Eddy current automatic detection feeding manipulator

Abstract

The invention relates to the technical field of mechanical arms, and discloses an eddy current automatic detection feeding mechanical arm which comprises a support and a mechanical arm body installed on the support, and a positioning assembly is installed at the output end of the mechanical arm body. By means of the rotatable design and action linkage of the eddy current detection contact, dual quality detection of the end and the side wall of the workpiece is achieved, in the initial working stage, the initial posture of the eddy current detection contact is aligned with the end face of the workpiece, initial quality screening of the end of the workpiece can be rapidly completed, the workpiece with defects at the end is efficiently removed, and the working efficiency is improved. Ineffective procedures such as subsequent clamping and transferring are reduced; in the downward moving and horizontal sliding process of the clamping plate, the eddy current detection contact rotates by 90 degrees and is switched to the position corresponding to the side wall of the workpiece, the tight attaching effect brought by clamping of the clamping plate is matched, secondary accurate detection on the side wall of the workpiece is achieved, key stress and the appearance face of the workpiece are covered through double detection, defect omission caused by single detection is effectively avoided, and the detection efficiency is improved. And the completeness and accuracy of workpiece quality screening are obviously improved.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically, it relates to an eddy current automatic detection and feeding robotic arm. Background Technology

[0002] In high-precision manufacturing fields such as machinery manufacturing and automotive parts processing, workpiece quality inspection and automated loading are core processes to ensure production line efficiency and product qualification rates. Eddy current testing technology, due to its advantages of non-contact operation, fast response, and high precision, is widely used in the inspection of surface and internal defects of workpieces. It is often combined with robotic arms to form automated inspection and loading equipment to replace manual operation, reduce labor costs, and improve operational stability.

[0003] However, existing eddy current automatic detection and feeding robots still have some problems in practical applications. Traditional equipment can only detect a single surface of the workpiece and cannot simultaneously cover multiple stress surfaces of the workpiece. During the processing of the workpiece, the stress surfaces may develop defects such as cracks, inclusions, and wear. Single-dimensional detection is very likely to miss defects, which will cause unqualified workpieces to flow into subsequent processes and affect the quality of the final product.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows: An automatic eddy current detection and feeding robot includes a support and a robot arm mounted on the support, with a positioning component installed at the output end of the robot arm.

[0006] The positioning assembly includes an end effector housing, a vision camera is mounted on the bottom of the end effector housing for detecting the position of the workpiece, and a pair of eddy current detection contacts are rotatably mounted on the side wall of the end effector housing. The eddy current detection contacts are adapted to the top of the workpiece and are used to detect the quality of the workpiece. The end effector housing has a turntable rotatably mounted inside. A timing frame is vertically inserted into the end effector housing. A clamping plate is horizontally slidable on the timing frame. A pair of ramps are mounted on the turntable. A pair of protrusions are mounted on the outer wall of the turntable. The ramps and protrusions are staggered and correspond to each other. The ramps rotate to drive the timing frame and clamping plate to slide vertically downward. The protrusions are used to lift and lower the clamping plate to slide horizontally and to clamp and position the workpiece. After the synchronous frame moves down, it drives the eddy current detection contact to rotate 90 degrees and align with the clamping plate, thereby clamping and positioning the workpiece, and the eddy current detection contact detects the side wall of the workpiece.

[0007] In a preferred embodiment of the present invention, the support includes a base plate, a connecting plate, and a mounting plate. The base plate has four positioning holes around its perimeter, which facilitate the connection between the base plate and external connectors. A pair of connecting plates are mounted on the base plate, and a mounting plate is mounted on the top of the connecting plates. The top of the mounting plate is connected to the robot arm base.

[0008] In a preferred embodiment of the present invention, the end effector housing has an inner cavity, and the turntable, the synchronizing frame and the clamping plate are placed in the inner cavity. The end effector housing is provided with a cover plate, which covers the outer wall of the inner cavity.

[0009] In a preferred embodiment of the present invention, a drive motor is installed inside the housing of the end effector, and a drive shaft is installed at the output end of the drive motor. The rotation center of the drive shaft is connected to the center of the turntable. The drive motor is used to drive the turntable to rotate. The manipulator, eddy current detection contact, vision camera, and drive motor are electrically connected to the controller.

[0010] In a preferred embodiment of the present invention, a limiting rod is vertically installed through both ends of the synchronizing frame. The top of the limiting rod is installed on the end effector housing, and a limiting plate is installed at the bottom of the limiting rod. The diameter of the limiting plate is larger than the diameter of the limiting rod. A compression spring is sleeved on the limiting rod. One end of the compression spring is engaged with the surface of the synchronizing frame, and the other end of the compression spring is engaged with the end effector housing.

[0011] In a preferred embodiment of the present invention, two top rods are installed at the bottom of the synchronization frame, and ball bearings are installed at the bottom of the top rods. The ball bearings are slidably connected to the slope surface, and the compression spring is used to drive the ball bearings to always be in close contact with the slope surface.

[0012] In a preferred embodiment of the present invention, the end effector housing has a groove, and the clamping plate is slidably disposed inside the groove.

[0013] In a preferred embodiment of the present invention, slides are installed at both ends of the clamping plate, a positioning rod is installed through the slide, a positioning seat is installed at the end of the positioning rod, the positioning seat is installed on the side wall of the synchronous frame, a positioning spring is sleeved on the positioning rod, one end of the positioning spring is engaged with the side wall of the positioning seat, and the other end of the positioning spring is engaged with the side wall of the slide, the positioning spring is used to drive the clamping plate to fit tightly against the outer wall of the turntable.

[0014] In a preferred embodiment of the present invention, the synchronizing frame and the end effector housing are movably connected, a fixed seat is installed on the end effector housing, a positioning shaft is rotatably installed on the fixed seat, a fixed plate is installed on the positioning shaft, the housing of the fixed plate is connected to the eddy current detection contact, a rocker arm is installed on the positioning shaft, and the synchronizing frame and the rocker arm are slidably connected.

[0015] In a preferred embodiment of the present invention, a strip groove is provided on the rocker arm, and a slide rod is slidably disposed on the strip groove, the diameter of the slide rod being adapted to the width of the strip groove. Connecting frames are installed at both ends of the slide rod, and the top of the connecting frame is connected to the side wall of the synchronization frame.

[0016] Compared with the prior art, the present invention has the following advantages: This invention achieves dual quality inspection of the workpiece's end and sidewalls through the rotatable design and coordinated action of the eddy current detection contact. Initially, the eddy current detection contact aligns with the workpiece's end face, quickly completing preliminary quality screening and efficiently eliminating workpieces with end defects, reducing unnecessary subsequent clamping and transfer processes. During the downward movement and horizontal sliding of the clamping plate, the eddy current detection contact rotates 90 degrees, switching to a position corresponding to the workpiece's sidewall. Combined with the tight fit provided by the clamping plate, this enables a second, precise inspection of the workpiece's sidewalls. This dual inspection covers both the workpiece's critical stress points and its appearance, effectively avoiding defects missed due to single inspection and significantly improving the completeness and accuracy of workpiece quality screening.

[0017] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0018] In the attached diagram: Figure 1 A 3D model of an automatic eddy current detection loading robot; Figure 2 A bottom view of an automatic eddy current detection and feeding robot; Figure 3 This is a front view of a robotic arm for automatic eddy current detection and loading. Figure 4 This is a structural diagram of the internal structure of the end effector housing of an automatic eddy current detection feeding robot. Figure 5 For an automatic eddy current detection feeding robot Figure 4 Bottom view; Figure 6 For an automatic eddy current detection feeding robot Figure 5 Enlarged view of point A in the middle; Figure 7 For an automatic eddy current detection feeding robot Figure 5Enlarged view at point B in the middle; In the picture: 1. Robotic arm; 2. Support; 21. Base plate; 211. Positioning hole; 22. Connecting plate; 23. Mounting plate; 3. End effector housing; 31. Cover plate; 32. Vision camera; 33. Mounting plate; 331. Eddy current detection contact; 4. Turntable; 41. Drive motor; 411. Drive shaft; 42. Synchronous frame; 421. Top rod; 422. Ball bearing; 423. Ramp; 424. Limit rod; 425. Limit plate; 426. Compression spring; 43. Clamping plate; 431. Groove; 432. Slide; 433. Positioning rod; 434. Positioning seat; 435. Positioning spring; 436. Protrusion; 44. Rocker arm; 441. Strip groove; 442. Slide rod; 443. Connecting frame; 444. Positioning shaft; 445. Fixed seat. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention.

[0020] Example 1: like Figures 1 to 7 As shown, an eddy current automatic detection and feeding robot includes a support 2 and a robot 1 mounted on the support 2. The robot 1 has a positioning component installed at its output end.

[0021] The positioning assembly includes an end effector housing 3, a vision camera 32 is mounted on the bottom of the end effector housing 3, the vision camera 32 is used to detect the position of the workpiece, and a pair of eddy current detection contacts 331 are rotatably mounted on the side wall of the end effector housing 3. The eddy current detection contacts 331 are adapted to the top of the workpiece and are used to detect the quality of the workpiece. A turntable 4 is rotatably mounted inside the end effector housing 3. A synchronization frame 42 is vertically inserted into the end effector housing 3. A clamping plate 43 is horizontally slidably mounted on the synchronization frame 42. A pair of ramps 423 are mounted on the turntable 4, and a pair of protrusions 436 are mounted on the outer wall of the turntable 4. The ramps 423 and protrusions 436 are staggered and correspond to each other. The rotation of the ramps 423 is used to drive the synchronization frame 42 and the clamping plate 43 to slide vertically downward, and the protrusions 436 are used to lift and slide the clamping plate 43 horizontally after it has moved down, and to clamp and position the workpiece. Through the staggered cooperation of the ramps 423 and protrusions 436 of the turntable 4, the linkage action of the synchronization frame 42 and the clamping plate 43 is realized. There is no need for multiple independent driving components. The structure is simplified while ensuring the continuity of the clamping action. The clamping plate 43 can reliably achieve workpiece positioning and provide a stable posture for subsequent inspection.

[0022] As the synchronous frame 42 moves downward, it drives the eddy current detection contact 331 to rotate 90 degrees and align with the clamping plate 43, thereby clamping and positioning the workpiece. The eddy current detection contact 331 also detects the sidewalls of the workpiece. The downward movement of the synchronous frame 42 synchronously drives the eddy current detection contact 331 to rotate, enabling the clamping and sidewall detection actions to be performed in tandem. This reduces the number of steps involved, improves the efficiency of integrated detection and loading, and ensures that the eddy current detection contact 331 can fully cover the top and sidewalls of the workpiece for detection, guaranteeing detection accuracy.

[0023] like Figures 1 to 7 As shown, in a specific embodiment, the support 2 includes a base plate 21, a connecting plate 22, and a mounting plate 23. The base plate 21 has four positioning holes 211 around its perimeter, facilitating connection between the base plate 21 and external connectors. A pair of connecting plates 22 are mounted on the base plate 21, and the mounting plate 23 is mounted on top of the connecting plates 22. The top of the mounting plate 23 is connected to the base of the robot arm 1. The positioning holes 211 on the base plate 21 facilitate quick fixation of the support 2. The base plate 21, connecting plate 22, and mounting plate 23 form a layered support structure, improving the load-bearing stability of the support 2 and providing a reliable support foundation for the precise movements of the robot arm 1.

[0024] like Figures 1 to 7 As shown, the end effector housing 3 further includes an internal cavity, within which the turntable 4, the synchronizing frame 42, and the clamping plate 43 are housed. The end effector housing 3 is also equipped with a cover plate 31, which covers the outer wall of the internal cavity. The internal cavity provides a closed installation space for the turntable 4, the synchronizing frame 42, and the clamping plate 43, preventing external impurities from interfering with the moving parts. The cover plate 31 can be easily opened and closed, facilitating inspection and maintenance of the internal turntable 4, synchronizing frame 42, and other components, thus extending the equipment's service life.

[0025] Example 2: The difference between the above embodiments and this embodiment is that: Figures 1 to 7 As shown, a drive motor 41 is installed inside the end effector housing 3. A drive shaft 411 is installed at the output end of the drive motor 41. The rotation center of the drive shaft 411 is connected to the center of the turntable 4. The drive motor 41 is used to drive the turntable 4 to rotate. The robot arm 1, the eddy current detection contact 331, the vision camera 32, and the drive motor 41 are electrically connected to the controller. The drive motor 41 provides stable power to the turntable 4 through the drive shaft 411, ensuring the rotation accuracy of the turntable 4. The electrical connection between each component and the controller realizes automated linkage control, reduces manual intervention, and improves work efficiency and motion coordination.

[0026] like Figures 1 to 7As shown, in a specific embodiment, a limiting rod 424 is vertically installed through both ends of the synchronizing frame 42. The top of the limiting rod 424 is installed on the end effector housing 3, and a limiting plate 425 is installed at the bottom of the limiting rod 424. The diameter of the limiting plate 425 is larger than the diameter of the limiting rod 424. A compression spring 426 is sleeved on the limiting rod 424. One end of the compression spring 426 is engaged with the surface of the synchronizing frame 42, and the other end is engaged with the end effector housing 3. Two push rods 421 are installed at the bottom of the synchronizing frame 42. A ball bearing 422 is installed at the bottom of the push rod 421. The ball bearing 422 is slidably connected to the surface of the ramp 423. The compression spring 426 is used to drive the ball bearing 422 to always be in close contact with the surface of the ramp 423. The limiting rod 424 and the limiting plate 425 limit the movement trajectory of the timing frame 42 to prevent deviation. The compression spring 426 ensures the tight fit between the ball 422 and the ramp 423, improving the reliability of the up and down movement of the timing frame 42. The push rod 421 and the ball 422 reduce sliding friction, reduce component wear, and extend the service life of the timing frame 42 and the turntable 4.

[0027] like Figures 1 to 7 As shown, further, the end effector housing 3 has a groove 431, and the clamping plate 43 is slidably disposed inside the groove 431. Slide seats 432 are installed at both ends of the clamping plate 43, and a positioning rod 433 is installed through the slide seat 432. A positioning seat 434 is installed at the end of the positioning rod 433 and is mounted on the side wall of the timing frame 42. A positioning spring 435 is sleeved on the positioning rod 433. One end of the positioning spring 435 is engaged with the side wall of the positioning seat 434, and the other end is engaged with the side wall of the slide seat 432. The positioning spring 435 is used to drive the clamping plate 43 to fit tightly against the outer wall of the turntable 4. The groove 431 provides a horizontal sliding guide for the clamping plate 43. The positioning rod 433 and the positioning seat 434 limit the sliding range of the clamping plate 43. The positioning spring 435 can drive the clamping plate 43 to reset, ensuring that the clamping plate 43 always fits against the turntable 4, improving the response speed and stability of the clamping action.

[0028] Example 3: The difference between the above embodiments and this embodiment is that: Figures 1 to 7As shown, the synchronizing frame 42 is movably connected to the end effector housing 3. A fixed base 445 is installed on the end effector housing 3. A positioning shaft 444 is rotatably installed on the fixed base 445. A fixed plate 33 is installed on the positioning shaft 444. The housing of the fixed plate 33 is connected to the eddy current detection contact 331. A rocker arm 44 is installed on the positioning shaft 444. The synchronizing frame 42 is slidably connected to the rocker arm 44. A strip groove 441 is opened on the rocker arm 44. A sliding rod 442 is slidably arranged on the strip groove 441. The diameter of the sliding rod 442 is adapted to the width of the strip groove 441. Connecting brackets 443 are installed at both ends of the sliding rod 442. The top of the connecting bracket 443 is connected to the side wall of the synchronizing frame 42. Through the linkage structure of the synchronous frame 42, slide bar 442, rocker arm 44 and positioning shaft 444, the linear motion of the synchronous frame 42 is converted into the rotational motion of the eddy current detection contact 331. The structure is compact and the transmission is precise. The fixed seat 445 and positioning shaft 444 ensure rotational stability and realize the precise steering and positioning of the eddy current detection contact 331.

[0029] The implementation principle of the eddy current automatic detection loading robot of the present invention is as follows: Before the equipment is put into operation, the entire device is fixed to the external connectors through the four positioning holes 211 on the base plate 21 of the support 2. The base plate 21, the connecting plate 22 and the mounting plate 23 form a stable support structure, providing a stable base for the movement of the robot arm 1. The base of the robot arm 1 is connected to the top of the mounting plate 23 to complete the assembly and positioning of the entire equipment.

[0030] During operation, the controller starts the equipment, and the robotic arm 1 moves the end effector housing 3 to the workpiece area. The vision camera 32 at the bottom of the end effector housing 3 first accurately detects the workpiece position and transmits the position signal to the controller. The controller adjusts the posture of the robotic arm 1 according to the signal, so that the end effector housing 3 is aligned with the workpiece. Since the eddy current detection contact 331 is initially aligned with the workpiece end face, the controller directly controls the eddy current detection contact 331 to start, and performs a preliminary quality inspection of the workpiece end face. After the end face inspection is completed, the eddy current detection contact 331 maintains its initial posture. The robotic arm 1 can inspect multiple workpieces as a whole. Workpieces that fail the inspection are directly rejected, while qualified workpieces are retained. The vision camera 32 enables accurate identification of the workpiece position, ensuring the accuracy of the robotic arm 1's posture adjustment. The eddy current detection contact 331 performs end face inspection in advance, which can quickly screen out unqualified workpieces, reduce subsequent ineffective work, and improve overall work efficiency. After the preliminary inspection is completed, the operator starts the controller.

[0031] Subsequently, the controller controls the drive motor 41 to start, and the drive motor 41 drives the turntable 4 to rotate through the drive shaft 411. The ramp 423 on the turntable 4 rotates synchronously with the turntable 4. The ball 422 on the bottom push rod 421 of the timing frame 42 is in close contact with the surface of the ramp 423. Under the combined action of the rotational force of the ramp 423 and the elastic potential energy of the compression spring 426, the timing frame 42 slides vertically downward along the limiting rod 424. The limiting rod 424 and the limiting plate 425 play a precise limiting role on the downward movement trajectory of the timing frame 42 to avoid deviation. In addition, the clamping plate 43 at the bottom of the timing frame 42 moves down synchronously and can be moved to one side of the workpiece.

[0032] During the downward movement of the synchronous frame 42, the sliding rod 442 on its side wall connecting frame 443 slides along the strip groove 441 of the rocker arm 44, causing the rocker arm 44 to rotate around the positioning shaft 444. This, in turn, drives the fixed plate 33 and the eddy current detection contact 331 to rotate synchronously by ninety degrees through the positioning shaft 444, so that the eddy current detection contact 331 rotates to the position corresponding to the subsequent clamping plate 43, preparing for workpiece detection. At the same time, the protrusion 436 on the outer wall of the turntable 4 rotates with the turntable 4 to the position corresponding to the lowered clamping plate 43. The protrusion 436 generates a lifting force on the clamping plate 43, pushing the clamping plate 43 to slide horizontally along the positioning rod 433 on the synchronous frame 42. The positioning spring 435 is compressed, and the two clamping plates 43 move closer to each other and firmly clamp and position the workpiece. The groove 431 provides guidance for the horizontal sliding of the clamping plate 43, ensuring accurate clamping action.

[0033] After the workpiece is clamped and positioned, the eddy current detection contact 331 is tightly fitted against the workpiece sidewall. The controller controls the eddy current detection contact 331 to operate, detecting the quality of the workpiece sidewall. The detection signal is fed back to the controller in real time, which determines whether the workpiece is qualified. During this process, the vision camera 32 assists in confirming the workpiece clamping posture, ensuring accurate detection positioning. The tight fit between the eddy current detection contact 331 and the workpiece sidewall guarantees detection accuracy, while the vision camera 32 assists in confirming the posture, avoiding the impact of clamping offset on the detection results, thus achieving accurate and reliable quality inspection.

[0034] After the inspection is completed, if the workpiece is qualified, the controller controls the drive motor 41 to rotate in the opposite direction, the turntable 4 resets, the force of the ramp 423 on the synchronous frame 42 disappears, the compression spring 426 resets and pushes the synchronous frame 42 to move vertically upward, the synchronous frame 42 drives the slide rod 442 and the rocker arm 44 to reset, the eddy current detection contact 331 rotates ninety degrees in the opposite direction and disengages from the workpiece; at the same time, the protrusion 436 disengages from the clamping plate 43, the positioning spring 435 resets and pulls the clamping plate 43 to move horizontally back, releasing the workpiece, and then the robot arm 1 drives the end effector housing 3 to move the qualified workpiece to the designated position to complete the loading.

[0035] If a workpiece is detected as defective, the controller will send a corresponding signal, and robot arm 1 will move the defective workpiece to the preset sorting area and then perform a reset action to prepare for the next round of work. Through the signal feedback from the controller and the sorting action of robot arm 1, the automatic separation of qualified and unqualified workpieces is achieved without manual intervention, improving sorting efficiency. The rapid response of the reset action ensures the timely commencement of the next round of work and enhances the continuous operation capability of the equipment.

[0036] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic eddy current detection and feeding robot, comprising a support (2) and a robot (1) mounted on the support (2), wherein a positioning component is installed at the output end of the robot (1), characterized in that: The positioning component includes an end effector housing (3), a vision camera (32) is mounted on the bottom of the end effector housing (3), the vision camera (32) is used to detect the position of the workpiece, and a pair of eddy current detection contacts (331) are rotatably mounted on the side wall of the end effector housing (3), the eddy current detection contacts (331) are adapted to the top of the workpiece, and the eddy current detection contacts (331) are used to detect the quality of the workpiece; The end effector housing (3) has a turntable (4) rotatably mounted inside. A timing frame (42) is vertically inserted into the end effector housing (3). A clamping plate (43) is horizontally slidably mounted on the timing frame (42). A pair of ramps (423) are mounted on the turntable (4). A pair of protrusions (436) are mounted on the outer wall of the turntable (4). The ramps (423) and protrusions (436) are staggered and correspond to each other. The ramps (423) rotate to drive the timing frame (42) and clamping plate (43) to slide vertically downward. The protrusions (436) are used to lift the clamping plate (43) after it has moved downward and slide horizontally, and to clamp and position the workpiece. When the synchronous frame (42) moves down, it drives the eddy current detection contact (331) to rotate 90 degrees and correspond to the clamping plate (43), thereby clamping and positioning the workpiece, and the eddy current detection contact (331) detects the side wall of the workpiece.

2. The eddy current automatic detection and feeding robot according to claim 1, characterized in that, The support (2) includes a base plate (21), a connecting plate (22) and a mounting plate (23). The base plate (21) has four positioning holes (211) around its perimeter. The four positioning holes (211) facilitate the connection between the base plate (21) and external connectors. A pair of connecting plates (22) are mounted on the base plate (21). The mounting plate (23) is mounted on the top of the connecting plate (22). The top of the mounting plate (23) is connected to the base of the robot (1).

3. The eddy current automatic detection and feeding robot according to claim 1, characterized in that, The end effector housing (3) has an inner cavity, and the turntable (4), the synchronizing frame (42) and the clamping plate (43) are placed in the inner cavity. The end effector housing (3) is provided with a cover plate (31), which covers the outer wall of the inner cavity.

4. The eddy current automatic detection and feeding robot according to claim 1, characterized in that, The end effector housing (3) is equipped with a drive motor (41), and the output end of the drive motor (41) is equipped with a drive shaft (411). The rotation center of the drive shaft (411) is connected to the center of the turntable (4). The drive motor (41) is used to drive the turntable (4) to rotate. The manipulator (1), eddy current detection contact (331), vision camera (32) and drive motor (41) are electrically connected to the controller.

5. The eddy current automatic detection and feeding robot according to claim 1, characterized in that, The timing frame (42) has vertically inserted limit rods (424) at both ends. The top of the limit rods (424) is installed on the end effector housing (3). The bottom of the limit rods (424) is installed with a limit plate (425). The diameter of the limit plate (425) is larger than the diameter of the limit rods (424). A compression spring (426) is sleeved on the limit rods (424). One end of the compression spring (426) is engaged with the surface of the timing frame (42), and the other end of the compression spring (426) is engaged with the end effector housing (3).

6. The eddy current automatic detection and feeding robot according to claim 5, characterized in that, The bottom of the synchronous frame (42) is equipped with two top rods (421), and the bottom of the top rods (421) is equipped with ball bearings (422). The ball bearings (422) are slidably connected to the surface of the ramp (423). The compression spring (426) is used to drive the ball bearings (422) to always be in close contact with the surface of the ramp (423).

7. The eddy current automatic detection and feeding robot according to claim 1, characterized in that, The end effector housing (3) has a groove (431) and the clamping plate (43) is slidably disposed inside the groove (431).

8. The eddy current automatic detection and feeding robot according to claim 1, characterized in that, The clamping plate (43) is equipped with slides (432) at both ends. A positioning rod (433) is installed through the slide (432). A positioning seat (434) is installed at the end of the positioning rod (433). The positioning seat (434) is installed on the side wall of the synchronous frame (42). A positioning spring (435) is sleeved on the positioning rod (433). One end of the positioning spring (435) is engaged with the side wall of the positioning seat (434), and the other end of the positioning spring (435) is engaged with the side wall of the slide (432). The positioning spring (435) is used to drive the clamping plate (43) to fit tightly against the outer wall of the turntable (4).

9. The eddy current automatic detection and feeding robot according to claim 1, characterized in that, The synchronizing frame (42) is movably connected to the end effector housing (3). A fixed seat (445) is installed on the end effector housing (3). A positioning shaft (444) is rotatably installed on the fixed seat (445). A fixing plate (33) is installed on the positioning shaft (444). The housing of the fixing plate (33) is connected to the eddy current detection contact (331). A rocker arm (44) is installed on the positioning shaft (444), and the synchronizing frame (42) and the rocker arm (44) are slidably connected.

10. The eddy current automatic detection and feeding robot according to claim 9, characterized in that, The rocker arm (44) has a strip groove (441) and a slide rod (442) is slidably mounted on the strip groove (441). The diameter of the slide rod (442) is adapted to the width of the strip groove (441). Connecting frames (443) are installed at both ends of the slide rod (442). The top of the connecting frame (443) is connected to the side wall of the timing frame (42).

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