An automatic detection device and method for the verticality of a warehouse rack column component

Abstract

The application provides a kind of automatic detection device and method for the verticality of warehouse rack column component, and relates to the technical field of warehouse rack manufacturing and installation, comprising: a bottom plate, which fixes the pose adjustment device and the measurement execution device on a shuttle vehicle;The pose adjustment device clamps a measurement execution device;The measurement execution device measures multiple sets of height data;The controller drives the pose adjustment device to adjust the measurement execution device to the preset measurement position of the column component to be measured, then controls the tensioning mechanism to close and each flexible clamping mechanism to clamp the column component, then controls the range finder to rotate one circle along the two semicircular tracks, and collects multiple sets of height data of the column component during rotation to obtain the verticality detection result of the column component.The application realizes complete automatic detection of the warehouse rack column component, saves labor cost and improves assembly quality.

Description

Technical Field

[0001] This invention relates to the field of warehouse racking manufacturing and installation technology, and in particular to an automated detection device and method for the verticality of warehouse racking column components. Background Technology

[0002] Shelving plays a vital role in modern logistics activities. The modernization of warehouse management is directly related to the types and functions of shelving. Shelving is composed of steel structural components, including column members, beam members, pole members, plate members, and flexible components. Column members, in particular, are the load-bearing foundation components, and their verticality significantly impacts the quality of the shelving. With continuous innovation in warehouse shelving installation technology, both production and assembly workshops have achieved automation. However, a major challenge remains in warehouse shelving installation: the verticality of warehouse shelving column members is still primarily checked manually using methods such as plumb bobs. Manual measurement is not only inefficient but also poses significant safety hazards due to the need for verticality checks. Furthermore, manual inspection is prone to significant errors, compromising the reliability and quality of the shelving.

[0003] Therefore, there is an urgent need to develop a new automated detection device for the verticality of warehouse racking column components to make up for the shortcomings of existing detection technologies and realize the automatic detection of warehouse racking column components.

[0004] Because the length, specifications, and shapes of the steel components of warehouse racking vary greatly, inspection needs to be carried out at different locations. After the racking is installed, the steel components are intertwined in a complex manner. Therefore, the vertical inspection system for automated racking column components should have the following characteristics: the inspection instruments should be flexible, easy to move, convenient to use, and easy to install. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention provides an automated detection device for the verticality of warehouse rack column components, comprising:

[0006] The base plate is installed between the column components of a storage rack;

[0007] The pose adjustment device has a chuck on the side away from the base plate to hold a measuring actuator.

[0008] The measurement execution device includes:

[0009] The track disk includes two symmetrically arranged semi-circular track disks connected by a tensioning mechanism; each of the two semi-circular track disks has a corresponding semi-circular groove, which forms a receiving hole; each of the two semi-circular track disks also has a corresponding semi-circular track, on which a rangefinder is slidably connected.

[0010] Multiple flexible clamping mechanisms are disposed at the bottom of the track disk and extend toward the receiving hole;

[0011] The controller is connected to the posture adjustment device and the measurement execution device respectively. It is used to drive the posture adjustment device to adjust the measurement execution device to the preset measurement position of the column component to be measured, and then control the tensioning mechanism to close and each of the flexible clamping mechanisms to clamp the column component to be measured through the receiving hole. Then, it controls the rangefinder to rotate one revolution along the two semi-circular tracks and collects multiple sets of height data of the column component during the rotation to obtain the verticality detection result of the column component.

[0012] Preferably, the automated detection device further includes a shuttle, which runs on a slide rail formed between the column members of the storage rack, the base plate is disposed on the shuttle, and the shuttle is connected to the controller.

[0013] Preferably, the pose adjustment device includes:

[0014] An X-axis moving mechanism is mounted on the base plate, and a controller is connected to the X-axis moving mechanism. The controller controls the X-axis moving mechanism to drive the measuring execution device to move along the X direction.

[0015] A Y-axis moving mechanism is provided on the X-axis moving mechanism. The X-axis moving mechanism and the Y-axis moving mechanism are perpendicular in the XOY plane. The controller is connected to the Y-axis moving mechanism and drives the measuring execution device to move along the Y direction by controlling the Y-axis moving mechanism.

[0016] The Z-axis moving mechanism is disposed on the Y-axis moving mechanism. The Y-axis moving mechanism and the Z-axis moving mechanism are perpendicular in the YOZ plane. The controller is connected to the Z-axis moving mechanism and drives the measuring execution device to move along the Z-axis by controlling the Z-axis moving mechanism.

[0017] Preferably, the pose adjustment device further includes:

[0018] The Z-axis rotation mechanism is located on top of the Z-axis moving mechanism. The controller is connected to the Z-axis rotation mechanism and controls the Z-axis rotation mechanism to drive the measuring execution device to rotate around the Z-axis axis.

[0019] An X-axis rotation mechanism is provided on the side of the Z-axis moving mechanism, and a chuck is provided on the side away from the Z-axis moving mechanism. A controller is connected to the X-axis rotation mechanism, and the controller drives the measuring execution device to rotate around the X-axis axis by controlling the X-axis rotation mechanism.

[0020] Preferably, the automated inspection device further includes a vision camera, which is mounted on the jaw. The X-axis rotation mechanism is connected to the vision camera, and the controller is connected to the vision camera. The controller is used to control the vision camera to acquire images and, based on the image acquisition results, drive the pose adjustment device to adjust the measurement execution device to the preset measurement position of the column component to be measured.

[0021] Preferably, the measuring device further includes an electronic water meter, which is disposed on the track disk and located between one of the semicircular grooves and the corresponding semicircular track. The controller is connected to the electronic water meter, which is used to detect the levelness of the track disk with respect to the ground and feed it back to the controller.

[0022] Preferably, one end of each of the two semi-circular track disks of the automated detection device is provided with a step, the two steps are rotatably connected by a rotating shaft, and the tensioning mechanism is located at the bottom of the track disk near the rotatable connection of the two steps.

[0023] An automated method for detecting the verticality of warehouse rack column components, applied to the aforementioned automated detection device for the verticality of warehouse rack column components, specifically includes the following steps:

[0024] Step S1: At the detection position of the column component to be measured, the automated detection device controls the tensioning mechanism to open the two semi-circular track disks to clamp the column component, and then drives the posture adjustment device to adjust the two semi-circular track disks to the preset measurement position of the column component to be measured.

[0025] In step S2, the automated detection device controls the tensioning mechanism to close the two semi-circular track discs to clamp the column member, and controls each of the flexible clamping mechanisms to press against the column member, and then controls the jaws to open to release the measuring execution device;

[0026] In step S3, the automated detection device controls the rangefinder to rotate one revolution along the two semi-circular tracks, and collects multiple sets of height data of the column component during the rotation, and processes the data to obtain the verticality detection result of the column component.

[0027] Preferably, the automated detection device further includes a shuttle, which runs on a slide rail formed between each of the column members of the storage rack. In step S1, the automated detection device is driven by the shuttle to the detection position of the column member to be measured.

[0028] Preferably, in step S3, the verticality detection result is obtained by processing the data using the following formula:

[0029]

[0030] Wherein, Δd is used to represent the verticality of the column member, l is used to represent the length from the bottom position of the column member to the preset measurement position of the column member, and h is used to represent the height data collected by the rangefinder that characterizes the vertical height between the preset measurement position of the column member and the ground reference.

[0031] The above technical solution has the following advantages or beneficial effects:

[0032] 1) The system can accurately and efficiently realize the automated detection of the verticality of the warehouse rack column components, laying the foundation for improving the overall manufacturing and installation quality of the warehouse rack;

[0033] 2) The position adjustment device and the measurement execution device can follow the shuttle car to inspect the warehouse rack column components at multiple locations, shortening the inspection time;

[0034] 3) The electronic water meter ensures that the measuring device remains parallel to the ground reference throughout the entire testing process;

[0035] 4) Automated testing equipment can measure the verticality of warehouse rack column components of different specifications;

[0036] 5) The verticality of column members can be calculated by a program stored in the computer, saving time and labor costs and avoiding calculation errors. Attached Figure Description

[0037] Figure 1 A preferred embodiment of the present invention shows the positional relationship and structural diagram of the storage rack and the automated verticality detection device for the storage rack.

[0038] Figure 2 A schematic diagram showing the positional relationship and structural details of the storage rack and the automated verticality detection device for the storage rack, which is a preferred embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the pose adjustment device and the measurement execution device in a preferred embodiment of the present invention;

[0040] Figure 4A schematic diagram of the measurement execution device structure is shown in a preferred embodiment of the present invention;

[0041] Figure 5 In a preferred embodiment of the present invention, the measuring execution device is shown in a bottom view;

[0042] Figure 6 A block diagram of the control system for the automated verticality detection device for warehouse racks, as described in a preferred embodiment of the present invention.

[0043] Figure 7 A flowchart of an automated detection method for the verticality of warehouse rack column components is provided in a preferred embodiment of the present invention. Detailed Implementation

[0044] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment; other embodiments that conform to the spirit of the present invention may also fall within the scope of the present invention.

[0045] In a preferred embodiment of the present invention, based on the above-mentioned problems existing in the prior art, an automated detection device for the verticality of warehouse rack column components is provided, such as... Figures 1 to 6 As shown, it specifically includes:

[0046] Base plate 1 is installed between the column components of a storage rack;

[0047] The posture adjustment device 2 has a claw 3 on the side away from the base plate to hold a measuring execution device 4.

[0048] The measuring actuator 4 includes:

[0049] The track disk 41 includes two symmetrically arranged semi-circular track disks 411, which are connected by a tensioning mechanism 42. Each of the two semi-circular track disks 411 has a corresponding semi-circular groove 43, which forms a receiving hole 44. Each of the two semi-circular track disks 411 also has a corresponding semi-circular track 45, and a rangefinder 46 is slidably connected to the semi-circular track 45.

[0050] Multiple flexible clamping mechanisms 47 are disposed at the bottom of the track disk 41 and extend toward the receiving hole 44;

[0051] The controller 8 is connected to the posture adjustment device 2 and the measurement execution device 4 respectively. It is used to drive the posture adjustment device 2 to adjust the measurement execution device 4 to the preset measurement position of the column component 7 to be measured, and then control the tensioning mechanism 42 to close and each flexible clamping mechanism 47 to clamp the column component 7 to be measured through the receiving hole 44. Then, it controls the rangefinder 46 to rotate one circle along the two semi-circular tracks 45, and collects multiple sets of height data of the column component 7 during the rotation to obtain the verticality detection result of the column component 7.

[0052] Specifically, in this embodiment, when the automated detection device for the verticality of the warehouse rack column component 7 of the present invention measures the verticality of the warehouse rack column component 7, firstly, when the automated detection device is near the warehouse rack column component 7 to be detected, the automated detection device controls the tensioning mechanism 42 through the controller 8 to drive the track disk 41 to open. The tensioning mechanism 42 consists of two fixing bolts, a drive motor, and a gear transmission structure. When the motor rotates forward, it drives the gear to open the tensioning mechanism. When the motor rotates in reverse, it drives the gear to close the tensioning mechanism. The tensioning mechanism can use existing steel components as long as they can drive the track disk to open in a fan shape. This patent will not elaborate on this further. The tensioning mechanism 42 is used to drive the two semi-circular track disks 411 to open in a fan shape.

[0053] In a preferred embodiment of the present invention, the pose adjustment device 2 further includes:

[0054] It also includes a vision camera 26, which is mounted on the chuck 3. The X-axis rotation mechanism 25 is connected to the vision camera 26, and the controller 8 is connected to the vision camera 26. The controller 8 is used to control the vision camera 26 to perform image acquisition and drive the pose adjustment device 2 to adjust the measurement execution device 4 to the preset measurement position of the column component to be measured according to the image acquisition results.

[0055] Specifically, in this embodiment, the vision camera 26 is an existing vision system vision camera, which can transmit the image projected by the lens onto the sensor to the controller 8. The controller 8 determines whether the preset measurement position has been reached based on the image information transmitted by the vision camera.

[0056] Furthermore, after the tensioning mechanism 42 drives the two semi-circular track disks 411 to open in a fan shape, the controller 8 controls the vision camera 26 to detect the measurement position of the column component and whether the measuring device has reached the preset measurement position. Based on the measurement results of the vision camera 26, the controller 8 uses the pose adjustment device 2 to move the measuring execution device 4 in the X, Y, and Z directions and rotate it around the X and Z axes to adjust its pose. Further, after the pose of the measuring execution device 4 is adjusted to the correct position, this means that the measuring execution device 4 has reached the receiving hole 44 that can accommodate the column after the two semi-circular track disks 411 are closed. The controller 8 controls the tensioning mechanism 42 to drive the closing track plate 41, which surrounds the column component. The two semi-circular track plates 411 close in a fan shape. Multiple flexible clamping mechanisms 47 are evenly arranged below the two semi-circular track plates 411. The number of flexible clamping mechanisms can be three. The specifications of the warehouse rack column components are different. The flexible clamping mechanism 47 is composed of a top rod, a base, bearings, a transmission structure, a drive motor, etc. A pair of bearings are provided between the top rod and the base. The top rod can be passively rotated. At the same time, the controller 8 can drive the transmission structure through the drive motor to achieve flexible clamping of the steel component. Different specifications of steel components can be clamped by using the existing flexible clamping structure. This invention will not be described in detail here.

[0057] In a preferred embodiment of the present invention, the pose adjustment device 2 further includes:

[0058] It also includes an electronic water meter 48, which is set on the track plate 41 and located between one of the semi-circular grooves 43 and the corresponding semi-circular track 411. The controller 8 is connected to the electronic water meter 48, which is used to detect the levelness of the track plate 41 with the ground and feed it back to the controller 8.

[0059] Specifically, in this embodiment, the electronic water level 48 is an existing electronic level. The electronic water level 48 uses the balance principle of a capacitive pendulum to measure the minute tilt angle of the measured surface relative to the reference horizontal plane.

[0060] Furthermore, the controller 8 controls the electronic water meter 27 located on the groove 43 of the track disk 41 to measure the levelness of the track disk 41 relative to the reference ground.

[0061] After measuring the levelness of the track disk and the ground, the controller 8 controls the posture adjustment device 2 to adjust the posture of the measuring execution device 4. This posture adjustment refers to adjusting the track disk of the measuring execution device to be parallel to the reference ground. After the posture of the measuring execution device 4 is adjusted to the correct position, the controller 8 controls the chuck 3 to open, and the controller 8 controls the posture adjustment device 2 to return to a safe position. The controller 8 then controls the rangefinder 46 to rotate one revolution along the track 45 on the track disk 41 to continuously measure and obtain multiple sets of height data. The rangefinder 46 is slidably mounted on the track 45 of the track disk 41. Existing equipment such as infrared rangefinders and laser rangefinders can be used. The aforementioned safe position refers to the position where the rangefinder 46 rotates around the track 45. During the rotation, the device will not collide with the position of the gripper 2. After the height data of the column component is measured, the controller 8 controls the posture adjustment device 2 to reach the preset measurement position. The controller 8 controls the gripper 3 to clamp the measurement execution mechanism 4. The controller 8 drives the track disk 41 to open by controlling the tensioning mechanism 42. The two semi-circular track disks 411 open in a fan shape, releasing the clamped column component. The controller 8 controls the gripper 3 and the posture adjustment device 2 to return to the starting position. The height measurement of the column component is completed. The controller 8 is a commonly used microprocessor. As a preferred embodiment, the base plate 1, posture adjustment device 2, gripper 3, measurement execution device 4, and controller 8 can be integrated to form a detection robot.

[0062] In a preferred embodiment of the present invention, such as Figure 1 and Figure 6 As shown, it also includes a shuttle 5, which runs on the slide rails formed between the column components of the storage rack. The base plate 1 is set on the shuttle 5, and the shuttle 5 is connected to the controller 8.

[0063] Specifically, in this embodiment, the shuttle 5 is an existing intelligent robot, installed on the slide rail of the warehouse rack and connected to the controller 8. It can move the measurement execution device 4 and the posture adjustment device 2 to the preset measurement position according to the command of the controller 8.

[0064] In a preferred embodiment of the present invention, such as Figure 3 and Figure 6 As shown, the pose adjustment device 2 includes:

[0065] X-axis moving mechanism 21 is mounted on base plate 1. Controller 8 is connected to X-axis moving mechanism 21. Controller 8 drives measuring execution device 4 to move along the X direction by controlling X-axis moving mechanism 21.

[0066] Y-direction moving mechanism 22 is set on X-direction moving mechanism 21. X-direction moving mechanism 21 and Y-direction moving mechanism 22 are perpendicular in the XOY plane. Controller 8 is connected to Y-direction moving mechanism 22. Controller 8 drives measuring execution device 4 to move along the Y direction by controlling Y-direction moving mechanism 22.

[0067] Z-axis moving mechanism 23 is mounted on Y-axis moving mechanism 22. Y-axis moving mechanism 22 and Z-axis moving mechanism 23 are perpendicular in the YOZ plane. Controller 8 is connected to Z-axis moving mechanism 23. Controller 8 drives measuring execution device 4 to move along the Z-axis by controlling Z-axis moving mechanism 23.

[0068] Specifically, in this embodiment, the three moving mechanisms, namely X-axis moving mechanism 21, Y-axis moving mechanism 22 and Z-axis moving mechanism 23, all adopt existing moving mechanisms, and the corresponding motors are driven by the control controller 8 to drive the measuring execution device 4 to move.

[0069] In a preferred embodiment of the present invention, the pose adjustment device 2 further includes:

[0070] Z-axis rotation mechanism 24, Z-axis rotation structure 24 is set on top of Z-axis moving mechanism 23, controller 8 is connected to Z-axis rotation mechanism 24, controller 8 drives measuring execution device 4 to rotate around Z-axis as axis by controlling Z-axis rotation mechanism 24;

[0071] The X-axis rotation mechanism 25 is located on the side of the Z-axis moving mechanism 23. The chuck 3 is located on the side away from the Z-axis moving mechanism 23. The controller 8 is connected to the X-axis rotation mechanism 25. The controller 8 drives the measuring execution device 4 to rotate around the X-axis axis by controlling the X-axis rotation mechanism 25.

[0072] Specifically, in this embodiment, the Z-axis rotation mechanism 24 and the X-axis rotation mechanism 25 are existing rotation mechanisms. By controlling the corresponding drive motors, the corresponding rotation mechanisms can be controlled to rotate.

[0073] In a preferred embodiment of the present invention, the pose adjustment device 2, such as... Figure 4 As shown, it also includes:

[0074] One end of the semi-circular track disk 411 is provided with a step 412, and the two steps 412 are rotatably connected by a rotating shaft 413. The tensioning mechanism 42 is located at the bottom of the track disk 41 near the rotatable connection of the two steps.

[0075] Specifically, in this embodiment, the pivot 413 connecting the two steps 412 is an existing steel component, and a common straight pivot can be used.

[0076] This invention also provides an automated method for detecting the verticality of warehouse rack column components, applied to the aforementioned automated detection device, such as... Figure 7 As shown, automated detection methods include:

[0077] Step S1: Place the automated detection device at the detection position of the column component 7 to be measured, control the tensioning mechanism 42 to open the two semi-circular track disks 411 to clamp the column component 7, and then drive the posture adjustment device 2 to adjust the two semi-circular track disks 411 to the preset measurement position of the column component 7 to be measured.

[0078] In step S2, the automated detection device controls the tensioning mechanism 42 to close the two semi-circular track disks 411 to clamp the column member 7, and controls each flexible clamping mechanism 47 to press against the column member 7, and then controls the chuck 3 to open to release the measuring execution device 4.

[0079] In step S3, the automated detection device controls the rangefinder 46 to rotate one revolution along the two semi-circular tracks 411, and collects multiple sets of height data of the column component 7 during the rotation, and processes the data to obtain the verticality detection result of the column component 7.

[0080] Specifically, in this embodiment, the automated detection method is carried out in three steps, and the specific process is as follows: First, the controller 8 controls the shuttle 5 to move the measurement execution device 4 and the pose adjustment device 2 to the preset measurement position; the controller 8 controls the track plate tensioning mechanism 42 to open the two semi-circular track plates 411; after the vision camera 26 detects the measurement position of the detection column component 7 by image acquisition, it transmits the image projected onto the sensor to the controller 8, and the controller 8 drives the X-axis movement mechanism 21, the Y-axis movement mechanism 22, and the Z-axis movement mechanism 23 to adjust the position of the measurement execution device 4; after the position of the measurement execution device 4 is adjusted to the correct position, the controller 8 controls the track plate tensioning mechanism 42 to close the two semi-circular track plates 411, and controls... The controller 8 controls the flexible clamping mechanism 47 of the drive column component to achieve flexible clamping of the column component 7. The controller 8 receives the feedback signal from the electronic water meter 27 and controls the posture adjustment device 2 to adjust the posture of the measuring execution device 4 to ensure that it is parallel to the ground reference. Then the controller 8 controls the chuck 3 to open and release the measuring execution device 4. In order to avoid the measuring execution device 4 from colliding with the posture adjustment device 2, the posture adjustment device 2 should return to the safe position. After the posture adjustment device 2 returns to the safe position, the measuring execution device 4 rotates one revolution along the track 45 formed by the two semi-circular track disks 411, and measures multiple sets of column component height data. The measured multiple sets of height data are fed back to the controller 8, and the controller 8 sends them to the computer for processing.

[0081] Furthermore, after acquiring the height data, the controller 8 controls the posture adjustment device 2 to reach the designated position, and the controller 8 controls the jaws 3 to clamp the measuring execution device 4; then the controller 8 controls the column component flexible clamping mechanism 47 to open simultaneously, the controller 8 controls the track plate tensioning mechanism 42 to drive the two semi-circular track plates 411 to open and release the clamped column component 7, and the controller 8 controls the posture adjustment device 2 to drive the measuring execution device 4 to return to the safe position, and the measurement is completed;

[0082] Finally, the verticality test result can be obtained using the following formula:

[0083]

[0084] Wherein, Δd is used to represent the verticality of column member 7, l is used to represent the length from the bottom position of column member 7 to the preset measurement position of column member 7, and h is used to represent the vertical height data of column member 7 and ground reference obtained by rangefinder 46.

[0085] Specifically, in this embodiment, the closer the length from the bottom position of column component 7 to the preset measurement position of column component 7 in the formula and the vertical height of the preset measurement position of column component 7 and the ground reference obtained by the rangefinder 46 are, the better the verticality of the column component. When the two are equal, the column component is completely vertical.

[0086] In a preferred embodiment of the present invention, such as Figure 2 As shown, the automated detection device also includes: a shuttle 5, which runs on the slide rail formed between the column components of the storage rack. In step S1, the shuttle 5 drives the automated detection device to the detection position of the column component to be measured.

[0087] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made using the content of this specification and illustrations should be included within the protection scope of the present invention.

Claims

1. An automated detection device for the verticality of warehouse rack column components, characterized in that, include: The base plate is installed between the column components of a storage rack; The pose adjustment device has a chuck on the side away from the base plate to hold a measuring actuator. The measurement execution device includes: The track disk includes two symmetrically arranged semi-circular track disks connected by a tensioning mechanism; each of the two semi-circular track disks has a corresponding semi-circular groove, which forms a receiving hole; each of the two semi-circular track disks also has a corresponding semi-circular track, on which a rangefinder is slidably connected. Multiple flexible clamping mechanisms are disposed at the bottom of the track disk and extend toward the receiving hole; The controller is connected to the posture adjustment device and the measurement execution device respectively. It is used to drive the posture adjustment device to adjust the measurement execution device to the preset measurement position of the column component to be measured, and then control the tensioning mechanism to close and each of the flexible clamping mechanisms to clamp the column component to be measured through the receiving hole. Then, it controls the rangefinder to rotate one circle along the two semi-circular tracks and collects multiple sets of height data of the column component during the rotation to obtain the verticality detection result of the column component. The tensioning mechanism consists of two fixing bolts, a drive motor, and a gear transmission structure. When the drive motor rotates forward, it drives the gear transmission structure to open the tensioning mechanism in a fan shape. When the drive motor rotates in reverse, it drives the gear transmission structure to close the tensioning mechanism.

2. The automated detection device according to claim 1, characterized in that, It also includes a shuttle that runs on a slide rail formed between the column members of the storage rack, the base plate is mounted on the shuttle, and the shuttle is connected to the controller.

3. The automated detection device according to claim 1, characterized in that, The pose adjustment device includes: An X-axis moving mechanism is mounted on the base plate, and a controller is connected to the X-axis moving mechanism. The controller controls the X-axis moving mechanism to drive the measuring execution device to move along the X direction. A Y-axis moving mechanism is provided on the X-axis moving mechanism. The X-axis moving mechanism and the Y-axis moving mechanism are perpendicular in the XOY plane. The controller is connected to the Y-axis moving mechanism and drives the measuring execution device to move along the Y direction by controlling the Y-axis moving mechanism. The Z-axis moving mechanism is disposed on the Y-axis moving mechanism. The Y-axis moving mechanism and the Z-axis moving mechanism are perpendicular in the YOZ plane. The controller is connected to the Z-axis moving mechanism and drives the measuring execution device to move along the Z-axis by controlling the Z-axis moving mechanism.

4. The automated detection device according to claim 3, characterized in that, The posture adjustment device further includes: A Z-axis rotation mechanism is located on top of the Z-axis movement mechanism. A controller is connected to the Z-axis rotation mechanism, and the controller controls the Z-axis rotation mechanism to drive the measuring execution device to rotate around the Z-axis axis. An X-axis rotation mechanism is provided on the side of the Z-axis moving mechanism, and a chuck is provided on the side away from the Z-axis moving mechanism. A controller is connected to the X-axis rotation mechanism, and the controller drives the measuring execution device to rotate around the X-axis axis by controlling the X-axis rotation mechanism.

5. The automated detection device according to claim 4, characterized in that, It also includes a vision camera, which is mounted on the chuck. The X-axis rotation mechanism is connected to the vision camera, and the controller is connected to the vision camera. The controller is used to control the vision camera to perform image acquisition and drive the pose adjustment device to adjust the measurement execution device to the preset measurement position of the column component to be measured based on the image acquisition results.

6. The automated detection device according to claim 1, characterized in that, The measuring device further includes an electronic water meter, which is disposed on the track disk and located between one of the semicircular grooves and the corresponding semicircular track. The controller is connected to the electronic water meter, which is used to detect the levelness of the track disk with respect to the ground and feed it back to the controller.

7. The automated detection device according to claim 1, characterized in that, Each of the two semi-circular track disks has a step at one end, and the two steps are rotatably connected by a rotating shaft. The tensioning mechanism is located at the bottom of the track disk near the rotatable connection of the two steps.

8. An automated method for detecting the verticality of warehouse rack column components, characterized in that, The automated detection method, applied to the automated detection apparatus as described in any one of claims 1-7, comprises: Step S1: At the detection position of the column component to be measured, the automated detection device controls the tensioning mechanism to open the two semi-circular track disks to clamp the column component, and then drives the posture adjustment device to adjust the two semi-circular track disks to the preset measurement position of the column component to be measured. In step S2, the automated detection device controls the tensioning mechanism to close the two semi-circular track discs to clamp the column member, and controls each of the flexible clamping mechanisms to press against the column member, and then controls the jaws to open to release the measuring execution device; In step S3, the automated detection device controls the rangefinder to rotate one revolution along the two semi-circular tracks, and collects multiple sets of height data of the column component during the rotation, and processes the data to obtain the verticality detection result of the column component.

9. The automated detection method according to claim 8, characterized in that, The automated detection device also includes a shuttle car, which runs on the slide rails formed between the column members of the storage rack. In step S1, the automated detection device is driven by the shuttle car to the detection position of the column member to be measured.

10. The automated detection method according to claim 8, characterized in that, In step S3, the verticality detection result is obtained by processing the data using the following formula: ； in, Used to indicate the verticality of the column member. This is used to indicate the length from the bottom position of the column member to a preset measurement position of the column member. The height data is used to represent the vertical height of the column member at a preset measurement position and a ground reference, as acquired by the rangefinder.

Images