionally, the center distance between the two clamping jaw assemblies is set to a first distance, and the distance between the clamp assembly and the receiving box is set to a second distance, wherein the first distance is greater than the second distance.

[0009] Optionally, the clamp assembly includes a support plate, and a pushing cylinder arranged on the support plate, a driving end of the pushing cylinder is provided with a limiting block, and the U-shaped groove is provided at one end of the limiting block away from the material receiving box.

[0010] Optionally, the annular track includes an inner ring body and an outer ring body which are arranged concentrically, and a fixing plate is provided on the lower end surface of the inner ring body, and the first driving member is mounted on the fixing plate.

[0011] Optionally, a rotating plate is rotatably connected to the fixed plate, the center of the rotating plate is connected to the driving end of the first driving member, and a plurality of connecting parts are provided on the outer circumference of the rotating plate, and the connecting parts are connected to the outer ring body. The first driving member operates to drive the outer ring body to rotate around the center of the inner ring body through the rotating plate.

[0012] Optionally, the camera assembly includes a support frame, the support frame is provided with a height adjustment member in a vertical direction, and the first camera is slidably connected to the height adjustment member; An adjustment component is disposed on one side of the support frame, and a second camera is disposed at one end of the adjustment component; wherein the adjustment component includes an angle adjustment member, and the angle adjustment member is used to adjust the imaging angle of the second camera.

[0013] The present invention also provides an automatic feeding detection method for processing denture blanks, which is implemented by using the automatic feeding detection device for processing denture blanks as described above. The automatic feeding detection method comprises: Step S1: initial gripping, the robot arm assembly drives the gripping mechanism to grip a denture blank at a time and place it on the conveyor belt assembly, and the conveyor belt assembly drives the denture blank to move to the bottom of the detection mechanism; Step S2: fringe projection detection, the fringe projection assembly is operated to project a fringe pattern on the denture blank, and the fringe projection assembly is driven to rotate along the annular track under the action of the first driving member to complete the omnidirectional fringe projection work on the denture blank, during which the deformed image of the fringe pattern on the surface of the blank is recorded by the camera assembly; Step S3: sorting qualified products, judging whether the denture blank is qualified by the deformed image of the stripe pattern; if not, the conveyor belt assembly moves in the reverse direction, and the lifting assembly drives the clamp assembly to move upward to drive the unqualified products to move to the receiving box for recycling; if so, the conveyor belt assembly continues to move forward to drive the denture blank to move toward the unloading assembly for unloading; Step S4: Execute in a loop, the robotic arm assembly grabs two denture blanks at a time and places them on the conveyor belt assembly, and repeats fringe projection detection and qualified product sorting; wherein, when the detection mechanism detects the presence of unqualified products, the robotic arm assembly grabs one denture blank at a time next time.

[0014] Optionally, the conveyor belt assembly moves in the reverse direction, and the lifting assembly drives the clamp assembly to move upward to drive the unqualified products to move into the receiving box for recycling. The specific process is as follows: Step S311: The conveyor belt assembly moves in the reverse direction for the first time, driving the denture blanks in the double stations to move in the reverse direction. When all the double stations are defective or the defective products are located in front of the qualified products, the lifting assembly operates to drive the clamp assembly to lift up and complete the conveying and unloading. When the qualified products in the double stations are located in front of the defective products, the conveyor belt assembly drives the denture blanks in the double stations to move until the qualified products in front abut against the clamp assembly, and the qualified products are limited by the U-shaped groove. Step S312: the sensor on the fixture assembly detects that the denture blank is in place, triggers a material unloading instruction, the lifting assembly operates to drive the fixture assembly to lift up, and the conveyor belt assembly is separated from the qualified product; Step S313: the conveyor belt assembly starts to move in the reverse direction for the second time, and the conveyor belt assembly drives the unqualified products to move a preset distance, so that the unqualified products are moved to the receiving box for recycling; Step S314: the lifting assembly operates to drive the clamp assembly to descend, and the qualified products are placed on the conveyor belt assembly, and the conveyor belt assembly moves forward to unload the qualified products.

[0015] Compared with the prior art, the present invention has the following beneficial effects: the robot arm assembly drives the clamping mechanism to move to the loading area to clamp the denture blanks in turn and place them on the conveyor belt assembly; the conveyor belt assembly operates to drive the denture blanks to move along the positive direction of the conveyor belt to the bottom of the detection mechanism; the fringe projection assembly operates to project the stripe pattern on the denture blanks, and under the action of the first driving member, the stripe projection assembly is driven to rotate along the circular track, thereby completing the all-round stripe projection work for the denture blanks; during this period, the deformed image of the stripe pattern on the surface of the blank is recorded by the camera assembly, so as to judge whether the denture blank is a qualified product or a unqualified product. If it is a qualified product, then The conveyor belt assembly continues to move forward, driving the denture blanks to move toward the unloading assembly for unloading. If the product is defective, the conveyor belt assembly moves in the opposite direction. At the same time, the lifting assembly drives the clamp assembly to move upward, stops limiting the workpiece, and drives the defective products to move into the receiving box for recycling, thereby realizing the process of automated loading, conveying, testing and sorting of denture blanks. This solution cleverly integrates the cooperation between automatic loading of robotic arms, precision conveying of conveyor belts, all-round detection of fringe projection and sorting systems, and can complete the work with a single set of robotic arms, which is conducive to simplifying the workflow, improving work efficiency and reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0018] Figure 1 Schematic diagram of the overall structure of the automatic feeding detection device of the first embodiment; Figure 2 This is a schematic diagram of the internal structure of the detection mechanism of the automatic feeding detection device of the first embodiment of the present invention; Figure 3 It is a structural schematic diagram of the clamping mechanism of the automatic feeding detection device of the first embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the fixture assembly and the conveying mechanism of the automatic feeding detection device of the first embodiment of the present invention; Figure 5 It is a schematic diagram of the layout of the conveying mechanism of the automatic feeding detection device of the first embodiment of the present invention; Figure 6 Schematic diagram of the structure of the circular track of the automatic feeding detection device of the first embodiment.

[0019] Illustration: Robotic arm assembly 100; The clamping mechanism 200, the clamping jaw assembly 210, the cylinder body 211, the sliding groove 212, the clamping jaw body 213, the rotating motor 220, and the connecting plate 230; Conveying mechanism 300, conveying belt assembly 310, clamp assembly 320, lifting assembly 330, receiving box 340, unloading assembly 350, supporting plate 321, pushing cylinder 322, and limiting block 323; Detection mechanism 400, box body 410, fringe projection assembly 420, camera assembly 430, circular track 440, first driving member 450, inner ring body 441, outer ring body 442, fixed plate 443, rotating plate 444, connecting part 445, support frame 431, height adjustment member 432, first camera 433, adjustment assembly 434, second camera 435. DETAILED DESCRIPTION

[0020] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time.

[0022] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0023] Embodiment 1: Combination Figures 1 to 6As shown, an embodiment of the present invention provides an automatic loading and detection device for denture blank processing, including a robot arm assembly 100, a conveying mechanism 300 and a detection mechanism 400; a clamping mechanism 200 is provided at the driving end of the robot arm assembly 100, and the clamping mechanism 200 includes two side-by-side clamping jaw assemblies 210 to realize multi-station clamping work, and the robot arm assembly 100 ensures that the blank can be stably grasped and placed.

[0024] The conveying mechanism 300 includes a conveying belt assembly 310, a clamp assembly 320 disposed above the conveying belt assembly 310, and a lifting assembly 330 disposed on one side of the conveying belt assembly 310; the clamp assembly 320 is connected to the driving end of the lifting assembly 330, and the clamp assembly 320 is provided with a U-shaped groove for limiting the workpiece; wherein, a receiving box 340 is provided at one end of the conveying mechanism 300 close to the clamp assembly 320, and a material unloading assembly 350 is connected to the other end. wherein, a buffer pad is provided in the receiving box 340 to prevent the denture blank from being damaged.

[0025] It should be noted that the lifting assembly 330 is connected to the clamp assembly 320, and is used to lift the clamp assembly 320 to release the blank when sorting is required. A receiving box 340 is provided at one end of the conveying mechanism 300 for receiving unqualified blanks, and a material unloading assembly 350 is connected at the other end for delivering qualified blanks to the next processing link.

[0026] The detection mechanism 400 is arranged above the conveying mechanism 300, and includes a box body 410, and a fringe projection assembly 420 and a camera assembly 430 arranged in the box body 410; a circular track 440 is arranged on the inner wall of the box body 410, and the fringe projection assembly 420 is slidably connected to the circular track 440, and a first driving member 450 is arranged at one end of the fringe projection assembly 420, which is used to drive the fringe projection assembly 420 to rotate along the circular track 440. The camera assembly 430 records the deformation pattern of the fringe projection on the surface of the blank to determine whether the blank has defects.

[0027] It should be noted that, since the robot arm assembly 100 of the present solution simultaneously clamps two denture blanks, the two denture blanks are arranged along the forward conveying direction of the conveyor belt as the first denture blank and the second denture blank. When the two denture blanks are both qualified products, the forward conveying and unloading are completed directly; when the two are both unqualified products (rarely), the reverse conveying and collection are completed directly; when the first denture blank is qualified and the second denture blank is unqualified, the conveyor belt assembly 310 moves in the reverse direction by one unit to complete the unloading and collection of the second denture blank; when the first denture blank is unqualified, the second denture blank is unqualified. When the material is qualified, the conveyor belt assembly 310 first rotates in the opposite direction to clamp the second denture blank in the U-shaped groove (the conveyor belt assembly 310 stops rotating at this time), and then the lifting assembly 330 drives the clamp assembly 320 to rise, so as to drive the second denture blank to separate from the conveyor belt assembly 310, and then the conveyor belt assembly 310 continues to move in the opposite direction to move the first denture blank to the collection box for collection, and then the lifting assembly 330 drives the clamp assembly 320 to descend, so as to place the second denture blank back on the conveyor belt assembly 310 for forward feeding, thereby realizing the sorting of qualified and unqualified products.

[0028] The working principle of the present invention is as follows: the robot arm assembly 100 drives the clamping mechanism 200 to move to the loading area to clamp the denture blanks in turn and place them on the conveyor belt assembly 310. The conveyor belt assembly 310 operates to drive the denture blanks to move along the positive direction of the conveyor belt to the bottom of the detection mechanism 400. The fringe projection assembly 420 operates to project the stripe pattern on the denture blank, and under the action of the first driving member 450, the fringe projection assembly 420 is driven to rotate along the circular track 440, thereby completing the all-round stripe projection work for the denture blank. During this period, the deformed image of the stripe pattern on the surface of the blank is recorded by the camera assembly 430, so as to judge whether the denture blank is a qualified product or not. For unqualified products, if they are qualified products, the conveyor belt assembly 310 continues to move forward to drive the denture blanks to move toward the unloading assembly 350 for unloading. If they are unqualified products, the conveyor belt assembly 310 moves in the opposite direction, and at the same time the lifting assembly 330 drives the clamp assembly 320 to move upward, stops the limiting effect on the workpiece, thereby driving the unqualified products to move to the receiving box 340 for recycling, thereby realizing the process of automated loading, conveying, testing and sorting of denture blanks; this solution realizes efficient, precise, automated processing and quality control of denture blanks by integrating automatic loading of robotic arms, precise conveying of conveyor belts, all-round detection of fringe projection and intelligent sorting systems.

[0029] In this embodiment, the clamping mechanism 200 includes a rotating motor 220, a connecting plate 230 is provided at the driving end of the rotating motor 220, and two clamping jaw assemblies 210 are respectively arranged on both sides of the connecting plate 230; the clamping jaw assembly 210 includes a cylinder body 211, and one end face of the cylinder body 211 is provided with three sliding grooves 212 along its radial direction, and a clamping jaw body 213 is slidably connected in the sliding groove 212; wherein, the angle between two adjacent clamping jaw bodies 213 is 120°.

[0030] It should be noted that three sliding grooves 212 are provided on one end face of each cylinder body 211 along its radial direction, and a clamp body 213 is slidably connected in the sliding groove 212, and the angle between the clamp bodies 213 is 120°, ensuring that the denture blank can be stably clamped and released. The rotary motor 220 drives the connecting plate 230 to rotate, so that the two clamp assemblies 210 can move synchronously, ensuring that the denture blank remains stable and accurate during the clamping and placement process.

[0031] As a preferred solution of this embodiment, the center distance between the two clamping jaw assemblies 210 is set as a first distance, and the distance between the clamping jaw assembly 320 and the receiving box 340 is set as a second distance, wherein the first distance is greater than the second distance. This design ensures that the clamping jaw assembly 210 can effectively clamp and release the blanks during the sorting process. When the clamping jaw assembly 210 moves to the top of the receiving box 340, since the first distance is greater than the second distance, the clamping jaw can accurately put the unqualified blanks into the receiving box 340, thereby avoiding errors and improving the sorting accuracy.

[0032] In this embodiment, the clamp assembly 320 includes a support plate and a push cylinder arranged on the support plate. A limit block is provided at the driving end of the push cylinder, and a U-shaped groove is provided at one end of the limit block away from the receiving box 340.

[0033] It should be noted that the push cylinder drives the limit block to move, thereby limiting and releasing the blank. When an unqualified blank is detected, the push cylinder drives the limit block to move upward, releasing the limit on the blank, so that the blank can smoothly enter the receiving box 340. When a qualified blank is detected, the limit block remains in the lower position to ensure that the blank moves stably on the conveyor belt and enters the next processing link. Through this design, the fixture assembly 320 can accurately control the limit and release of the blank, thereby improving the automation and accuracy of the entire system.

[0034] In this embodiment, it is specifically described that the annular track 440 includes an inner ring body 441 and an outer ring body 442 which are arranged concentrically, and a fixed plate 443 is provided on the lower end surface of the inner ring body 441, and a first driving member 450 is installed on the fixed plate 443; a rotating plate 444 is rotatably connected to the fixed plate 443, and the center of the rotating plate 444 is connected to the driving end of the first driving member 450, and a plurality of connecting parts 445 are provided on the outer circumference of the rotating plate 444, and the connecting parts 445 are connected to the outer ring body 442, and the first driving member 450 operates to drive the outer ring body 442 to rotate around the center of the inner ring body 441 through the rotating plate 444.

[0035] It should be noted that the outer circumference of the rotating plate 444 is provided with a plurality of connecting parts 445, and these connecting parts 445 are connected to the outer ring body 442. When the first driving member 450 is in operation, the outer ring body 442 is driven to rotate around the center of the inner ring body 441 through the rotating plate 444. This design enables the fringe projection assembly 420 to rotate 360 ​​degrees along the annular track 440, thereby realizing all-round fringe projection detection of the denture blank, and ensuring the comprehensiveness and accuracy of the detection.

[0036] It is further explained that the camera assembly 430 includes a support frame 431, which is provided with a height adjustment member 432 in the vertical direction, and the first camera 433 is slidably connected to the height adjustment member 432; an adjustment assembly 434 is provided on one side of the support frame 431, and a second camera 435 is provided at one end of the adjustment assembly 434; wherein the adjustment assembly 434 includes an angle adjustment member, and the angle adjustment member is used to adjust the imaging angle of the second camera 435.

[0037] It should be noted that the height adjustment member 432 allows the first camera 433 to be adjusted in height in the vertical direction to meet the requirements of blank detection at different heights. An adjustment component 434 is provided on one side of the support frame 431, and a second camera 435 is provided at one end of the adjustment component 434. The adjustment component 434 includes an angle adjustment member for adjusting the imaging angle of the second camera 435. This design enables the camera assembly 430 to flexibly adjust the position and angle of the camera to ensure that all details of the blank surface can be captured, thereby improving the accuracy and reliability of detection.

[0038] Embodiment 2: The present invention also provides an automatic feeding and detection method for processing denture blanks, comprising: Step S1: Initial gripping, the robot arm assembly 100 drives the gripping mechanism 200 to grip one denture blank at a time and place it on the conveyor belt assembly 310, and the conveyor belt assembly 310 drives the denture blank to move to the bottom of the detection mechanism 400; ensuring that the denture blank can enter the detection area in an orderly manner, preparing for subsequent detection and sorting.

[0039] It should be noted that in the initial clamping stage, many factors are taken into consideration when clamping a denture blank at a time. In order to leave enough calibration time for the detection mechanism 400, forward feeding or reverse collection can be carried out directly in the initial stage, which effectively avoids the stacking problem of unqualified products.

[0040] Step S2: fringe projection detection, the fringe projection assembly 420 operates to project a fringe pattern onto the denture blank, and under the action of the first driving member 450, the fringe projection assembly 420 is driven to rotate along the circular track 440 to complete the all-round fringe projection work on the denture blank. During this period, the deformed image of the fringe pattern on the surface of the blank is recorded by the camera assembly 430; the deformed image of the fringe pattern is used for subsequent defect analysis and quality judgment to ensure the comprehensiveness and accuracy of the detection.

[0041] Step S3: sorting of qualified products, judging whether the denture blank is qualified through the deformed image of the stripe pattern; if not, the conveyor belt assembly 310 moves in the opposite direction, and the lifting assembly 330 drives the clamp assembly 320 to move upward, so as to move the unqualified products to the receiving box 340 for recycling; if so, the conveyor belt assembly 310 continues to move forward to drive the denture blank to move toward the unloading assembly 350 for unloading; thus ensuring the effective sorting of qualified and unqualified products and improving production efficiency and product quality.

[0042] Step S4: loop execution, the robot arm assembly 100 grabs two denture blanks at a time and places them on the conveyor belt assembly 310, and repeats the fringe projection detection and qualified product sorting; wherein, when the detection mechanism 400 detects the appearance of unqualified products, the next robot arm assembly 100 grabs one denture blank at a time. The loop execution strategy, and when unqualified products appear, a denture blank is grabbed at a time. This is because when qualified products appear, the conveyor belt needs to be sorted forward and backward, and this process takes longer than the normal qualified product time. In order to avoid the problem of incoming material accumulation, by reducing the detection tasks, the purpose is to effectively avoid the stacking problem of unqualified products and the problem of double-station accumulation, thereby optimizing production efficiency.

[0043] In this embodiment, it is further explained that the conveyor belt assembly 310 moves in the reverse direction, and the lifting assembly 330 drives the clamp assembly 320 to move upward to drive the unqualified products to move to the receiving box 340 for recycling. The specific process is as follows: In step S311, the conveyor belt assembly 310 moves in the reverse direction for the first time, driving the denture blanks in the double stations to move in the reverse direction. When all the denture blanks in the double stations are unqualified products or the unqualified products are located in front of the qualified products, the lifting assembly 330 operates to drive the clamp assembly 320 to lift up and complete the conveying and unloading. When the qualified products in the double stations are located in front of the unqualified products, the conveyor belt assembly 310 drives the denture blanks in the double stations to move until the qualified products in front abut against the clamp assembly 320, and the qualified products are limited by the U-shaped groove.

[0044] It should be noted that, since the robot arm assembly 100 simultaneously clamps two denture blanks, the two blanks are respectively referred to as the first and second denture blanks. The positions of the two blanks on the conveyor belt are fixed, that is, they are arranged in sequence along the forward conveying direction of the conveyor belt. When it is detected that the first denture blank is a defective product and the second denture blank is a qualified product, it is necessary to ensure that the qualified product will not be mistakenly sorted into the receiving box 340.

[0045] Step S312, the sensor on the clamp assembly 320 detects that the denture blank is in place, triggering a material unloading instruction, and the lifting assembly 330 operates to drive the clamp assembly 320 to lift up, and the conveyor belt assembly 310 is separated from the qualified product.

[0046] In step S313, the conveyor belt assembly 310 starts the second reverse movement, and the conveyor belt assembly 310 drives the unqualified products to move a preset distance, so that the unqualified products are moved to the receiving box 340 for recycling; this step completes the effective sorting and recycling of unqualified products, ensuring that unqualified products will not be confused with qualified products.

[0047] In step S314, the lifting assembly 330 operates to drive the clamp assembly 320 to descend, and the qualified products are placed on the conveyor belt assembly 310, and the conveyor belt assembly 310 moves forward to unload the qualified products.

[0048] By setting the above steps, it is ensured that qualified products will not be mistakenly put into the receiving box 340 during the sorting process, and unqualified products can be accurately identified and recycled. This design not only improves the accuracy and efficiency of sorting, but also avoids the waste of resources and production line stagnation caused by missorting of qualified products.

[0049] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic feeding and detection device for processing denture blanks, characterized in that: include: A mechanical arm assembly (100), wherein a driving end of the mechanical arm assembly (100) is provided with a clamping mechanism (200), and the clamping mechanism (200) comprises two clamping jaw assemblies (210) arranged side by side; The conveying mechanism (300) comprises a conveyor belt assembly (310), a clamp assembly (320) arranged above the conveyor belt assembly (310), and a lifting assembly (330) arranged on one side of the conveyor belt assembly (310); the clamp assembly (320) is connected to a driving end of the lifting assembly (330), and the clamp assembly (320) is provided with a U-shaped groove for limiting the position of a workpiece; wherein a material receiving box (340) is provided at one end of the conveying mechanism (300) close to the clamp assembly (320), and a material unloading assembly (350) is connected to the other end; A detection mechanism (400) is arranged above the conveying mechanism (300), and the detection mechanism (400) comprises a box body (410), and a fringe projection assembly (420) and a camera assembly (430) arranged in the box body (410); an annular track (440) is arranged on the inner wall of the box body (410), the fringe projection assembly (420) is slidably connected to the annular track (440), and a first driving member (450) is arranged at one end of the fringe projection assembly (420) for driving the fringe projection assembly (420) to rotate along the annular track (440).

2. The automatic feeding and detecting device for processing denture blanks according to claim 1 is characterized in that: The clamping mechanism (200) comprises a rotating motor (220), a driving end of the rotating motor (220) is provided with a connecting plate (230), and the two clamping jaw assemblies (210) are respectively provided on two sides of the connecting plate (230); The clamping jaw assembly (210) comprises a cylinder body (211), one end surface of the cylinder body (211) being provided with three sliding grooves (212) along its radial direction, and a clamping jaw body (213) being slidably connected in the sliding groove (212); wherein the angle between two adjacent clamping jaw bodies (213) is 120°.

3. The automatic feeding and detecting device for processing denture blanks according to claim 1, characterized in that: The center distance between the two clamping jaw assemblies (210) is set as a first distance, and the distance between the clamping assembly (320) and the receiving box (340) is set as a second distance, wherein the first distance is greater than the second distance.

4. The automatic feeding and detecting device for processing denture blanks according to claim 1, characterized in that: The clamp assembly (320) comprises a support plate (321) and a push cylinder (322) arranged on the support plate (321); a limit block (323) is arranged at a driving end of the push cylinder (322); and the U-shaped groove is arranged at one end of the limit block (323) away from the material receiving box (340).

5. The automatic feeding and detecting device for processing denture blanks according to claim 1, characterized in that: The annular track (440) comprises an inner ring body (441) and an outer ring body (442) which are arranged concentrically; a fixing plate (443) is provided on the lower end surface of the inner ring body (441); and the first driving member (450) is mounted on the fixing plate (443).

6. The automatic feeding and detecting device for processing denture blanks according to claim 5, characterized in that: A rotating plate (444) is rotatably connected to the fixed plate (443); the center of the rotating plate (444) is connected to the driving end of the first driving member (450); a plurality of connecting parts (445) are provided on the outer circumference of the rotating plate (444); the connecting parts (445) are connected to the outer ring body (442); the first driving member (450) operates to drive the outer ring body (442) to rotate around the center of the inner ring body (441) through the rotating plate (444).

7. The automatic feeding and detecting device for processing denture blanks according to claim 6, characterized in that: The camera assembly (430) comprises a support frame (431), the support frame (431) being provided with a height adjustment member (432) in a vertical direction, and the first camera (433) being slidably connected to the height adjustment member (432); An adjustment component (434) is provided on one side of the support frame (431), and a second camera (435) is provided on one end of the adjustment component (434); wherein the adjustment component (434) comprises an angle adjustment member, and the angle adjustment member is used to adjust the imaging angle of the second camera (435).

8. An automatic feeding and detection method for processing denture blanks, characterized in that: The automatic feeding detection device for processing denture blanks according to any one of claims 1 to 7 is used, and the automatic feeding detection method comprises: Step S1: initial gripping, the robot arm assembly (100) operates to drive the gripping mechanism (200) to grip a denture blank at a time and place it on the conveyor belt assembly (310), and the conveyor belt assembly (310) drives the denture blank to move to the bottom of the detection mechanism (400); Step S2: fringe projection detection, the fringe projection assembly (420) operates to project a fringe pattern onto the denture blank, and under the action of the first driving member (450), the fringe projection assembly (420) is driven to rotate along the annular track (440) to complete a full range of fringe projection work on the denture blank, during which the deformed image of the fringe pattern on the surface of the blank is recorded by the camera assembly (430); Step S3: sorting qualified products, judging whether the denture blank is a qualified product by using the deformed image of the stripe pattern; if not, the conveyor belt assembly (310) moves in the reverse direction, and the lifting assembly (330) drives the clamp assembly (320) to move upward, so as to drive the unqualified products to move into the receiving box (340) for recycling; if so, the conveyor belt assembly (310) continues to move forward to drive the denture blank to move toward the unloading assembly (350) for unloading; Step S4: cyclic execution, the robot arm assembly (100) grabs two denture blanks at a time and places them on the conveyor belt assembly (310), and repeatedly performs fringe projection detection and qualified product sorting; wherein, when the detection mechanism (400) detects the presence of unqualified products, the robot arm assembly (100) grabs one denture blank at a time next time.

9. The automatic feeding and detection method for processing denture blanks according to claim 8, characterized in that: The conveyor belt assembly (310) moves in the reverse direction, and the lifting assembly (330) drives the clamp assembly (320) to move upward, so as to drive the unqualified products to move into the receiving box (340) for recycling. The specific process is as follows: Step S311: the conveyor belt assembly (310) moves in the reverse direction for the first time, driving the denture blanks in the double stations to move in the reverse direction. When all the denture blanks in the double stations are defective or the defective products are located in front of the qualified products, the lifting assembly (330) operates to drive the clamp assembly (320) to lift up, thereby completing the conveying and unloading. When the qualified products in the double stations are located in front of the defective products, the conveyor belt assembly (310) drives the denture blanks in the double stations to move until the qualified products in front abut against the clamp assembly (320), and the qualified products are limited by the U-shaped groove. Step S312: the sensor on the clamp assembly (320) detects that the denture blank is in place, triggering a material unloading instruction, the lifting assembly (330) operates to drive the clamp assembly (320) to lift up, and the conveyor belt assembly (310) is separated from the qualified product; Step S313: the conveyor belt assembly (310) starts to move in the reverse direction for the second time, and the conveyor belt assembly (310) drives the unqualified products to move a preset distance, so that the unqualified products are moved into the receiving box (340) for recycling; Step S314: the lifting assembly (330) operates to drive the clamp assembly (320) to descend, and places the qualified products on the conveyor belt assembly (310), and the conveyor belt assembly (310) moves forward to discharge the qualified products.

Images