Automatic gauge block feeding device based on robot arm

Abstract

The invention belongs to the field of precision measuring tool automation, and discloses an automatic gauge block feeding device based on a manipulator, which comprises an automatic gauge block feeding and discharging mechanism and a manipulator grabbing mechanism, in a system comprising a material bin, a material disc, a three-axis material taking mechanism and a vacuum material suction module, feeding of a measured block and a standard gauge block to a transferring platform and subsequent discharging and recycling are automatically completed, a robot arm grabbing mechanism integrates a visual positioning module and a multi-degree-of-freedom robot arm cantilever, and the tail end of the robot arm grabbing mechanism is provided with a vacuum suction cup, a thin pneumatic claw and the like. The measuring block can be accurately positioned and automatically grabbed from the transfer platform for subsequent measurement. Through cooperation of the two mechanisms, the full-automatic, unmanned and lossless feeding process of the gauge blocks from storage, selection, conveying, visual recognition to accurate grabbing is achieved, the working efficiency and the gauge block processing precision are remarkably improved, the labor cost is reduced, and wide application prospects are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated auxiliary equipment for precision measuring tools, and in particular to a robotic arm-based automatic gauge block feeding device for achieving automatic, accurate, and non-destructive feeding of gauge blocks during gauge block calibration or use. Background Art

[0002] Gauge blocks, as important standards in length measurement transfer systems and commonly used reference components in precision measurement, have a precision level that directly impacts the accuracy of the entire measurement transfer chain and the reliability of product quality testing. Therefore, regular and accurate calibration of gauge blocks is an essential and crucial step in the field of metrology.

[0003] Currently, in the calibration, comparison, or precision measurement of gauge blocks, operations such as loading and unloading, picking and placing, and transferring gauge blocks between measuring instruments still rely heavily on manual labor. Traditional manual operation methods have many significant drawbacks:

[0004] 1) Low work efficiency. Manually picking up, placing and recording gauge blocks one by one is cumbersome and time-consuming. Especially when calibrating large quantities of gauge blocks with multiple specifications, the labor cost is high, which makes it difficult to meet the high efficiency requirements of modern production and testing.

[0005] 2) Measurement accuracy is easily affected by human factors. The operator's proficiency, fatigue status and operational specifications may introduce uncertainties, such as slight deviations in placement and reading errors.

[0006] 3) There is a risk of damage to the gauge block. If the force is not properly controlled or inappropriate tools are used during manual gripping, the working surface of the gauge block can be easily scratched, bumped, or deformed, directly compromising its accuracy. Heat transfer and contamination are also a problem. Direct or indirect contact with the gauge block by the human hand can cause temperature changes such as hand temperature transfer and surface contamination such as sweat, grease, and dust adhesion. These factors will affect the dimensional stability of the gauge block and thus interfere with the accuracy of the measurement results. For example, if the human body temperature is higher than the standard measurement temperature of 20°C, contact will cause the gauge block to thermally expand.

[0007] 4) When handling the measured block and the corresponding standard block simultaneously, manual manipulation can easily lead to confusion or misplacement, compromising the validity of the calibration results. Prolonged and delicate block manipulation places a heavy strain on the operator's vision, energy, and patience, leading to fatigue and further increasing the probability of error. Finally, consistency is difficult to ensure. Techniques and habits can vary between operators, and even between the same operator at different times, reducing the consistency and repeatability of the measurement process.

[0008] With the rapid development of automation and robotics, the trend is toward replacing manual labor with automated equipment for precise, repetitive operations. In the field of gauge block testing, automating the feeding of gauge blocks not only overcomes the drawbacks of manual labor but also significantly improves the overall quality and efficiency of testing, playing a significant role in advancing precision measurement technology. However, existing general-purpose automated loading and unloading devices often struggle to fully adapt to the specific needs of gauge blocks, which are highly precise, fragile, and require special cleanliness requirements.

[0009] Therefore, it is urgent to develop an automatic feeding device that is specifically tailored to the characteristics of gauge blocks and can realize automatic loading and unloading, precise identification and positioning, and non-destructive grasping and transmission, in order to solve the problems existing in the existing technology. This has urgent practical needs and broad application prospects. Summary of the Invention

[0010] The purpose of the present invention is to overcome the problems of low efficiency, easily affected accuracy, high labor intensity and so on brought about by manual operation of gauge blocks in the prior art, and to provide an automatic gauge block feeding device based on a robot arm, which can realize a fully automated process from storage to supply of gauge blocks to measuring stations, significantly improving the feeding efficiency and the accuracy and reliability of gauge block processing.

[0011] To achieve the above object, the present invention adopts the following technical solutions:

[0012] A gauge block automatic feeding device based on a robot arm comprises a gauge block automatic loading and unloading mechanism and a robot arm grasping mechanism.

[0013] The automatic gauge block loading and unloading mechanism is designed to automatically load the gauge blocks being processed from a storage location (i.e., remove them and transport them to a designated location) and unload them (i.e., retrieve them from a designated location and transport them to storage or the next process step) along with their corresponding standard gauge blocks, according to pre-set program logic and the dimensional specifications of the gauge blocks being processed. This process requires no human intervention, enabling the orderly and efficient management and dispatch of gauge blocks of varying specifications. The core of this mechanism lies in its ability to precisely select specific gauge blocks from a silo according to instructions and deliver them to a transitional transfer platform via a specialized conveying mechanism.

[0014] The robotic gripping mechanism is used to replace the traditional manual action of picking up and placing gauge blocks. The core of this mechanism is a multi-degree-of-freedom robotic arm, the end of which is equipped with an actuator suitable for grasping precision gauge blocks. What is particularly critical is that the mechanism integrates a visual positioning module, which can use image recognition technology to accurately identify the position and posture of the target gauge block on the transfer platform, whether it is a measured block or a standard gauge block, before the robotic arm performs the grasping action. Based on the data provided by the visual positioning module, the robotic arm can accurately move its end effector to the top of the target gauge block and perform a grasping or placing operation, providing precise mechanical movement and positioning for subsequent precise measurement or comparison of the gauge blocks.

[0015] In this invention, the automatic gauge block loading and unloading mechanism and the robotic gripper mechanism do not operate in isolation. Instead, they are coordinated and controlled by a central control system, essential for automated processes, forming a complete, seamless automated feeding chain. The workflow is as follows: Based on calibration task instructions, the control system dispatches the automatic gauge block loading and unloading mechanism to retrieve the specified gauge blocks and / or standard gauge blocks from the silo. Using its internal conveying mechanisms, such as the three-axis retrieving mechanism and vacuum suction module, these blocks are sequentially and non-destructively placed onto the transfer platform. Subsequently, the robotic gripper's visual positioning module scans and identifies the gauge blocks on the transfer platform, determining their precise coordinates and orientation. After acquiring this positioning information, the robotic arm's cantilever drives its end effector, such as a vacuum suction cup and thin air gripper, to grasp the target gauge block and precisely deliver it to the measuring instrument's worktable or a designated comparison location. After measurement, the robotic arm retrieves the gauge block, which the automatic gauge block loading and unloading mechanism returns to the silo or a designated reject / qualified area.

[0016] The present invention has the following beneficial effects:

[0017] 1. The present invention realizes a fully automated closed-loop process from gauge block storage, on-demand retrieval, visual identification and positioning to precise grasping and feeding through the coordinated work of the automatic loading and unloading mechanism of gauge blocks and the robot arm grasping mechanism. It completely replaces tedious and repetitive manual operations, greatly improves work efficiency, and is particularly suitable for continuous verification or measurement tasks of large quantities of gauge blocks with multiple specifications, significantly shortening the operation cycle.

[0018] 2. Vacuum suction technology, such as vacuum suction modules and vacuum suction cups, is used throughout the process to pick up, place, and transfer gauge blocks. This avoids scratches, indentations, or stress deformations that traditional mechanical clamping may cause to the precise working surfaces of the gauge blocks, thereby maximizing the protection of the physical integrity and precision of the gauge blocks. The closed design of the silo effectively isolates external pollutants such as dust, maintaining the cleanliness of the gauge blocks. Automated operation reduces human contact and avoids the effects of hand temperature transfer and sweat contamination on the dimensional stability of the gauge blocks. The application of high-resolution visual positioning modules ensures that the robot arm can accurately identify and grasp the target gauge block and accurately place it at the measuring station, reducing measurement uncertainty introduced by placement errors.

[0019] 3. Automated processes and precise identification capabilities effectively avoid the potential confusion between standard gauge blocks and measured blocks that can occur during manual operation. Standardized automated procedures eliminate the arbitrariness and individual differences in manual operation, ensuring consistency and repeatability in each feeding operation, thereby improving the reliability of the entire measurement process and data quality. This frees operators from tedious, repetitive, and intensive labor, reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of an automatic gauge block feeding device based on a robot arm of the present invention;

[0021] Explanation of the numbers in the figure: 1-automatic loading and unloading mechanism for gauge blocks, 2-robot gripping mechanism;

[0022] Figure 2 This is a structural schematic diagram of an automatic loading and unloading mechanism 1 for gauge blocks in an automatic gauge block feeding device based on a robot arm of the present invention;

[0023] Explanation of reference numerals in the figure: 101 - lower frame, 102 - acrylic plate, 103 - loading rack door, 104 - tray, 105 - rack, 106 - silo, 107 - three-axis retrieving mechanism, 108 - table panel, 109 - guide rail, 110 - bottom support plate, 111 - protective plate, 112 - table connecting plate, 113 - vacuum suction module, 114 - transfer platform;

[0024] Figure 3 This is a schematic structural diagram of a robotic gripping mechanism 2 in a robotic-based gauge block automatic feeding device according to the present invention;

[0025] Explanation of the numbers in the figure: 201-robot base, 202-robot cantilever, 203-vacuum suction cup, 204-vacuum generator system, 205-thin air gripper, 206-air gripper mounting plate, 207-pushing module, 208-visual positioning module. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments 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 making creative work are within the scope of protection of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other in the absence of conflict.

[0027] See also Figures 1 to 3 As shown, this embodiment provides a robotic-based automatic gauge block feeding device. The device consists of two core components: an automatic gauge block loading and unloading mechanism 1 and a robotic gripping mechanism 2. These two components operate in a central control system, but as is well known to those skilled in the art, they can be coordinated and coordinated through a PLC, industrial computer, or embedded system.

[0028] Please see Figure 2 As shown, the detailed description of the automatic loading and unloading mechanism 1 of the gauge block is as follows:

[0029] This mechanism is responsible for the storage, on-demand selection and initial delivery of gauge blocks. Its specific structure is as follows:

[0030] Lower frame 101: As the load-bearing and installation base of the entire mechanism, it is made of high-strength metal profiles, such as aluminum profiles or steel structures, welded or assembled to ensure the overall rigidity and stability of the equipment.

[0031] Silo 106: This is the main storage area for gauge blocks. In this embodiment, silo 106 is enclosed by a portion of the lower frame 101, a transparent or translucent acrylic panel 102, and an openable loading rack door 103. The use of acrylic panel 102, for example, when installed between the loading rack doors or as a sidewall of the silo, not only effectively prevents the intrusion of external dust, moisture, and the like, maintaining a clean interior environment and protecting gauge blocks from contamination, but also allows operators to observe the storage status of gauge blocks within the silo and the operating status of the three-axis retrieving mechanism 107 in real time, enabling timely detection and resolution of any jams or other unexpected situations. The loading rack door 103 is used for batch loading of gauge blocks or replacement of trays.

[0032] The material rack 105 is provided inside the silo 106 and is used to carry and position a plurality of material trays 104. The material rack 105 is designed to be a multi-layer structure or an array layout to maximize the storage capacity of the silo.

[0033] Tray 104: This is the unit that directly holds the gauge blocks. Each tray 104 is designed with specific grooves, positioning holes, or partitions for orderly and isolated storage of one or more gauge blocks, preventing collisions between gauge blocks. In this embodiment, tray 104 is preferably made of black Bakelite, i.e., phenolic laminate. Bakelite was chosen for its excellent physical and chemical properties: sufficient mechanical strength and hardness to withstand the loads of automated operations; good wear resistance; high temperature resistance; excellent electrical insulation to prevent electrostatic adsorption of dust; and a relatively smooth surface that is not easily damaged by the gauge blocks.

[0034] The three-axis pick-up mechanism 107 is the core motion component that enables precise placement of gauge blocks from the material tray 104. It is a miniaturized Cartesian coordinate robot, comprising three independently controllable linear motion units (X, Y, and Z axes) driven by servo or stepper motors. By controlling the coordinated motion of these three axes, the end of the mechanism, or through connectors, drives the vacuum suction module 113, enabling precise positioning of any specified gauge block on any material tray 104 within the hopper 106 and performing vertical placement and removal operations.

[0035] Guide rail 109: Mounted on bottom support plate 110, it provides a precise, smooth linear motion path from hopper 106 to transfer platform 114 for the vacuum suction module 113 or a small conveyor for carrying gauge blocks. Guide rail 109 utilizes high-precision linear guides and sliders to ensure positioning accuracy and stability during the conveying process. Bottom support plate 110 provides the guide rail's mounting surface.

[0036] Vacuum suction module 113: This module is integrated into the end of the three-axis retrieving mechanism 107 or moves as a separate unit on the guide rail 109. It contains a small vacuum nozzle and internal vacuum circuitry connected to an external vacuum generator. When the three-axis retrieving mechanism 107 positions the suction nozzle over the target gauge block, the vacuum suction module 113 activates, grasps the non-working surface of the gauge block with the suction nozzle, lifts it from the tray 104, and then transports it along the guide rail 109 to the transfer platform 114 for release. This non-contact suction method causes virtually no damage to the gauge block surface.

[0037] Transfer platform 114: This is a physical, fixed platform that serves as a transfer station between the automatic gauge block loading and unloading mechanism 1 and the robotic gripping mechanism 2. The loading and unloading mechanism places the selected gauge block on this platform for the robotic gripper to grasp. The platform surface should be flat, and the material should be selected to avoid damaging the gauge block and facilitate image acquisition by the vision positioning module.

[0038] Table panel 108: covers the guide rail 109, part of the transmission mechanism and other internal components, and plays the role of dust prevention, protection and beautification of the appearance.

[0039] Protective plate 111: installed above the silo 106 and between the guide rail 109, or other key positions on the conveying path, used to isolate moving parts or prevent the gauge block from falling or colliding with other parts due to accidents such as sudden stops or vibrations during the conveying process.

[0040] Table connecting plate 112: used to connect and fix the table panel 108 or other structural parts.

[0041] In this embodiment, the automatic loading and unloading mechanism 1 for gauge blocks is designed to have two or more units with approximately the same functions, which are used to store and manage standard gauge blocks and blocks to be measured, respectively, to ensure that the two are physically isolated, supplied on demand, and avoid confusion.

[0042] See also Figure 3 As shown, the detailed description of the robot gripping mechanism 2:

[0043] This mechanism is responsible for accurately grabbing the gauge block from the transfer platform 114 and delivering it to the subsequent measurement station or performing other designated operations. Its specific structure is as follows:

[0044] Robot arm base 201: provides a stable installation foundation for the entire robot arm grasping mechanism and is fixed on the equipment rack or the ground.

[0045] The robotic arm cantilever 202 is a core component for achieving complex spatial motion. This embodiment utilizes a collaborative industrial robot arm with six degrees of freedom. These six degrees of freedom are achieved by controlling the posture of the three base joints and the orientation of the end effector through three wrist joints. This allows the robot to flexibly reach any point within the workspace and grasp or place gauge blocks in any position, easily handling various directional movements and precise alignment requirements. Collaborative robot features also include force sensing and collision detection, which help ensure safety during potential contact with the environment or the operator.

[0046] Visual positioning module 208: This is the key to achieving intelligent and high-precision grasping. This module includes:

[0047] One or more high-resolution industrial cameras: This embodiment uses a black-and-white area array CCD or CMOS camera with a resolution of 3072 x 2048 pixels, or approximately 6 megapixels. This high resolution ensures clear imaging of small gauge blocks or subtle features on gauge blocks, enabling submillimeter or even micron-level positioning accuracy. Black-and-white cameras are chosen for their insensitivity to lighting variations and faster image processing. Color cameras can also be used in applications requiring color recognition.

[0048] Light source: A dedicated light source used with the camera, such as a ring LED light source, bar light source, or coaxial light source, provides uniform, shadow-free illumination to highlight the outline of the gauge block and facilitate image segmentation and feature extraction.

[0049] Image acquisition card, if the camera is not network-connected, and image processing software: run on a central control system or dedicated vision controller. The software algorithm is responsible for processing the images captured by the camera, identifying information such as the outline, center point coordinates, and long axis direction (i.e., attitude angle) of the gauge block on the transfer platform 114. It may also identify codes or markings on the gauge block to distinguish gauge blocks of different specifications or distinguish between standard gauge blocks and measured blocks. The visual positioning module 208 operates as follows: After the gauge block is placed on the transfer platform 114, the camera captures the image. The image processing system analyzes the image and outputs the precise position and posture data of the target gauge block to the robot controller, guiding the end effector of the robot cantilever 202 to accurately move to the target position.

[0050] End effector: mounted on the wrist flange of the robot cantilever 202, directly in contact with the gauge block. In this embodiment, the end effector integrates a variety of gripping and auxiliary components:

[0051] Vacuum cup 203: Negative pressure is generated and controlled by a vacuum generator system 204, including a vacuum pump / generator, filter, pressure regulating valve, solenoid control valve, and air pipe. The suction nozzle of vacuum cup 203 is made of a soft and wear-resistant material, such as nitrile rubber or silicone rubber, to conform to the surface of the gauge block, create a good airtight seal, and avoid scratching. This is the primary non-contact gripping method.

[0052] Thin Gripper 205: This pneumatic gripper, either a parallel opening or angled gripper, features extremely thin fingers for manipulating or gripping thin gauge blocks in confined spaces. The gripper is pneumatically actuated and offers adjustable gripping force. It is mounted on a gripper mounting plate 206, which may also integrate other sensors or tools. After the vacuum cups have picked up the gauge block, the Thin Gripper 205 provides side gripping for added stability, particularly when the robot is moving rapidly or needs to overcome resistance, such as when pushing a gauge block into a tight-fitting measuring slot.

[0053] Pusher Module 207: A small pneumatic or electric cylinder-driven push rod used to apply precise, controlled force to gauge blocks during specific processes. For example, when placing a gauge block on a specific datum surface of a measuring instrument, the pusher module gently pushes the block, ensuring a secure fit and eliminating gaps, thereby improving measurement accuracy.

[0054] The overall workflow of the present invention during actual use is as follows:

[0055] Step S1, task issuance: The operator selects the specifications and quantity of the gauge blocks to be calibrated through the human-machine interface, or the system automatically starts working according to the preset batch task.

[0056] Step S2, automatic loading: the central control system instructs the automatic loading and unloading mechanism 1 of the gauge block to start working.

[0057] The three-axis material picking mechanism 107 moves according to the instruction to the top of the material tray 104 where the target gauge block is stored, for example, a standard gauge block is first picked up.

[0058] The vacuum suction module 113 descends, and the suction nozzle contacts the surface of the gauge block and generates vacuum, sucking up the gauge block.

[0059] The three-axis material picking mechanism 107 transports the adsorbed gauge blocks along the guide rails 109 to a designated area of the transfer platform 114 and releases them.

[0060] If necessary, repeat this process to place the corresponding measured block in another designated area of the transfer platform 114 .

[0061] Step S3 , visual positioning and grasping: the visual positioning module 208 of the robot grasping mechanism 2 is started, and the camera captures an image of the transfer platform 114 .

[0062] The image processing system analyzes the image and identifies the precise position, X, Y coordinates, posture, and rotation angle of the standard block and the measured block.

[0063] The robot arm 202 drives its end effector, such as the vacuum suction cup 203, according to the coordinate and posture data provided by the vision system, and moves accurately to the top of the target gauge block, such as the standard gauge block.

[0064] The vacuum cup 203 descends to pick up the gauge block. The thin air gripper 205 can assist in gripping as needed.

[0065] Step S4, gauge block delivery and measurement: the robot arm 202 smoothly and accurately transports the grasped gauge block to the workbench or measurement point of the subsequent measuring instrument, such as a gauge block comparator.

[0066] If the measuring instrument has special alignment requirements, the pushing module 207 can assist in pushing the gauge block to a precise measuring position, wherein the measuring process is completed by the measuring instrument.

[0067] Step S5, gauge block recovery / unloading: After the measurement is completed, the robotic arm 202 retrieves the gauge block from the measuring instrument.

[0068] It is placed back into the designated recovery area of the transfer platform 114 , or directly delivered to a specific interface of the gauge block automatic loading and unloading mechanism 1 .

[0069] The three-axis material picking mechanism 107 of the automatic loading and unloading mechanism 1 of the gauge block cooperates with the vacuum suction module 113 to take the used gauge blocks away from the transfer platform 114, and according to the inspection results, the gauge blocks are qualified, unqualified, waiting for re-inspection, etc. This information needs to be fed back to the central control system by the measurement system and placed back into the raw material tray or the designated classification tray.

[0070] Step S6, loop operation: the system automatically repeats steps S2 to S5 until all preset verification tasks are completed.

[0071] The present invention realizes high automation, high precision and high reliability of gauge block feeding through the precise design of the above structure and process, and effectively solves various problems raised in the background technology.

[0072] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. For example, the specific implementation methods of the three-axis material picking mechanism can be diverse; the tools of the robot end effector can be further integrated or replaced according to the specific application scenario; the visual positioning system can adopt more advanced 3D vision technology, etc. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention, such as detailed adjustments to the specific shape, connection method, drive method and control logic of each component, as long as they do not deviate from the core idea of the technical solution of the present invention and the technical problems to be solved, should be included in the scope of protection of the present invention. Moreover, the contents not described in detail in this specification, such as standard electrical connections, pneumatic circuits, specific programming of the control system, etc., all fall within the scope of existing technologies or conventional experimental means known to professional and technical personnel in this field.

[0073] The above description is merely a preferred embodiment of the present invention and is intended to help understand the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art, within the technical scope disclosed by the present invention, and based on the technical solution and its core inventive concept, without expending any creative effort, may make obvious equivalent substitutions or adaptive changes to the technical solution, which shall be covered by the scope of protection of the present invention.

Claims

1. A gauge block automatic feeding device based on a robot, characterized in that: include: An automatic loading and unloading mechanism (1) for gauge blocks, the automatic loading and unloading mechanism (1) being adapted to automatically complete loading and unloading operations of measured blocks and standard gauge blocks according to a preset program and specification parameters of the gauge blocks, the automatic loading and unloading mechanism (1) comprising at least one silo (106) for storing gauge blocks of various specifications, a three-axis picking mechanism (107) for accurately selecting a specified gauge block from the silo (106), and a vacuum suction module (113) for sucking and transferring the gauge blocks to a transfer platform (114) in a non-contact manner under the drive of the three-axis picking mechanism (107); and a robot gripping mechanism (2), the robot gripping mechanism (2) comprising a multi-degree-of-freedom robot cantilever (202), an end effector, and a visual positioning module (208); the visual positioning module (208) is suitable for accurately positioning the measured block and the standard gauge block on the transfer platform (114), and guiding the robot cantilever (202) and the end effector to accurately grip the target gauge block for subsequent measurement or homing operations; The automatic loading and unloading mechanism (1) of the gauge blocks works in conjunction with the robot gripping mechanism (2) to realize a fully automated feeding process from orderly storage, precise selection, non-destructive loading, visual identification and positioning to automatic gripping of the gauge blocks, and is specifically used for unmanned and efficient feeding of precision gauge blocks.

2. The automatic gauge block feeding device based on a robot according to claim 1, characterized in that: The automatic loading and unloading mechanism (1) for gauge blocks further comprises: The lower frame (101) serves as the supporting base of the entire loading and unloading mechanism; The material bin (106) is equipped with an acrylic plate (102) and a loading rack door (103), forming a closed or semi-closed structure to reduce the impact of external environment such as dust on the cleanliness of the gauge block; The silo (106) is provided with a material rack (105), and a plurality of material trays (104) are provided on the material rack (105). The material trays (104) are used to store gauge blocks of different specifications or states in batches or by classification. The guide rail (109) is mounted on the bottom support plate (110) and cooperates with the vacuum material suction module (113) to form a precise and stable conveying channel for the gauge block from the material tray (104) in the material bin (106) to the transfer platform (114); The table panel (108) covers the guide rail (109) and other internal components to play a protective role; A protective plate (111) is provided between the silo (106) and the guide rail (109) or at a specific position to prevent accidental collision or interference of the gauge block during transportation.

3. The automatic gauge block feeding device based on a robot according to claim 1, characterized in that: The automatic gauge block loading and unloading mechanism (1) is configured to have a standard gauge block loading and unloading part and a measured block loading and unloading part with similar structures or corresponding functions, so as to realize the separate management, storage and orderly supply of the standard gauge block and the measured block.

4. The automatic gauge block feeding device based on a robot according to claim 1, characterized in that: The end effector of the robot gripping mechanism (2) comprises: A vacuum suction cup (203) generates negative pressure through a vacuum generator system (204) for sucking a target gauge block from the transfer platform (114); A thin air gripper (205) is mounted on the air gripper mounting plate (206) and is used to assist in clamping or accurately positioning the gauge block after suction to ensure gripping stability; The robot gripping mechanism (2) further comprises a pushing module (207), which is used to assist in pushing the gauge block in a specific process to meet the specific requirements of subsequent measuring equipment for the position or posture of the gauge block.

5. The automatic gauge block feeding device based on a robot according to claim 4, characterized in that: The robot cantilever (202) is a six-degree-of-freedom collaborative robot capable of achieving flexible grasping and placing actions in multiple directions and angles; the visual positioning module (208) uses a high-resolution industrial camera capable of identifying the precise position and posture of the gauge block and distinguishing between the standard gauge block and the measured block.

6. The automatic gauge block feeding device based on a robot according to claim 1, characterized in that: The three-axis material taking mechanism (107) can move in the three directions of X, Y, and Z, accurately locate at a designated position of any material tray (104) in the material bin (106), and drive the vacuum suction module (113) to perform material taking or discharging operations.

7. The automatic gauge block feeding device based on a robot according to claim 2, characterized in that: The material tray (104) is made of a material with sufficient hardness, high temperature resistance and insulation performance, such as bakelite, to protect the gauge block and maintain stability during automated operation.

8. The automatic gauge block feeding device based on a robot according to claim 1, characterized in that: The device further comprises a central control system, which is electrically connected to the driving components and sensors of the automatic gauge block loading and unloading mechanism (1) and the robot gripping mechanism (2), and coordinates and controls the entire automatic feeding process, including the selection, sorting, loading and unloading sequence of gauge blocks, robot gripping path planning, and interaction with subsequent measurement units, based on a preset gauge block detection process and real-time sensor information.

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