Online bar automatic sampling inspection robot

Abstract

The invention relates to the technical field of automatic bar production, and particularly discloses an on-line automatic bar sampling inspection robot which comprises a first rack, a detection assembly arranged on the first rack, a second rack and a sampling grabbing assembly arranged on the second rack. The first rack is provided with a first camera facing the material containing arc plate, and the tops of the sliding frames on the two sides of the first rack are provided with second cameras facing the opposite directions correspondingly. The robot integrates the whole process of sampling grabbing, conveying, detecting and classifying, automatic sampling inspection of the bar is achieved, the sampling grabbing assembly can automatically grab the bar from a production line, the detecting assembly enables the bar to rotate in a containing arc plate by driving a rolling shaft, meanwhile, the circumferential surface of the bar is shot through a first camera, and the detection accuracy is improved. The second camera shoots the two end faces of the bar, comprehensive defect detection on the surface of the bar is achieved, and the detection accuracy and reliability are improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated production of bar materials, and in particular to an online automatic sampling robot for bar materials. Background Art

[0002] After the bars are processed on the production line, they need to be inspected for surface defects to ensure product quality. Traditionally, surface defect inspection of bars is mainly done manually, which is easily affected by the subjective judgment of the inspectors, resulting in inconsistency and errors in the inspection results. At the same time, manual inspection cannot ensure that every bar is carefully inspected, and there may be cases of missed inspections. In addition, manual inspection consumes a lot of time and energy, especially when the production line is running at high speed, and it is difficult for inspectors to keep up with the production rhythm, resulting in low inspection efficiency. This not only increases production costs, but may also affect the overall efficiency of the production line.

[0003] Based on the above situation, in the prior art, a patent with announcement number CN202411184205.X discloses a full-size automatic sampling robot for bar materials, including a mobile cart, wherein the mobile cart is provided with a material picking manipulator, an inspection station, a material transferring mechanism, a cleaning mechanism and a detection mechanism. The material picking manipulator is used to transfer the external bar materials to the inspection station, the material transferring mechanism is used to move the bar materials on the inspection station between the inspection station, the cleaning mechanism and the detection mechanism, the cleaning mechanism is used to clean the bar materials, and the detection mechanism is used to clean the cleaned bar materials. The patent realizes the effect of automatic movement between multiple processing equipment through the mobile cart, and the material picking manipulator, the inspection station, the material transferring mechanism, the cleaning mechanism and the detection mechanism cooperate to realize automatic sampling of bar material samples from the processing equipment and cleaning and detection, thereby achieving the effect of on-site sampling and improving efficiency.

[0004] Although the above-mentioned automatic sampling robot realizes the function of automatically taking bar samples from processing equipment and cleaning and testing them through the coordinated work of a mobile cart, a material picking manipulator, an inspection station, a material transfer mechanism, a cleaning mechanism and a detection mechanism, thereby improving the sampling efficiency, there are still some shortcomings. The above-mentioned automatic sampling robot has advantages in sampling with a smaller workload, but its design may not be fully suitable for continuous large-scale bar sampling on the production line. Since the robot needs to complete multiple steps such as material picking, inspection, cleaning, and testing in sequence, and there may be a certain waiting and processing time between each step, this may lead to a decrease in the overall sampling efficiency in the case of continuous large-scale sampling. Summary of the invention

[0005] In view of the technical defects existing in the background technology, the present invention proposes an online bar material automatic sampling robot, which solves the above technical problems and meets the actual needs. The specific technical solution is as follows: An online automatic bar material sampling robot comprises a first frame, a detection component arranged on the first frame, a second frame, a sampling grabbing component arranged on the second frame, a second conveyor belt, a third conveyor belt and a fourth conveyor belt, the sampling grabbing component comprises a first screw rotatably mounted on the second frame, a first mounting frame threadedly connected to the first screw, a first electric cylinder arranged inside the first mounting frame, a second mounting frame connected to the first electric cylinder, a second screw rotatably mounted on the second mounting frame, a clamping plate symmetrically arranged on the second screw and capable of moving toward each other, the detection component is provided with a material holding arc plate on the first frame, lifting grooves are symmetrically arranged on both sides of the first frame, a sliding frame which can slide up and down is provided in the lifting groove, and the sliding frame A mounting plate is provided inside the moving frame, and the sliding frame is respectively connected to the two ends of the material holding arc plate, and a unloading assembly is connected to one side of the top of the material holding arc plate. A driving roller installed along the length direction of the material holding arc plate is provided at the center position of the inner surface of the material holding arc plate, and a third motor connected to the driving roller is installed inside the sliding frame. A number of auxiliary rollers installed on the inner surface of the material holding arc plate are symmetrically provided on both sides of the driving roller, and driving teeth are provided at the edges of both ends of the outer surface of the material holding arc plate, and a driving gear that can mesh and rotate with the driving teeth is provided under the unloading assembly of the material holding arc plate, and a first camera facing the material holding arc plate is installed on the first frame, and second cameras facing opposite are respectively provided on the tops of the sliding frames on both sides of the first frame.

[0006] Furthermore, a first conveyor belt and a second conveyor belt are arranged in parallel at the same height below the second frame, a third conveyor belt is arranged in front and behind the second conveyor belt at the same height below the first frame, and a fourth conveyor belt is arranged in parallel below the third conveyor belt. The sampling and grabbing assembly reciprocates above the first conveyor belt and the second conveyor belt through the first screw, and the detection assembly can reciprocate up and down at the feed end of the third conveyor belt and the feed end of the fourth conveyor belt through the sliding frame.

[0007] Furthermore, the driving gears are symmetrically arranged at both ends of the material receiving arc plate, a rotating shaft is connected to the center position of the driving gear, a fourth motor connected to the rotating shaft of the driving gear is arranged inside the sliding frame, and supporting gears rotatably connected to the bottom edge position of the sliding frame are symmetrically arranged below the outer surfaces of both ends of the material receiving arc plate, and the supporting gears can engage and rotate with the driving teeth on the outer surface of the material receiving arc plate.

[0008] Furthermore, a first limit groove and a second limit groove are symmetrically arranged on the arc end surfaces at both ends of the material holding arc plate, the first limit groove is provided with a first limit rod whose one end can slide in the first limit groove, the other end of the first limit rod is connected to the mounting plate, the first limit rod is placed at the lower end of the first limit groove, the second limit groove is provided with a second limit rod whose two ends can slide in the second limit groove, the other end of the second limit rod is connected to the mounting plate, and the second limit rod is placed at the upper end of the second limit groove.

[0009] Furthermore, a sliding bar is provided on the back of the sliding frame, a sliding groove that can slide in cooperation with the sliding bar is provided inside the lifting slot of the first frame, and second electric cylinders corresponding to the position of the sliding frame are installed on both sides of the top of the first frame, and the telescopic rod end of the second electric cylinder is connected to the top of the sliding frame in the lifting slot.

[0010] Furthermore, a first motor connected to a first lead screw is disposed on a side wall of the second frame close to the second conveyor belt, a second motor connected to a second lead screw is disposed on a side wall of the second mounting frame, two sections of threads with opposite spiral directions are disposed on the surface of the second lead screw, and the clamping plate is threadably connected to the second lead screw through the two sections of threads with opposite spiral directions on the surface of the second lead screw.

[0011] Furthermore, the unloading assembly includes an installation frame installed on the top side surface of the material holding arc plate, a third electric cylinder arranged inside the installation frame, an arc push plate received inside the side wall on the front side of the installation frame and capable of fitting with the surface of the rod material, and a guide bevel block arranged on the top surface of the installation frame.

[0012] Furthermore, a storage groove is provided inside the side wall on the front side of the installation frame, the arc push plate is stored inside the side wall on the front side of the installation frame through the storage groove, and the telescopic rod end of the third electric cylinder is connected to the arc push plate inside the storage groove.

[0013] The beneficial effects of the present invention are: The robot of the present invention integrates the whole process of sampling, grabbing, transmission, detection and classification, and realizes the automatic sampling inspection of the bar material. The sampling and grabbing component can automatically grab the bar material from the production line and transfer it to the detection area. The detection component drives the roller to rotate the bar material in the arc plate of the material storage, and uses the first camera to shoot the circumferential surface of the bar material, and the second camera to shoot the two end faces of the bar material, so as to realize the comprehensive defect detection of the surface of the bar material and improve the accuracy and reliability of the detection. In addition, the robot of the present invention can classify the defect-free bar material and the defective bar material onto different conveyor belts according to the detection results, so as to realize the flexible classification and processing of the bar material. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 It is a cross-sectional view of the internal structure of the first mounting frame and the detection assembly of the present invention.

[0016] Figure 3 This is one of the schematic diagrams of the detection component structure of the present invention.

[0017] Figure 4 This is the second schematic diagram of the detection component structure of the present invention.

[0018] Figure 5 It is a schematic structural diagram of the material holding arc plate and the material discharging assembly of the present invention.

[0019] Figure 6 It is a schematic diagram of the motion state of the material holding arc plate and the material discharging assembly of the present invention.

[0020] Figure 7 It is a schematic diagram of the structure of the sampling and grabbing component of the present invention.

[0021] Reference numerals: 1-sampling grabbing assembly; 11-first mounting frame; 12-first lead screw; 13-first motor; 14-first electric cylinder; 15-second mounting frame; 16-second lead screw; 17-second motor; 18-clamping plate; 2-detection component; 21-material arc plate; 212-auxiliary roller; 213-support gear; 22-driving roller; 221-third motor; 23-first limiting groove; 231-first limiting rod; 24-second limiting groove; 241-second limiting rod; 25-driving gear; 251-fourth motor; 26-sliding frame; 261-sliding bar; 262-sliding groove; 263-mounting plate; 27-second electric cylinder; 28-first camera; 29-second camera; 3-unloading assembly; 31-installation frame; 32-third electric cylinder; 33-storage slot; 34-arc push plate; 35-guide inclined block; 4-first frame; 41-lifting slot; 5-second frame; 6-first conveyor belt; 7-second conveyor belt; 8-third conveyor belt; 9-fourth conveyor belt; 61-belt conveyor belt; 62-limiting plate; 63-fixing groove. DETAILED DESCRIPTION

[0022] The implementation mode of the present invention is described below in conjunction with relevant embodiments. The implementation mode of the present invention is not limited to the following embodiments, and the present invention relates to relevant necessary components in the technical field, which should be regarded as the known technology in the technical field and can be known and mastered by the technical personnel in the technical field.

[0023] like Figures 1 to 7As shown, an online bar material automatic sampling inspection robot comprises a first frame 4, a detection component 2 arranged on the first frame 4, a second frame 5, a sampling grabbing component 1 arranged on the second frame 5, a second conveyor belt 7, a third conveyor belt 8 and a fourth conveyor belt 9, the sampling grabbing component 1 comprises a first lead screw 12 rotatably mounted on the second frame 5, a first mounting frame 11 threadedly connected to the first lead screw 12, a first electric cylinder 14 arranged inside the first mounting frame 11, a second mounting frame 15 connected to the first electric cylinder 14, a second lead screw 16 rotatably mounted on the second mounting frame 15, and a clamping plate 18 symmetrically arranged on the second lead screw 16 and capable of moving toward each other, the detection component 2 is provided with a material holding arc plate 21 on the first frame 4, lifting grooves 41 are symmetrically arranged on both sides of the first frame 4, a sliding frame 26 which can slide up and down is provided in the lifting groove 41, and the sliding A mounting plate 263 is provided inside the frame 26, and the sliding frame 26 is respectively connected to the two ends of the material holding arc plate 21, and a discharge assembly 3 is connected to the top side of the material holding arc plate 21. A driving roller 22 installed along the length direction of the material holding arc plate 21 is provided at the center position of the inner surface of the material holding arc plate 21, and a third motor 221 connected to the driving roller 22 is installed inside the sliding frame 26. The material holding arc plate 21 has a plurality of auxiliary rollers 212 installed on its inner surface symmetrically arranged on both sides of the driving roller 22, and driving teeth are provided at the edges of both ends of the outer surface of the material holding arc plate 21. The material holding arc plate 21 is provided with a driving gear 25 that can mesh and rotate with the driving teeth under the discharge assembly 3, and the first frame 4 is installed with a first camera 28 facing the material holding arc plate 21, and the tops of the sliding frames 26 on both sides of the first frame 4 are respectively provided with second cameras 29 facing oppositely.

[0024] Furthermore, in the above structure, a first conveyor belt 6 and a second conveyor belt 7 are arranged in parallel at the same height below the second frame 5, a third conveyor belt 8 is arranged in front and behind the second conveyor belt 7 at the same height below the first frame 4, and a fourth conveyor belt 9 is arranged in parallel below the third conveyor belt 8. The sampling and grabbing component 1 reciprocates above the first conveyor belt 6 and the second conveyor belt 7 through the first screw 12, and the detection component 2 can reciprocate up and down at the feed end of the third conveyor belt 8 and the feed end of the fourth conveyor belt 9 through the sliding frame 26.

[0025] It should be noted that in the above structure, the first conveyor belt 6, the second conveyor belt 7, the third conveyor belt 8 and the fourth conveyor belt 9 are all the same in structure, and all include a belt conveyor belt 61 set on a fixed frame, and limit plates 62 set on the surface of the belt conveyor belt 61 and arranged at equal intervals along the length direction of the belt conveyor belt 61. Fixed grooves 63 for limiting the transportation of material rods are formed between adjacent limit plates 62. When the first conveyor belt 6, the second conveyor belt 7, the third conveyor belt 8 and the fourth conveyor belt 9 transport material rods respectively, the material rods are placed in the fixed grooves 63 to prevent the material rods from rolling during transportation.

[0026] It should be noted that in the above structure, in order to ensure that the driving roller 22 can smoothly drive the material rod to rotate in the material arc plate 21, a layer of material that increases friction, such as rubber or polyurethane, needs to be provided on the surface of the driving roller 22, which can increase the friction between the driving roller 22 and the material rod.

[0027] The sampling grabbing component 1 of the present invention is driven by the first screw 12 and the first motor 13 to reciprocate above the first conveyor belt 6 and the second conveyor belt 7, automatically grab the rods on the production line and transfer them to the detection area. The automated process reduces manual intervention and improves the sampling efficiency. The detection component 2 can reciprocate up and down at the feed end of the third conveyor belt 8 and the feed end of the fourth conveyor belt 9 through the cooperation of the sliding frame 26 and the second electric cylinder 27, thereby classifying the rods with and without surface defects.

[0028] The driving roller 22 in the material holding arc plate 21 of the present invention rotates under the drive of the third motor 221, driving the inspected rod to rotate in the material holding arc plate 21, the first camera 28 shoots the circumferential surface of the rod, and the second camera 29 shoots the two end faces of the rod, thereby realizing comprehensive defect detection of the surface of the rod, so that various defects on the surface of the rod, such as cracks, dents, etc., can be accurately identified, thereby improving the accuracy and reliability of detection. When there are no surface defects in the rod, the driving gear 25 rotates under the drive of the fourth motor 251, so that the material holding arc plate 21 is tilted toward the side where the third conveyor belt 8 is located, ensuring that the rod can accurately roll into the third conveyor belt 8. When there are defects in the rod, the second electric cylinder 27 of the unloading assembly 3 pushes the sliding frame 26 to drive the material holding arc plate 21 to move downward to the feeding end of the fourth conveyor belt 9, and the rod is also pushed out through the cooperation of the arc push plate 34 and the unloading assembly 3, thereby realizing the classification and processing of defective rods.

[0029] It should be noted that the detection principle of the present invention is the prior art. The equipment for inspecting the surface defects of the material bar should also include a controller (not shown in the attached drawings) electrically connected to the first camera 28 and the second camera 29. The controller integrates an image processing module, a logic control module and a communication interface to coordinate the work flow of each component. Specifically, the surface and end face image data of the bar material collected by the first camera 28 and the second camera 29 are transmitted to the controller in real time through the communication interface. The image processing module analyzes the image based on a preset defect recognition algorithm (such as edge detection, grayscale contrast, morphological analysis, etc.) to identify the types of defects such as cracks, pits, scratches, etc. on the surface of the bar material. If the above defects do not exist on the surface of the bar material, the logic control module will send instructions to the fourth motor 251 and the second electric cylinder 27 to drive the material arc plate 21 to tilt to the direction of the third conveyor belt 8, and complete the pushing of qualified bar materials through the unloading component 3; if a defect is detected, the second electric cylinder 27 is controlled to push the sliding frame 26 down to the feeding end of the fourth conveyor belt 9, and complete the pushing of unqualified bar materials through the unloading component 3.

[0030] In addition, the controller accurately controls the clamping and conveying actions of the sampling grabbing assembly 1 by coordinating the coordinated work of the first motor 13, the second motor 17 and the first electric cylinder 14. At the same time, the controller is also responsible for regulating the start and stop and speed of the third motor 221 connected to the drive roller 22 to ensure that the rod can rotate stably during the inspection process. Specifically, the third motor 221 drives the drive roller 22 to rotate, and then drives the rod in the material holding arc plate 21 to rotate, so that the first camera 28 and the second camera 29 can fully capture the surface and end face of the rod. When the inspection is completed, the controller drives the drive gear 25 to rotate through the fourth motor 251, so that it engages with the drive teeth on the outer surface of the material holding arc plate 21, drives the material holding arc plate 21 to tilt, and realizes the unloading action of the rod. At the same time, the controller also pushes the arc push plate 34 through the third electric cylinder 32 to realize the action of pushing the rod out of the material holding arc plate 21.

[0031] As one of the preferred embodiments of the present invention, Figures 3 to 6 As shown, the driving gear 25 is symmetrically arranged at both ends of the material holding arc plate 21, and a rotating shaft is connected to the center position of the driving gear 25. A fourth motor 251 connected to the rotating shaft of the driving gear 25 is arranged inside the sliding frame 26. Support gears 213 rotatably connected to the bottom edge of the sliding frame 26 are symmetrically arranged below the outer surfaces of both ends of the material holding arc plate 21, and the support gear 213 can rotate in meshing engagement with the driving teeth on the outer surface of the material holding arc plate 21.

[0032] The driving gears 25 are symmetrically arranged at both ends of the material holding arc plate 21 and mesh with the driving teeth on the outer surface of the material holding arc plate 21. When the fourth motor 251 is started, the driving gear 25 is driven to rotate through the rotating shaft, thereby driving the material holding arc plate 21 to tilt around its central axis, so that the material holding arc plate 21 can be flexibly tilted to the feeding end of the third conveyor belt 8 or the fourth conveyor belt 9 after the inspection is completed, depending on whether there are defects in the bar material, thereby facilitating the subsequent bar material processing.

[0033] Support gears 213 are symmetrically arranged below the outer surfaces of both ends of the material holding arc plate 21. The support gears 213 are rotatably connected to the bottom edge of the sliding frame 26 and can rotate in meshing engagement with the driving teeth on the outer surface of the material holding arc plate 21. The setting of the support gears 213 not only provides an additional support point for the material holding arc plate 21, thereby enhancing its stability during the tilting process, but also ensures that the material holding arc plate 21 can maintain smooth rotation when tilting, thereby avoiding jamming or damage caused by structural instability.

[0034] As one of the preferred embodiments of the present invention, Figures 4 to 5 As shown, a first limiting groove 23 and a second limiting groove 24 are symmetrically arranged on the arc end surfaces at both ends of the material holding arc plate 21, the first limiting groove 23 is provided with a first limiting rod 231 at one end which can limit and slide in the first limiting groove 23, the other end of the first limiting rod 231 is connected to the mounting plate 263, the first limiting rod 231 is placed at the lower end of the first limiting groove 23, the second limiting groove 24 is provided with a second limiting rod 241 at both ends which can limit and slide in the second limiting groove 24, the other end of the second limiting rod 241 is connected to the mounting plate 263, and the second limiting rod 241 is placed at the upper end of the second limiting groove 24.

[0035] The first limiting rod 231 is arranged in the first limiting groove 23 and can slide along it to limit the position. When the material holding arc plate 21 tilts or moves, the first limiting rod 231 will move within the range of the first limiting groove 23, thereby limiting the excessive tilting or movement of the material holding arc plate 21 and ensuring its stability. Similarly, the second limiting rod 241 is arranged in the second limiting groove 24 and can also slide along it to limit the position. The second limiting rod 241 and the first limiting rod 231 together limit the two ends of the material holding arc plate 21, so that the material holding arc plate 21 can be maintained within a certain range during the tilting or movement process, thereby avoiding the falling of rods or damage to the equipment due to excessive tilting or movement.

[0036] In addition, when the material holding arc plate 21 needs to be tilted to push out the rods, the first limiting rod 231 and the second limiting rod 241 will slide in the first limiting groove 23 and the second limiting groove 24 respectively, providing guidance for the tilting of the material holding arc plate 21, ensuring that the material holding arc plate 21 can be tilted according to a predetermined trajectory and angle, thereby accurately pushing the rods onto the designated conveyor belt.

[0037] As one of the preferred embodiments of the present invention, Figure 2 and Figure 4 As shown, a slide bar 261 is provided on the back of the sliding frame 26, a slide groove 262 that can slide with the slide bar 261 is provided inside the lifting slot 41 of the first frame 4, and second electric cylinders 27 corresponding to the position of the sliding frame 26 are installed on both sides of the top of the first frame 4, and the telescopic rod end of the second electric cylinder 27 is connected to the top of the sliding frame 26 in the lifting slot 41.

[0038] The slide bar 261 on the back of the sliding frame 26 cooperates with the slide groove 262 inside the lifting groove 41 of the first frame 4 to form a stable sliding guide structure, thereby ensuring that the sliding frame 26 can remain stable during the lifting process without shaking or offsetting, thereby ensuring the stability of the material holding arc plate 21 and the rods inside it. By controlling the telescopic rod end of the second electric cylinder 27, the lifting height of the sliding frame 26 can be accurately controlled, thereby realizing the adjustment of the position of the material holding arc plate 21.

[0039] During the random inspection of bar materials, when the bar materials are detected as defect-free, they need to be pushed out of the material holding arc plate 21 onto the third conveyor belt 8, and when the bar materials have defects, they need to be pushed out onto the fourth conveyor belt 9. By driving the sliding frame 26 to rise and fall by the second electric cylinder 27, the material holding arc plate 21 can be quickly adjusted to a suitable height position to facilitate the pushing operation of the bar materials, thereby improving the sorting efficiency.

[0040] As one of the preferred embodiments of the present invention, Figure 1 and Figure 7 As shown, the second frame 5 is provided with a first motor 13 that is transmission-connected to the first lead screw 12 on the side wall near the second conveyor belt 7, and the second mounting frame 15 is provided with a second motor 17 that is transmission-connected to the second lead screw 16 on the side wall. The surface of the second lead screw 16 is provided with two sections of threads with opposite spiral directions, and the clamping plate 18 is threadedly connected to the second lead screw 16 through the two sections of threads with opposite spiral directions on the surface of the second lead screw 16.

[0041] Specifically, in the above structure, the first motor 13 drives the first lead screw 12 to rotate, thereby driving the first mounting frame 11 threadedly connected to the first lead screw 12 to move along the second frame 5. A first electric cylinder 14 is provided inside the first mounting frame 11, which is connected to the second mounting frame 15. A second lead screw 16 is rotatably installed on the second mounting frame 15. The surface of the second lead screw 16 is provided with two sections of threads with opposite spiral directions. The two clamping plates 18 are respectively threadedly connected to the second lead screw 16 through the two sections of threads with opposite spiral directions on the surface of the second lead screw 16. When the second lead screw 16 rotates, the two clamping plates 18 will approach or move away from each other, and the second motor 17 drives the second lead screw 16 to rotate, thereby controlling the movement of the clamping plates 18.

[0042] When it is necessary to grab the bar material, the first motor 13 drives the first screw 12 to rotate, driving the first mounting frame 11 to move along the second frame 5, so that the sampling grabbing assembly 1 is positioned at the position of the bar material on the first conveyor belt 6, and the second motor 17 is started to drive the second screw 16 to rotate. Since the surface of the second screw 16 is provided with two sections of spiral threads with opposite spiral directions, the two clamping plates 18 will approach each other under the transmission of the second screw 16. When the clamping plate 18 contacts the bar material, the second screw 16 continues to rotate so that the clamping plate 18 tightly clamps the two ends of the bar material, and then the first electric cylinder 14 is started to push the second mounting frame 15 to move upward, thereby driving the clamped bar material to be lifted together, and the first motor 13 drives the first screw 12 to rotate again to transfer the clamped bar material to the second conveyor belt 7 or other designated position. When the bar material is transferred to the top of the second conveyor belt 7, the second motor 17 rotates the second screw 16 in the opposite direction to make the two clamping plates 18 move away from each other and release the bar material.

[0043] As one of the preferred embodiments of the present invention, Figure 5 and Figure 6 As shown, the unloading assembly 3 includes a mounting frame 31 mounted on the top side surface of the material holding arc plate 21, a third electric cylinder 32 arranged inside the mounting frame 31, an arc push plate 34 received inside the side wall on the front side of the mounting frame 31 and capable of fitting with the surface of the bar material, and a guiding bevel block 35 arranged on the top surface of the mounting frame 31.

[0044] Furthermore, in the above structure, a storage groove 33 is provided inside the side wall on the front side of the installation frame 31, and the arc push plate 34 is stored inside the side wall on the front side of the installation frame 31 through the storage groove 33, and the telescopic rod end of the third electric cylinder 32 is connected to the arc push plate 34 inside the storage groove 33.

[0045] Specifically, in the above structure, the mounting frame 31 is fixed on the top side surface of the material holding arc plate 21, and is the main supporting structure of the unloading assembly 3. The third electric cylinder 32 is mounted inside the mounting frame 31, and its telescopic rod end is connected to the arc push plate 34, which pushes the arc push plate 34 to unload through telescopic movement. The arc push plate 34 is housed inside the side wall on the front side of the mounting frame 31, and can fit with the surface of the bar material. When the telescopic rod of the third electric cylinder 32 is extended, the arc push plate 34 is pushed out, contacts the bar material and pushes it to move. In addition, the guide bevel 35 is set on the top surface of the mounting frame 31, which can provide guidance for the bar material to enter the material holding arc plate 21.

[0046] In the initial state, the arc push plate 34 is stored in the storage groove 33 and does not interfere with the rods in the material holding arc plate 21. When unloading is required, the telescopic rod of the third electric cylinder 32 is extended to push the arc push plate 34 out of the storage groove 33, and the arc push plate 34 fits the surface of the rod. As the telescopic rod of the third electric cylinder 32 continues to extend, the arc push plate 34 pushes the rod to move in the material holding arc plate 21. When the rod is completely pushed out of the material holding arc plate 21, the telescopic rod of the third electric cylinder 32 retracts, driving the arc push plate 34 back to the storage groove 33, and the unloading assembly 3 returns to the initial state, ready for the next unloading operation.

[0047] To sum up, in the structure of the present invention, the first conveyor belt 6 serves as the conveyor belt of the production line, and closely cooperates with the sampling grabbing component 1, the detection component 2, and the second conveyor belt 7, the third conveyor belt 8, the fourth conveyor belt 9 and other components to form an efficient and automated bar material sampling system, making it suitable for continuous large-scale bar material sampling on the production line.

[0048] The first conveyor belt 6 continuously transports the bars, ensuring the continuity of the production line. The sampling grabbing component 1 can accurately and quickly grab the bars from the first conveyor belt 6 and transfer them to the second conveyor belt 7, preparing for subsequent inspection links. This continuous and efficient transportation and sampling method greatly improves the inspection efficiency of the production line.

[0049] After the bar to be inspected is conveyed to the material receiving arc plate 21 of the inspection component 2, the driving roller 22 drives the bar to rotate, so that the first camera 28 can comprehensively photograph the circumferential surface of the bar to perform surface defect detection. At the same time, the second camera 29 photographs the two end faces of the bar, further ensuring the comprehensiveness of the inspection. According to the inspection results, the robot can intelligently send out qualified bars through the third conveyor belt 8, and send out defective bars through the fourth conveyor belt 9, thereby realizing intelligent sorting of the bars.

[0050] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An online bar material automatic sampling inspection robot, comprising a first frame (4), a detection component (2) arranged on the first frame (4), a second frame (5), a sampling grabbing component (1) arranged on the second frame (5), a second conveyor belt (7), a third conveyor belt (8) and a fourth conveyor belt (9), characterized in that: The sampling grabbing assembly (1) comprises a first lead screw (12) rotatably mounted on a second frame (5), a first mounting frame (11) threadedly connected to the first lead screw (12), a first electric cylinder (14) arranged inside the first mounting frame (11), a second mounting frame (15) connected to the first electric cylinder (14), a second lead screw (16) rotatably mounted on the second mounting frame (15), and a clamping plate (18) symmetrically arranged on the second lead screw (16) and capable of moving toward each other. The detection assembly (2) is provided with a material holding arc plate (21) on the first frame (4), lifting grooves (41) are symmetrically arranged on both sides of the first frame (4), a sliding frame (26) that can slide up and down is arranged in the lifting groove (41), a mounting plate (263) is arranged in the sliding frame (26), the sliding frame (26) is respectively connected to the two ends of the material holding arc plate (21), and the material holding A discharge assembly (3) is connected to one side of the top of the arc plate (21); a driving roller (22) installed along the length direction of the arc plate (21) is provided at the center position of the inner surface of the arc plate (21); a third motor (221) connected to the driving roller (22) is installed inside the sliding frame (26); a plurality of auxiliary rollers (212) installed on the inner surface of the arc plate (21) are symmetrically arranged on both sides of the driving roller (22); driving teeth are provided at both end edges of the outer surface of the arc plate (21); a driving gear (25) capable of meshing and rotating with the driving teeth is provided below the discharge assembly (3); a first camera (28) facing the arc plate (21) is installed on the first frame (4); and second cameras (29) facing opposite directions are respectively provided on the tops of the sliding frames (26) on both sides of the first frame (4).

2. The online bar material automatic sampling inspection robot according to claim 1 is characterized in that: A first conveyor belt (6) and a second conveyor belt (7) are arranged in parallel at the same height below the second frame (5); a third conveyor belt (8) is arranged in front and behind the second conveyor belt (7) at the same height below the first frame (4); and a fourth conveyor belt (9) is arranged in parallel below the third conveyor belt (8); the sampling grabbing component (1) reciprocates above the first conveyor belt (6) and the second conveyor belt (7) via a first lead screw (12); and the detection component (2) reciprocates up and down at the feeding end of the third conveyor belt (8) and the feeding end of the fourth conveyor belt (9) via a sliding frame (26).

3. The online bar material automatic sampling inspection robot according to claim 1 is characterized in that: The driving gear (25) is symmetrically arranged at the two ends of the material holding arc plate (21), and a rotating shaft is connected to the center of the driving gear (25). A fourth motor (251) connected to the rotating shaft of the driving gear (25) is arranged inside the sliding frame (26). Support gears (213) rotatably connected to the bottom edge of the sliding frame (26) are symmetrically arranged below the outer surfaces of the two ends of the material holding arc plate (21), and the support gears (213) are capable of meshing and rotating with the driving teeth on the outer surface of the material holding arc plate (21).

4. The online bar material automatic sampling inspection robot according to claim 1 is characterized in that: A first limiting groove (23) and a second limiting groove (24) are symmetrically arranged on the arc end surfaces at both ends of the material holding arc plate (21); a first limiting rod (231) having one end capable of sliding in the first limiting groove (23) is arranged in the first limiting groove (23); the other end of the first limiting rod (231) is connected to the mounting plate (263); the first limiting rod (231) is placed at the lower end of the first limiting groove (23); a second limiting rod (241) having two ends capable of sliding in the second limiting groove (24) is arranged in the second limiting groove (24); the other two ends of the second limiting rod (241) are connected to the mounting plate (263); the second limiting rod (241) is placed at the upper end of the second limiting groove (24).

5. The online bar material automatic sampling inspection robot according to claim 1 is characterized in that: A slide bar (261) is provided on the back of the sliding frame (26), a slide bar (262) capable of sliding in cooperation with the slide bar (261) is provided inside the lifting slot (41) of the first frame (4), and second electric cylinders (27) corresponding to the position of the sliding frame (26) are installed on both sides of the top of the first frame (4), and the telescopic rod end of the second electric cylinder (27) is connected to the top of the sliding frame (26) in the lifting slot (41).

6. The online bar material automatic sampling inspection robot according to claim 1, characterized in that: A first motor (13) is provided on a side wall of the second frame (5) on a side close to the second conveyor belt (7) and is connected to the first lead screw (12); a second motor (17) is provided on a side wall of the second mounting frame (15) and is connected to the second lead screw (16); the second lead screw (16) has two sections of threads with opposite spiral directions on its surface; and the clamping plate (18) is threadedly connected to the second lead screw (16) via the two sections of threads with opposite spiral directions on the surface of the second lead screw (16).

7. The online bar material automatic sampling inspection robot according to claim 1, characterized in that: The unloading assembly (3) comprises a mounting frame (31) mounted on a top side surface of a material holding arc plate (21), a third electric cylinder (32) arranged inside the mounting frame (31), an arc-surface push plate (34) received inside a side wall on the front side of the mounting frame (31) and capable of being fitted with a surface of a bar material, and a guiding inclined block (35) arranged on the top surface of the mounting frame (31).

8. The online bar material automatic sampling inspection robot according to claim 7, characterized in that: A storage groove (33) is provided inside the side wall on the front side of the installation frame (31); the arc-surface push plate (34) is stored inside the side wall on the front side of the installation frame (31) through the storage groove (33); and the telescopic rod end of the third electric cylinder (32) is connected to the arc-surface push plate (34) inside the storage groove (33).

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