CN208887908U - A kind of double-station rotor detection robot device - Google Patents

Abstract

The utility model discloses a kind of double-station rotors to detect robot device, strip grooves on the excircle to rotor detect, it includes rack, the top of rack is fixedly installed with supply assembly, the two sides of supply assembly are fixedly installed with a detection station respectively, the side of rack is additionally provided with transfer robot, and supply assembly, two detection stations and transfer robot are electrically connected with the control cabinet of upper rack.The utility model is provided with transfer robot, supply assembly and two detection stations, rotor at supply assembly is constantly transferred at two detection stations by transfer robot, the strip grooves of two rotors are detected respectively, rotor after the completion of detection is removed by transfer robot again, and then complete the detection operation of rotor, not only improve detection effect and efficiency, moreover it is possible to ensure the cleanliness of rotor；Due to being provided with Buffer Unit, the vibration in transfer robot motion process can be buffered, to improve clamping effect and precision.

Description

A kind of double-station rotor detection robot device

Technical field:

The utility model relates to robot device's technical fields, and in particular to a kind of double-station rotor detection robot dress It sets.

Background technique:

Motor rotor part is the important component in motor, it is contemplated that installation needs, on the external peripheral surface of rotor The strip grooves being vertically arranged can be offered, whether the state for opening up relationship between quality to rotor follow-up operation of strip grooves is stable.Mesh Before, the detection process that rotor strip grooves open up quality is all manually realized, i.e., manually rotor is placed on monitor station, is detected After the completion, then manually it is taken away, not only operating efficiency is slow, it is difficult to meet the needs efficiently produced, and the mistake manually picked and placed Journey can also form spot, sweat in rotor surface, influence the cleanliness of rotor surface, be unfavorable for that subsequent installation uses it is smooth into Row.

Utility model content:

The purpose of this utility model provides a kind of double-station rotor detection robot aiming at the deficiencies in the prior art Device is provided with transfer robot, supply assembly and two detection stations, is fed using supply assembly, transfer machine Rotor at supply assembly is constantly transferred at two detection stations by device people, is examined respectively to the strip grooves of two rotors It surveys, the rotor after the completion of detecting is removed by transfer robot again, and then completes the detection operation of rotor.

The technology solution of the utility model is as follows:

A kind of double-station rotor detection robot device, the strip grooves being used on the excircle to rotor detect； Including rack, the top of rack is fixedly installed with supply assembly, and the two sides of supply assembly are fixedly installed with a detection work respectively Position, the side of rack are additionally provided with transfer robot, and supply assembly, two detection stations and transfer robot are and in rack The control cabinet in portion is electrically connected；Transfer robot includes fixing seat, and fixing seat is connect by connecting cross beam with rack；Fixing seat it is upper Portion is provided with supporting table, several Buffer Units are provided between supporting table and fixing seat；The top rotation of supporting table is provided with Rotating seat, rotating seat are sequentially connected with the rotating electric machine being fixedly mounted in supporting table；The side rotation of rotating seat is provided with pendulum The oscillating motor being fixedly installed on swing arm, swing arm and rotating seat is sequentially connected；The upper end of swing arm is provided with pitch arm, pitching Arm and the pitching motor being fixedly mounted on a swing arm are sequentially connected；The front end of pitch arm is connected with telescopic arm, telescopic arm and solid Telescopic cylinder of the Dingan County mounted in pitch arm front end is fixedly connected；The front end of telescopic arm is fixedly connected with motor mount, motor peace It is fixed with fine tuning motor on dress seat, finely tunes and is fixedly connected with feeding clamp hand on the output shaft of motor；Is additionally provided on telescopic arm One sensor, first sensor are electrically connected with control cabinet, and first sensor is used to incude the clamping position of feeding clamp hand；Extracting jaw It is additionally provided with the second sensor of induction strip grooves on hand, second sensor is electrically connected with control cabinet.

The inside of Buffer Unit be filled with buffering liquid, Buffer Unit include the connection base from top to bottom set gradually, Elastic layer, upper cover, intermediate sleeve and lower base, wherein lower base is connect with fixing seat, and connection base and supporting table can Dismantling connection；Wherein, lower base is hollow structure, is internally provided with air spring；The lower seal of lower base is pacified Equipped with sealing plate, the upper end of lower base is formed with annular groove, and sealing is plugged with intermediate sleeve, intermediate sleeve lower part in annular groove Inner wall on be formed with boss, between boss and the upper surface of lower base be pressed against have section be rectangular washer, washer it is interior It is trapezoidal raised line that side upper end, which forms section, and the upper end of air spring is not contacted with raised line；The upper end of intermediate sleeve forms The ring part extended inwardly, and between intermediate sleeve and upper cover by seal assembly be tightly connected, intermediate sleeve, upper cover and Seal assembly surrounds buffer chamber jointly；Spring retainer, spring retainer are movably installed on inner wall in the middle part of intermediate sleeve Lower spring is maintained between washer, maintains upper spring between spring retainer and the ring part of intermediate sleeve；Spring is kept Balance weight is provided in the middle part of frame, the two sides up and down of balance weight have been respectively fixedly connected with support column, and the end of support column is pacified respectively Equipped with a cone；Wherein, upper flow passage, shape between the cone and raised line of downside are formed between the cone and ring part of upside At there is lower flow passage.

The inlet and outlet of buffering liquid are provided on the side wall of intermediate sleeve, and the top of intermediate sleeve is formed with top liquid storage Room, the lower part of intermediate sleeve are formed with lower part fluid reservoir；Buffer chamber, top fluid reservoir and lower part fluid reservoir are connected to.

Further, rack includes more vertical columns being fixedly mounted on the ground, and the upper end of vertical column is fixedly mounted There is workbench, connecting rod is connected between adjacent upright column, detection station and supply assembly are fixedly mounted on workbench On.

Further, control cabinet is fixed at the upper part of the worktable by control cabinet mounting rack, and control cabinet mounting rack includes two It is fixed on the L-type support on workbench top side by side, control cabinet is fixedly mounted in two L-type supports.

Further, extracting jaw hand includes the installation base plate being fixedly connected with fine tuning motor output shaft, the two sides of installation base plate It is respectively fixedly connected with a L-type mounting rack, the first clamping jaw, the second clamping jaw are respectively fixed on two L-type mounting racks；L-type installation L-type stiffening plate is provided between frame and installation base plate.

Further, the structure of the first clamping jaw and the second clamping jaw is identical, includes two-way cylinder, and two-way cylinder is fixedly mounted on On L-type mounting rack, the first movable block and the second movable block have been respectively fixedly connected on two piston rods of two-way cylinder, wherein It is fixedly connected with the first clamp arm on first movable block, the second clamp arm is fixedly connected on the second movable block；First clamp arm and second The leading inside of clamp arm is provided with elastic projection, the front end formation grasping part of the first clamp arm and the second clamp arm.

Further, rotating electric machine, oscillating motor, pitching motor, telescopic cylinder and fine tuning motor are electrically connected with control cabinet It connects.

Further, supply assembly includes the mounting base for being fixedly mounted on upper rack, and the top of mounting base is fixedly connected with Lower bolster, the left and right ends of lower bolster are fixedly installed with a vertical plate respectively, are equipped with upper padding plate, upper padding plate between two vertical plates Front side be provided with opening portion, the two sides of opening portion are fixedly installed with a fixed block mounting plate respectively, on fixed block mounting plate Flexible fastening block towards aperture is detachably installed；Cylinder block is fixedly installed on rear side of upper padding plate, on cylinder block Horizontal air cylinder is installed, the piston rod of horizontal air cylinder extends forward and the end of piston rod is fixedly connected with movable block mounting plate, Elastic movable block is removably connected on movable block mounting plate, movable block mounting plate and elastic movable block are respectively positioned in opening portion, And limit access is collectively formed in two flexible fastening blocks and an elastic movable block.

Further, front side board is fixedly connected on front side of two vertical plates, guide sleeve there are two fixed installations on front side board, two A guide rod is movably set in a guide sleeve respectively, the upper end of two guide rods is fixedly connected with lifting supporting plate, lifting support The lower part of plate is fixedly connected with the piston rod of lifting cylinder；Lifting supporting plate is located in limit access, and the front side of lifting supporting plate is arranged There is semicircle supporting plate, sliding slot is offered in the middle part of semicircle supporting plate, passing through in sliding slot has loop bar, and the lower end of loop bar is fixedly connected on down On flange on front side of backing plate.

Further, the upper surface of two flexible fastening blocks and an elastic movable block is concordant, and three is located at the same circle Zhou Shang, and angle degree of being between any two.

Further, two detection station structures are identical, include the Y template for being fixedly mounted on upper rack, and Y template includes Main body and Liang Ge branch positioned at body front end, wherein the left and right sides of main body is fixedly installed with a supporting plate, supporting plate respectively Upper end be fixedly installed with lifting motor, be provided with turbine and worm component between two supporting plates, wherein turbine and lifting motor Output shaft is fixedly connected, and worm screw is engaged with turbine and the upper end of worm screw is fixedly connected with positioning mechanism.

Further, positioning mechanism includes the top plate for being fixedly mounted on worm screw upper end, and the lower end of top plate is fixedly installed compression Cylinder, the lower end of compression cylinder are fixed with upper mounted plate, the piston rod of compression cylinder pass through upper mounted plate and with the first movable plate It is fixedly connected, the lower end of the first movable plate is fixedly connected with the second movable plate by first connecting rod, and the lower end of the second movable plate is solid Dingan County is equipped with upper locating piece；The lower end of upper mounted plate is fixedly connected with bottom plate by second connecting rod, and bottom plate is upper End is fixedly installed with lower locating piece.

Further, the position that Liang Ge branch connect with main body is respectively arranged with a vertical guiding bar, top plate, upper fixation Plate, the first movable plate, the second movable plate and bottom plate both pass through vertical guiding bar；Between Liang Ge branch and two supporting plates Main body on be respectively arranged with a detection components, upper locating piece and the setting of lower locating piece face, and the two top is provided with position Set the vertical through slot of face, the corresponding vertical through slot of a detection components.

Further, detection components include cap ned, and the top of cap ned is fixed with pedestal, and the side of pedestal offers vertically Sliding slot, the interior sliding of vertical chute are provided with lifting vertical plate, go up and down and be provided with arc groove on vertical plate, and sliding is provided with water in arc groove Smooth block is provided with horizontal concrete chute on horizontal slider, and sliding is provided with detector fixed block in horizontal concrete chute, and detector is mounted on In detector fixed block.

Further, the side of the vertical chute on pedestal is provided with the first locking member, the first locking member to lifting vertical plate into Row locks or unlocks；The side of arc groove is provided with the second locking member, and the second locking member locks or unlocks horizontal slider； The side of horizontal concrete chute is provided with third locking member, and third locking member locks or unlocks detector fixed block.

The utility model has the beneficial effects that: the utility model is provided with transfer robot, supply assembly and two Rotor at supply assembly is constantly transferred at two detection stations by detection station, transfer robot, is turned respectively to two The strip grooves of son are detected, and the rotor after the completion of detecting is removed by transfer robot again, and then complete the detection operation of rotor, Not only improve detection effect and efficiency, moreover it is possible to ensure the cleanliness of rotor；It, can be to transfer machine due to being provided with Buffer Unit Vibration in people's motion process buffers, to improve clamping effect and precision.

Detailed description of the invention:

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the structural schematic diagram of rack；

Fig. 3-4 is the structural schematic diagram under supply assembly different perspectives；

Fig. 5 is the structural schematic diagram of detection station；

Fig. 6 is the structural schematic diagram of detection station after removing detection components；

Fig. 7 is the front view of detection station after removing detection components；

Fig. 8 is the rearview of detection station after removing detection components；

Fig. 9-10 is the structural schematic diagram under detection components different perspectives；

Figure 11-12 is the structural schematic diagram under transfer robot different perspectives；

Figure 13 is the structural schematic diagram of feeding clamp hand；

Figure 14 is the structural schematic diagram of mounting plate；

Figure 15 is the overall diagram of Buffer Unit；

Figure 16 is the cross-sectional view of Buffer Unit.

Specific embodiment:

It is right with reference to the accompanying drawing in order to keep the above objects, features, and advantages of the utility model more obvious and easy to understand Specific embodiment of the present utility model is described in detail.

As illustrated in figs. 1-16, a kind of double-station rotor detects robot device, the length being used on the excircle to rotor 5 Bar groove 50 is detected；Including rack 1, the top of rack 1 is fixedly installed with supply assembly 2, and the two sides of supply assembly 2 are solid respectively Dingan County is equipped with a detection station 3, and the side of rack 1 is additionally provided with transfer robot 4,2, two detection stations 3 of supply assembly And transfer robot 4 is electrically connected with the control cabinet 14 on 1 top of rack.

Supply assembly is fed, and the rotor at supply assembly is constantly transferred to two detection stations by transfer robot Place, respectively detects the strip grooves of two rotors, and the rotor after the completion of detecting is removed by transfer robot again, and then completes The detection of rotor operates.

Further, rack 1 includes more vertical columns 11 being fixedly mounted on the ground, and the upper end of vertical column 11 is fixed Workbench 10 is installed, connecting rod 12 is connected between adjacent upright column 11, detection station 3 and supply assembly 2 are fixed It is mounted on workbench 10.

Control cabinet 14 is fixed on the top of workbench 10 by control cabinet mounting rack, control cabinet mounting rack include two side by side It is fixed on the L-type support 13 on 10 top of workbench, control cabinet 14 is fixedly mounted in two L-type supports 13.

Transfer robot 4 includes fixing seat 40, and fixing seat 40 is connect by connecting cross beam 401 with rack 1；Fixing seat 40 Top is provided with supporting table 41, several Buffer Units are provided between supporting table 41 and fixing seat 40；The top of supporting table 41 Rotation is provided with rotating seat 42, and rotating seat 42 is sequentially connected with the rotating electric machine 410 being fixedly mounted in supporting table 41；Rotating seat 42 side rotation is provided with swing arm 43, and the oscillating motor 420 being fixedly installed on swing arm 43 and rotating seat 42 is sequentially connected； The upper end of swing arm 43 is provided with pitch arm 44, and pitch arm connects with the transmission of pitching motor 430 being fixedly mounted on swing arm 43 It connects；The front end of pitch arm 44 is connected with telescopic arm 45, telescopic arm 45 and the telescopic cylinder 440 for being fixedly mounted on 44 front end of pitch arm It is fixedly connected；The front end of telescopic arm 45 is fixedly connected with motor mount, and fine tuning motor 450 is fixed on motor mount, micro- It adjusts and is fixedly connected with feeding clamp hand 7 on the output shaft of motor 450.

Feeding clamp hand 7 includes the installation base plate 70 being fixedly connected with fine tuning 450 output shaft of motor, the two sides of installation base plate 70 It is respectively fixedly connected with a L-type mounting rack 701, the first clamping jaw 71, the second clamping jaw are respectively fixed on two L-type mounting racks 701 72。

L-type stiffening plate 702 is provided between L-type mounting rack 701 and installation base plate 70.

First clamping jaw 71 is identical with the structure of the second clamping jaw 72, includes two-way cylinder 711, the fixed peace of two-way cylinder 711 On L-type mounting rack 701, the first movable block 712 and second has been respectively fixedly connected on two piston rods of two-way cylinder 711 Movable block 713, wherein be fixedly connected with the first clamp arm 715 on the first movable block 712, be fixedly connected on the second movable block 713 Second clamp arm 714；The leading inside of first clamp arm 715 and the second clamp arm 714 is provided with elastic projection 73,715 He of the first clamp arm The front end of second clamp arm 714 forms grasping part.

The inside of Buffer Unit is filled with buffering liquid, and Buffer Unit includes the connection base from top to bottom set gradually 81, elastic layer 810, upper cover 82, intermediate sleeve 84 and lower base 86, wherein lower base 86 is connect with fixing seat 40, even Base 81 is met to be detachably connected with supporting table 41；Wherein, lower base 86 is hollow structure, is internally provided with air spring 99；The lower seal of lower base 86 is equipped with sealing plate 87, and the upper end of lower base 86 is formed with annular groove, close in annular groove Envelope is plugged with intermediate sleeve 84, and boss, the upper surface of boss and lower base 86 are formed on the inner wall of 84 lower part of intermediate sleeve Between be pressed against have section be rectangular washer 85, the inner top side of washer 85 form section be trapezoidal raised line, air spring 99 upper end 95 is not contacted with raised line；The upper end of intermediate sleeve 84 forms the ring part extended inwardly, and intermediate sleeve 84 It is tightly connected between upper cover 82 by seal assembly 83, intermediate sleeve 84, upper cover 82 and seal assembly 83 surround slow jointly Fliud flushing room 90；Be movably installed with spring retainer 98 on the inner wall at the middle part of intermediate sleeve 84, spring retainer 98 and washer 85 it Between maintain lower spring 931, upper spring 921 is maintained between spring retainer 98 and the ring part of intermediate sleeve 84；Spring is protected The middle part for holding frame 98 is provided with balance weight 96, and the two sides up and down of balance weight 96 have been respectively fixedly connected with support column 97, support column 97 End be separately installed with a cone；Wherein, upper flow passage 91, the cone of downside are formed between the cone and ring part of upside Lower flow passage 94 is formed between body and raised line.

The inlet and outlet 88 of buffering liquid are provided on the side wall of intermediate sleeve 84, and the top of intermediate sleeve 84 is formed with Portion's fluid reservoir 92, the lower part of intermediate sleeve 84 are formed with lower part fluid reservoir 93；Buffer chamber 90, top fluid reservoir 92 and lower part Fluid reservoir 93 is connected to.

First sensor 46 is additionally provided on telescopic arm 45, first sensor 46 is electrically connected with control cabinet 14, the first sensing Device 46 is used to incude the clamping position of feeding clamp hand 7；The second sensor of induction strip grooves is additionally provided on feeding clamp hand 7, the Two sensors are electrically connected with control cabinet 14.

Rotating electric machine 410, oscillating motor 420, pitching motor 430, telescopic cylinder 440 and fine tuning motor 450 with control Case 14 processed is electrically connected.

Supply assembly 2 includes the mounting base 20 for being fixedly mounted on 1 top of rack, and the top of mounting base 20 is fixedly connected with down Backing plate 211, the left and right ends of lower bolster 211 are fixedly installed with a vertical plate 213 respectively, are equipped between two vertical plates 213 Backing plate 214, the front side of upper padding plate 214 are provided with opening portion, and the two sides of opening portion are fixedly installed with a fixed block installation respectively Plate 223 is detachably equipped with the flexible fastening block 222 towards aperture on fixed block mounting plate 223；Upper padding plate 214 Rear side is fixedly installed with cylinder block 215, and horizontal air cylinder 22 is equipped on cylinder block 215, and the piston rod of horizontal air cylinder 22 prolongs forward It stretches and the end of piston rod is fixedly connected with movable block mounting plate, elastic movable block is removably connected on movable block mounting plate 221, movable block mounting plate and elastic movable block 221 are respectively positioned in opening portion, and two flexible fastening blocks 222 and a yielding movable Limit access is collectively formed in motion block 221.

The front side of two vertical plates 213 is fixedly connected with front side board 216, and there are two guide sleeves for fixed installation on front side board 216 234, it is movably set with a guide rod 233 respectively in two guide sleeves 234, the upper end of two guide rods 233 is fixedly connected with The lower part of lifting supporting plate 231, lifting supporting plate 231 is fixedly connected with the piston rod of lifting cylinder 23；Lifting supporting plate 231 is located at limit In access, the front side of lifting supporting plate 231 is provided with semicircle supporting plate 232, offers sliding slot in the middle part of semicircle supporting plate, wears in sliding slot Loop bar 24 is crossed, the lower end of loop bar 24 is fixedly connected on the flange 212 of 211 front side of lower bolster.

The upper surface of two flexible fastening blocks 222 and an elastic movable block 221 is concordant, and three is located at the same circumference On, and angle between any two is 120 degree.

When being fed, rotor layer is nestable to be located on loop bar, and the lifting supporting plate for limiting access is located at lower side rotor Lower end, and drive rotor pile gradually moves up under the driving of lifting cylinder, to realize lifting feed.

Two 3 structures of detection station are identical, include the Y template 30 for being fixedly mounted on 1 top of rack, and Y template 30 includes Main body and Liang Ge branch positioned at body front end, wherein the left and right sides of main body is fixedly installed with a supporting plate 301 respectively, The upper end of supporting plate 301 is fixedly installed with lifting motor 32, is provided with turbine and worm component between two supporting plates 301, wherein turbine 321 are fixedly connected with the output shaft of lifting motor 32, and worm screw 322 and turbine 321 are engaged and the upper end of worm screw 322 and positioning Mechanism is fixedly connected.

Positioning mechanism includes the top plate 311 for being fixedly mounted on 322 upper end of worm screw, and the lower end of top plate 311 is fixedly installed pressure Tight cylinder 33, the lower end of compression cylinder 33 are fixed with upper mounted plate 312, and the piston rod of compression cylinder 33 passes through upper mounted plate 312 And be fixedly connected with the first movable plate 314, the lower end of the first movable plate 314 is fixedly connected with second by first connecting rod 342 and lives The lower end of movable plate 315, the second movable plate 315 is fixedly installed with locating piece 361；The lower end of upper mounted plate 312 connects by second Bar 343 is fixedly connected with bottom plate 313, and the upper end of bottom plate 313 is fixedly installed with lower locating piece 362.

The position that Liang Ge branch connect with main body is respectively arranged with a vertical guiding bar 341, top plate 311, upper mounted plate 312, the first movable plate 314, the second movable plate 315 and bottom plate 313 both pass through vertical guiding bar 341.

A detection components 6, upper locating piece are respectively arranged in main body between Liang Ge branch and two supporting plates 301 361 and the setting of lower 362 face of locating piece, and the two top is provided with the vertical through slot 37 of position face, and a detection components 6 are right Answer a vertical through slot 37.

Detection components 6 include cap ned 60, and the top of cap ned 60 is fixed with pedestal 61, and the side of pedestal 61 offers perpendicular Straight runner, the interior sliding of vertical chute is provided with lifting vertical plate 62, goes up and down and be provided with arc groove 621 on vertical plate 62, in arc groove 621 Sliding is provided with horizontal slider 63, horizontal concrete chute is provided on horizontal slider 63, it is solid to be provided with detector for sliding in horizontal concrete chute Determine block 64, detector 65 is mounted in detector fixed block 64.

The side of vertical chute on pedestal 61 is provided with the first locking member 620, the first 620 pairs of locking member lifting vertical plate 62 It is locked or unlocked；The side of arc groove 621 is provided with the second locking member 630, the second locking member 630 to horizontal slider 63 into Row locks or unlocks；The side of horizontal concrete chute is provided with third locking member 640, and third locking member carries out detector fixed block 64 It locks or unlocks.

When being detected, rotor layer is nestable is located on the loop bar of supply assembly, the lifting supporting plate in limit access Positioned at the lower end of lower side rotor, and under the driving of lifting cylinder, drive rotor pile is gradually moved up, when the two of the top When a rotor protrudes from the upper surface of the elastic movable block of two flexible fastening blocks and one, transfer robot utilizes two clamp hands point It is other that two rotors are clamped, and two rotors are respectively fed to corresponding detection station, and then is realized to two rotors While detect.In this process, rotor is sent into the first locating piece by transfer robot, and transfer robot passes through sensor Ensuring the strip grooves of rotor and the position face of vertical through slot, compression cylinder is pneumatic and the first positioning component is driven to move down, thus So that the first positioning component and the second positioning component fix rotor, detection components can be through vertical through slot to the strip of rotor Slot is detected.In this process, lifting motor can drive turbine and worm component, and then drive positioning component integral elevating, Check bit has been adjusted to set, compression cylinder is able to drive the lifting of the first positioning component, and then realizes the positioning and release to rotor, with Convenient for the taking-up after detecting and detecting.

The embodiment is rather than limited the present invention the utility model is illustrated.Any this field Technical staff can modify to the embodiment under the spirit and scope without prejudice to the utility model, therefore this is practical Novel rights protection scope, should be as listed by the claim of the utility model.

Claims (10)

1. a kind of double-station rotor detects robot device, for being examined to the strip grooves (50) on the excircle of rotor (5) It surveys, it is characterised in that: including rack (1), the top of rack (1) is fixedly installed with supply assembly (2), and the two of supply assembly (2) Side is fixedly installed with a detection station (3) respectively, and the side of rack (1) is additionally provided with transfer robot (4), supply assembly (2), two detection stations (3) and transfer robot (4) are electrically connected with the control cabinet (14) on rack (1) top；Transfer machine Device people (4) includes fixing seat (40), and fixing seat (40) is connect by connecting cross beam (401) with rack (1)；Fixing seat (40) it is upper Portion is provided with supporting table (41), is provided with several Buffer Units between supporting table (41) and fixing seat (40)；Supporting table (41) Top rotation be provided with rotating seat (42), rotating seat (42) and the rotating electric machine (410) being fixedly mounted on supporting table (41) Transmission connection；The side rotation of rotating seat (42) is provided with swing arm (43), and swing arm (43) is set with fixation on rotating seat (42) Oscillating motor (420) transmission connection set；The upper end of swing arm (43) is provided with pitch arm (44), pitch arm be fixedly mounted on Pitching motor (430) transmission connection on swing arm (43)；The front end of pitch arm (44) is connected with telescopic arm (45), telescopic arm (45) it is fixedly connected with the telescopic cylinder (440) for being fixedly mounted on pitch arm (44) front end；The front end of telescopic arm (45) is fixed to be connected It is connected to motor mount, fine tuning motor (450) is fixed on motor mount, finely tunes fixed on the output shaft of motor (450) connect It is connected to feeding clamp hand (7)；It is additionally provided on telescopic arm (45) first sensor (46), first sensor (46) and control cabinet (14) Electrical connection, first sensor (46) are used to incude the clamping position of feeding clamp hand (7)；Feeding clamp hand is additionally provided with induction on (7) The second sensor of strip grooves, second sensor are electrically connected with control cabinet (14)；Rotating electric machine (410), oscillating motor (420), Pitching motor (430), telescopic cylinder (440) and fine tuning motor (450) are electrically connected with control cabinet (14)；

The inside of Buffer Unit be filled with buffering liquid, Buffer Unit include the connection base (81) from top to bottom set gradually, Elastic layer (810), upper cover (82), intermediate sleeve (84) and lower base (86), wherein lower base (86) and fixing seat (40) it connects, connection base (81) is detachably connected with supporting table (41)；Wherein, lower base (86) is hollow structure, under this Side group portion is internally provided with air spring (99)；The lower seal of lower base (86) is equipped with sealing plate (87), lower base (86) upper end is formed with annular groove, and sealing is plugged with intermediate sleeve (84) in annular groove, the inner wall of intermediate sleeve (84) lower part On be formed with boss, between boss and the upper surface of lower base (86) be pressed against have section be rectangular washer (85), washer (85) it is trapezoidal raised line that inner top side, which forms section, and the upper end (95) of air spring (99) is not contacted with raised line；It is intermediate The upper end of sleeve (84) forms the ring part extended inwardly, and passes through sealing group between intermediate sleeve (84) and upper cover (82) Part (83) is tightly connected, and intermediate sleeve (84), upper cover (82) and seal assembly (83) surround buffer chamber (90) jointly；It is intermediate It is movably installed on inner wall in the middle part of sleeve (84) spring retainer (98), is kept between spring retainer (98) and washer (85) Have lower spring (931), upper spring (921) are maintained between spring retainer (98) and the ring part of intermediate sleeve (84)；Spring It is provided in the middle part of retainer (98) balance weight (96), the two sides up and down of balance weight (96) have been respectively fixedly connected with support column (97), the end of support column (97) is separately installed with a cone；Wherein, top is formed between the cone and ring part of upside Runner (91) is formed with lower flow passage (94) between the cone and raised line of downside；It is provided on the side wall of intermediate sleeve (84) slow The inlet and outlet (88) of fliud flushing body, and the top of intermediate sleeve (84) is formed with top fluid reservoir (92), under intermediate sleeve (84) Portion is formed with lower part fluid reservoir (93)；Buffer chamber (90), top fluid reservoir (92) and lower part fluid reservoir (93) are connected to.

2. double-station rotor according to claim 1 detects robot device, it is characterised in that: described two detection stations (3) structure is identical, includes the Y template (30) for being fixedly mounted on rack (1) top, and Y template (30) includes main body and is located at The Liang Ge branch of body front end, wherein the left and right sides of main body is fixedly installed with a supporting plate (301) respectively, supporting plate (301) Upper end is fixedly installed with lifting motor (32), is provided with turbine and worm component between two supporting plates (301), wherein turbine (321) It is fixedly connected with the output shaft of lifting motor (32), worm screw (322) is engaged with turbine (321) and the upper end of worm screw (322) It is fixedly connected with positioning mechanism.

3. double-station rotor according to claim 2 detects robot device, it is characterised in that: the positioning mechanism includes It is fixedly mounted on the top plate (311) of worm screw (322) upper end, the lower end of top plate (311) is fixedly installed compression cylinder (33), is compressed The lower end of cylinder (33) is fixed with upper mounted plate (312), and the piston rod of compression cylinder (33) passes through upper mounted plate (312) and with the One movable plate (314) is fixedly connected, and the lower end of the first movable plate (314) is fixedly connected with second by first connecting rod (342) and lives Movable plate (315), the lower end of the second movable plate (315) are fixedly installed with locating piece (361)；The lower end of upper mounted plate (312) is logical It crosses second connecting rod (343) to be fixedly connected with bottom plate (313), and the upper end of bottom plate (313) is fixedly installed with lower positioning Part (362).

4. double-station rotor according to claim 3 detects robot device, it is characterised in that: described two branches and master The position of body connection is respectively arranged with a vertical guiding bar (341), top plate (311), upper mounted plate (312), the first movable plate (314), the second movable plate (315) and bottom plate (313) both pass through vertical guiding bar (341)；Liang Ge branch and two A detection components (6) is respectively arranged in main body between supporting plate (301), upper locating piece (361) and lower locating piece (362) are just To setting, and the two top is provided with the vertical through slot (37) of position face, the corresponding vertical through slot of a detection components (6) (37).

5. double-station rotor according to claim 4 detects robot device, it is characterised in that: the detection components (6) Including cap ned (60), the top of cap ned (60) is fixed with pedestal (61), and the side of pedestal (61) offers vertical chute, is erected Sliding is provided with lifting vertical plate (62) in straight runner, is provided with arc groove (621) in lifting vertical plate (62), in arc groove (621) Sliding is provided with horizontal slider (63), and horizontal concrete chute is provided on horizontal slider (63), and sliding is provided with detection in horizontal concrete chute Head fixed block (64), detector (65) are mounted in detector fixed block (64).

6. double-station rotor according to claim 5 detects robot device, it is characterised in that: on the pedestal (61) The side of vertical chute is provided with the first locking member (620), and the first locking member (620) is locked or solved to lifting vertical plate (62) Lock；The side of arc groove (621) is provided with the second locking member (630), and the second locking member (630) locks horizontal slider (63) Fixed or unlock；The side of horizontal concrete chute is provided with third locking member (640), and third locking member carries out detector fixed block (64) It locks or unlocks.

7. double-station rotor according to claim 1 detects robot device, it is characterised in that: the rack (1) includes More vertical columns (11) on the ground are fixedly mounted, the upper end of vertical column (11) is fixedly installed with workbench (10), phase It is connected with connecting rod (12) between adjacent vertical column (11), detection station (3) and supply assembly (2) are fixedly mounted on work On platform (10).

8. double-station rotor according to claim 7 detects robot device, it is characterised in that: the control cabinet (14) is logical The top that control cabinet mounting rack is fixed on workbench (10) is crossed, control cabinet mounting rack includes two and is fixed on workbench (10) side by side The L-type support (13) on top, control cabinet (14) are fixedly mounted on two L-type supports (13).

9. double-station rotor according to claim 1 detects robot device, it is characterised in that: the feeding clamp hand (7) Including the installation base plate (70) being fixedly connected with fine tuning motor (450) output shaft, the two sides of installation base plate (70) are respectively fixedly connected There is a L-type mounting rack (701), the first clamping jaw (71), the second clamping jaw (72) are respectively fixed on two L-type mounting racks (701)； L-type stiffening plate (702) are provided between L-type mounting rack (701) and installation base plate (70)；First clamping jaw (71) and the second folder The structure of pawl (72) is identical, includes two-way cylinder (711), and two-way cylinder (711) is fixedly mounted on L-type mounting rack (701), It has been respectively fixedly connected with the first movable block (712) and the second movable block (713) on two piston rods of two-way cylinder (711), In, it is fixedly connected on the first movable block (712) the first clamp arm (715), the second movable block is fixedly connected with the second folder on (713) Arm (714)；The leading inside of first clamp arm (715) and the second clamp arm (714) is provided with elastic projection (73), the first clamp arm (715) and the front end of the second clamp arm (714) forms grasping part.

10. double-station rotor according to claim 1 detects robot device, it is characterised in that: the supply assembly (2) Mounting base (20) including being fixedly mounted on rack (1) top, the top of mounting base (20) are fixedly connected with lower bolster (211), The left and right ends of lower bolster (211) are fixedly installed with a vertical plate (213) respectively, are equipped with pad between two vertical plates (213) Plate (214), opening portion is provided on front side of upper padding plate (214), and the two sides of opening portion are fixedly installed with a fixed block peace respectively Loading board (223) is detachably equipped with the flexible fastening block (222) towards aperture on fixed block mounting plate (223)；Upper pad It is fixedly installed on rear side of plate (214) cylinder block (215), horizontal air cylinder (22), horizontal air cylinder is installed on cylinder block (215) (22) piston rod extends forward and the end of piston rod is fixedly connected with movable block mounting plate, detachable on movable block mounting plate It is connected with elastic movable block (221), movable block mounting plate and elastic movable block (221) are respectively positioned in opening portion, and two elasticity Limit access is collectively formed in fixed block (222) and an elastic movable block (221)；

The upper surface of two flexible fastening blocks (222) and an elastic movable block (221) is concordant, and three is located at the same circumference On, and angle between any two is (120) degree；

It is fixedly connected with front side board (216) on front side of described two vertical plates (213), on front side board (216) there are two fixed installations Guide sleeve (234), is movably set with a guide rod (233) in two guide sleeves (234) respectively, two guide rods (233) Upper end is fixedly connected with lifting supporting plate (231), the lower part of lifting supporting plate (231) and the fixed company of the piston rod of lifting cylinder (23) It connects；Lifting supporting plate (231) is located in limit access, and semicircle supporting plate (232), semicircle are provided on front side of lifting supporting plate (231) Sliding slot is offered in the middle part of shape supporting plate, passing through in sliding slot has loop bar (24), and the lower end of loop bar (24) is fixedly connected on lower bolster (211) On the flange (212) of front side.