A cylindrical battery steel shell detection device

Abstract

The present invention discloses a cylindrical battery steel shell detection device, which includes a feeding section, a detection section and a discharging section. The detection section is located between the feeding section and the discharging section. The detection section includes a detection machine frame, on which a first manipulator, a code scanning and R angle detection component, a first material transfer gripper component, a cylinder surface detection component, a second material transfer gripper component, a height and diameter detection component, a laser and 3D detection component, a third material transfer gripper component, a fourth material transfer gripper component, an inner wall and end face detection component, multiple groups of waste kicking material transfer gripper components, multiple groups of defective product conveying components and a second manipulator. By adopting the present invention, automatic detection of various items of the steel shell can be realized, the overall detection efficiency is greatly improved, and the detection accuracy is higher.

Description

Technical Field

[0001] The present invention relates to a detection device, in particular to a cylindrical battery steel shell detection device. Background Art

[0002] Steel shells, as a type of outer shell widely used by batteries, are one of the most important battery components. With the rapid development of the new energy vehicle industry, the power lithium battery and related materials industries are experiencing explosive growth opportunities, and the market for power lithium battery steel shells is also poised for rapid development. Currently, cylindrical battery steel shells require numerous inspections during production, including corner detection, cylinder detection, height and diameter detection, inner diameter detection, and pole detection. Currently, defect detection for battery steel shells relies primarily on manual inspection, but manual inspection presents numerous problems, such as missed detections, low detection accuracy, and low detection efficiency. While there are devices that automatically detect defects in battery steel shells, these devices only detect a single item and can only detect defects in one item. Detection of all items requires numerous different devices, which results in low overall inspection efficiency for battery steel shells. Summary of the Invention

[0003] The present invention provides a cylindrical battery steel shell detection device, the main purpose of which is to overcome the problem of low detection efficiency of existing steel shells.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A cylindrical battery steel shell detection device includes a feeding section, a detection section, and a discharging section. The detection section is located between the feeding section and the discharging section. The detection section includes a detection frame, on which there are a first manipulator, a code scanning and R-angle detection component, a first material transfer gripper component, a cylindrical surface detection component, a second material transfer gripper component, a height and diameter detection component, a laser and 3D detection component, a third material transfer gripper component, a fourth material transfer gripper component, an inner wall and end face detection component, multiple groups of waste kicking material transfer gripper components, multiple groups of defective product conveying components, and a second manipulator. The feeding section is located on the left side of the first manipulator. The code scanning and R-angle detection component is located behind the first manipulator. The cylindrical surface detection component is located on the right side of the code scanning and R-angle detection component. The first material transfer gripper component is located in front of the code scanning and R-angle detection component and the cylindrical surface detection component. The height and diameter detection component is located in front of the cylindrical surface detection component. The second material transfer gripper component is located between the rear ends of the cylindrical surface detection component and the height and diameter detection component. The laser and 3D detection component is located on the left side of the height and diameter detection component. The third material transfer gripper component is located in front of the height and diameter detection component and the laser and 3D detection component. The inner wall and end face detection component is located in front of the laser and 3D detection component. The fourth material transfer gripper component is located between the front ends of the laser and 3D detection component and the inner wall and end face detection component. The multiple groups of waste kicking material transfer gripper components and the second manipulator are located behind the inner wall and end face detection component. The second manipulator is located on the right side of the multiple groups of waste kicking material transfer gripper components. Each group of waste kicking material transfer gripper components corresponds to a defective product conveying component. The discharging section is located on the right side of the second manipulator.

[0006] Further, both the feeding section and the discharging section include a first conveying frame. At the top of the first conveying frame, there is an annular conveying plate chain. Above the annular conveying plate chain, there are an annular inner rail and an annular outer rail connected to the first conveying frame. The annular inner rail and the annular outer rail form a limiting groove. At the front and rear ends of the first conveying frame, there are screw rod assemblies. Each screw rod assembly includes a motor frame, a motor, and a screw rod. The motor frame is connected to the first conveying frame. The motor is connected inside the top of the motor frame. The screw rod is connected to the motor through a belt drive. The screw rod is provided with multiple screw grooves arranged front and rear. At the front and rear ends of the first conveying frame, there are multiple first sensors, and each first sensor corresponds to a screw groove. At the four inner corners of the first conveying frame, there are pressing discs for the annular conveying plate chain.

[0007] Further, both the first manipulator and the second manipulator include a manipulator body and a first magnetic adsorption gripper connected to the manipulator body. The first magnetic adsorption gripper includes a first gripper mounting frame, a first air cylinder, a first magnet, and two first limiting strips arranged at intervals. The first gripper mounting frame is connected to the manipulator body. The first air cylinder is installed at the top of the first gripper mounting frame. The two first limiting strips are connected to the bottom of the first gripper mounting frame. The first magnet is located between the two first limiting strips. The piston rod of the first air cylinder faces downward and is connected to the first magnet. A plurality of first fixing grooves arranged at intervals along the length direction are provided at the bottoms of the two first limiting strips.

[0008] Further, the code scanning and R angle detection assembly includes a first linear slide module, a first stage, a first positioning assembly, a first camera, a first 3D camera, and a code scanning camera. The first linear slide module is connected to the detection frame. The bottom of the first stage is connected to the slide of the first linear slide module. The first positioning assembly is located on the left side of the first camera, the first 3D camera, and the code scanning camera. A first camera frame and a first 3D camera frame are provided on the detection frame. The first camera frame and the first 3D camera frame are respectively located in the front and rear of the first linear slide module. A code scanning camera frame is provided at the top of the first 3D camera frame. The first camera and the first 3D camera are respectively installed at the tops of the first camera frame and the first 3D camera frame. The code scanning camera is located at the middle top of the code scanning camera frame. The code scanning camera is located on the left side of the first 3D camera. The cylindrical surface detection assembly includes a second linear slide module, a second stage, a second positioning assembly, and a second camera. The second linear slide module is connected to the detection frame. The bottom of the second stage is connected to the slide of the second linear slide module. The second positioning assembly is located on the front side of the second camera. A second camera frame is provided on the detection frame. The second camera is inclined and installed at the middle top of the second camera frame. The second camera is located above the second stage.

[0009] Further, both the first carrier stage and the second carrier stage include a first carrier stage body. On the top of the first carrier stage body, multiple first rotating shafts are arranged at intervals left and right. Two first rollers are arranged at the front of each first rotating shaft. A first driving motor is provided on the first carrier stage body. The output shaft of the first driving motor and one ends of the multiple first rotating shafts both extend out of one side surface of the first carrier stage body. The output shaft of the first driving motor is connected with a first main pulley. One ends of the multiple first rotating shafts are all connected with first driven pulleys. The first main pulley is located below the first driven pulleys. The first main pulley and the first driven pulleys on the multiple first rotating shafts are connected by a first belt in transmission. A first pressing wheel connected to the first carrier stage body is arranged between two adjacent first driven pulleys. The bottom of the first pressing wheel presses on the top surface of the first belt. First idler pulleys connected to the first carrier stage body are arranged on the left and right sides of the first main pulley. The first belt bypasses the first idler pulleys.

[0010] Further, both the first positioning assembly and the second positioning assembly include two symmetric first clamping mechanisms. Each of the two first clamping mechanisms includes a first support frame and a first clamping plate. A first clamping cylinder is provided on the top surface of the first support frame. The piston rod of the first clamping cylinder is connected with the first clamping plate. Two first sliding rails arranged left and right are provided on the top surface of the first support frame. First sliders slidably matched with the two first sliding rails are arranged on the two first sliding rails. The first sliders are connected with the first clamping plate through first connecting plates. Multiple second sensors arranged at intervals left and right are provided on the first clamping plate of one of the first clamping mechanisms.

[0011] Further, both the first material transfer gripper assembly and the third material transfer gripper assembly include a first gripper support frame, a third linear slide module, and a second gripper mounting frame. The third linear slide module is arranged on the top side surface of the first gripper support frame. The slide of the third linear slide module is connected with a first cylinder mounting seat. Two second sliding rails arranged at intervals left and right are provided on the side surface of the first cylinder mounting seat. Two second sliders are provided on the second gripper mounting frame. Each second slider corresponds to a second sliding rail and the two are slidably matched. A second cylinder is provided on the top of the first cylinder mounting seat. The piston rod of the second cylinder faces downward and is connected with the top of the second gripper mounting frame. A second magnetic gripper is connected to the bottom of the second gripper mounting frame. The second magnetic gripper includes a third cylinder, a second magnet, and two second limiting strips arranged at intervals. The third cylinder is mounted on the top of the second gripper mounting frame. The two second limiting strips are connected to the bottom of the second gripper mounting frame. The second magnet is located between the two second limiting strips. The piston rod of the third cylinder faces downward and is connected with the second magnet. Multiple second fixing grooves arranged at intervals along the length direction are provided at the bottoms of the two second limiting strips.

[0012] Furthermore, both the second material transfer gripper assembly and the fourth material transfer gripper assembly include a second gripper support frame, a fourth linear slide module, and a sliding plate. The fourth linear slide module is disposed on the top of the second gripper support frame. The sliding plate is connected to the slide of the fourth linear slide module. The sliding plate is provided with four slide rod sleeves, and four slide rods are respectively inserted through the four slide rod sleeves. The top of the slide rod is connected to a top plate, and the bottom of the slide rod is connected to a third gripper mounting bracket. A fourth cylinder is disposed on the top surface of the sliding plate. The piston rod of the fourth cylinder faces upward and is connected to the top plate. A third magnetic gripper is connected to the bottom of the third gripper mounting bracket. The third magnetic gripper includes a fifth cylinder, a third magnet, and two third limiting strips arranged at intervals. The fifth cylinder is installed on the top of the third gripper mounting bracket. The two third limiting strips are connected to the bottom of the third gripper mounting bracket. The third magnet is located between the two third limiting strips. The piston rod of the fifth cylinder faces downward and is connected to the third magnet. A plurality of third fixing grooves arranged at intervals are provided at the bottom of the two third limiting strips along the length direction.

[0013] Further, the height and diameter detection component includes a fifth linear slide module, a third slide rail, a third carrier, a third positioning component, a third camera mount, and an even number of third cameras. The third slide rail and the fifth linear slide module are connected to the detection machine frame. The third slide rail and the fifth linear slide module are arranged front and back. The third carrier includes a third carrier body. A third slider that is slidably engaged with the third slide rail is provided at the bottom of the third carrier body. The bottom of the third carrier body is connected to the slide of the fifth linear slide module. A plurality of second rotating shafts arranged at intervals left and right are provided at the top of the third carrier body. Two second rollers are arranged at the front of each second rotating shaft. A second driving motor is provided on the third carrier body. The output shaft of the second driving motor and one end of each of the plurality of second rotating shafts extend out of one side surface of the third carrier body. The output shaft of the second driving motor is connected to a second main pulley. One end of each of the plurality of second rotating shafts is connected to a second driven pulley. The second main pulley is located below the second driven pulleys. The second main pulley and the second driven pulleys on the plurality of second rotating shafts are connected by a second belt. A second pressing wheel connected to the third carrier body is provided between adjacent two second driven pulleys. The bottom of the second pressing wheel presses on the top surface of the second belt. Second idler pulleys connected to the third carrier body are provided on the left and right sides of the second main pulley. The second belt bypasses the second idler pulleys. The third positioning component includes two symmetric second clamping mechanisms. Each of the two second clamping mechanisms includes a second support frame and a second clamping plate. The second support frame is located on one side of the third carrier body and is connected to the third carrier body. A second clamping cylinder is provided on the top surface of the second support frame. The piston rod of the second clamping cylinder is connected to the second clamping plate. Two fourth slide rails arranged left and right are provided on the top surface of the second support frame. Fourth sliders slidably engaged with the two fourth slide rails are provided on the two fourth slide rails. The fourth sliders are connected to the second clamping plate through second connecting plates. The even number of third cameras are provided at the middle top of the third camera mount. The even number of third cameras are divided into two groups arranged left and right.

[0014] Further, the laser and 3D detection assembly includes a sixth linear slide module, a fourth carrier, a fourth positioning component, a seventh linear slide module, and a point laser sensor mounting base. The bottom of the fourth carrier is connected to the slide of the sixth linear slide module. The point laser sensor mounting base and the seventh linear slide module are respectively located in front of, behind, and on the side of the sixth linear slide module. The point laser sensor mounting base is arranged to be movable back and forth, left and right. The top of the point laser sensor mounting base is provided with a plurality of point laser sensors arranged at intervals left and right. The slide of the seventh linear slide module is connected to a 3D camera mounting base, and the top of the 3D camera mounting base is connected to a second 3D camera. The top of the fourth carrier is provided with a plurality of shell grooves arranged at intervals left and right. The fourth positioning component includes two symmetric third clamping mechanisms. Each of the two third clamping mechanisms includes a third support frame and a third clamping plate. The third support frame is located on one side of the fourth carrier and is connected to the detection frame. The top surface of the third support frame is provided with a third clamping cylinder, and the piston rod of the third clamping cylinder is connected to the third clamping plate. The top surface of the third support frame is provided with two fifth slide rails arranged left and right, and each of the two fifth slide rails is provided with a fifth slider slidably engaged therewith. The fifth slider is connected to the third clamping plate through a third connecting plate.

[0015] Further, the inner wall and end face detection assembly includes a second conveying frame, a fifth positioning assembly, a fourth camera frame, a fifth camera frame, and multiple sets of lifting mechanisms. The second conveying frame is connected to the detection frame. A conveying chain is provided on the second conveying frame, and several first supporting blocks are provided on the conveying chain. A first supporting groove is provided at the top of each first supporting block. The fifth positioning assembly includes two symmetric fourth clamping mechanisms. Each of the two fourth clamping mechanisms includes a fourth support frame and a fourth clamping plate. The fourth support frame is located on one side of the second conveying frame and is connected to the detection frame. A fourth clamping cylinder is provided on the top surface of the fourth support frame. The piston rod of the fourth clamping cylinder is connected to the fourth clamping plate. Two sixth slide rails arranged left and right are provided on the top surface of the fourth support frame. Sixth sliders slidably engaged with the two sixth slide rails are provided on each of the two sixth slide rails. The sixth slider is connected to the fourth clamping plate through a fourth connecting plate. Each of the multiple sets of lifting mechanisms includes a U-shaped lifting plate, a connecting plate, and a sixth cylinder. The connecting plate is connected to the detection frame. The sixth cylinder is provided at the bottom of the connecting plate. The piston rod of the sixth cylinder faces upward and is connected to the bottom of the U-shaped lifting plate. Two guide rod sleeves arranged front and back are provided on the connecting plate. Two guide rods arranged front and back are provided at the bottom of the U-shaped lifting plate. Each guide rod corresponds to a guide rod sleeve and passes through the guide rod sleeve. Second supporting blocks are provided at both ends of the top of the U-shaped lifting plate. A second supporting groove is provided at the top of the second supporting block. A third sensor is provided on the side surface of the second supporting block. The fourth camera frame and the fifth camera frame are respectively located in front of and behind the second conveying frame and are both connected to the detection frame. Sixth cameras, seventh cameras, and eighth cameras arranged in sequence from left to right are provided on the top surface of the fourth camera frame. Ninth cameras and tenth cameras arranged in sequence from left to right are provided on the top surface of the fifth camera frame.

[0016] Further, the multiple groups of waste kicking and material transferring gripper assemblies are arranged at intervals left and right. Each of the multiple groups of waste kicking and material transferring gripper assemblies includes a third gripper support frame, a second cylinder mounting seat, and a fourth gripper mounting frame. The third gripper support frame is connected to the detection machine frame. An eighth linear slide module is provided on the top side of the third gripper support frame. The second cylinder mounting seat is connected to the slide of the eighth linear slide module. A seventh cylinder is provided on the top of the second cylinder mounting seat. Two seventh slide rails arranged front and rear are provided on the side of the second cylinder mounting seat. Seventh sliders slidably engaged with the two seventh slide rails are respectively provided on the two seventh slide rails. The fourth gripper mounting frame is connected to the seventh sliders. The piston rod of the seventh cylinder faces downward and is connected to the top of the fourth gripper mounting frame. A rotary cylinder is connected between the upper and lower parts of the fourth gripper mounting frame. A fourth magnetic gripper is connected to the bottom of the fourth gripper mounting frame. The fourth magnetic gripper includes a fourth limiting strip, multiple fourth magnets, and multiple eighth cylinders. Multiple fourth fixing grooves arranged left and right are provided at the bottom of the fourth limiting strip. Multiple moving holes arranged left and right are provided at the top of the fourth limiting strip. Each moving hole corresponds to a fourth fixing groove and is communicated with each other. Each fourth fixing groove corresponds to a fourth magnet. The fourth magnet is located in the moving hole. A third cylinder mounting seat is provided at the top of the fourth limiting strip. The multiple eighth cylinders arranged left and right are provided on the third cylinder mounting seat. Each eighth cylinder corresponds to a fourth magnet. The piston rod of the eighth cylinder faces downward and is connected to the fourth magnet.

[0017] Further, the defective conveying assembly includes a third conveying machine frame, a conveyor belt is provided on the third conveying machine frame, several third supporting blocks are provided on the conveyor belt, and a third supporting groove is provided at the top of each third supporting block.

[0018] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages: The feeding section conveys the steel shells and sends them to the first manipulator. The first manipulator grabs multiple steel shells simultaneously and sends them to the QR code scanning and R angle detection component. Each steel shell is printed with a QR two-dimensional code on its outer circumference. The QR code scanning and R angle detection component can perform QR code scanning, R angle detection, and burr detection on the steel shells. The first material transfer gripper component grabs the steel shells that have been detected by the QR code scanning and R angle detection component and sends them to the cylindrical surface detection component for detecting the cylindrical surface of the steel shells. The second material transfer gripper component grabs the steel shells that have completed the cylindrical surface detection and sends them to the height and diameter detection component for detecting the height and diameter of the steel shells. The third material transfer gripper component grabs the steel shells that have completed the height and diameter detection and sends them to the laser and 3D detection component for detecting the inner bottom size of the steel shells. The fourth material transfer gripper component grabs the steel shells that have completed the inner bottom size detection and sends them to the inner wall and end face detection component for detecting the inner side of the steel shells. The multiple sets of waste kicking material transfer gripper components grab the defective steel shells and send them to the corresponding waste conveyor belt. The second manipulator grabs the qualified steel shells and sends them to the discharging section. By adopting the present invention, automatic detection of various items of the steel shells can be realized, the overall detection efficiency is greatly improved, and the detection accuracy is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the front view of the present invention.

[0020] Figure 2 is the top view of the present invention.

[0021] Figure 3 is the top view of the detection section of the present invention.

[0022] Figure 4 is the structural diagram of the feeding section of the present invention.

[0023] Figure 5 is Figure 4 the structural diagram after removing some structures.

[0024] Figure 6 is the structural diagram of the first manipulator of the present invention.

[0025] Figure 7 is the structural diagram of the QR code scanning and R angle detection component of the present invention.

[0026] Figure 8 is the structural diagram of the first material transfer gripper component and the third material transfer gripper component of the present invention.

[0027] Figure 9 is the structural diagram of the cylindrical surface detection component of the present invention.

[0028] Figure 10 is the structural diagram of the second material transfer gripper component and the fourth material transfer gripper component of the present invention.

[0029] Figure 11 This is the structural diagram of the height and diameter detection component of the present invention.

[0030] Figure 12 This is the structural diagram of the laser and 3D detection component of the present invention.

[0031] Figure 13 This is the structural diagram of the inner wall and end face detection component of the present invention.

[0032] Figure 14 is Figure 13 the partial enlarged view of the position A in

[0033] Figure 15 is Figure 13 the partial enlarged view of the position B in

[0034] Figure 16 This is the structural diagram of the kick-off waste and transfer gripper component of the present invention.

[0035] Figure 17 This is the structural diagram of the defective product conveying component of the present invention.

[0036] Figure 18 This is the structural diagram of the second manipulator of the present invention.

[0037] Figure 19 This is the structural diagram of the blanking section of the present invention. Detailed implementation manners

[0038] Refer to Figures 1 to 3, a cylindrical battery steel shell detection device, including a feeding section 1, a detection section 2 and a discharging section 3, wherein the detection section 2 is located between the feeding section 1 and the discharging section 3. The detection section 2 includes a detection frame 4, on which a first manipulator 5, a code scanning and R-angle detection component 6, a first material transfer gripper component 7, a cylindrical surface detection component 8, a second material transfer gripper component 9, a height and diameter detection component 10, a laser and 3D detection component 11, a third material transfer gripper component 12, a fourth material transfer gripper component 13, an inner wall and end face detection component 14, three sets of waste kicking material transfer gripper components 15, three sets of defective product conveying components 16 and a second manipulator 17 are provided. The feeding section 1 is located on the left side of the first manipulator 5, the code scanning and R-angle detection component 6 is located at the rear side of the first manipulator 5, the cylindrical surface detection component 8 is located on the right side of the code scanning and R-angle detection component 6, the first material transfer gripper component 7 is located at the front side of the code scanning and R-angle detection component 6 and the cylindrical surface detection component 8, the height and diameter detection component 10 is located at the front side of the cylindrical surface detection component 8, the second material transfer gripper component 9 is located between the rear ends of the cylindrical surface detection component 8 and the height and diameter detection component 10, the laser and 3D detection component 11 is located on the left side of the height and diameter detection component 10, the third material transfer gripper component 12 is located at the front side of the height and diameter detection component 10 and the laser and 3D detection component 11, the inner wall and end face detection component 14 is located at the front side of the laser and 3D detection component 11, the fourth material transfer gripper 13 component is located between the front ends of the laser and 3D detection component 11 and the inner wall and end face detection component 14, the multiple sets of waste kicking material transfer gripper components 15 and the second manipulator 17 are located at the rear side of the inner wall and end face detection component 14, the second manipulator 17 is located on the right side of the multiple sets of waste kicking material transfer gripper components 15, each set of waste kicking material transfer gripper components 15 corresponds to a defective product conveying component 16, and the discharging section 3 is located on the right side of the second manipulator 17.

[0039] Refer to Figure 2 , Figure 4 , Figure 5 and Figure 19, both the loading section 1 and the unloading section 3 include a first conveyor frame 18. At the top of the first conveyor frame 18, there is an annular conveyor plate chain 19. Above the annular conveyor plate chain 19, there are an annular inner rail 20 and an annular outer rail 21 connected to the first conveyor frame 18. The annular inner rail 20 and the annular outer rail 21 form a limiting groove 22 adapted to the base for supporting the steel shell. At the front and rear ends of the first conveyor frame 18, there are screw rod assemblies. The screw rod assembly includes a motor frame 23, a motor 24 and a screw rod 25. The motor frame 23 is connected to the first conveyor frame 18. The motor 24 is connected inside the top of the motor frame 23. The screw rod 25 is connected to the motor 24 through belt drive. The screw rod 25 is provided with a plurality of spiral grooves 26 arranged front and back. At the front and rear ends of the first conveyor frame 18, there are a plurality of first sensors 27, and each first sensor 27 corresponds to a spiral groove 26. At the four inner corners of the first conveyor frame 18, there are pressing discs 28 for the annular conveyor plate chain 19. The motor 24 drives the screw rod 25 to rotate. When the screw rod 25 rotates, a plurality of spiral grooves 26 can arrange a plurality of steel shells on the annular conveyor plate chain 19 into a row with a fixed pitch. Each first sensor 27 is used to sense whether each spiral groove 26 has a steel shell. Specifically, the screw rod 25 in the loading section 1 can arrange eight steel shells into a row with a fixed pitch. After the eight steel shells are arranged in a row, the first manipulator 5 grabs the eight steel shells at the same time; the screw rod 25 in the unloading section 3 can arrange four steel shells into a row with a fixed pitch. After the four steel shells are arranged in a row, the second manipulator 17 grabs the four steel shells at the same time.

[0040] Referring to Figure 3 , Figure 6 and Figure 18, both the first manipulator 5 and the second manipulator 17 include a manipulator body 51 and a first magnetic adsorption gripper connected to the manipulator body 51. The first magnetic adsorption gripper includes a first gripper mounting frame 52, a first cylinder 53, a first magnet 54, and two first limiting strips 55 arranged at intervals. The first gripper mounting frame 52 is connected to the manipulator body 51. The first cylinder 53 is installed on the top of the first gripper mounting frame 52. The two first limiting strips 55 are connected to the bottom of the first gripper mounting frame 52. The first magnet 54 is located between the two first limiting strips 55. The piston rod of the first cylinder 53 faces downward and is connected to the first magnet 54. A plurality of first fixing grooves 56 arranged at intervals are provided at the bottom of the two first limiting strips 55 along the length direction. The manipulator body 51 is an existing device and can be directly purchased on the market, and its specific structure will not be described in detail here. The first cylinder 53 is used to drive the lifting of the first magnet 54. When the first manipulator 5 and the second manipulator 17 need to grasp multiple steel shells, first align the plurality of first fixing grooves 56 with the cylindrical surfaces of the multiple steel shells and fit them together. Then the first cylinder 53 drives the first magnet 54 to descend, so that the first magnet 54 attracts the steel shells. Finally, the first manipulator 5 grabs the multiple steel shells to the code scanning and R-angle detection component 6, and the second manipulator 17 grabs the qualified steel shells to the blanking section 3. After the first cylinder 53 drives the first magnet 54 to rise, the steel shells can be separated, and at this time the steel shells can be put down. Specifically, there are eight first fixing grooves 56 on the first manipulator 5, and eight steel shells can be clamped at one time; there are four first fixing grooves 56 on the second manipulator 17, and four steel shells can be clamped at one time.

[0041] Refer to Figure 3 , Figure 7 and Figure 9, the code scanning and R corner detection component 6 includes a first linear slide module 61, a first stage 62, a first positioning component 63, a first camera 64, a first 3D camera 65, and a code scanning camera 66. The first linear slide module 61 is connected to the detection frame 4, the bottom of the first stage 62 is connected to the slide of the first linear slide module 61, and the first positioning component 63 is located on the left side of the first camera 64, the first 3D camera 65, and the code scanning camera 66. A first camera mount 67 and a first 3D camera mount 68 are provided on the detection frame 4, the first camera mount 67 and the first 3D camera mount 68 are respectively located in the front and rear of the first linear slide module 61, a code scanning camera mount 69 is provided on the top of the first 3D camera mount 68, the first camera 64 and the first 3D camera 65 are respectively installed on the tops of the first camera mount 67 and the first 3D camera mount 68, the code scanning camera 66 is located at the middle top of the code scanning camera mount 69 and is inclined, and the code scanning camera 66 is located on the left side of the first 3D camera 65. The cylindrical surface detection component 8 includes a second linear slide module 81, a second stage 82, a second positioning component 83, and a second camera 84. The second linear slide module 81 is connected to the detection frame 4, the bottom of the second stage 82 is connected to the slide of the second linear slide module 81, and the second positioning component 83 is located on the front side of the second camera 84. A second camera mount 85 is provided on the detection frame 4, the second camera 84 is inclined and installed at the middle top of the second camera mount, and the second camera 84 is located above the second stage 82.

[0042] Refer to Figure 7 and Figure 9The first carrier 62 and the second carrier 82 both include a first carrier body 621, and a plurality of first rotating shafts 622 are arranged at intervals on the left and right at the top of the first carrier body 621, and each first rotating shaft 622 is provided with two first rollers 623 arranged at the front, and a first driving motor 624 is provided on the first carrier body 621, and the output shaft of the first driving motor 624 and one end of the plurality of first rotating shafts 622 both extend out of a side surface of the first carrier body 621, and the output shaft of the first driving motor 624 is connected to a first main pulley 625, and one end of the plurality of first rotating shafts 622 is connected to a first slave pulley 626, and the first main pulley 625 is located below the first slave pulley 626, and the first main pulley 625 and the first slave pulley 626 on the plurality of first rotating shafts 622 are connected by a first belt 627. A first pressure pulley 628 connected to the first carrier body 621 is provided between two adjacent first slave pulleys 626. The bottom of the first pressure pulley 628 presses against the top surface of the first belt 627. First transition pulleys 629 connected to the first carrier body 621 are provided on both the left and right sides of the first master pulley 625. The first belt 627 passes over the first transition pulleys 629. The first drive motor 624 drives the two first rollers 623 on multiple first rotating shafts 622 to rotate via the first belt 627, thereby rotating the steel shell cylinder. Specifically, there are nine first rotating shafts 622, with each steel shell located between the first rollers 623 on two adjacent first rotating shafts 622.

[0043] Reference Figure 7 and Figure 9 The first positioning assembly 63 and the second positioning assembly 83 each include two symmetrical first clamping mechanisms, each including a first support frame 631 and a first clamping plate 632. A first clamping cylinder 633 is provided on the top surface of the first support frame 631, and the piston rod of the first clamping cylinder 633 is connected to the first clamping plate 632. Two first slide rails 634 are provided on the top surface of the first support frame 631, respectively, and a first slider 635 is provided on each of the two first slide rails 634 to slide with the first slide rails 634. The first slider 635 is connected to the first clamping plate 632 via a first connecting plate 636. Eight second sensors 637 are provided on the first clamping plate 632 of one of the first clamping mechanisms in the first positioning assembly 63, spaced apart from each other. The eight second sensors 637 are used to sense whether there are eight steel shells on the first carrier 62. The first clamping cylinder 633 is used to drive the movement of the first clamping plate 632. The first clamping plates 632 on the two first clamping mechanisms can clamp and position the two ends of the steel shell.

[0044] Reference Figure 3 and Figure 8, both the first material transfer gripper assembly 7 and the third material transfer gripper assembly 12 include a first gripper support frame 71, a third linear slide module 72, and a second gripper mounting frame 73. The first gripper support frame 71 is connected to the detection machine frame 4. The third linear slide module 72 is arranged on the top side of the first gripper support frame 71. The slide of the third linear slide module 72 is connected to a first cylinder mounting seat 74. On the side of the first cylinder mounting seat 74, there are two second slide rails 75 arranged at intervals left and right. On the second gripper mounting frame 73, there are two second sliders 76. Each second slider 76 corresponds to a second slide rail 75 and they are in sliding fit. On the top of the first cylinder mounting seat 74, there is a second cylinder 77. The piston rod of the second cylinder 77 faces downward and is connected to the top of the second gripper mounting frame 73. At the bottom of the second gripper mounting frame 73, there is a second magnetic gripper connected. The second magnetic gripper includes a third cylinder 78, a second magnet 79, and two second limit strips 70 arranged at intervals. The third cylinder 78 is installed on the top of the second gripper mounting frame 73. The two second limit strips 70 are connected to the bottom of the second gripper mounting frame 73. The second magnet 79 is located between the two second limit strips 70. The piston rod of the third cylinder 78 faces downward and is connected to the second magnet 79. At the bottom of the two second limit strips 70, there are a plurality of second fixing grooves 700 arranged at intervals along the length direction. The third linear slide module 72 is used to drive the left and right movement of the second gripper mounting frame 73 and the second magnetic gripper. The second cylinder 77 is used to drive the lifting of the second gripper mounting frame 73 and the second magnetic gripper. The third cylinder 78 is used to drive the lifting of the second magnet 79. When the second magnetic grippers of the first material transfer gripper assembly 7 and the third material transfer gripper assembly 12 are to grab a plurality of steel shells, first align the plurality of second fixing grooves 700 with the cylindrical surfaces of the plurality of steel shells and fit them together. Then the third cylinder 78 drives the second magnet 79 to descend, so that the second magnet 79 attracts the steel shells. Finally, the second magnetic gripper of the first material transfer gripper assembly 7 grabs the plurality of steels from the first carrier 62 to the second carrier 82. The second magnetic gripper of the third material transfer gripper assembly 12 grabs the steel shells on the height and diameter detection component 10 to the laser and 3D detection component 11. After the third cylinder 78 drives the second magnet 79 to rise, the steel shells can be separated, and at this time the steel shells can be put down. Specifically, there are eight second fixing grooves 700 on the second magnetic grippers of the first material transfer gripper assembly 7 and the third material transfer gripper assembly 12, and eight steel shells can be clamped at one time.

[0045] Refer to Figure 3 and Figure 10, both the second material transfer gripper assembly 9 and the fourth material transfer gripper assembly 13 include a second gripper support frame 91, a fourth linear slide module 92, and a sliding plate 93. The second gripper support frame 91 is connected to the detection frame 4. The fourth linear slide module 92 is arranged on the top of the second gripper support frame 91. The sliding plate 93 is connected to the slide of the fourth linear slide module 92. Four slide rod sleeves 94 are provided on the sliding plate 93. Four slide rods 95 pass through the four slide rod sleeves 94. The top of the slide rod 95 is connected to a top plate 96, and the bottom of the slide rod 95 is connected to a third gripper mounting bracket 97. A fourth cylinder 98 is provided on the top surface of the sliding plate 93. The piston rod of the fourth cylinder 98 faces upward and is connected to the top plate 96. A third magnetic gripper is connected to the bottom of the third gripper mounting bracket 97. The third magnetic gripper includes a fifth cylinder 991, a third magnet 992, and two third limiting strips 993 arranged at intervals. The fifth cylinder 991 is installed on the top of the third gripper mounting bracket 97. The two third limiting strips 993 are connected to the bottom of the third gripper mounting bracket 97. The third magnet 992 is located between the two third limiting strips 993. The piston rod of the fifth cylinder 991 faces downward and is connected to the third magnet 992. A plurality of third fixing grooves 994 arranged at intervals are provided along the length direction at the bottom of the two third limiting strips 993. The fourth linear slide module 92 is used to drive the forward and backward movement of the third gripper mounting bracket 97 and the third magnetic gripper. The fourth cylinder 98 is used to drive the lifting of the third gripper mounting bracket 97 and the third magnetic gripper. The fifth cylinder 991 is used to drive the lifting of the third magnet 992. When the third magnetic grippers of the second material transfer gripper assembly 9 and the fourth material transfer gripper assembly 13 are to grasp a plurality of steel shells, first align the plurality of third fixing grooves 994 with the cylindrical surfaces of the plurality of steel shells and fit them together. Then, the fifth cylinder 991 drives the third magnet 992 to descend, so that the third magnet 992 attracts the steel shells. Finally, the third magnetic gripper of the second material transfer gripper assembly 9 grabs a plurality of steels from the second carrier 82 to the height and diameter detection component 10, and the third magnetic gripper of the fourth material transfer gripper assembly 13 grabs the steel shells on the laser and 3D detection component 11 to the inner wall and end face detection component 14. After the fifth cylinder 991 drives the third magnet 992 to rise, the steel shells can be separated, and at this time, the steel shells can be put down. Specifically, eight third fixing grooves 994 are provided on the third magnetic grippers of the second material transfer gripper assembly 9 and the fourth material transfer gripper assembly 13, and eight steel shells can be clamped at one time.

[0046] Refer to Figure 3 and Figure 11The height and diameter detection assembly 10 includes a fifth linear slide module 101, a third slide rail 102, a third carrier 103, a third positioning assembly 104, a third camera frame 105, and six third cameras 106. The third slide rail 102 and the fifth linear slide module 101 are connected to the detection frame 4. The third slide rail 102 and the fifth linear slide module 101 are arranged in front and back. The third carrier 103 includes a third carrier body 1031. The bottom of the third carrier body 1031 is provided with a third slider (not shown in the figure for viewing reasons) that slides with the third slide rail 102. The bottom of the third carrier body 1031 is connected to the slide of the fifth linear slide module 101. The fifth linear slide module 101 is used to drive the left and right movement of the third carrier 103 and the third positioning assembly 104. The top of the third carrier body 1031 is provided with a plurality of second rotating shafts 1032 arranged at intervals on the left and right, and each second rotating shaft 1032 is provided with two second rollers 1033 arranged at the front, and the third carrier body 1031 is provided with a second driving motor 1034, and the output shaft of the second driving motor 1034 and one end of the plurality of second rotating shafts 1032 extend out of a side surface of the third carrier body 1031, and the output shaft of the second driving motor 1034 is connected to a second main pulley (not marked in the figure due to viewing reasons), and one end of the plurality of second rotating shafts 1032 is connected to a second slave pulley 1035, and the second main pulley (not marked in the figure due to viewing reasons) The second main pulley 1035 is located below the second slave pulley 1035. The second main pulley 1035 is connected to the second slave pulleys 1035 on the second rotating shafts 1032 through a second belt 1036. A second pressure wheel 1037 connected to the third carrier body 1031 is provided between two adjacent second slave pulleys 1035. The bottom of the second pressure wheel 1037 is pressed on the top surface of the second belt 1036. The left and right sides of the second main pulley 1035 are provided with second transition wheels 1038 connected to the third carrier body 1031. The second belt 1036 passes around the second transition wheel 1038. The second driving motor 1034 drives the two second rollers 1033 on multiple second rotating shafts 1032 to rotate through the second belt 1036, thereby realizing the rotation of the steel shell cylinder. Specifically, there are nine second rotating shafts 1032, and each steel shell is located between the second rollers 1033 on two adjacent second rotating shafts 1032.The third positioning component 104 includes two symmetric second clamping mechanisms. Each of the two second clamping mechanisms includes a second support frame 1041 and a second clamping plate 1042. The second support frame 1041 is located on one side of the third stage body 1031 and is connected to the third stage body 1031. A second clamping cylinder 1043 is provided on the top surface of the second support frame 1041. The piston rod of the second clamping cylinder 1043 is connected to the second clamping plate 1042. Two fourth slide rails 1044 arranged left and right are provided on the top surface of the second support frame 1041. Fourth sliders 1045 that are slidably engaged with the two fourth slide rails 1044 are provided on each of the two fourth slide rails 1044. The fourth slider 1045 is connected to the second clamping plate 1042 through a second connecting plate 1046. The second clamping cylinder 1043 is used to drive the movement of the second clamping plate 1042. The second clamping plates 1042 on the two second clamping mechanisms can clamp and position both ends of the steel shell. The six third cameras 106 are provided at the middle top of the third camera frame 105. The six third cameras 106 are evenly divided into two groups arranged left and right.

[0047] Refer to Figure 3 and Figure 12, the laser and 3D detection component 11 includes a sixth linear slide module 111, a fourth carrier 112, a fourth positioning component 113, a seventh linear slide module 114, and a point laser sensor mount 115. The sixth linear slide module 111 is connected to the detection frame 4. The bottom of the fourth carrier 112 is connected to the slide of the sixth linear slide module 111. The point laser sensor mount 115 and the seventh linear slide module 114 are respectively located in front of, behind, and on the side of the sixth linear slide module 111. The point laser sensor mount 115 is arranged to be movable back and forth, left and right. The back-and-forth and left-and-right movement of the point laser sensor mount 115 is prior art and will not be elaborated here. Four point laser sensors 116 are arranged at intervals left and right on the top of the point laser sensor mount 115. The slide of the seventh linear slide module 114 is connected to a 3D camera mount 117. The top of the 3D camera mount 117 is connected to a second 3D camera 118. A plurality of shell grooves 119 are arranged at intervals left and right on the top of the fourth carrier 112. The sixth linear slide module 111 is used to drive the left-and-right movement of the fourth carrier 112. There are eight shell grooves 119, and each shell groove 119 holds a steel shell. The fourth positioning component 113 includes two symmetric third clamping mechanisms. Each of the two third clamping mechanisms includes a third support frame 1131 and a third clamping plate 1132. The third support frame 1131 is located on one side of the fourth carrier 112 and is connected to the detection frame 4. A third clamping cylinder 1133 is provided on the top surface of the third support frame 1131. The piston rod of the third clamping cylinder 1133 is connected to the third clamping plate 1132. Two fifth slide rails 1134 are arranged left and right on the top surface of the third support frame 1131. Fifth sliders 1135 that are slidably engaged with the two fifth slide rails 1134 are provided on each of the two fifth slide rails 1134. The fifth sliders 1135 are connected to the third clamping plate 1132 through a third connecting plate 1136. The third clamping cylinder 1133 is used to drive the movement of the third clamping plate 1132. The third clamping plates 1132 on the two third clamping mechanisms can clamp and position the two ends of the steel shell.

[0048] Refer to Figure 3 , Figure 13 , Figure 14 and Figure 15, the inner wall and end face detection component 14 includes a second conveying frame 141, a fifth positioning component 142, a fourth camera frame 143, a fifth camera frame 144, and multiple sets of lifting mechanisms 145. The second conveying frame 141 is connected to the detection frame 4. A conveying chain (not marked in the view due to view reasons) is provided on the second conveying frame 141. Several first supporting blocks 146 are provided on the conveying chain, and a first supporting groove 147 is provided at the top of each first supporting block 146. The conveying chain (not marked in the view due to view reasons) is driven by a motor 148 for conveying, and its conveying method is a common existing method, which will not be elaborated here. The fifth positioning component 142 includes two symmetric fourth clamping mechanisms. Each of the two fourth clamping mechanisms includes a fourth support frame 1421 and a fourth clamping plate 1422. The fourth support frame 1421 is located on one side of the second conveying frame 141 and is connected to the detection frame 4. A fourth clamping cylinder 1423 is provided on the top surface of the fourth support frame 1421. The piston rod of the fourth clamping cylinder 1423 is connected to the fourth clamping plate 1422. Two sixth slide rails 1424 arranged left and right are provided on the top surface of the fourth support frame 1421. Sixth slide blocks 1425 slidably matched with the two sixth slide rails 1424 are provided on each of the two sixth slide rails 1424. The sixth slide block 1425 is connected to the fourth clamping plate 1422 through a fourth connecting plate 1426. The fourth clamping cylinder 1423 is used to drive the movement of the fourth clamping plate 1422. The fourth clamping plates 1422 on the two fourth clamping mechanisms can clamp and position the two ends of the steel shell. Each of the four sets of lifting mechanisms 145 includes a U-shaped lifting plate 1451, a connecting plate 1452, and a sixth cylinder 1453. The connecting plate 1452 is connected to the detection frame 4. The sixth cylinder 1453 is provided at the bottom of the connecting plate 1452. The piston rod of the sixth cylinder 1453 faces upward and is connected to the bottom of the U-shaped lifting plate 1451. Two guide rod sleeves 1454 arranged front and back are provided on the connecting plate 1452. Two guide rods 1455 arranged front and back are provided at the bottom of the U-shaped lifting plate 1451. Each guide rod 1455 corresponds to a guide rod sleeve 1454 and passes through the guide rod sleeve 1454. Second supporting blocks 1456 are provided at both ends of the top of the U-shaped lifting plate 1451. A second supporting groove 1457 is provided at the top of the second supporting block 1456. The second supporting groove 1457 is used to place the steel shell. A third inductor 1458 is provided on the side surface of the second supporting block 1456. The sixth cylinder 1453 is used to drive the lifting of the U-shaped lifting plate 1451, so as to lift the steel shell on the second supporting block 1456.The fourth camera mount 143 and the fifth camera mount 144 are respectively located at the front and rear sides of the second conveyor mount 141 and are both connected to the detection mount 4. The top surface of the fourth camera mount 143 is provided with a sixth camera 1431, a seventh camera 1432, and an eighth camera 1433 arranged in sequence from left to right. The top surface of the fifth camera mount 144 is provided with a ninth camera 1441 and a tenth camera 1442 arranged in sequence from left to right.

[0049] Refer to Figure 3 and Figure 16The three groups of scrap material removal gripper assemblies 15 are arranged at intervals on the left and right. The three groups of scrap material removal gripper assemblies 15 each include a third gripper support frame 151, a second cylinder mounting seat 152 and a fourth gripper mounting frame 153. The third gripper support frame 151 is connected to the detection frame 4. The top side of the third gripper support frame 151 is provided with an eighth linear slide module 154. The second cylinder mounting seat 152 is connected to the slide of the eighth linear slide module 154. The top side of the second cylinder mounting seat 152 is connected to the slide of the eighth linear slide module 154. The eighth linear slide module 154 is configured to drive the forward and backward movement of the second cylinder mounting base 152 and the fourth gripper mounting base 153. The seventh slide rails 156 are arranged on the sides of the second cylinder mounting base 152. Each of the seventh slide rails 156 is provided with a seventh slider 157 that slidably engages with the second gripper mounting base 153. The fourth gripper mounting base 153 is connected to the seventh slider 157. The piston rod of the seventh cylinder 155 faces downward and is connected to the top of the fourth gripper mounting base 153. A rotary cylinder 1533 is connected between the upper portion 1531 and the lower portion 1532 of the fourth gripper mounting base 153. The eighth linear slide module 154 is configured to drive the forward and backward movement of the second cylinder mounting base 152 and the fourth gripper mounting base 153. The seventh cylinder 155 is configured to drive the upward and downward movement of the fourth gripper mounting base 153. The bottom of the fourth gripper mounting bracket 153 is connected to a fourth magnetic gripper, and the fourth magnetic gripper includes a fourth limiting bar 158, three fourth magnets 159 and three eighth cylinders 150. The bottom of the fourth limiting bar 158 is provided with three fourth fixed grooves 1581 arranged on the left and right, and the top of the fourth limiting bar 158 is provided with multiple movable holes 1582 arranged on the left and right, each movable hole 1582 corresponds to a fourth fixed groove 1581 and is connected to each other, each fourth fixed groove 1581 corresponds to a fourth magnet 159, and the fourth magnet 159 is located in the movable hole 1582, and the top of the fourth limiting bar 158 is provided with a third cylinder mounting seat 1583, and the three eighth cylinders 150 arranged on the left and right are provided on the third cylinder mounting seat 1583, each eighth cylinder 150 corresponds to a fourth magnet 159, and the piston rod of the eighth cylinder 150 faces downward and is connected to the fourth magnet 159. The rotating cylinder 1533 is used to drive the rotation of the fourth magnetic gripper, and the eighth cylinder 150 is used to drive the lifting of the fourth magnet 159. When the fourth magnetic gripper wants to grab the steel shell, the seventh cylinder 155 drives the fourth gripper mounting frame 153 and the fourth magnetic gripper to descend, and the fourth fixed groove 1581 is aligned with the cylindrical surface of the steel shell and fits each other. Then the eighth cylinder 150 drives the fourth magnet 159 to descend so that the fourth magnet 159 attracts the steel shell. At this time, the fourth magnetic gripper can grab the steel shell and put it on the defective conveying component 16.

[0050] Reference Figure 3 and Figure 17, the defective conveying component 16 includes a third conveying frame 161. A conveyor belt (not marked in the figure due to view reasons) is provided on the third conveying frame 161. The conveyor belt is driven by a motor disposed within the third conveying frame 161 for conveying, and its conveying method is a common existing method, which will not be elaborated here. A plurality of third supporting blocks 162 are provided on the conveyor belt, and a third supporting groove 163 is provided at the top of each third supporting block 162. The third supporting groove 163 is used for placing steel shells.

[0051] Refer to Figures 1 to 19, the design principle of the present invention is as follows: The feeding section 1 conveys the steel shells and sends them to the first manipulator 5 in rows. The first magnetic adsorption gripper of the first manipulator 5 simultaneously grabs eight steel shells onto the first carrier 62 of the code scanning and R-angle detection component 6. Then, the first clamping plates 632 of the two first clamping mechanisms of the first positioning component 63 clamp and position the steel shells on the first carrier 62. After the clamping and positioning are completed, the first clamping plates 632 of the first positioning component 63 are loosened again. At the same time, the first rollers 623 on the first carrier 62 rotate, making the steel shells in a rotating state; A QR two-dimensional code is printed on the outer circumference of each steel shell. The code scanning camera 66 scans the steel shells to mark the identity of the steel shells. The first 3D camera 65 detects and takes pictures of the R-angle at the bottom of the steel shells. The first camera 64 takes pictures and detects the appearance and burrs of the opening at the top of the steel shells. When the code scanning camera 66, the first 3D camera 65, and the first camera 64 are working, the first carrier 62 gradually moves to the right at a distance of one steel shell. After all the steel shells on the first carrier 62 are detected, the second magnetic adsorption gripper of the first material transfer gripper assembly 7 simultaneously grabs the eight steel shells on the first carrier 62 onto the second carrier 82, and the first carrier 62 is reset. The first clamping plates 632 of the two first clamping mechanisms of the second positioning component 83 clamp and position the steel shells on the second carrier 82. After the clamping and positioning are completed, the first clamping plates 632 of the second positioning component 83 are loosened again. At the same time, the first rollers 623 on the second carrier 82 rotate, making the steel shells in a rotating state; The second camera 84 takes pictures and detects the appearance of the outer cylindrical surface of the steel shells. When the second camera 84 is working, the second carrier 82 gradually moves to the right at a distance of one steel shell. After all the steel shells on the second carrier 82 are detected, the third magnetic adsorption gripper of the second material transfer gripper assembly 9 grabs the eight steel shells on the second carrier 82 onto the third carrier 103, and the second carrier 82 is reset. The second clamping plates 1042 of the two second clamping mechanisms of the third positioning component 104 clamp and position the steel shells on the third carrier 103. After the clamping and positioning are completed, the second clamping plates 1042 of the third positioning component 104 are loosened again. At the same time, the second rollers 1033 on the third carrier 103 rotate, making the steel shells in a rotating state; The six third cameras 106 take pictures and detect the height and diameter of the steel shells. When the six third cameras 106 are working, the third carrier 103 gradually moves to the right at a distance of one steel shell. After all the steel shells on the third carrier 103 are detected, the second magnetic adsorption gripper of the third material transfer gripper assembly 12 simultaneously grabs the eight steel shells on the third carrier 103 onto the fourth carrier 112, and the third carrier 103 is reset.The third clamping plates 1132 of the two third clamping mechanisms of the fourth positioning component 113 clamp and position the steel shells on the fourth carrier 112. After the clamping and positioning are completed, the third clamping plates 1132 of the fourth positioning component 113 are loosened again. The fourth carrier 112 moves to the left so that the four-point laser sensors 116 are aligned with the four steel shells, and then the point laser sensors 116 extend into the corresponding steel shells. The second 3D camera 118 moves to the left to perform line scanning and photographing on the bottom of the steel shells. The cooperation of the point laser sensors 116 and the second 3D camera 118 can detect the internal dimensions of the steel shells, such as the bottom wall thickness, side wall thickness, middle diameter, middle hole step height, middle hole step width, etc. When the detection of the four steel shells is completed, the point laser sensors 116 and the second 3D camera 118 are reset to prepare for the detection of the internal dimensions of the next group of four steel shells. After all the steel shells on the fourth carrier 112 are detected, the third magnetic gripper of the fourth material transfer gripper assembly 13 simultaneously grabs the eight steel shells on the fourth carrier 112 onto the first support block 146 on the second conveyor frame 141. The conveyor chain conveys the steel shells from the left end to the right end. During the conveying process, the sixth camera 1431 takes a photo and detects the height of the internal pole of the steel shell, the seventh camera 1432 takes a photo and detects the appearance of the inner wall of the steel shell, the eighth camera 1433 takes a photo and detects the appearance of the inner bottom surface of the steel shell, the ninth camera 1441 takes a photo and detects the appearance of the outer end surface of the bottom of the steel shell, and the tenth camera 1442 takes a photo and detects the diameter of the outer end surface of the bottom of the steel shell. When the sixth camera 1431, the seventh camera 1432, the eighth camera 1433, the ninth camera 1441, and the tenth camera 1442 take photos, the conveyor chain pauses conveying. Thus, the detection of all items of each steel shell is completed. Steel shells without QR codes are grabbed by the fourth magnetic gripper of the waste kicking and material transfer gripper 15 arranged on the left onto the corresponding third support block 162 of the defective conveying assembly 16. Steel shells with defective dimensions are grabbed by the fourth magnetic gripper of the waste kicking and material transfer gripper 15 arranged in the middle onto the corresponding third support block 162 of the defective conveying assembly 16. Steel shells with defective appearances are grabbed by the fourth magnetic gripper of the waste kicking and material transfer gripper 15 arranged on the right onto the corresponding third support block 162 of the defective conveying assembly 16. The qualified steel shells are lifted by the sixth cylinders 1453 of the four groups of lifting mechanisms 145, driving the U-shaped lifting plates 1451 to rise, and at the same time lifting the four qualified steel shells. Finally, the first magnetic gripper of the second manipulator 17 simultaneously grabs the four qualified steel shells onto the annular conveyor plate chain 19 in the blanking section.

[0052] It should be noted that the above-mentioned linear slide table modules are all existing structures, and their specific structures will not be elaborated here. The automation of the above working process is controlled by a PLC control system. The control method of the PLC control system is easy to implement for those skilled in the art and will not be elaborated here.

[0053] The above are only specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantive modification of the present invention using this concept shall fall within the scope of infringement of the protection scope of the present invention.

Claims

1. A cylindrical battery steel shell detection device, characterized in that: It includes a loading section, an inspection section, and an unloading section. The inspection section is located between the loading section and the unloading section. The inspection section includes an inspection machine frame, on which there are a first manipulator, a barcode scanning and R-angle detection component, a first material transfer gripper component, a cylindrical surface detection component, a second material transfer gripper component, a height and diameter detection component, a laser and 3D detection component, a third material transfer gripper component, a fourth material transfer gripper component, an inner wall and end face detection component, multiple groups of waste kicking material transfer gripper components, multiple groups of defective product conveying components, and a second manipulator. The loading section is located on the left side of the first manipulator. The barcode scanning and R-angle detection component is located behind the first manipulator. The cylindrical surface detection component is located on the right side of the barcode scanning and R-angle detection component. The first material transfer gripper component is located in front of the barcode scanning and R-angle detection component and the cylindrical surface detection component. The height and diameter detection component is located in front of the cylindrical surface detection component. The second material transfer gripper component is located between the rear ends of the cylindrical surface detection component and the height and diameter detection component. The laser and 3D detection component is located on the left side of the height and diameter detection component. The third material transfer gripper component is located in front of the height and diameter detection component and the laser and 3D detection component. The inner wall and end face detection component is located in front of the laser and 3D detection component. The fourth material transfer gripper component is located between the front ends of the laser and 3D detection component and the inner wall and end face detection component. The multiple groups of waste kicking material transfer gripper components and the second manipulator are located behind the inner wall and end face detection component. The second manipulator is located on the right side of the multiple groups of waste kicking material transfer gripper components. Each group of waste kicking material transfer gripper components corresponds to a defective product conveying component. The unloading section is located on the right side of the second manipulator.

2. The cylindrical battery steel shell detection device according to claim 1, characterized in that: Both the loading section and the unloading section include a first conveying machine frame. At the top of the first conveying machine frame, there is an annular conveying plate chain. Above the annular conveying plate chain, there are an annular inner rail and an annular outer rail connected to the first conveying machine frame. The annular inner rail and the annular outer rail form a limiting groove. At the front and rear ends of the first conveying machine frame, there are screw rod components. The screw rod component includes a motor frame, a motor, and a screw rod. The motor frame is connected to the first conveying machine frame. The motor is connected inside the top of the motor frame. The screw rod is connected to the motor through a belt drive. The screw rod is provided with multiple spiral grooves arranged front and back. At the front and rear ends of the first conveying machine frame, there are multiple first sensors, and each first sensor corresponds to a spiral groove. At the four inner corners of the first conveying machine frame, there are pressing discs for the annular conveying plate chain.

3. The cylindrical battery steel shell detection device according to claim 1, characterized in that: The first manipulator and the second manipulator both include a manipulator body and a first magnetic gripper connected to the manipulator body. The first magnetic gripper includes a first gripper mounting frame, a first cylinder, a first magnet, and two first limiting strips arranged at intervals. The first gripper mounting frame is connected to the manipulator body. The first cylinder is installed at the top of the first gripper mounting frame. The two first limiting strips are connected to the bottom of the first gripper mounting frame. The first magnet is located between the two first limiting strips. The piston rod of the first cylinder faces downward and is connected to the first magnet. A plurality of first fixing grooves arranged at intervals along the length direction are provided at the bottom of the two first limiting strips.

4. The cylindrical battery steel shell detection device according to claim 1, characterized in that: The code scanning and R-angle detection component includes a first linear slide module, a first stage, a first positioning component, a first camera, a first 3D camera, and a code scanning camera. The first linear slide module is connected to the detection frame. The bottom of the first stage is connected to the slide of the first linear slide module. The first positioning component is located on the left side of the first camera, the first 3D camera, and the code scanning camera. A first camera frame and a first 3D camera frame are provided on the detection frame. The first camera frame and the first 3D camera frame are respectively located in the front and rear of the first linear slide module. A code scanning camera frame is provided at the top of the first 3D camera frame. The first camera and the first 3D camera are respectively installed at the top of the first camera frame and the first 3D camera frame. The code scanning camera is located in the middle of the top of the code scanning camera frame. The code scanning camera is located on the left side of the first 3D camera. The cylindrical surface detection component includes a second linear slide module, a second stage, a second positioning component, and a second camera. The second linear slide module is connected to the detection frame. The bottom of the second stage is connected to the slide of the second linear slide module. The second positioning component is located on the front side of the second camera. A second camera frame is provided on the detection frame. The second camera is inclined and installed in the middle of the top of the second camera frame. The second camera is located above the second stage.

5. The cylindrical battery steel shell detection device according to claim 4, characterized in that: The first stage and the second stage both include a first stage body. A plurality of first rotating shafts arranged at intervals left and right are provided at the top of the first stage body. Two first rollers arranged front and rear are provided on each first rotating shaft. A first driving motor is provided on the first stage body. The output shaft of the first driving motor and one ends of the plurality of first rotating shafts both extend out of one side surface of the first stage body. The output shaft of the first driving motor is connected with a first main pulley. One ends of the plurality of first rotating shafts are all connected with first driven pulleys. The first main pulley is located below the first driven pulleys. The first main pulley and the first driven pulleys on the plurality of first rotating shafts are connected by a first belt. A first pressing wheel connected to the first stage body is provided between two adjacent first driven pulleys. The bottom of the first pressing wheel presses on the top surface of the first belt. First idler pulleys connected to the first stage body are provided on the left and right sides of the first main pulley. The first belt bypasses the first idler pulleys.

6. The cylindrical battery steel shell detection device according to claim 4, wherein: Both the first positioning component and the second positioning component include two symmetric first clamping mechanisms. Each of the two first clamping mechanisms includes a first support frame and a first clamping plate. A first clamping cylinder is provided on the top surface of the first support frame. The piston rod of the first clamping cylinder is connected to the first clamping plate. Two first slide rails arranged left and right are provided on the top surface of the first support frame. First sliders slidably engaged with the two first slide rails are provided on each of the two first slide rails. The first slider is connected to the first clamping plate through a first connecting plate. A plurality of second sensors arranged at intervals left and right are provided on the first clamping plate of one of the first clamping mechanisms.

7. The cylindrical battery steel shell detection device according to claim 1, characterized in that: Both the first material transfer gripper component and the third material transfer gripper component include a first gripper support frame, a third linear slide table module, and a second gripper mounting frame. The third linear slide table module is provided on the top side of the first gripper support frame. The slide table of the third linear slide table module is connected to a first cylinder mounting seat. Two second slide rails arranged at intervals left and right are provided on the side surface of the first cylinder mounting seat. Two second sliders are provided on the second gripper mounting frame. Each second slider corresponds to one of the second slide rails and is slidably engaged therewith. A second cylinder is provided on the top of the first cylinder mounting seat. The piston rod of the second cylinder faces downward and is connected to the top of the second gripper mounting frame. A second magnetic gripper is connected to the bottom of the second gripper mounting frame. The second magnetic gripper includes a third cylinder, a second magnet, and two second limiting strips arranged at intervals. The third cylinder is mounted on the top of the second gripper mounting frame. The two second limiting strips are connected to the bottom of the second gripper mounting frame. The second magnet is located between the two second limiting strips. The piston rod of the third cylinder faces downward and is connected to the second magnet. A plurality of second fixing grooves arranged at intervals along the length direction are provided at the bottom of the two second limiting strips.

8. The cylindrical battery steel shell detection device according to claim 1, characterized in that: Both the second material transfer gripper component and the fourth material transfer gripper component include a second gripper support frame, a fourth linear slide table module, and a sliding plate. The fourth linear slide table module is provided on the top of the second gripper support frame. The sliding plate is connected to the slide table of the fourth linear slide table module. The sliding plate is provided with four slide rod sleeves. Slide rods are inserted through each of the four slide rod sleeves. The top of the slide rod is connected to a top plate. The bottom of the slide rod is connected to a third gripper mounting frame. A fourth cylinder is provided on the top surface of the sliding plate. The piston rod of the fourth cylinder faces upward and is connected to the top plate. A third magnetic gripper is connected to the bottom of the third gripper mounting frame. The third magnetic gripper includes a fifth cylinder, a third magnet, and two third limiting strips arranged at intervals. The fifth cylinder is mounted on the top of the third gripper mounting frame. The two third limiting strips are connected to the bottom of the third gripper mounting frame. The third magnet is located between the two third limiting strips. The piston rod of the fifth cylinder faces downward and is connected to the third magnet. A plurality of third fixing grooves arranged at intervals along the length direction are provided at the bottom of the two third limiting strips.

9. The cylindrical battery steel shell detection device according to claim 1, characterized in that: The height and diameter detection component includes a fifth linear slide module, a third slide rail, a third carrier, a third positioning component, a third camera mount, and an even number of third cameras. The third slide rail and the fifth linear slide module are connected to the detection frame. The third slide rail and the fifth linear slide module are arranged front and back. The third carrier includes a third carrier body. The bottom of the third carrier body is provided with a third slider that slidably cooperates with the third slide rail. The bottom of the third carrier body is connected to the slide of the fifth linear slide module. On the top of the third carrier body, there are multiple second rotating shafts arranged at intervals left and right. On each second rotating shaft, there are two second rollers arranged front and back. A second driving motor is provided on the third carrier body. The output shaft of the second driving motor and one end of the multiple second rotating shafts both extend out of one side surface of the third carrier body. The output shaft of the second driving motor is connected with a second main pulley. One end of each of the multiple second rotating shafts is connected with a second driven pulley. The second main pulley is located below the second driven pulleys. The second main pulley and the second driven pulleys on the multiple second rotating shafts are connected by a second belt. A second pressing wheel connected to the third carrier body is arranged between adjacent two second driven pulleys. The bottom of the second pressing wheel presses on the top surface of the second belt. Second transition wheels connected to the third carrier body are arranged on the left and right sides of the second main pulley. The second belt bypasses the second transition wheels. The third positioning component includes two symmetric second clamping mechanisms. Each of the two second clamping mechanisms includes a second support frame and a second clamping plate. The second support frame is located on one side of the third carrier body and is connected to the third carrier body. On the top surface of the second support frame, there is a second clamping cylinder. The piston rod of the second clamping cylinder is connected with the second clamping plate. On the top surface of the second support frame, there are two fourth slide rails arranged left and right. Fourth sliders slidably cooperating with the two fourth slide rails are arranged on the two fourth slide rails. The fourth sliders are connected with the second clamping plate through second connecting plates. The even number of third cameras are arranged in the middle of the top of the third camera mount. The even number of third cameras are divided into two groups arranged left and right.

10. A cylindrical battery steel shell detection device according to claim 1, characterized in that: The laser and 3D detection assembly includes a sixth linear slide module, a fourth carrier, a fourth positioning assembly, a seventh linear slide module, and a point laser sensor mounting base. The bottom of the fourth carrier is connected to the slide of the sixth linear slide module. The point laser sensor mounting base and the seventh linear slide module are respectively located at the front and rear sides of the sixth linear slide module. The point laser sensor mounting base is arranged to be movable in the front-back and left-right directions. The top of the point laser sensor mounting base is provided with a plurality of point laser sensors arranged at intervals in the left-right direction. The slide of the seventh linear slide module is connected to a 3D camera mounting base, and the top of the 3D camera mounting base is connected to a second 3D camera. The top of the fourth carrier is provided with a plurality of shell grooves arranged at intervals in the left-right direction. The fourth positioning assembly includes two symmetric third clamping mechanisms. Each of the two third clamping mechanisms includes a third support frame and a third clamping plate. The third support frame is located on one side of the fourth carrier and is connected to the detection frame. The top surface of the third support frame is provided with a third clamping cylinder, and the piston rod of the third clamping cylinder is connected to the third clamping plate. The top surface of the third support frame is provided with two fifth slide rails arranged in the left-right direction, and each of the two fifth slide rails is provided with a fifth slider slidably engaged therewith. The fifth slider is connected to the third clamping plate through a third connecting plate.

11. The cylindrical battery steel shell detection device according to claim 1, characterized in that: The inner wall and end face detection assembly includes a second conveying frame, a fifth positioning assembly, a fourth camera frame, a fifth camera frame, and multiple sets of lifting mechanisms. The second conveying frame is connected to the detection frame. A conveying chain is provided on the second conveying frame, and several first supporting blocks are provided on the conveying chain. A first supporting groove is provided at the top of each first supporting block. The fifth positioning assembly includes two symmetric fourth clamping mechanisms. Each of the two fourth clamping mechanisms includes a fourth support frame and a fourth clamping plate. The fourth support frame is located on one side of the second conveying frame and is connected to the detection frame. A fourth clamping cylinder is provided on the top surface of the fourth support frame. The piston rod of the fourth clamping cylinder is connected to the fourth clamping plate. Two sixth slide rails arranged left and right are provided on the top surface of the fourth support frame. Sixth sliders slidably engaged with the two sixth slide rails are provided on each of the two sixth slide rails. The sixth slider is connected to the fourth clamping plate through a fourth connecting plate. Each of the multiple sets of lifting mechanisms includes a U-shaped lifting plate, a connecting plate, and a sixth cylinder. The connecting plate is connected to the detection frame. The sixth cylinder is provided at the bottom of the connecting plate. The piston rod of the sixth cylinder faces upward and is connected to the bottom of the U-shaped lifting plate. Two guide rod sleeves arranged front and back are provided on the connecting plate. Two guide rods arranged front and back are provided at the bottom of the U-shaped lifting plate. Each guide rod corresponds to a guide rod sleeve and passes through the guide rod sleeve. Second supporting blocks are provided at both ends of the top of the U-shaped lifting plate. A second supporting groove is provided at the top of the second supporting block. A third inductor is provided on the side surface of the second supporting block. The fourth camera frame and the fifth camera frame are respectively located in front of and behind the second conveying frame and are both connected to the detection frame. Sixth cameras, seventh cameras, and eighth cameras arranged in sequence from left to right are provided on the top surface of the fourth camera frame. Ninth cameras and tenth cameras arranged in sequence from left to right are provided on the top surface of the fifth camera frame.

12. The cylindrical battery steel shell detection device according to claim 1, characterized in that: The multiple groups of waste kicking and material transferring gripper assemblies are arranged at left and right intervals. Each of the multiple groups of waste kicking and material transferring gripper assemblies includes a third gripper support frame, a second cylinder mounting seat, and a fourth gripper mounting frame. The third gripper support frame is connected to the detection machine frame. An eighth linear slide module is provided on the top side of the third gripper support frame. The second cylinder mounting seat is connected to the slide of the eighth linear slide module. A seventh cylinder is provided on the top of the second cylinder mounting seat. Two seventh slide rails arranged front and back are provided on the side of the second cylinder mounting seat. Two seventh sliders slidably engaged with the two seventh slide rails are respectively provided on the two seventh slide rails. The fourth gripper mounting frame is connected to the seventh slider. The piston rod of the seventh cylinder faces downward and is connected to the top of the fourth gripper mounting frame. A rotary cylinder is connected between the upper part and the lower part of the fourth gripper mounting frame. A fourth magnetic gripper is connected to the bottom of the fourth gripper mounting frame. The fourth magnetic gripper includes a fourth limiting strip, a plurality of fourth magnets, and a plurality of eighth cylinders. A plurality of fourth fixing grooves arranged left and right are provided at the bottom of the fourth limiting strip. A plurality of moving holes arranged left and right are provided at the top of the fourth limiting strip. Each moving hole corresponds to a fourth fixing groove and is communicated with each other. Each fourth fixing groove corresponds to a fourth magnet. The fourth magnet is located in the moving hole. A third cylinder mounting seat is provided at the top of the fourth limiting strip. The plurality of eighth cylinders arranged left and right are provided on the third cylinder mounting seat. Each eighth cylinder corresponds to a fourth magnet. The piston rod of the eighth cylinder faces downward and is connected to the fourth magnet.

13. The cylindrical battery steel shell detection device according to claim 1, characterized in that: The defective conveying assembly includes a third conveying frame. A conveyor belt is provided on the third conveying frame. A plurality of third supporting blocks are provided on the conveyor belt. A third supporting groove is provided at the top of each third supporting block.

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