Aluminum alloy radiator automatic feeding and discharging and online detection integrated device and method

Abstract

The invention belongs to the technical field of material carrying robots, and particularly relates to an aluminum alloy radiator automatic feeding and discharging and on-line detection integrated device and method.The device comprises a mechanical arm used for feeding and discharging of workpieces and a controller electrically connected with the mechanical arm, and further comprises a driving element, a distance sensor, a controller electrically connected with the controller and a controller electrically connected with the controller, and the tail end of the mechanical arm is provided with a box body; the driving elements are arranged in the box body at intervals, the output end of each driving element is sequentially connected with a damper and a clamping jaw in the axial direction, and one end of each clamping jaw extends out of the box body; the first ratchets and the second ratchets are arranged on the two sides of the interior of the box body at intervals, and a calibration wheel is arranged between the two symmetrical second ratchets; in the detection mode, the clamping jaw clamps the workpiece. The detection mode and the calibration mode are switched, the workpiece geometric dimension detection action and the feeding and discharging action are fused, the workpiece does not need to be clamped repeatedly, and therefore the workpiece feeding and discharging continuity and efficiency are improved.

Description

Technical Field

[0001] This invention belongs to the field of material handling robot technology, specifically relating to an integrated device and method for automated loading and unloading and online detection of aluminum alloy radiators. Background Technology

[0002] Material handling robots, such as five-axis or six-axis robotic arms, replace traditional manual handling and simple mechanical assistance in the production of aluminum alloy radiators, greatly improving the efficiency, flexibility, and stability of the production line. Because the edges of aluminum alloy radiators are sharp, material handling robots are used to grip these workpieces, preventing hand injuries and improving the safety of loading and unloading aluminum alloy radiators.

[0003] During the processing of aluminum alloy radiators, residual iron filings on the surface of the workpiece (referring to the aluminum alloy radiator) are removed by a CNC machining center. These filings are then automatically loaded and unloaded by a material handling robot and immersed in a water tank to remove the iron filings. After cleaning, the workpiece dimensions are measured using vernier calipers to reject any workpieces that do not meet the dimensional requirements.

[0004] During the loading and unloading process of this workpiece, the staff often manually inspects the workpiece's geometric dimensions, which is difficult to integrate with the loading and unloading actions of the material handling robot. This requires the material handling robot to repeatedly clamp the workpiece, which is not conducive to improving the continuity of the material handling robot's loading and unloading of this workpiece and affects the efficiency of the workpiece loading and unloading. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated device and method for automated loading and unloading and online inspection of aluminum alloy heat sinks. It can switch between inspection mode and calibration mode, and integrate the inspection action of workpiece geometry with the loading and unloading action, eliminating the need to repeatedly clamp the workpiece, thereby improving the continuity and efficiency of workpiece loading and unloading.

[0006] The specific technical solution adopted by this invention is as follows: An integrated automated loading, unloading, and online inspection device for aluminum alloy radiators includes a robotic arm for loading and unloading workpieces and a controller electrically connected to the robotic arm. The robotic arm has a housing at its end. The device also includes: A drive element and a distance sensor are spaced apart inside the housing. A damper and a gripper are sequentially connected to the output end of the drive element along its axial direction. One end of the gripper extends out of the housing. The first ratchet and the second ratchet are spaced apart on both sides of the inside of the housing, and a calibration wheel is provided between the two symmetrical second ratchets. In the detection mode, the gripper holds the workpiece, and the distance sensor detects the distance data between the workpiece and the gripper. The difference between different distance data is used to reflect the geometric dimensions of the workpiece. In calibration mode, the drive element pushes the gripper. When the gripper contacts the calibration wheel, under the unidirectional damping action of the first and second ratchet teeth, the gripper moves to a position projected onto the central axis of the calibration wheel to complete the calibration target.

[0007] As an optional solution, a connecting shaft is installed in the middle of the calibration wheel along its axial direction, and the two ends of the connecting shaft are respectively connected to adjacent second ratchet teeth. Multiple third ratchet teeth and strain holes located inside the third ratchet teeth are distributed in a circumferential array on the outer side of the calibration wheel. In calibration mode, the third ratchet is used to intermittently contact the top of the gripper. When some of the third ratchet is compressed, it deforms into the strain hole to achieve unloading function and prevent interference between the outer side of the calibration wheel and the top of the gripper.

[0008] As an alternative, the top of the gripper has an arc-shaped tip near the calibration wheel, and the other side has a reflective surface facing the distance sensor. When the calibration wheel rotates, the arc surface of the claw tip contacts the outer side of the third ratchet to adapt to the third ratchet after the posture change. At the same time, the reflective surface remains facing the distance sensor.

[0009] As an optional solution, the housing has an internal cavity for accommodating the drive element and the distance sensor, and the bottom of the housing has an external sliding groove that communicates with the internal cavity. One end of the gripper extends out of the housing through the external sliding groove. When the drive element is activated, the outer groove is used to limit the gripper.

[0010] As an optional solution, two elastic sealing membranes are fixedly spaced inside the outer slide groove. Both elastic sealing membranes are annular, and the inner sides of the two elastic sealing membranes are fixed to the outer sides of the clamps to prevent external water from entering the outer slide groove. The space between the two elastic sealing membranes is filled with a filling medium, which is spherical particles.

[0011] As an alternative, the filling medium is water-absorbing resin particles, water-swellable waterproof sealant particles, or modified organosilicon particles. When the two elastic sealing membranes leak locally, the water-absorbing resin particles and water-swellable sealing putty particles absorb water and expand to block the gap between the two elastic sealing membranes. The modified organosilicon particles are used to block external water and iron filings.

[0012] As an optional solution, a connecting plate is installed between the output end of the drive element and one end of the damper, and the number of the housings is set to two, with each housing configured with two sets of grippers; During loading and unloading, the two sets of grippers hold the workpiece respectively, and the two sets of grippers maintain a distance through a connecting plate to prevent interference.

[0013] As an optional solution, a guide rail that passes through the gripper is fixed inside the outer groove, and the guide rail is located on the side of the two elastic sealing membranes near the inner cavity. When the drive element is activated, the central axis of the guide rail is parallel to the central axis of the output end of the drive element, so that the gripper can slide along the guide rail.

[0014] As an optional solution, both sides of the housing are fixed with seat rings, and a plurality of first ratchet teeth are distributed in a circumferential array on the inner side of the seat rings. A flange is inserted inside the seat rings, and a plurality of second ratchet teeth are distributed in a circumferential array on the outer side of the flange. When the calibration wheel rotates, the flange drives the second ratchet to slide along the outside of the first ratchet. The friction between the first and second ratchets provides tangential resistance to the calibration wheel, thereby limiting the position of the gripper in calibration mode.

[0015] An online inspection method for aluminum alloy heat sinks, applied to the aforementioned integrated automated loading and unloading and online inspection device, includes the following steps: Workpiece clamping: The robot arm moves two sets of grippers under the control of a preset program to clamp a workpiece on a feeding conveyor belt; Workpiece cleaning: The robot arm puts the workpiece into the water tank and swings it left and right, causing the iron filings to detach from the workpiece under the action of inertia. The workpiece is cleaned by swinging until it is cleaned. Then the robot arm removes the workpiece from the water tank. Data acquisition: After the robotic arm removes the workpiece from the water tank, it controls the gripper to further clamp the workpiece until the clamping force of the workpiece reaches the process setting range, and enters the detection mode. The distance sensor detects the distance data between the workpiece and the gripper. Physical inspection: Target values ​​are calculated based on the distance data, and thresholds are set to evaluate the parallelism and flatness of the two sides of the workpiece. If the target value for parallelism or the target value for flatness exceeds the threshold, it is unqualified; if the target value for parallelism or the target value for flatness does not exceed the threshold, it is qualified. Workpiece sorting: After inspection, the robot places workpieces that meet the requirements for parallelism and flatness onto a feeding conveyor belt, while workpieces that fail to meet at least one of the requirements for parallelism and flatness are placed in the workpiece recycling station. Calibration: After the robot moves a specified number of workpieces, the drive element pushes the grippers away from each other until the output end of the drive element extends to a preset length. Under the unidirectional damping action of the first and second ratchet teeth, the grippers contact the calibration wheel. When the distance data monitored by all distance sensors reaches the calibration range, the extension point of the drive element is set as the current calibration point, and the calibration action ends.

[0016] The technical effects achieved by this invention are as follows: 1. In the process of processing aluminum alloy radiator workpieces, the present invention replaces the traditional manual loading and unloading method with a robotic arm, which can switch between detection mode and calibration mode, and integrates the detection action of workpiece geometry with the loading and unloading action, eliminating the need to repeatedly clamp the workpiece, thereby improving the continuity and efficiency of workpiece loading and unloading.

[0017] 2. In the detection mode of this invention, a distance sensor detects the distance data between itself and the gripper, and calculates the parallelism and flatness of both sides of the workpiece based on the distance data. For parallelism, a point-to-point parallelism value is calculated, and a parallelism threshold is set to determine whether the point-to-point parallelism value exceeds the parallelism threshold. For flatness, a single-sided flatness value is calculated, and a flatness threshold is set to determine whether the single-sided flatness value exceeds the flatness threshold. Based on the determination result, qualified products and unqualified products are classified.

[0018] 3. In the calibration mode of this invention, the gripper contacts the calibration wheel and achieves tangential elastic damping through the unidirectional damping action of the first and second ratchet teeth, further adjusting the gripper position until the distance data monitored by all distance sensors reaches the calibration range. The extension point of the drive element is set as the current calibration point, so that all grippers can maintain the same initial clamping force range, thereby improving the detection accuracy of workpiece geometry. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the integrated automated loading and unloading and online inspection device in Embodiment 1 of the present invention; Figure 2 This is a cross-sectional view of the box body in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the structure of the driving element in the retracted state in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the gripper structure in Embodiment 1 of the present invention; Figure 5 This is a side view of the connecting shaft in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the calibration wheel in Embodiment 1 of the present invention; Figure 7 This is a side view of the seat ring in Embodiment 1 of the present invention; Figure 8 This is the invention Figure 2 Enlarged view of point A in the middle; Figure 9 This is a system block diagram of the controller controlling the signal transmission state in Embodiment 1 of the present invention; Figure 10This is a flowchart of the online detection method in Embodiment 2 of the present invention.

[0020] The attached diagram lists the components represented by each number as follows: 1. Conveyor belt; 2. Water tank; 3. Robotic arm; 4. Controller; 5. Mounting flange; 6. Housing; 7. Inner chamber; 8. Outer slide; 9. Drive element; 10. Distance sensor; 11. Connecting plate; 12. Damper; 13. Gripper; 14. Guide rail; 15. Elastic sealing membrane; 16. Filling medium; 17. Seat ring; 18. First ratchet; 19. Flange; 20. Second ratchet; 21. Connecting shaft; 22. Calibration wheel; 23. Third ratchet; 24. Strain gauge hole. Detailed Implementation

[0021] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention. Example

[0022] like Figures 1-9 As shown, the integrated automated loading, unloading, and online inspection device for aluminum alloy radiators includes a conveyor belt 1, a water tank 2, and a robotic arm 3 arranged at intervals. Two conveyor belts 1 are used for loading and unloading workpieces, respectively. The robotic arm 3 has a flange plate 5 and two housings 6 bolted to its end. Each housing 6 contains two sets of grippers 13 for holding workpieces, with one end of each gripper 13 extending out of the housing 6. A controller 4 is also included. During operation, the controller 4 is electrically connected to the drive motor of the conveyor belt 1 and the robotic arm 3. Under a preset program, the controller 4 controls the two sets of grippers 13 on a designated housing 6 to hold a workpiece on one loading conveyor belt 1. The workpiece is then placed into the water tank 2 by the robotic arm 3 until it is cleaned by swinging. The robotic arm 3 then places the cleaned workpiece onto the other unloading conveyor belt 1, thus achieving automatic cleaning and loading / unloading of iron filings during the aluminum alloy radiator processing.

[0023] As an optional embodiment, the conveyor belt 1 can be a belt-type conveyor belt or a chain-type conveyor belt. The conveyor belt 1 is preferably a chain-type conveyor belt, which allows water to leak through the gaps in the chain plates, facilitating the drying of the workpiece. The robot 3 can be a five-axis robot or a six-axis robot, with the robot 3 preferably being a five-axis robot. The five-axis robot can swing to clean the workpiece, and the programming difficulty of the five-axis robot is lower than that of the six-axis robot, thus achieving the goal of reducing costs.

[0024] See attached document Figure 2 and Figure 3The box body 6 has an inner cavity 7 inside, and an outer sliding groove 8 communicating with the inner cavity 7 is opened at the bottom of the box body 6. The outer sliding groove 8 is set in two sets, with four outer sliding grooves 8 in each set spaced apart in the box body 6, for limiting the gripper 13. During operation, one end of the gripper 13 extends out of the box body 6 through the outer sliding groove 8, and the two sets of grippers 13 are in the open state to lock the workpiece, and the two sets of grippers 13 are in the closed state to hold the workpiece.

[0025] See attached document Figure 1 , Figure 2 and Figure 3 A connecting plate 11 is bolted between the output end of the drive element 9 and one end of the damper 12, and the other end of the damper 12 is welded to one side of the gripper 13. During loading and unloading, two sets of grippers 13 clamp the workpiece respectively. The two sets of grippers 13 maintain a distance through the connecting plate 11. At the same time, the connecting plate 11 slides along the extension and retraction direction of the output end of the drive element 9 to limit the damper 12 and prevent the two sets of grippers 13 from interfering.

[0026] See attached document Figure 2 and Figure 8 The guide rail 14 that passes through the gripper 13 is fixed inside the outer slide groove 8 by a nut. The central axis of the guide rail 14 is parallel to the central axis of the output end of the drive element 9. When the drive element 9 is started, it is used to slide the gripper 13 along the guide rail 14 to prevent the gripper 13 from tilting.

[0027] See attached document Figure 2 and Figure 8 Two elastic sealing films 15 are bonded to the inside of the outer slide groove 8 at intervals. Both elastic sealing films 15 are annular. The guide rail 14 is located on the side of the two elastic sealing films 15 close to the inner cavity 7 to realize the waterproof function of the guide rail 14. The inner side of the two elastic sealing films 15 is bonded to the outer side of the clamp 13 to prevent external water from entering the outer slide groove 8. Meanwhile, a filling medium 16 is provided between the two elastic sealing membranes 15. The filling medium 16 is spherical particles used to separate the two elastic sealing membranes 15. When iron filings scratch one of the outer elastic sealing membranes 15, the spherical particles of the filling medium 16 absorb water and expand, separating the iron filings on the outer surface of the other elastic sealing membrane 15, thus protecting the other elastic sealing membrane 15.

[0028] As an optional embodiment, the elastic sealing membrane 15 is made of an oily film. While providing waterproofing, its oily surface has less friction with iron filings, which can reduce the wear of the outer elastic sealing membrane 15 by iron filings and greatly extend its service life. The filling medium 16 is water-absorbing resin particles, water-swellable waterproofing putty particles, or modified organosilicon particles. When the two elastic sealing membranes 15 leak locally, the water-absorbing resin particles and water-swellable sealing putty particles (made of polyurethane prepolymer or acrylic polymer material) absorb water and expand to block the gap between the two elastic sealing membranes 15. The modified organosilicon particles (made by uniformly dispersing highly absorbent resin particles in liquid silicone rubber or compounded silicone rubber) are used to block external water and iron filings, and have a certain degree of freedom to avoid obstructing the movement of the gripper 13.

[0029] After the workpiece is cleaned, the robot arm 3 enters the inspection mode to check the workpiece's geometric dimensions. Workpieces whose inspection results meet the process standards are considered qualified products, while those whose results do not meet the process standards are considered unqualified products. These geometric dimensions include the parallelism of the two sides of the workpiece held by the gripper 13 and the flatness of each side. After inspecting a specified number of workpieces, the robot arm 3 enters the calibration mode to adjust the position of the gripper 13 in the open state, thus maintaining inspection accuracy.

[0030] See attached document Figure 2 , Figure 3 and Figure 9 Inside the housing 6, drive elements 9 and distance sensors 10 are arranged at intervals by screws. Four drive elements 9 and four distance sensors 10 are installed on one side of an inner cavity 7. The output end of the drive element 9 is connected to the damper 12 and the gripper 13 in sequence along its axis. When working, the drive element 9 provides power for the gripper 13 to move. When the output end of the drive element 9 extends, the two sets of grippers 13 are in the open state and can hold the workpiece. When the output end of the drive element 9 retracts, the two sets of grippers 13 are in the closed state, and the grippers 13 hold the workpiece. At the same time, the drive element 9 continuously stretches the damper 12 to provide a locking force, so that the grippers 13 bite the workpiece and prevent the workpiece from slipping out.

[0031] As an optional embodiment, the contact surface between the gripper 13 and the workpiece is glued with a sheet pressure sensor. This sheet pressure sensor is electrically connected to the controller 4 and is used to monitor the clamping force of the workpiece until the clamping force reaches the process setting range. At this point, the drive element 9 stops extending and retracting to maintain the clamping state.

[0032] In detection mode, gripper 13 holds the workpiece, and distance sensor 10 detects the distance data between the workpiece and gripper 13. (See [link]) Figure 2 and Figure 3 The distance data of the two sets of grippers 13 corresponding to the distance sensor 10 are respectively recorded as follows: , , , and , , , Based on this distance data, the parallelism and flatness of the two sides of the workpiece are calculated respectively. Regarding parallelism, this embodiment calculates... , , and The point-to-point parallelism value, and a parallelism threshold is set. The parallelism of a workpiece is determined by checking whether the point-to-point parallelism value exceeds the parallelism threshold. If at least one point-to-point parallelism value exceeds the parallelism threshold, the parallelism of the corresponding workpiece is unqualified. Conversely, if none of the point-to-point parallelism values ​​exceed the parallelism threshold, the parallelism of the corresponding workpiece is qualified. Regarding flatness, this embodiment calculates... , , The single-sided flatness value, and a flatness threshold is set. The flatness value of a single side is determined to be within the flatness threshold. If at least one single side flatness value exceeds the flatness threshold, the flatness of the corresponding workpiece is unqualified; otherwise, if none of the single side flatness values ​​exceed the flatness threshold, the flatness of the corresponding workpiece is qualified.

[0033] As an optional embodiment, after the inspection is completed, the robot 3 places the workpieces that meet the requirements for parallelism and flatness onto a feeding conveyor belt 1, while the workpieces that fail to meet at least one requirement for parallelism and flatness are placed in the workpiece recycling station.

[0034] See attached document Figure 2 , Figure 5 and Figure 7 A connecting shaft 21 is rotatably installed between the two sides inside the housing 6. Eleven calibration wheels 22 and two flanges 19 are fixed on the outside of the connecting shaft 21 from the middle to both sides. Each of the two flanges 19 is fitted with a seat ring 17 that connects to the inside of the inner cavity 7. When the calibration wheel 22 is pushed by the gripper 13, it drives the connecting shaft 21 and the two flanges 19 to rotate. Meanwhile, the inner side of the seat ring 17 is integrally milled and formed with eighteen first ratchet teeth 18, and the outer sides of the two flanges 19 are integrally milled and formed with nine second ratchet teeth 20. Since the first ratchet teeth 18 and the second ratchet teeth 20 are both arc-shaped, the friction force when the second ratchet teeth 20 contact the first ratchet teeth 18 can be used to calibrate the tangential resistance of the wheel 22 and realize the elastic damping function. In calibration mode, the drive element 9 pushes the grippers 13 away from each other until the output end of the drive element 9 extends to a preset length. The grippers 13 contact the calibration wheel 22. Under the unidirectional damping action of the first ratchet 18 and the second ratchet 20, the grippers 13 move to a position projected onto the central axis of the calibration wheel 22 to complete the calibration target. When the distance data monitored by at least one distance sensor 10 reaches the calibration range, the output end of the drive element 9 stops. Simultaneously, the drive element 9 corresponding to the remaining distance sensor 10 briefly extends, pushing the adjacent gripper 13 to compress the damper 12, and the gripper 13 gradually contacts the calibration wheel 22. When the distance data monitored by all distance sensors 10 reaches the calibration range, the extension point of the drive element 9 is set to the current calibration point, so that all grippers 13 can maintain the same initial clamping force range, thereby improving the detection accuracy of workpiece geometry.

[0035] See attached document Figure 2 , Figure 5 and Figure 7 The two seat rings 17 are fixed to the two sides inside the housing 6 by bolts. When disassembling the two seat rings 17, the bolts are unscrewed and the two can be easily removed.

[0036] See attached document Figure 5 , Figure 6 and Figure 7 The calibration wheel 22 has multiple third ratchet teeth 23 arranged in a circumferential array on its outer side, as well as strain holes 24 located inside the third ratchet teeth 23. In calibration mode, the third ratchet 23 is used to intermittently contact the top of the gripper 13. When some of the third ratchet 23 is compressed, it deforms into the strain hole 24 to achieve the unloading function and prevent interference between the outer side of the calibration wheel 22 and the top of the gripper 13. When the third ratchet 23 deforms, the outer side of the third ratchet 23 continues to contact the top of the gripper 13, ensuring the continuity of the frictional force between them.

[0037] See attached document Figure 3 , Figure 4 and Figure 6 The top of the gripper 13 has an arc-shaped tip near the calibration wheel 22, and the other side has a reflective surface facing the distance sensor 10. When the calibration wheel 22 rotates, the arc surface of the gripper 13 tip contacts the outside of the third ratchet 23 to adapt to the third ratchet 23 after the attitude change, so as to achieve the continuity of the contact process and ensure that the gripper 13 is continuously subjected to unidirectional damping. Meanwhile, the reflective surface is positioned directly opposite the distance sensor 10, and its surface is coated with a high-reflectivity silver ion coating to reflect the light beam from the distance sensor 10, thereby ensuring the continuity of distance detection by the distance sensor 10. Example

[0038] like Figure 10 As shown, the online inspection method for aluminum alloy radiators is applied to the integrated automated loading and unloading and online inspection device for aluminum alloy radiators provided in Example 1. The online inspection method includes the following steps: Workpiece clamping: Under the action of the preset program, the controller 4 controls the robot arm 3 to move two sets of grippers 13 to clamp a workpiece on the feeding conveyor belt 1; Workpiece cleaning: The robot arm 3 puts the workpiece into the water tank 2 and swings it left and right twice to make the iron filings detach from the workpiece under the action of inertia until the workpiece is cleaned by swinging. Then the robot arm 3 removes the workpiece from the water tank 2. Data Acquisition: After the robotic arm 3 removes the workpiece from the water tank 2, it controls the gripper 13 to further clamp the workpiece until the plate pressure sensor detects that the clamping force of the workpiece reaches the process setting range. Then, it enters the detection mode, and the distance sensor 10 detects the distance data between itself and the gripper 13. (See [link to relevant documentation]). Figure 2 and Figure 3 The distance data of the two sets of grippers 13 corresponding to the distance sensor 10 are respectively recorded as follows: , , , and , , , ; Physical inspection: Based on this distance data, calculate the parallelism and flatness of both sides of the workpiece. Regarding parallelism, this embodiment calculates... , , and The point-to-point parallelism value, and a parallelism threshold is set. The parallelism of a workpiece is determined by checking whether the point-to-point parallelism value exceeds the parallelism threshold. If at least one point-to-point parallelism value exceeds the parallelism threshold, the parallelism of the corresponding workpiece is unqualified. Conversely, if none of the point-to-point parallelism values ​​exceed the parallelism threshold, the parallelism of the corresponding workpiece is qualified. Regarding flatness, this embodiment calculates... , , The single-sided flatness value, and a flatness threshold is set. The flatness value of a single side is determined to be within the flatness threshold. If at least one single side flatness value exceeds the flatness threshold, the flatness of the corresponding workpiece is unqualified; otherwise, if none of the single side flatness values ​​exceed the flatness threshold, the flatness of the corresponding workpiece is qualified. Workpiece screening: After the machine finishes inspection, the robot 3 places the workpieces that meet the requirements for parallelism and flatness on a feeding conveyor belt 1, while the workpieces that fail to meet at least one requirement for parallelism and flatness are placed in the workpiece recycling station. Calibration: The drive element 9 pushes the grippers 13 away from each other until the output end of the drive element 9 extends to a preset length. The grippers 13 contact the calibration wheel 22. Under the unidirectional damping action of the first ratchet 18 and the second ratchet 20, the grippers 13 move to a position projected onto the central axis of the calibration wheel 22 to complete the calibration target. When the distance data monitored by at least one distance sensor 10 reaches the calibration range, the output end of the drive element 9 stops. Simultaneously, the drive element 9 corresponding to the remaining distance sensor 10 briefly extends, pushing the adjacent gripper 13 to compress the damper 12, and the gripper 13 gradually contacts the calibration wheel 22. When the distance data monitored by all distance sensors 10 reaches the calibration range, the extension point of the drive element 9 is set to the current calibration point, so that all grippers 13 can maintain the same initial clamping force range, thereby improving the detection accuracy of workpiece geometry.

[0039] In summary, this invention allows switching between detection and calibration modes, integrating the detection of workpiece geometry with loading and unloading operations, eliminating the need for repeated clamping of the workpiece, thereby improving the continuity and efficiency of workpiece loading and unloading.

[0040] The above description is merely an optional embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. An integrated device for automated loading and unloading and online inspection of aluminum alloy radiators, comprising a robotic arm (3) for loading and unloading workpieces and a controller (4) electrically connected to the robotic arm (3), wherein the end of the robotic arm (3) is provided with a housing (6), characterized in that, Also includes: A drive element (9) and a distance sensor (10) are spaced apart inside the housing (6). The output end of the drive element (9) is connected in sequence to a damper (12) and a gripper (13) along its axial direction. One end of the gripper (13) extends out of the housing (6). The first ratchet (18) and the second ratchet (20) are spaced apart on both sides inside the housing (6), and a calibration wheel (22) is provided between the two symmetrical second ratchets (20). In the detection mode, the gripper (13) holds the workpiece, and the distance sensor (10) detects the distance data between itself and the gripper (13). The difference between different distance data is used to reflect the geometric dimensions of the workpiece. In calibration mode, the driving element (9) pushes the gripper (13). When the gripper (13) contacts the calibration wheel (22), under the unidirectional damping action of the first ratchet (18) and the second ratchet (20), the gripper (13) moves to a position projected onto the central axis of the calibration wheel (22) to complete the calibration target.

2. The automated loading / unloading and online inspection integrated device according to claim 1, characterized in that: The calibration wheel (22) has a connecting shaft (21) installed in the middle along its axial direction. The two ends of the connecting shaft (21) are respectively connected to the adjacent second ratchet (20). The calibration wheel (22) has multiple third ratchets (23) arranged in a circumferential array on its outer side, as well as strain holes (24) located inside the third ratchet (23). In the calibration mode, the third ratchet (23) is used to intermittently contact the top of the gripper (13). When part of the third ratchet (23) is compressed, it deforms into the strain hole (24) to achieve the unloading function and prevent interference between the outer side of the calibration wheel (22) and the top of the gripper (13).

3. The automated loading / unloading and online inspection integrated device according to claim 2, characterized in that: The top of the gripper (13) near the calibration wheel (22) has an arc-shaped tip, and the other side has a reflective surface facing the distance sensor (10); When the calibration wheel (22) rotates, the arc surface of the tip of the gripper (13) contacts the outside of the third ratchet (23) to adapt to the third ratchet (23) after the posture change. At the same time, the reflective surface is in a state of facing the distance sensor (10).

4. The integrated automated loading / unloading and online inspection device according to claim 1, characterized in that: The housing (6) has an inner cavity (7) for accommodating the drive element (9) and the distance sensor (10). The bottom of the housing (6) has an outer groove (8) that communicates with the inner cavity (7). One end of the gripper (13) extends out of the housing (6) through the outer groove (8). When the driving element (9) is started, the outer groove (8) is used to limit the gripper (13).

5. The automated loading / unloading and online inspection integrated device according to claim 4, characterized in that: The outer groove (8) has two elastic sealing membranes (15) fixed at intervals inside. Both elastic sealing membranes (15) are annular. The inner sides of the two elastic sealing membranes (15) are fixed to the outer side of the clamp (13) to prevent external water from entering the outer groove (8). The space between the two elastic sealing membranes (15) is provided with a filling medium (16), which is spherical particles.

6. The automated loading / unloading and online inspection integrated device according to claim 5, characterized in that: The filling medium (16) is water-absorbing resin particles, water-swellable waterproof sealant particles, or modified organosilicon particles. When the two elastic sealing membranes (15) leak water locally, the water-absorbing resin particles and water-swellable sealing putty particles absorb water and expand to block the gap between the two elastic sealing membranes (15). The modified organosilicon particles are used to block external water and iron filings.

7. The integrated automated loading / unloading and online inspection device according to claim 1, characterized in that: A connecting plate (11) is installed between the output end of the drive element (9) and one end of the damper (12). The number of the housings (6) is set to two, and each housing (6) is equipped with two sets of grippers (13). During loading and unloading, the two sets of grippers (13) clamp the workpiece respectively, and the two sets of grippers (13) maintain a distance through the connecting plate (11) to prevent interference.

8. The integrated automated loading / unloading and online inspection device according to claim 5, characterized in that: The outer groove (8) is fixed with a guide rail (14) that passes through the gripper (13). The guide rail (14) is located on the side of the two elastic sealing membranes (15) near the inner cavity (7). When the drive element (9) is started, the central axis of the guide rail (14) is parallel to the central axis of the output end of the drive element (9), so that the gripper (13) can slide along the guide rail (14).

9. The integrated automated loading / unloading and online inspection device according to claim 1, characterized in that: Both sides of the housing (6) are fixed with seat rings (17), and multiple first ratchet teeth (18) are arranged in a circumferential array on the inner side of the seat rings (17). A flange (19) is inserted inside the seat rings (17), and multiple second ratchet teeth (20) are arranged in a circumferential array on the outer side of the flange (19). When the calibration wheel (22) rotates, the flange (19) drives the second ratchet (20) to slide along the outside of the first ratchet (18). The friction between the first ratchet (18) and the second ratchet (20) is used to provide tangential resistance to the calibration wheel (22) and realize the limiting function of the gripper (13) in the calibration mode.

10. An online inspection method for aluminum alloy heat sinks, applied to the automated loading / unloading and online inspection integrated device as described in any one of claims 1-9, characterized in that, The online detection method includes the following steps: Workpiece clamping: The robot (3) moves two sets of grippers (13) under the control of a preset program to clamp a workpiece on a feeding conveyor belt (1); Workpiece cleaning: The robot (3) puts the workpiece into the water in the water tank (2) and swings it left and right, so that the iron filings are removed from the workpiece under the action of inertia until the workpiece is cleaned by swinging. Then the robot (3) removes the workpiece from the water tank (2). Data acquisition: After the robot (3) removes the workpiece from the water tank (2), it controls the gripper (13) to further clamp the workpiece until the clamping force of the workpiece reaches the process setting range, and enters the detection mode. The distance sensor (10) detects the distance data between itself and the gripper (13). Physical inspection: Target values ​​are calculated based on the distance data, and thresholds are set to evaluate the parallelism and flatness of the two sides of the workpiece. If the target value for parallelism or the target value for flatness exceeds the threshold, it is unqualified; if the target value for parallelism or the target value for flatness does not exceed the threshold, it is qualified. Workpiece screening: After the inspection is completed, the robot (3) places the workpieces that are qualified in both parallelism and flatness on a feeding conveyor belt (1), while the workpieces that are unqualified in at least one of parallelism and flatness are placed in the workpiece recycling station. Calibration: After the robot (3) moves a specified number of workpieces, the drive element (9) pushes the gripper (13) away from each other until the output end of the drive element (9) extends to the preset length. Under the unidirectional damping action of the first ratchet (18) and the second ratchet (20), the gripper (13) contacts the calibration wheel (22). When the distance data monitored by all distance sensors (10) reaches the calibration range, the extension point of the drive element (9) is set as the current calibration point.

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