CN111174667A - Automatic core part inspection and wire return processing equipment with carrying tool module - Google Patents

Abstract

The invention discloses automatic core part inspection and wire return processing equipment with a carrying tool module, which comprises the carrying tool module, wherein the carrying tool module comprises a horizontal carrying base, a positioning tool for positioning a workpiece is fixedly arranged on the horizontal carrying base, a central hole is formed in the horizontal carrying base, two first photoelectric sensors are arranged below the horizontal carrying base on two sides of the central hole, N second photoelectric sensors are arranged below the horizontal carrying base in parallel, N identification pins are arranged opposite to the second photoelectric sensors, and the positions of the identification pins correspond to the second photoelectric sensors one by one. According to the method, a full-automatic multi-axis motion control method is adopted, the time required by each station to complete the work is analyzed according to the number of key size tests and the number of thread returns, the beat of each station is analyzed, and the sequence of the stations is reasonably arranged, so that an optimal layout design scheme is obtained; the safety light curtain and the two hands operate the switch, so that the safety and the operability of the whole system are ensured.

Description

Automatic core part inspection and wire return processing equipment with carrying tool module

Technical Field

The invention relates to detection and processing equipment, in particular to automatic core part inspection and wire return processing equipment with a carrying tool module.

Background

In mechanical products, especially for high-precision and high-load core parts which are produced in large quantities, critical dimension inspection needs to be carried out on the core parts, and meanwhile, since the parts are high-load bearing parts, threaded holes are structurally designed so as to be connected with other parts and transmit loads. The quality of the later-stage products is greatly influenced by the inspection of the critical dimension and the processing quality of the threaded hole, so that in the actual production, the quality inspection of the last process is required to be carried out on the products before delivery, and the quality inspection comprises hole processing characteristics such as the critical dimension, the threaded hole and the like. The current means of quality inspection are also mainly concentrated in the purely manual operating phase, leading to two problems: inefficiency and inconsistent quality, which are very serious problems for mass produced parts.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a core part automatic inspection and wire return processing device with a carrying tool module.

The technical scheme adopted by the invention is as follows:

the automatic core part inspection and waste wire treatment equipment with the carrying tool module comprises the carrying tool module, wherein the carrying tool module comprises a first bottom plate, a strip-shaped through groove is formed in the first bottom plate, a guide rail is installed on the first bottom plate on one side of the strip-shaped through groove, a first electric cylinder is installed on the first bottom plate on the other side of the strip-shaped through groove, a sliding block capable of moving along the guide rail is installed on the guide rail, a sliding plate is installed on a sliding seat of the first electric cylinder, a horizontal carrying base is fixedly arranged on the sliding block and the sliding plate, a second electric cylinder vertically penetrates through the strip-shaped through groove below the horizontal carrying base, a first air cylinder is installed on a sliding seat of the second electric cylinder, clamping jaws are installed at two ends of the first air cylinder, the clamping jaws move up and down under the action of the second electric cylinder, clamping action is completed under the action of the first air cylinder, and a positioning tool for positioning a, the horizontal carrying base is provided with a center hole, a workpiece is positioned on a positioning tool, the lower end of the workpiece penetrates through the center hole and the strip-shaped through groove of the horizontal carrying base and extends to the lower part of the first bottom plate, two first photoelectric sensors are arranged below the horizontal carrying bases on two sides of the center hole, when the workpiece is placed into the positioning tool, the lower end of the workpiece is positioned between the two first photoelectric sensors, N second photoelectric sensors are arranged below the horizontal carrying base in parallel, N identification pins are arranged opposite to the second photoelectric sensors, and the positions of the identification pins correspond to the second photoelectric sensors one to one.

Furthermore, the device comprises a bottom plate, wherein a left side detection and processing unit is arranged on the left side of the bottom plate along the X-axis direction, a right side detection and processing unit is arranged on the right side of the bottom plate along the X-axis direction, the left side detection and processing unit and the right side detection and processing unit are symmetrically arranged, and the left side detection and processing unit and the right side detection and processing unit are connected through a terminal carrying module; the left side detection and processing unit and the right side detection and processing unit all comprise a carrying tool module, a wire returning module, a size detection module and a vertical carrying module, the wire returning module, the size detection module and the vertical carrying module are sequentially arranged along the Y-axis direction, the carrying tool module identifies the detection model specification of a product and is used for automatically distributing a corresponding detection control program for the system, the carrying tool module firstly moves a workpiece to the wire returning module position for wire returning processing, then moves the workpiece to the size detection module for detection of the aperture and the shaft diameter, then moves the workpiece to the vertical carrying module to enable the workpiece to be in a horizontal state by the turnover degree of the workpiece, and finally the terminal carrying module grabs the workpiece and conveys the workpiece to a finished product concentration area between the left side detection and processing unit and the right side detection and processing unit along the X axis.

Furthermore, the wire returning module comprises a wire returning module A, a wire returning module B and a wire returning module C which are identical in structure, the wire returning module A comprises a first moving electric cylinder, a second moving electric cylinder, a first wire returning module, a second wire returning module and a wire returning module position adjusting mechanism, the first wire returning module and the second wire returning module are identical in structure, a vertical wire returning module supporting frame spanning from the upper part of the carrying tool module is arranged on the bottom plate, the first moving electric cylinder is arranged on the vertical wire returning module supporting frame, a first support is arranged on a sliding seat of the first moving electric cylinder, the second moving electric cylinder is perpendicular to the first moving electric cylinder and is arranged on the first support, a first sliding rail parallel to the first moving electric cylinder is arranged on the first support, a first sliding block and a second sliding block are arranged on the first sliding rail, the first wire returning module is arranged on the first sliding block, the second wire returning module is arranged on the second sliding block, so that the first wire returning module and the second wire returning module can move along the axial direction of the first sliding rail, the second wire returning module comprises a second bottom plate and a second sliding rail, one side of the second bottom plate is fixed on the second sliding block, the other side of the second bottom plate is fixedly provided with a sliding rail seat, the second sliding rail can move along the sliding rail seat, a guide rail seat is fixedly arranged on the second sliding rail, one end of the second bottom plate is provided with a rear baffle, a second air cylinder is arranged on the rear baffle, the second air cylinder is connected with a guide rod through a first coupler, one end of the guide rod is provided with an upper flange, the other end of the guide rod is provided with a lower flange, a first pressure spring is sleeved on the guide rod, the guide rod penetrates through a central hole in the guide rail seat, the first pressure spring is limited between the upper flange and the guide rail seat, and the size of the, the utility model discloses a pneumatic hard waste silk rifle, including guide rail seat, first support, second support, first lead screw module, second lead screw module, first connecting plate, second connecting plate, rotatable connecting rod, the tip of connecting rod passes through the crank and links to each other with first hard waste silk module and second hard waste silk module respectively, and the pneumatic hard waste silk rifle that is parallel to each other sets up and blows the sediment module on the guide rail seat, and the hard waste silk head passes through flexonics and adapter and installs on pneumatic hard waste silk rifle, three cell type photoelectric sensor is installed in proper order to the side of second bottom plate, the fixed position pick-up plate that is provided with on the second slide rail, install first connecting plate on the second motion electric jar, first hard waste silk module carries out axial motion along first slide rail through first connecting plate, fixed mounting has the revolving axle on the first support, install rotatable connecting rod on the revolving axle, the.

Furthermore, the wire returning module also comprises a wire returning module D, the wire returning module D comprises a third bottom plate, an upright post is fixedly arranged on the third bottom plate, a transverse first slide bar is connected onto the upright post through a first fixing block, the first slide bar is connected with a longitudinal second slide bar through a second fixing block, the second slide bar is fixedly connected with a second fixing seat through a first fixing seat, a connecting transverse plate is arranged on the second fixing seat, a groove plate is arranged on the connecting transverse plate, three groove sensors are arranged on the groove plate in parallel, a third slide block is fixedly arranged on the connecting transverse plate, a third slide rail 1 capable of moving along the axial direction of the third slide block is arranged in the third slide block, a detection plate is fixedly arranged at one end of the third slide rail, a pushing cylinder is arranged at the end part of the connecting transverse plate, and a third fixing seat is fixedly arranged on the third slide rail, install on the third fixing base and blow the sediment module, it is connected with the push rod to impel the cylinder through the second coupling, the one end of push rod is provided with the upper flange, and the other end is equipped with the lower flange, and the cover is equipped with the second pressure spring on the push rod, the push rod passes the step hole on the third fixing base, the second pressure spring is spacing between upper flange and third fixing base, the size of lower flange is greater than the diameter of the centre bore on the third fixing base, be provided with on the third fixing base and blow the parallel pneumatic hard waste rifle of sediment module, series connection has adapter, flexible joint, adapter and hard waste head on the pneumatic hard waste rifle.

Furthermore, size detection module includes the fixed plate, the fixed plate is fixed in the back of the vertical support frame of hard waste module, fixed plate fixed mounting has third electric jar and fourth electric jar, install the second support on the third electric jar, the third cylinder is installed to the bottom of second support, and contact sensor is installed respectively to the both sides of third cylinder, the lower extreme of fourth electric jar is connected with logical no-go gage through the adapter.

Furthermore, the vertical carrying module comprises a fourth slide rail arranged on the bottom plate, a fourth slide block is arranged on the fourth slide rail, a third support is fixedly arranged on the fourth slide block, a pulling block is fixedly arranged on the lower surface of the third support, a through hole is formed in the bottom plate, a fourth cylinder is arranged on the lower surface of the bottom plate through the through hole, the lever end of the fourth cylinder is connected with the pulling block, a fifth slide rail and a fifth electric cylinder are longitudinally arranged on the third support in parallel, a fifth slide block capable of moving along the axial direction of the fifth slide rail is arranged on the fifth slide rail, a connecting block is arranged on the fifth slide block, supports are fixedly arranged on a slide seat and the connecting block of the fifth electric cylinder, a worm and worm coupling is connected between the supports through a bearing seat and a connecting shaft, and the worm and worm coupling are both arranged on the mounting plate, sixth cylinder and sixth slide rail are installed to the lower part of mounting panel, install the sixth slider that can move along the axis direction of sixth slide rail on the sixth slide rail, fixed mounting has left fixed plate and right fixed plate on sixth cylinder and the sixth slider, be fixed with the clamping bar on left side fixed plate and the right fixed plate respectively, the lower extreme of clamping bar is hook-like, the lateral surface fixed mounting of turbine worm shaft coupling has the seventh cylinder, the cylinder pole end-to-end connection of seventh cylinder has the clamp plate, be provided with the waist hole on the clamp plate, the clamping bar passes the waist hole on the clamp plate, and after the work piece was pressed from both sides tightly by the clamping bar, the seventh cylinder impeld downwards, compresses tightly the work piece through the clamp plate, the lower extreme of sixth cylinder is installed and is used for detecting whether the work piece snatchs the photoelectric sensor who targets.

Furthermore, terminal transport module is including being fixed in the fourth support on the bottom plate, transversely install the sixth electric jar on the fourth support, install the second connecting plate on the slide of sixth electric jar, vertically install the seventh electric jar on the second connecting plate, install the connecting seat on the slide of seventh electric jar, the below of connecting seat is provided with and is used for detecting whether the work piece snatchs the photoelectric sensor who targets in place, the fifth cylinder is installed to the below of connecting seat, the rubber clamping jaw that can open and retrieve the action under the drive of fifth cylinder is installed respectively at the both ends of fifth cylinder.

The invention has the following beneficial effects:

(1) the full-automatic multi-axis motion control method is adopted, most of the original manual operation actions are replaced by robots or multi-axis electric cylinders, and various sensors are combined, so that the operation reliability is ensured;

(2) according to the number of the key dimension tests and the number of the thread returns, the time required by the work completion of each station is analyzed, the beat of each station is analyzed, and the sequence of the stations is reasonably arranged, so that an optimal layout design scheme is obtained;

(3) by adopting the combined flexible thread returning structural scheme, the situation that thread returning fails due to errors of the threads within an acceptable range or relative position errors among the thread holes in the thread returning process of each thread hole is avoided;

(4) the work efficiency is obviously improved, the inconsistency of the product quality is eliminated, and the initial manual operation production line is reduced from more than ten people to two people.

(5) Through safe light curtain, both hands manipulation switch, system operating mode automatic display system, safe operating mode warning system and total accuse power control panel, ensure the security and the easy operability of whole system.

Drawings

FIG. 1 is a diagram of a typical part configuration;

FIG. 2 is a plant internal operating route;

FIG. 3 is a schematic diagram of the functional module area within the device;

FIG. 4 is an overall frame structure of the apparatus;

FIG. 5 is a front view of the main modules inside the device;

FIG. 6 is a device internal main block (rear view);

FIG. 7 is an exploded view of the main modules within the device;

FIG. 8 is a Y-axis transport tooling module assembly;

FIG. 9 is an exploded view of the handling tool assembly;

FIG. 10 is a cut-back module A assembly;

FIG. 11 is an exploded view of the wire return module A;

FIG. 12 is a filament return module D assembly;

FIG. 13 is an exploded view of the assembly of the wire return module D;

FIG. 14 is a size detection module assembly;

FIG. 15 is an exploded view of the size detection module assembly;

FIG. 16 is a vertical carrier/steering assembly;

FIG. 17 is a vertical carrier/steer assembly;

FIG. 18 is a terminal handling assembly;

FIG. 19 is an exploded view of the end effector assembly.

The labels in the figure are: 1. a first base plate; 2. a guide rail; 3. a slider; 4. a first electric cylinder; 5. a slide plate; 6. a cylinder block; 7. a first cylinder; 8. a left clamping jaw; 9. a right jaw; 10. a second electric cylinder; 11. a support; 12. a first photosensor; 13. a sensor holder; 14. horizontally carrying the base; 15. manually clamping the wrench; 16. positioning pins; 17. an identification pin; 18. positioning a tool; 19. a workpiece; 191. inner diameter d 2; 192. a threaded hole c; 193. a threaded hole d; 194. a threaded hole a; 195. outer diameter d 1; 196. a threaded hole b; 20. an electric cylinder support; 21. a second photosensor; 22. returning the silk head; 23. a flexible connector; 24. an adapter; 25. a pneumatic shred returning gun; 26. a slag blowing module; 27. a support; 28. a support; 29. a slide rail seat; 30. a guide rail seat; 31. a second slide rail; 32. a tailgate; 33. a photosensor; 34. a position detection plate; 35. a support; 36. an air tap fixing frame; 37. a second cylinder; 38. a first coupling; 39. a first pressure spring; 40. a guide bar; 41. a crank; 42. a bearing seat; 43. a second base plate; 44. a rotating shaft; 45. a first slider; 46. a first slide rail; 47. a first bracket; 48. a second moving electric cylinder; 49. a first connecting plate; 50. a second slider; 51. a first moving electric cylinder; 52. a third base plate; 53. a pneumatic shred returning gun; 54. an adapter; 55. a flexible joint; 56. an adapter; 57. returning the silk head; 58. a fixed seat; 59. propelling the cylinder; 60. a second coupling; 61. an air tap fixing seat; 62. a fourth fixed seat; 63. a slag blowing module; 64. a third fixed seat; 65. a push rod; 66. a second pressure spring; 67. a column; 68. a tailgate; 69. detecting a plate; 70. a first fixed seat; 71. a third slide rail; 72. a third slider; 73. a groove plate; 74. connecting the transverse plates; 75. a second fixed seat; 76. a slot sensor; 77. a first fixed seat; 78. a second slide bar; 79. a third fixed block; 80. a second fixed block; 81. a first fixed block; 82. a first slide bar; 83. a fixing plate; 84. a support; 85. a third electric cylinder; 86. a fourth electric cylinder; 87. a third cylinder; 88. a second bracket; 89. a touch sensor; 90. a connecting rod; 91. a go-no go gauge; 92. an adapter; 93. a butterfly wrench; 94. an electromagnetic valve; 95. pulling the block; 96. a fourth cylinder; 97. a fourth slide rail; 98. pressing a plate; 99. a clamping bar; 100. a photosensor; 101. a support; 102. a left fixing plate; 103; a right fixing plate; 104. a stopper; 105. a fourth slider; 106. a fifth electric cylinder; 107. a third support; 108. connecting blocks; 109. fifthly, fast sliding; 110. a fifth slide rail; 111. a clamping sleeve; 112. a sixth cylinder; 113. a sixth slider; 114. a sixth slide rail; 115. mounting a plate; 116. a seventh cylinder; 117. a bearing seat; 118. a rotating shaft; 119. a stopper; 120. a coupling; 121. a worm gear; 122. a fourth bracket; 123. a sixth electric cylinder; 124. a second connecting plate; 125. a seventh electric cylinder; 126. a connecting seat; 127. a protective cover; 128. a sensor seat; 129. a photosensor; 130. a fifth cylinder; 131. a fixed seat; 132. a rubber jaw; 133. a support; 134. no. 2 position three-color alarm lamp; 135. an upper frame; 136. a station operation status display system; 137. a power control switch general control panel; 138. a display control system; 139. no. 1 three-color alarm lamp; 140. a side opening and closing door; 141. the front side of the No. 1 station is provided with an opening and closing door; 142. a number 1 position console; 143. an inspection window; 144. a number 2 station console; 145. a lower frame; 146. the door is opened and closed on the front side of the No. 2 station; 147. a left vertical carrying bracket; 148. a horizontal handling module; 149. the right side vertically carries the bracket; 150. a right-side wire returning module; 151. a right side base plate; 152. a middle base plate; 153. a right side base plate; 154. a left-side wire returning module; 155. a right side dimension detection module; 156. an intermediate support beam; 157. a left side size detection module; 158. a left vertical transport module; 159. a right vertical transport module; 160. a filament returning module A; 161. a filament returning module B; 162. a shred returning module C; 163. a filament returning module D; 164. a vertical support frame; 165. carrying the tool module; 166. no. 1 shred return module; 167. no. 2 wire returning module; 168. an electric cylinder slider; 169. and a fourth base plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

FIG. 1 shows a typical mass produced load-bearing part having two critical checking dimensions, outer diameter d1 and inner diameter d2, with 4 sets of threaded holes requiring threading, a, b, c, and d, respectively. The purpose of the wire returning here is to detect whether the depth and specification of the threaded hole are qualified, and whether slag or metal chips exist in the threaded hole. According to typical product case analysis, the thread returning time of the threaded hole is longest, and the inspection time of the outer diameter and the inner diameter is relatively low.

In order to improve the production efficiency and reduce the production cost, the scheme adopts two paths of inspection and wire return respectively, namely wire return on the left side and the right side, inspection and carrying modules, wherein the two sides are symmetrical and consistent, a group of carrying modules are shared in a finished product concentration area, and the system layout and the functional module distribution are shown in fig. 2 and fig. 3.

The system includes frame 135, underframe 145, safety alarm system (position 2 three-colour alarm lamp 134, position 1 three-colour alarm lamp 139), internal operation station, station operation status display system 136, display control system 138, position 1 control cabinet 142, position 2 control cabinet 144, power control switch total control system (power control switch total control panel 137), side door 140 that opens and shuts, the positive door 141 that opens and shuts of position 1, access window 143, the positive door 146 that opens and shuts of position 2. A double-button starting and safety light curtain mode is adopted in a console area, and the mode of working can be started only under the condition that 2 conditions are met simultaneously, so that the system safety is ensured, as shown in figure 4. In addition, from the view of convenient maintenance, a plurality of maintenance windows and a measuring opening door are added, thereby ensuring that the system can provide enough space for maintenance personnel during maintenance.

Fig. 5 and 6 illustrate different modules inside the device from different perspectives, respectively. Because the system adopts a symmetrical structure on the left and the right sides, synchronous work is carried out through two paths, and finally finished product carrying work is finished by the terminal carrying module. As can be seen, the system includes a right side base plate 151, a middle base plate 152, a left side base plate 153, a left side loop module 154, a right side loop module 150, a right side dimension detection module 155, a left side vertical transport module 158 disposed on the left side vertical transport rack 147, a right side vertical transport module 159 disposed on the right side vertical transport rack 149, and a horizontal transport module 148 (including a horizontal transport rack and a middle support beam 156). The left, middle and right bottom plates are mounted on the lower frame through bolts, so that all modules are ensured to have sufficient rigidity, and the detection precision of the system is further ensured.

The overall workflow of the equipment is as follows:

manually putting the workpiece → the conveying tool module moves the workpiece to a multi-axis wire returning position → starts to perform wire returning treatment on the threaded hole → the wire returning treatment module is completely reset → the conveying tool module moves the workpiece to a size detection position → the detection module detects the aperture and the axis diameter → the conveying tool module moves the workpiece to the vertical/turnover module → the vertical turnover module takes the workpiece out of the conveying tool module and lifts the height of the workpiece and simultaneously turns over to a specified state → the horizontal conveying module takes the workpiece out of the vertical conveying module and moves to a finished product concentration area → the inspection is finished.

FIG. 7 is an exploded view of the internal modules of the facility, showing in greater detail the Y-axis carrier module (first position after the workpiece has entered the facility), the wire return modules A-D, the vertical carrier module, and the terminal horizontal carrier module. Fig. 7 includes a left vertical conveying rack 147, a horizontal conveying module 148, a right dimension detecting module 155, a wire returning module a160, a wire returning module B161, a wire returning module C162, a wire returning module D163, a vertical support rack 164, and a conveying tool module 165.

Fig. 8 is a Y-axis carrier/tooling module assembly, which is comprised of a carrier module and a tooling module.

Fig. 9 is an exploded view of the system. The first bottom plate 1 is arranged on the lower frame, the guide rail 2 and the first electric cylinder 4 are arranged on the first bottom plate 1, and a detection positioning device is needed to be used for ensuring that the first bottom plate and the first electric cylinder are parallel when the first bottom plate is assembled. The slide block 3 is arranged on the guide rail 2, the slide plate 5 is arranged on the electric cylinder driving block, and the slide block 5 can move along the axial direction of the first electric cylinder 4 under the driving of the first electric cylinder 4. The horizontal carrying base 14 is mounted on the slide block 3 and the slide plate 5, so that the horizontal carrying base 14 can make a stable axial displacement motion along the guide rail 2 under the driving of the first electric cylinder 4.

The electric cylinder support 20 is installed on the lower surface of the horizontal carrying base 14, the second electric cylinder 10 is installed on the electric cylinder support 20, the air cylinder seat 6 is installed on a sliding seat of the second electric cylinder 10, the first air cylinder 7 is installed on the air cylinder seat 6, the left clamping jaw 8 and the right clamping jaw 9 are installed at two ends of the first air cylinder 7, the clamping jaws 8 and 9 of the system can move up and down under the action of the second electric cylinder 10, and meanwhile, the clamping action can be completed under the action of the first air cylinder 7.

The workpiece 19 (as shown in fig. 1, including the inner diameter d2191, the threaded hole c192, the threaded hole d193, the threaded hole a194, the outer diameter d1195 and the threaded hole b196) is manually placed on the positioning tool 18 from the outside of the equipment, and the positioning tool 18 can utilize several positioning holes and faces of the parts to realize accurate positioning.

The marking pin 17 is arranged on the lower surface of the positioning tool 18, the positioning tool 19 with the workpiece 19 is placed on the horizontal conveying base 14, and the positioning and clamping of the whole tool are realized through the positioning pin 16 and the clamping device 15, so that the requirements of subsequent inspection are met.

The support 11 and the sensor holder 13 are mounted below the horizontal conveyance base 14, the 3 second photosensors 21 are mounted on the support 11, and the first photosensor 12 is mounted on the sensor holder 13.

The 2 second photoelectric sensors 21 and the bracket 13 are arranged on two sides of the central hole of the horizontal conveying base 14, when the workpiece 19 is placed into the positioning tool by an external operator, the slender part of the workpiece is just in the middle of the 2 photoelectric sensors, so that a workpiece in-place signal is sent to the system, and a control program can be started to start the work.

It should be noted that, because the marking pins 17 are mounted on the lower surface of the positioning tool 18, when the positioning tool 18 is placed on the horizontal carrying base, the marking pins 17 are designed to be directly inserted into the corresponding holes of the carrying base 14 and to extend beyond one end of the lower surface of the base 14, and the positions of the marking pins 17 correspond to the second photoelectric sensors 21 one by one. The advantage of this design is that after each group of positioning tools 18 is placed in the horizontal transfer module 14, the number and sequence of the corresponding identification pins 17 can be sensed by the sensor 21, and the product model corresponding to the positioning tool 18 can be determined by using the principle of permutation and combination, so that the corresponding control detection program can be automatically invoked without additional human intervention. The biggest advantage of doing so is that when changing the product model that detects, can realize quick replacement, raise the efficiency, get rid of extra mistake of thinking. It should be noted that if the number of product models is large, the number of the second photosensors 21 can be increased. Considering the kind of product, 3 second photosensors 21 are used here, i.e., the system requirements can be satisfied.

The working process is as follows:

manually placing the positioning tool 18 on the horizontal conveying base 14 → identifying the model specification of the subsequent detection product by the identification pin 17 and the second photoelectric sensor 21 → automatically allocating a corresponding detection control program by the system → conveying the workpiece to the wire returning position → completing the wire returning → conveying the workpiece to the size detection position → completing the size detection → conveying the workpiece to the vertical conveying/overturning position → grabbing and completing a corresponding action by the vertical conveying/overturning module → resetting the conveying tool module → waiting for the manual introduction of the next workpiece.

Fig. 10 is an assembly of the wire returning module a, which mainly comprises an X-axis moving electric cylinder, a Y-axis moving electric cylinder, No. 1&2 wire returning modules, and 2 sets of wire returning module position adjusting devices. The wire returning module has X and Y two-axis freedom of motion, and can automatically adjust the center distance of the module for products of different models, thereby realizing the wire returning operation of threaded holes for different product models. The wire returning module is also provided with a flexible connecting device to avoid the phenomenon of jamming caused by acceptable position or size errors in the wire returning process. In addition, the module is provided with a slag blowing module, so that broken slag generated after thread returning can be blown clean, and the broken slag is prevented from being brought into a product.

Fig. 11 is an exploded view of the wire return module a, and the wire return module No. 2 is disassembled in consideration of having two identical sets of wire return modules inside.

The first moving electric cylinder 51 is installed on the vertical support frame 164 of the wire returning module in fig. 7, the first support 47 is installed on a sliding block of the first moving electric cylinder 51, the first second moving electric cylinder 48 is installed on the first support 47, the first connecting plate 49 is installed on the first second moving electric cylinder 48, the first sliding rail 46 is installed on the first support 47, the first sliding blocks 45 and 46 are installed on the first sliding rail 46, the wire returning module No. 1 is installed together with the first sliding block 45, the wire returning module No. 2 is installed together with the sliding base 46, so that the wire returning module No. 1 and the wire returning module No. 2 can move along the axial direction of the first sliding rail 46.

More specifically, in the row of the No. 2 waste wire module, the second base plate 43 is mounted with the second slide block 50, the rear baffle 32 is mounted with the second base plate 43, the slide rail 29 is mounted on the second base plate 43, the rail seat 30 is mounted on the second slide rail 31 and fixed with the second slide rail 31, that is, the second slide rail 31 is mounted between the rail seat 30 and the slide rail seat 29, and the rail seat 30 and the second slide rail 31 move together relative to the slide rail seat 29.

It should be emphasized that the second cylinder 37 is mounted on the rear baffle 32, the first compression spring 39 is mounted in the guide rod 40, and the two are fixed with the second cylinder 37 through the first coupling 38. In addition, the guide bar 40 passes through the center hole of the rail housing 30, and the lower end thereof is in contact with the lower surface of the rail housing 30 but is not fixed, i.e., the rail housing 30 is located between the first compression spring 39 and the lower end of the guide bar 40. The second air cylinder 37 pushes the guide rod 40 under the action of the pressure air source, so that the first compression spring 39 is compressed, and the guide rail seat 30 and the slide rail second slide rail 31 are driven to move along the slide rail 29 by the thrust generated by the compression of the first compression spring 39,

the support 28 is arranged on the guide rail seat 30, and the pneumatic wire returning gun 25 is arranged on the support 28.

The air nozzle fixing frame 36 is installed on the pneumatic rotary gun 25 and is used for connecting a high-pressure air source required by the rotary gun 25. The support 27 is installed with the slag blowing module 27, the support 27 is installed with the guide rail seat 30, and the wire returning head 22 is installed with the pneumatic wire returning gun 25 through the flexible joint 23 and the adapter 24.

The groove type photosensor 33 is mounted on the side of the second base plate 43. A support base 35 is mounted on the second slide rail 31, and a position detecting plate 34 is mounted on the support base 35.

The guide rail seat 30 is driven by the second air cylinder 37 to drive the support 28, the support 27, the slag blowing module 26, the rotary gun 25, the adapter 24, the flexible joint 23, the wire returning head 22, the air nozzle fixing frame 36 and other components mounted on the guide rail seat to move, so that the wire returning purpose is achieved.

It should be noted that, since the support 35 and the position detecting plate 34 are mounted on the second slide rail 31, after the system starts to operate, the slide rail starts to move, which drives the support 35 and the position detecting plate 34 to move, and when the position detecting plate 34 reaches the first groove-type photoelectric sensor 33, the rotating gun 25 is started to rotate, the wire returning operation is started, and simultaneously, the blowing signal is started to the slag blowing module 26.

When the wire return is continued and the position detection plate 34 reaches the second groove-shaped photoelectric sensor 33, a reverse signal is sent to start the rotating gun 25, a signal is returned to the second air cylinder 37, and a gas-off signal is sent to the slag blowing module 26.

When unqualified products appear in the threaded hole, two signals are reflected, namely, the feedback torque is too small, the torque is too large, when the wire returning work starts, if the feedback torque is not within a set range, the unqualified product signals are given out through the pneumatic wire returning gun 25, the workpieces are rotated reversely, the air is cut off for the slag blowing module 26, the air is fed back for the second air cylinder 37, and the equipment returns.

First connecting plate 49 is installed on first second motion electric cylinder 48, and in addition, the connecting plate passes through screwed connection together with No. 1 hard waste module again, can realize like this that first second motion electric cylinder 48 begins axial motion, drives No. 1 hard waste module along first slide rail 46 and is carrying out axial motion through first connecting plate 49.

The rotating shaft 44 is fixed on the first bracket 47, the connecting rod 90 is mounted on the rotating shaft 44 through the bearing seat 42, one end of each of the two cranks 41 is connected with two ends of the connecting rod 90 through a rotating shaft screw, and the other end is connected with the second bottom plates 43 of the wire returning module No. 1 and the wire returning module No. 2 respectively.

As can be clearly seen from fig. 10, since the wire returning module No. 2 is connected with the wire returning module No. 1 through the connecting rod hinge mechanism, when the wire returning module No. 1 moves under the action of the first and second moving electric cylinders 48, the wire returning module No. 2 can move along the direction opposite to that of the wire returning module No. 1, so that the adjustment of the center distance between the wire returning module and the wire returning module can be realized, and the purpose of adapting to the applications of different product models is achieved.

The system has three-direction freedom of movement, wherein 2 of the three-direction freedom of movement are driven by the electric cylinder, the other one of the three-direction freedom of movement is driven by the air cylinder, automatic judgment is realized by utilizing a sensor and a torque feedback signal, the system is provided with an automatic center distance adjusting mechanism, a method for automatically switching different product models is realized, the system has the capability of carrying out data analysis according to the feedback signal, and the system has the capability of intelligent operation.

The system work flow is as follows:

the first moving electric cylinders 51 and 48 determine an initial detection position according to the model of a product to be detected, the first moving electric cylinder 48 drives the first connecting plate 49 to move to adjust the center distance of the wire returning modules No. 1 and No. 2 → the conveying tooling module conveys the workpiece to the wire returning position → the pneumatic wire returning gun 25 starts to move downwards under the driving of the second air cylinder 37 → the detection plate 34 reaches the first groove-shaped sensor 33 → the pneumatic wire returning gun 25 starts to rotate and return wires, the slag blowing module starts to ventilate a wire returning area → the pneumatic wire returning gun 25 reaches the second groove-shaped sensor 33 → the pneumatic wire returning gun 25 starts to reduce the rotating speed → the detection plate 34 reaches the third groove-shaped sensor 33 → the pneumatic wire returning gun 25 starts to stop rotating and reverse rotating, and the slag blowing module stops air → the pneumatic wire returning gun 25 reversely returns under the action of the second air cylinder 37 → the wire returning gun 25 finishes the wire returning.

The summary mechanism of the wire returning modules B and C is similar to that of A, and the details are not described here.

FIG. 12 is an overall view of a wire returning module D, which is mainly composed of a bottom plate, a cylinder propelling assembly, a bracket assembly, a blowing module assembly and the like. Fig. 12 is an exploded view of the assembly of the wire return module D. The bracket assembly is composed of a fixed seat 58, a vertical column 67, a first fixed seat 77, a horizontal second sliding rod 78, a third fixed block 79, a second fixed block 80, a first fixed block 81 and a first sliding rod 82, and is installed on the third bottom plate 52, and the whole bottom plate is installed on the left side or the right side bottom plate in fig. 6.

The second fixing seat 75 is installed on the first fixing seat 77, the connecting transverse plate 74 is installed together with the second fixing seat 75 through bolts, the groove plate 73 is installed on the side surface of the connecting transverse plate 74, the groove type sensor 76 is installed on the groove plate 73, the third slider 72 is installed on the connecting transverse plate 74, the first fixing seat 70 and the detection plate 69 are installed on the tail portion of the slide rail, the rear baffle 68 is installed on the rear portion of the connecting transverse plate 74, and the propulsion cylinder 59 is installed on the connecting plate. The third slide rail 71 is mounted in the third slide block 72, the third slide rail 71 can freely move in the third slide block 72 along the axial direction thereof, and the third fixed seat 64 and the third slide rail 71 are fixedly connected together through bolts.

The slag blowing module 63 is installed on the side surface of the third fixed seat 64, it should be noted that a stepped hole is formed in the third fixed seat 64, a push rod 65 penetrates through the second pressure spring 66, one end of the push rod 65 is provided with a thread, the push rod is screwed by a nut washer after penetrating through the third fixed seat 64, the other end of the push rod is connected with the second coupling 60, and the other end of the second coupling 60 is connected with the propulsion cylinder 59. It should be noted here that one end of the second compression spring 66 is in contact with the step in the central hole of the third fixing seat 64, and another section is in contact with the step surface at the other end of the push rod 65, and the assembled state of the spring 66 is in a compressed state with a certain initial compression amount.

The fourth fixing seat 62 and the third fixing seat 64 are connected together through bolts, the pneumatic wire returning gun 53 is installed in the fourth fixing seat 62, the air nozzle fixing seat 61 is installed on the pneumatic wire returning gun 53, and the adapter 54, the flexible joint 55, the adapter 56 and the wire returning head 57 are installed on the pneumatic wire returning gun 53 in series.

The system acts and forces as follows:

the system receives a start action signal → the push cylinder 59 starts to work (position state 1) → the push rod 65 is pushed (position state 2) → the large end surface on the push rod 65 side starts to compress the second pressure spring 66 (position state 3) → the second pressure spring 66 pushes the fixed block 64 (position state 4) → the fourth fixed block 62 is pushed and the subsequent assembly components including the third slider 72 move along the axial direction of the third slide rail 71 (position state 5).

The slot type sensors 76 have two rows and three rows, because the detection plate 69 is arranged on the third slide rail 71, the detection plate starts to move along the third slide rail 71 under the action of the propulsion cylinder 59, and when the first row slot type sensors 76 detect that the detection plate 69 reaches a signal, the system starts a rotation signal for the pneumatic wire returning gun 53. When the propulsion cylinder 59 continues to propel, the detection plate 69 will give a signal to the pneumatic wire returning gun 53 to reduce the rotating speed after reaching the second row groove type sensor 76, and when the detection plate 69 reaches the third row groove type sensor 76, the system will give a signal to the pneumatic wire returning gun 53 to stop rotating and start reverse and retreat.

When the pneumatic wire returning gun 53 finds that the torque is too large or too small in the wire returning process, an alarm signal is given, and an unqualified signal is given. There are two possibilities for this: firstly, too much slag is clamped in the threads, so that the thread can not be returned and cleaned, and secondly, the thread depth is not enough; the reason for being too small is mainly the thread gauge mismatch.

As can be seen from fig. 12, the bracket assembly is composed of a plurality of upright posts, sliding rods and fixing seats, and in addition, because the third bottom plate 52 is provided with two long and thin arc-shaped waist-shaped holes, the pneumatic wire returning gun 53 and related moving components thereof can be adjusted in a certain plane angle, elevation angle and height direction, so that the system has certain flexibility, and thus, the wire returning and slag removing requirements of different product models can be met.

The working process is as follows:

adjusting the horizontal angle/elevation angle/height of the returned wire through the bracket assembly → the carrying tool module carries the workpiece to the returned wire position → the pneumatic wire returning gun 53 starts to advance forwards under the driving of the air cylinder 59 → the detection plate 69 reaches the first groove-shaped sensor 76 → the pneumatic wire returning gun 53 starts to rotate the returned wire, the slag blowing module starts to ventilate the wire returning area → the detection plate 69 reaches the second groove-shaped sensor 76 → the pneumatic wire returning gun 53 starts to reduce the rotating speed → the detection plate 69 reaches the third groove-shaped sensor 76 → the pneumatic wire returning gun 53 starts to stop rotating and reverse rotating, and the slag blowing module stops air → the pneumatic wire returning gun 53 returns reversely under the action of the air cylinder 59 → the returned wire of the station is reset → the returned wire of the station is completed.

Fig. 14 is an overall view of a size detection module, which mainly comprises an electric cylinder driving module, a mounting base plate, an outer diameter measurement module and an aperture measurement module, and mainly functions to detect the outer diameter and the inner diameter of a workpiece, wherein the aperture is detected first, and then the shaft diameter is detected.

FIG. 15 is an exploded view of the size detection module assembly. Wherein the fixing plate 83 is installed on the back of the wire returning module support frame in fig. 7, and the fourth electric cylinder 86 and the electric cylinder 87 are respectively installed on the fixing plate 83. The bracket 84 is mounted on a third electric cylinder 85, a third air cylinder 87 is mounted at the bottom of the bracket 84, two ends of the third air cylinder 87 are respectively provided with a second sensor bracket 88, and the bottom of the second bracket 88 is provided with a contact sensor 89.

The go/no-go gauge 91 and the adapter 92 are installed in series on the outer moving portion of the fourth electric cylinder 86, the butterfly wrench 93 is used for fastening the assembly of the go/no-go gauge 91 and the adapter 92, and the solenoid valve 94 is installed on the fixing plate 83 and used for controlling the power on/off of the third electric cylinders 85 and 86.

The working process is as follows:

the conveying tool module conveys the workpiece to an aperture detection position (position state 1) → the fourth electric cylinder 86 drives the go-no-go gauge to go down to detect the aperture → the conveying tool module conveys the workpiece to an axis and diameter detection position (position state 2) → the third air cylinder 87 is slowly recovered from an open state (position state 3) → the contact type displacement sensor starts to contact the axis surface respectively → the maximum axis and diameter (position state 4) → the measurement is finished.

Fig. 16 is an overall view of a vertical carrying/turning module, which mainly comprises a sliding support, an electric cylinder driving module, a vertical movement module, an air cylinder driving module, a worm and gear steering device and a clamping module, and has the main functions of taking out a workpiece subjected to size detection from a tool, and then realizing the designated state to be grabbed through turning over to prepare for subsequent actions.

Fig. 17 is an exploded view of the vertical carrier/flipper module assembly, wherein the fourth slide rail 97 is mounted to the base plate, the fourth slider 105 is mounted to the fourth slide rail 97, and the fourth slider 105 is mounted to the bottom of the third frame 107 such that the third frame 107 can move axially along the fourth slide rail 97. The upper surface of the pull block 95 is mounted on the lower surface of the third bracket 107, one side surface of the pull block is assembled with the lever end part of the fourth cylinder 96, and the fourth cylinder 96 is mounted on the lower surface of the bottom plate, so that the third bracket 107 can move axially along the fourth slide rail 97 under the telescopic action of the fourth cylinder 96, and the two baffle plates 104 are mounted on the bottom plate to limit the movement range of the third bracket 107 and play a role of buffering. The fifth sliding rail 110 and the second fifth electric cylinder 106 are mounted on the third support 107, the sliding block 109 is mounted on the fifth sliding rail 110, the connecting block 108 is mounted on the fifth sliding block 109, and the support 133 is mounted on the second fifth electric cylinder 106 and the connecting block 108, so that the support 133 can move along the axial direction of the fifth sliding rail 110 under the driving of the second fifth electric cylinder 106.

The worm gear coupler 121 is installed in the middle of the mounting plate 115, 2 bearing blocks 117 are installed at two ends of the mounting plate 115, and the coupler 120, the stopper 119 and the connecting shaft 120 are installed between the worm gear reducer 121 and the bearing blocks 117 in series. The system drives the output shafts at two ends of the worm to rotate when the worm gear reducer 121 motor rotates, and the mounting plate 115 and the auxiliary mounting structure thereof are driven to rotate around the axis of the central hole through reaction because the bearing seat 117 and the worm gear reducer 121 are mounted on the mounting plate 115.

The sixth cylinder 112 and the sixth slide rail 114 are mounted at the lower part of the mounting plate 115, the sixth slide block 113 is mounted on the slide rail, and the left fixing plate 102 and the right fixing plate 103 are respectively mounted at two ends of the sixth cylinder 112 and are also mounted on the sixth slide block 113, so that the left and right fixing plates 102 and 103 can be driven by air to move along the axial direction of the sixth slide rail 114. The clamping rod 99 is inserted into the holes of the left and right fixing blocks 102 and 103 and fixed by a clamping sleeve 111. It should be noted that the lower cylindrical portion of the clamping bar 99 is partially washed away and is in the shape of a hook. During the downward stroke of the second fifth electric cylinder 106, the two side holes of the workpiece are inserted, and then the workpiece is clamped in the horizontal direction by the left and right fixing plates 102 and 103 under the driving of the sixth air cylinder 112.

The seventh cylinder 116 is installed on the side of the worm gear reducer 121, the end of the cylinder rod of the seventh cylinder 116 is installed with the pressure plate 98, and it should be noted that 2 clamping rods 99 pass through the waist holes on both sides of the pressure plate 98 but are not fixed together. When the workpiece is clamped by the clamping bar 99, the seventh cylinder 116 is advanced downward to press the workpiece against the platen 98.

A support 101 is mounted on the lower surface of the sixth cylinder 112, and a photoelectric sensor 100 for detecting whether a workpiece is caught in place is mounted on the support 101.

The working process is as follows:

the detection module finishes size detection → the conveying tool module conveys the workpiece to the position of the vertical conveying/overturning module → the third bracket 107 reaches a position state 1 in the horizontal direction under the driving of the fourth air cylinder 96 → the clamping rod 99 in vertical conveying/overturning is inserted into holes at two sides of the workpiece under the downward movement of the second fifth air cylinder 106 (position state 2) → the clamping rod 99 retracts to clamp the workpiece under the action of the sixth air cylinder 112 (position state 3) → the pressing plate 98 pushes the workpiece under the downward pushing of the seventh air cylinder 116 tightly (position state 4) → the sensor 100 detects whether the workpiece is grabbed in place and gives a signal → the workpiece and the auxiliary clamping device thereof overturn by 90 degrees under the action of the worm reducer 121, so that the workpiece is in a horizontal state (position state 5) → the workpiece reaches a next procedure taking state (position state 6) → the next procedure finishes clamping workpiece action → the clamping rod 99 is restored under the action of the air cylinders and the electric cylinders Bit, waiting for the next action.

Fig. 18 is an assembly diagram of a terminal carrying module, which mainly comprises a horizontal carrying electric cylinder, a support assembly, a vertical carrying electric cylinder and a grabbing module, and the main function is to grab a workpiece which is finished with vertical carrying/turning and other actions in the previous working procedure and convey the workpiece to a specified terminal position.

FIG. 19 is an exploded view of the end effector assembly. The fourth bracket 122 is fixed to a base plate to which the lower frame is fixed, the sixth electric cylinder 123 is mounted on the fourth bracket 122, the second connecting plate 124 is mounted on a slide plate of the sixth electric cylinder 123, and the seventh electric cylinder 125 is mounted on the second connecting plate 124. Here the sixth electric cylinder 123 is responsible for the movement of the system in the horizontal direction and the seventh electric cylinder 125 is responsible for the movement of the system in the vertical direction. The connecting base 126 is mounted on the slide plate of the seventh electric cylinder 125, the first photosensor 129 is mounted on the sensor mount 128, and the sensor mount 128 is mounted below the connecting base 126, where the first photosensor 129 is used to detect whether the workpiece is placed in position for gripping. The fifth cylinder 130 is installed below the connecting base 126, the protection cover 127 is installed on each side surface of the connecting base 126 to protect the sensor 129, the fixing bases 131 are installed at two ends of the fifth cylinder 130, and the two rubber clamping jaws 132 are respectively installed on the fixing bases 131. The rubber jaws 132 can be actuated by a fifth cylinder 130 to perform an opening and retracting action, where they are used to grip a workpiece.

The working process is as follows:

the action of the front-end vertical conveying/overturning process is completed (position state 1) → giving a completion signal → the rubber clamping jaws reach a specified position (position state 2) → the fifth air cylinder 130 opens the clamping jaws to grab the workpiece (position state 3) → the photoelectric sensor detects whether the workpiece is grabbed in place under the motion control of the sixth air cylinder 123 and the seventh air cylinder 125 → the clamping rod 99 is reset under the action of the air cylinders (position state 4) → the system gives the sixth air cylinder 123 and the seventh air cylinder 125 motion signal reaches the specified position (position state 5) → the fifth air cylinder 130 opens the workpiece (position state 6) → the completion action.

In conclusion, the invention provides a full-automatic detection scheme for the key dimension inspection and the hole type inspection of parts, particularly the final inspection of threaded holes, which can eliminate the bottleneck of a station under the condition of considering the overall balance, ensure that each finished product after the inspection is a qualified product and prevent any non-qualified product from flowing into a client; the invention obviously improves the production efficiency, reduces the operation intensity of workers, reduces the finished product and improves the product competitiveness; the invention solves the safety problem in production and ensures that no safety accident occurs in the whole detection process; the flexible tool is adopted, so that the equipment has enough flexibility and can adapt to the range of various and series products; the invention adopts the method of additionally installing the identification upright post and the photoelectric sensor on the tool to automatically identify the replaced tool clamp, thereby automatically switching the control program, replacing the traditional method of manually inputting the tool identification code in a control system or scanning the two-dimensional code by using a code scanning gun, further improving the replacement efficiency of the tool, and having obvious significance for product switching.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. Automatic core part inspection and hard waste processing equipment with transport frock module, its characterized in that: including carrying tool module, carrying tool module includes first bottom plate (1), it leads to the groove to be provided with the bar on first bottom plate (1), and the bar leads to installs on first bottom plate (1) of groove one side guide rail (2), opposite side and installs first electric jar (4), install slider (3) that can follow guide rail (2) motion on guide rail (2), install slide (5) on the slide of first electric jar (4), fixed being provided with horizontal transport base (14) on slider (3) and slide (5), the vertical bar that passes of below of horizontal transport base (14) leads to the groove and is provided with second electric jar (10), install first cylinder (7) on the slide of second electric jar (10), the clamping jaw is installed at the both ends of first cylinder (7), the clamping jaw reciprocates under the effect of second electric jar (10), The clamping action is finished under the action of the first air cylinder (7), a positioning tool (18) for positioning the workpiece is fixedly arranged on the horizontal carrying base (14), a central hole is arranged on the horizontal carrying base (14), a workpiece is positioned on a positioning tool (18), the lower end of the first base plate passes through a central hole and a strip-shaped through groove of a horizontal carrying base (14) and extends to the lower part of a first base plate (1), two first photoelectric sensors (12) are arranged below the horizontal carrying base (14) at the two sides of the central hole, when a workpiece is placed into a positioning tool, the lower end of the horizontal conveying base is positioned between two first photoelectric sensors (12), N second photoelectric sensors (21) are arranged below the horizontal conveying base (14) in parallel, n identification pins (17) are arranged opposite to the second photoelectric sensor (21), and the positions of the identification pins correspond to the second photoelectric sensor (21) one by one.

2. The automatic core part inspection and wire return processing equipment with the handling tool module as claimed in claim 1, wherein: the X-axis detection and processing device comprises a bottom plate, wherein a left side detection and processing unit is arranged on the left side of the bottom plate along the X-axis direction, a right side detection and processing unit is arranged on the right side of the bottom plate along the X-axis direction, the left side detection and processing unit and the right side detection and processing unit are symmetrically arranged, and the left side detection and processing unit and the right side detection and processing unit are connected through a terminal carrying module; the left side detects with processing unit and right side and detects with processing unit and all include transport frock module, hard waste module, size detection module, perpendicular transport module set gradually along the Y axle direction, transport frock module discernment product detect the model specification for the corresponding detection control program of system automatic allocation, transport frock module removes the work piece earlier and carries out the hard waste processing to hard waste module position, removes the work piece again and carries out the detection of aperture and axle diameter to size detection module, moves the work piece to perpendicular transport module again and overturn 90 degrees work piece and make the work piece be in the horizontality, at last by terminal transport module snatchs the work piece and transports the work piece to the finished product concentration region between left side detection and processing unit and right side detection and processing unit along the X axle.

3. The automatic core part inspection and wire return processing equipment with the handling tool module as claimed in claim 1, wherein: the wire returning module comprises a wire returning module A, a wire returning module B and a wire returning module C which are identical in structure, the wire returning module A comprises a first moving electric cylinder (51), a second moving electric cylinder (48), a first wire returning module, a second wire returning module and a wire returning module position adjusting mechanism, the first wire returning module and the second wire returning module are identical in structure, a vertical wire returning module supporting frame spanning from the upper part of the carrying tool module is arranged on the bottom plate, the first moving electric cylinder (51) is arranged on the vertical wire returning module supporting frame, a first support (47) is arranged on a sliding seat of the first moving electric cylinder (51), the second moving electric cylinder (48) is perpendicular to the first moving electric cylinder (51) and is arranged on the first support (47), a first sliding rail (46) parallel to the first moving electric cylinder (51) is arranged on the first support (47), and a first sliding block (45) and a second sliding block (50) are arranged on the first sliding rail (46), the first wire returning module is installed on a first sliding block (45), the second wire returning module is installed on a second sliding block (50), so that the first wire returning module and the second wire returning module can move along the axial direction of a first sliding rail (46), the second wire returning module comprises a second bottom plate (43) and a second sliding rail (31), one side of the second bottom plate (43) is fixed on the second sliding block (50), the other side of the second bottom plate is fixedly provided with a sliding rail seat (29), the second sliding rail (31) can move along the sliding rail seat (29), a guide rail seat (30) is fixedly installed on the second sliding rail (31), one end of the second bottom plate (43) is provided with a rear baffle (32), the rear baffle (32) is provided with a second air cylinder (37), the second air cylinder (37) is connected with a guide rod (40) through a first coupler (38), and one end of the guide rod (40) is provided with an upper flange, the other end is equipped with the lower flange, and the cover is equipped with first pressure spring (39) on guide arm (40), center hole on guide rail seat (30) is passed in guide arm (40), first pressure spring (39) are spacing between upper flange and guide rail seat (30), the size of lower flange is greater than the diameter of the center hole on guide rail seat (30), fixed mounting has pneumatic hard waste rifle (25) and the blowing sediment module (26) of parallel arrangement each other on guide rail seat (30), and install on pneumatic hard waste rifle (25) through flexible joint (23) and adapter (24) return wire head (22), three cell type photoelectric sensor (33) are installed in proper order to the side of second bottom plate (43), fixed position detection board (34) that is provided with on second slide rail (31), install first connecting plate (49) on second motion electric cylinder (48), first hard waste module links to each other with second motion electric cylinder (48) through first connecting plate (49), when second motion electric cylinder (48) axial motion, carry out axial motion along first slide rail (46) through first connecting plate (49) drive first time silk module, fixed mounting has revolving axle (44) on first support (47), install rotatable connecting rod (90) on revolving axle (44), the tip of connecting rod (90) passes through crank (41) and links to each other with first time silk module and second time silk module respectively.

4. The automatic core part inspection and wire return processing equipment with the handling tool module as claimed in claim 1, wherein: the wire returning module further comprises a wire returning module D, the wire returning module D comprises a third bottom plate (52), an upright post is fixedly mounted on the third bottom plate (52), a transverse first slide bar is connected onto the upright post through a first fixed block, the first slide bar is connected with a longitudinal second slide bar through a second fixed block, the second slide bar is fixedly connected with a second fixed seat (75) through a first fixed seat, a connecting transverse plate (74) is mounted on the second fixed seat (75), a groove plate (73) is mounted on the connecting transverse plate (74), three groove sensors (76) are mounted on the groove plate (73) in parallel, a third sliding block (72) is fixedly mounted on the connecting transverse plate (74), a third sliding rail (71) capable of moving along the axis direction of the third sliding block (72) is arranged in the third sliding block (72), and a detection plate (69) is fixedly mounted at one end of the third sliding rail (71), connect the tip of diaphragm (74) to install and promote cylinder (59), fixed third fixing base (64) that is provided with on third slide rail (71), install on third fixing base (64) and blow sediment module (63), it has push rod (65) to promote cylinder (59) through the second coupling joint, the one end of push rod (65) is provided with the upper flange, and the other end is equipped with the lower flange, and the cover is equipped with second pressure spring (66) on push rod (65), step hole on third fixing base (64) is passed in push rod (65), second pressure spring (66) are spacing between upper flange and third fixing base (64), the size of lower flange is greater than the diameter of the centre bore on third fixing base (64), be provided with pneumatic silk returning gun (53) parallel with blowing sediment module (63) on third fixing base (64), series connection has adapter (54) on pneumatic silk returning gun (53), Flexible joint (55), adapter (56) and hard waste (57).

5. The automatic core part inspection and wire return processing equipment with the handling tool module as claimed in claim 3, wherein: size detection module includes fixed plate (83), the back of the vertical support frame of hard waste module is fixed in fixed plate (83), fixed plate (83) fixed mounting has third electric jar (85) and fourth electric jar (86), install second support (84) on third electric jar (85), third cylinder (87) are installed to the bottom of second support (84), and contact sensor (89) are installed respectively to the both sides of third cylinder (87), the lower extreme of fourth electric jar (86) is connected with logical no-go gage (91) through adapter (92).

6. The automatic core part inspection and wire return processing equipment with the handling tool module as claimed in claim 1, wherein: the vertical carrying module comprises a fourth sliding rail (97) arranged on the bottom plate, a fourth sliding block (105) is arranged on the fourth sliding rail (97), a third support (107) is fixedly arranged on the fourth sliding block (105), a pull block (95) is fixedly arranged on the lower surface of the third support (107), a through hole is formed in the bottom plate, a fourth air cylinder (96) is arranged on the lower surface of the bottom plate through the through hole, the lever end of the fourth air cylinder (96) is connected with the pull block (95), a fifth sliding rail (110) and a fifth electric cylinder (106) are longitudinally arranged on the third support (107) in parallel, a fifth sliding block (109) capable of axially moving along the fifth sliding rail (110) is arranged on the fifth sliding rail (110), a connecting block (108) is arranged on the fifth sliding block (109), and a support (133) is fixedly arranged on the sliding seat and the connecting block (108) of the fifth electric cylinder (106), a worm and gear coupling (121) is connected between the supports (133) through a bearing seat (117) and a connecting shaft (120), the worm and gear coupling (121) and the bearing seat (117) are both installed on an installation plate (115), a sixth air cylinder (112) and a sixth sliding rail (114) are installed at the lower part of the installation plate (115), a sixth sliding block (113) capable of moving along the axis direction of the sixth sliding rail (114) is installed on the sixth sliding rail (114), a left fixing plate (102) and a right fixing plate (103) are fixedly installed on the sixth air cylinder (112) and the sixth sliding block (113), clamping rods (99) are respectively fixed on the left fixing plate (102) and the right fixing plate (103), the lower ends of the clamping rods (99) are hook-shaped, a seventh air cylinder (116) is fixedly installed on the outer side surface of the worm and gear coupling (121), and the tail ends of the cylinder rods of the seventh air cylinder (116) are connected with a pressing plate (, the clamp plate (98) is provided with a waist hole, the clamping rod (99) penetrates through the waist hole in the clamp plate (98), when a workpiece is clamped by the clamping rod (99), the seventh cylinder (116) is pushed downwards to press the workpiece through the clamp plate (98), and the lower end of the sixth cylinder (112) is provided with a photoelectric sensor (100) used for detecting whether the workpiece is grabbed in place.

7. The automatic core part inspection and wire return processing equipment with the handling tool module as claimed in claim 1, wherein: the terminal carrying module comprises a fourth support (122) fixed on a bottom plate, a sixth electric cylinder (123) is transversely installed on the fourth support (122), a second connecting plate (124) is installed on a sliding plate of the sixth electric cylinder (123), a seventh electric cylinder (125) is vertically installed on the second connecting plate (124), a connecting seat (126) is installed on the sliding plate of the seventh electric cylinder (125), a photoelectric sensor (129) used for detecting whether a workpiece is grabbed in place or not is arranged below the connecting seat (126), a fifth air cylinder (130) is installed below the connecting seat (126), and rubber clamping jaws (132) capable of being opened and recovered under the driving of the fifth air cylinder (130) are respectively installed at two ends of the fifth air cylinder (130).

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