Automatic match grinding detection robot and detection method for bearing sleeve of printing machine

Abstract

The invention provides an automatic match grinding detection robot and method for a printing machine bearing sleeve, and the robot comprises a laser measurement unit which is uniformly provided with a plurality of groups of laser rangefinders in the circumferential direction, and cooperates with a through hole of a printing wallboard for match grinding detection; the laser measuring unit is fixed at the end part of the six-degree-of-freedom parallel platform to drive the laser measuring unit to move in multiple directions relative to the through hole; cameras are respectively arranged on one side of the six-degree-of-freedom parallel platform in the horizontal direction and above the six-degree-of-freedom parallel platform in the vertical direction, and are used for detecting the relative pose of the laser measurement unit relative to the through hole; and the control system is used for receiving detection data of the camera and the laser range finder and controlling the six-degree-of-freedom parallel platform to move. According to the technical scheme provided by the invention, the defects of low measurement precision, inaccurate grinding, low efficiency and labor consumption in the prior art are overcome.

Description

Technical Field

[0001] The invention relates to the field of printing, and in particular to an automatic matching and grinding detection robot and a detection method for a bearing sleeve of a printing press. Background Art

[0002] The assembly of printing bearing sleeves is the most important link in the printing equipment production line. The assembly accuracy affects the parameters such as the printing roller radial runout, the printing roller axial movement, the roller shoulder iron pressure detection, and the printing roller gear side clearance detection. These parameters will affect the line / screen overprint accuracy, resulting in poor reproduction of single / color dots, which directly affects the quality of printed products.

[0003] The printing press shaft sleeve and the wall panel through hole are processed and manufactured one-to-one. After the printing press wall panel is erected, it will deform. Before the deformation, it is necessary to manually detect the deformation degree and grind the shaft sleeve according to the measured data so that the assembly can be completed.

[0004] There are multiple through holes in the printing press wall plate, such as Figure 1 As shown, during installation, the wall panels need to be erected for horizontal shaft hole assembly. However, after the wall panels are erected, the through holes will undergo unpredictable stress deformation, making it impossible to install the shaft sleeves previously processed according to the corresponding size. Figure 2 As shown in the figure, a micrometer is used to measure two orthogonal diameters on two parallel circular surfaces in the hole, a total of eight points. According to the measured values, the sleeve is manually ground accordingly. This process is called matching grinding.

[0005] Currently, there are only eight measuring points, and the grinding thickness is determined based on the data of these eight points. However, grinding is done manually on the estimated area, which will lead to a large error between the grinding thickness in the grinding area and the deformation variable at the measuring point. This will cause a large gap after assembly and the roller will shake during movement, further affecting the quality of the printed product. In addition, manual measurement is inefficient and labor-intensive. Summary of the invention

[0006] In order to solve the above-mentioned technical problems, the present invention provides an automatic grinding and detection robot and detection method for the bearing sleeve of a printing press. The robot can automatically obtain the relative position of the measurement system and the through hole of the wall panel, thereby solving the shortcomings of the prior art such as low measurement accuracy, inaccurate grinding, low efficiency and labor consumption.

[0007] In a first aspect of the present invention, there is provided an automatic grinding and inspection robot for a bearing sleeve of a printing press, comprising: a laser measuring unit, with a plurality of groups of laser rangefinders evenly arranged in the circumferential direction, for performing grinding and inspection in cooperation with the through holes of a printed wallboard; a six-degree-of-freedom parallel platform, with the laser measuring unit fixed at the end, driving the laser measuring unit to move in multiple directions relative to the through holes; a posture measuring unit, with cameras respectively arranged on one side horizontally and on the upper side vertically of the six-degree-of-freedom parallel platform, for detecting the relative posture of the laser measuring unit relative to the through holes; and a control system, for receiving detection data from the camera and the laser rangefinder, and controlling the movement of the six-degree-of-freedom parallel platform.

[0008] Furthermore, the laser measuring unit includes a measuring component, a first adapter plate, a sleeve, a sleeve adapter plate, an auxiliary laser rangefinder plate, a second adapter plate and a total adapter plate, which are assembled in sequence, wherein a plurality of groups of laser rangefinders are provided on the inner wall of the measuring component, and the plurality of groups of laser rangefinders are evenly distributed in the same plane in the circumferential direction and are parallel to the cross-section of the laser measuring unit; each group of laser rangefinders includes two laser rangefinders, which are installed parallel to the axial direction and adjacent to a preset distance.

[0009] Furthermore, the measuring component is also provided with a laser port, and each group of laser rangefinders corresponds to a laser port, so that the laser is emitted along the radial direction of the laser measuring unit and projected onto the hole wall of the through hole through the laser port.

[0010] Furthermore, the diameter of the laser measuring unit is smaller than the diameter of the through hole.

[0011] Furthermore, the six-degree-of-freedom parallel platform communicates with the control system to drive the laser measurement unit to perform multi-directional movements such as forward, backward, left, right, up, and down.

[0012] Furthermore, the posture measurement unit is also provided with a mounting frame, and a fixing handle is extended outward from the upper frame and the side frame of the mounting frame, which is connected and fixed to the printed wallboard, wherein the camera is installed at one end of the fixing handle close to the printed wallboard, and the shooting lens faces the laser measurement unit directly.

[0013] Furthermore, the laser measurement unit is detachably mounted on the end of the six-degree-of-freedom parallel platform via a mounting plate.

[0014] In a second aspect of the present invention, a detection method of an automatic grinding detection robot for a printing press bearing sleeve is provided, and the above-mentioned automatic grinding detection robot is used for detection, and the detection method comprises: a posture measurement unit obtains the relative posture of a laser measurement unit and a through hole in real time, and uploads it to a control system; the control system guides a six-degree-of-freedom platform in real time to drive the laser measurement unit to uniformly probe into the through hole, obtains the distance value between each emission point and the hole wall, and adjusts the center axis of the laser measurement unit and the center axis of the through hole to be on the same relative central axis according to the distance value; the six-degree-of-freedom platform rotates the laser measurement unit along the relative central axis to obtain circumferential data; after the six-degree-of-freedom platform moves forward a preset distance along the relative central axis, the distance value and the circumferential data of this position are collected again; the six-degree-of-freedom platform moves forward in sequence until the distance value of the entire hole wall and the circumferential data of this position are measured, and the entire through hole is surface fitted according to the distance value and the circumferential data, a digital model of the through hole is established, and the data machine tool is guided to grind the sleeve according to the digital model.

[0015] Furthermore, the center axis of the laser measurement unit and the center axis of the through hole are adjusted to be on the same relative center axis according to the distance value, including: the control system calculates the minimum mean square error of multiple distance values ​​to obtain the relative center axis; the control system guides the six-degree-of-freedom platform to drive the laser measurement unit to move at a uniform speed, and adjusts the relative posture of the center axis of the laser measurement unit and the center axis of the through hole in real time to adjust the relative center axis.

[0016] Furthermore, the six-degree-of-freedom platform rotates the laser measurement unit along the relative central axis to obtain circumferential data, including: the six-degree-of-freedom platform rotates the same angle left and right along the relative central axis to drive two groups of laser rangefinders to emit lasers to scan the hole wall, the scanning range of each laser rangefinder is an arc, and the sum of the scanning ranges of all laser rangefinders in the same circumference is a circumference of the hole wall.

[0017] By adopting the technical solution of the present invention, the robot can automatically obtain the relative posture of the measurement system and the through hole of the wall panel, insert the penetration laser measurement system into the through hole to detect its deformation, and use the penetration laser measurement system to perform a fine grid scan of the through hole with an arbitrarily small mesh, and then use the obtained grid data for fitting to establish a digital twin modeling of the through hole, thereby improving the measurement accuracy; use the established precise digital twin model to guide the CNC machine tool to accurately grind the matching sleeve, so that the two can be matched with higher accuracy, thereby improving assembly accuracy and efficiency and saving labor.

[0018] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0020] Figure 1 is a view of a prior art printing press wall plate;

[0021] Figure 2 It is a schematic diagram of a method for measuring a through hole of a printing press wallboard in the prior art;

[0022] Figure 3 This is a front view of the automatic grinding detection robot of this embodiment;

[0023] Figure 4 is a side structural diagram of the automatic grinding and inspection robot of this embodiment;

[0024] Figure 5 1 is a diagram showing the installation position of the laser range finder of this embodiment;

[0025] Figure 6 is an exploded view of the measurement assembly structure of this embodiment;

[0026] Figure 7 is a schematic diagram of laser emission of the laser range finder of this embodiment;

[0027] Figure 8 is a detection schematic diagram of the laser measurement unit of this embodiment;

[0028] Fig. 9 is a schematic diagram of establishing a coordinate system in this embodiment;

[0029] Fig.10 Schematic diagram of coordinate points of the laser range finder of this embodiment;

[0030] Fig.11 is a rotation schematic diagram of the laser measurement unit of this embodiment;

[0031] Fig.12 Schematic diagram of establishing the digital twin model of this embodiment;

[0032] Fig.13 is a schematic diagram of the digital twin model of this embodiment;

[0033] in, Figure 1-13 The corresponding relationship between the reference numerals and component names in the figure is:

[0034] 10 laser measuring unit, 11 laser rangefinder, 111 laser beam, 12 measuring component, 121 laser port, 13 first adapter plate, 14 sleeve, 15 sleeve adapter plate, 16 auxiliary laser rangefinder plate, 17 second adapter plate, 18 total adapter plate, 20 six-degree-of-freedom parallel platform, posture measurement unit 30, 31 camera, 32 mounting bracket, 33 fixing handle, 40 printed wall panel, 41 through hole, 411 hole wall. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0037] Refer to the following Figure 3-5 To describe the first aspect of the present invention, a robot for automatic grinding inspection of a bearing sleeve of a printing machine is provided, comprising: a laser measuring unit 10, with multiple groups of laser rangefinders 11 evenly arranged in the circumferential direction, to perform grinding inspection in cooperation with the through hole 41 of the printed wallboard 40; a six-degree-of-freedom parallel platform 20, with the laser measuring unit 10 fixed at the end, driving the laser measuring unit 10 to move in multiple directions relative to the through hole 41; a posture measuring unit 30, with cameras 31 respectively arranged on one side horizontally and vertically above the six-degree-of-freedom parallel platform 20, to detect the relative posture of the laser measuring unit 10 relative to the through hole 41; a control system, receiving detection data from the camera 31 and the laser rangefinder 11, and controlling the movement of the six-degree-of-freedom parallel platform 20. The robot guides the laser measuring unit 10 to probe into the through hole to be inspected through the relative posture of the laser measuring unit 10 relative to the through hole 41, and performs grinding inspection through the movement of the six-degree-of-freedom parallel platform 20, thereby realizing automation of inspection and precision of data.

[0038] In the above embodiment, if Figure 6As shown, the laser measurement unit 10 includes a measurement component 12, a first adapter plate 13, a sleeve 14, a sleeve adapter plate 15, an auxiliary laser distance measuring plate 16, a second adapter plate 17 and a total adapter plate 18, which are assembled in sequence. Among them, the inner wall of the measurement component 12 is provided with multiple groups of laser rangefinders 11, and the multiple groups of laser rangefinders 11 are evenly distributed in the same plane in the circumferential direction and are parallel to the cross section of the laser measurement unit 10; each group of laser rangefinders 11 includes two laser rangefinders 11, which are parallel to the axial direction and installed adjacent to the preset distance. Figure 5 As shown, the inner wall of the measuring component 12 is provided with 16 groups of 32 laser rangefinders 11 evenly distributed, each group is provided with 2 laser rangefinders 11, which are installed on the same support plate along the axial direction and are separated by a certain distance, and this distance can be adjusted according to the size and shape of the through hole to be detected. The laser rangefinder 11 is arranged inside the measuring component 12, which increases the range of the laser beam, reduces the calculation error, and increases the accuracy of the data.

[0039] In the above embodiment, if Figure 5 and Figure 7 As shown, the measuring assembly 12 is further provided with a laser port 121, and each group of laser range finders 11 corresponds to a laser port 121, so that the laser beam 111 is emitted along the radial direction of the laser measuring unit 10 and is projected through the laser port 121 to the hole wall 411 of the through hole 41. In order to meet the requirement of increasing the range of the laser beam 111, the laser port 121 is opened on the wall of the measuring assembly 12.

[0040] In the above embodiment, the diameter of the laser measuring unit 10 is smaller than the diameter of the through hole 41. The laser measuring unit 10 smaller than the diameter of the through hole 41 is convenient for entering and moving in the hole. The larger the moving position, the smaller the error of the final detection data, which is convenient for data accuracy.

[0041] In the above embodiment, the six-degree-of-freedom parallel platform 20 communicates with the control system to drive the laser measurement unit 10 to move forward, backward, left, right, up and down in multiple directions. The control system remotely controls the six-degree-of-freedom parallel platform 20 to achieve movement in all directions, and can also realize the rotation of the laser measurement unit 10 around the central axis, so as to achieve accurate and rapid detection, timely obtain data, and save data for the next step of grinding.

[0042] In the above embodiment, if Figure 3-4As shown, the posture measurement unit 30 is also provided with a mounting frame 32, and a fixing handle 33 extends outward from the upper frame and the side frame of the mounting frame 32, and is connected and fixed to the printed wallboard 40, wherein the camera 31 is installed at one end of the fixing handle 33 close to the printed wallboard 40, and the shooting lens faces the laser measurement unit 10 directly. The setting of the posture measurement unit 30 is to accurately control the movement of the six-degree-of-freedom parallel platform 20. By fixing the camera 31 and facing the laser measurement unit 10, the posture data can be accurately obtained, which ensures the accuracy and safety of the detection process, and prevents the laser measurement unit 10 from accidentally hitting the printed wallboard 40 during the movement of the six-degree-of-freedom parallel platform 20, causing damage to the equipment.

[0043] In the above embodiment, if Figure 8 As shown, the laser measuring unit 10 is detachably mounted on the end of the six-degree-of-freedom parallel platform 20 through the mounting plate 21. In order to adapt to the detection of through holes 41 of different diameters and shapes, without replacing other equipment, the equipment can be replaced by simply disassembling and replacing the laser measuring unit 10 of different models at any time, which increases the flexibility of the equipment, reduces the operation process, and increases the detection efficiency.

[0044] In a second aspect of the present invention, a detection method of an automatic grinding detection robot for a bearing sleeve of a printing press is provided, and the detection is performed using the above-mentioned automatic grinding detection robot, and the detection method includes: a posture measurement unit 30 obtains the relative posture of a laser measurement unit 10 and a through hole 41 in real time, and uploads it to a control system; the control system guides the six-degree-of-freedom platform 20 in real time to drive the laser measurement unit 10 to uniformly probe into the through hole 41, obtains the distance value between each emission point and the hole wall 411, and adjusts the central axis of the laser measurement unit 10 and the central axis of the through hole 41 to be on the same relative central axis according to the distance value; the six-degree-of-freedom platform 20 rotates the laser measurement unit 10 along the relative central axis to obtain circumferential data; after the six-degree-of-freedom platform 20 moves forward a preset distance along the relative central axis, the distance value and the circumferential data of this position are collected again; the six-degree-of-freedom platform 20 moves forward in sequence until the distance value of the entire hole wall 411 and the circumferential data of this position are measured, and the entire through hole 41 is surface fitted according to the distance value and the circumferential data, a through hole digital twin model is established, and the data machine tool is guided to grind the sleeve according to the digital model.

[0045] According to the basic principle and structural design of laser ranging of the laser measuring unit 10, it is necessary to mathematically model it before detection, and deduce how to calculate and obtain the assembled posture after the laser measuring unit 10 measures the data based on the mathematical modeling. Fig. 9 and Fig.10The coordinate system shown: the center of the vertical circular section where the laser measuring unit 10 and the circle of laser rangefinders 11 in front of it are located is taken as the coordinate origin 0 of the coordinate system {C}, the straight line passing through the center of the circle and perpendicular to the corresponding circular section is taken as the Z axis, and the direction from the front to the back of the laser measuring unit 10 is selected as the positive direction of the Z axis, the circular section corresponding to the front laser rangefinder 11 is selected as the XY axis plane, the horizontal direction is selected as the X axis on this plane, the direction from the left to the right direction of the front of the laser measuring unit 10 is selected as its positive direction, the vertical direction is selected as the Y axis, and the positive direction of the Y axis is from bottom to top. Among them, the six-degree-of-freedom motion platform 20 and the through hole 41 are both located in the same coordinate system, and the first coordinate system is constructed with the platform center of mass of the upper platform of the six-degree-of-freedom motion platform 20 as the coordinate origin. The upper platform coordinate system has the same direction as the earth coordinate system, and the platform center of mass is selected as the coordinate origin O a , with the vertical upward direction as the positive direction of the z-axis, the axis of the laser measuring unit 10 as the x-axis, the direction of the laser measuring unit 10 pointing to the platform as the positive direction, and the y-axis direction is determined according to the right-hand rule. r is the radius of the laser measuring unit 10; 1 is the distance between the two corresponding groups of laser rangefinders 11; 11 is the distance between the center of the upper platform and the laser measuring unit 10; 12 is the vertical distance from the center of the upper platform to the lower edge of the laser measuring unit 10; C1~C8 are the coordinate points of the 8 laser rangefinders 11 of the laser measuring unit 10; e1~e8 are the vertical distances from the edge of the laser measuring unit 10 to the hole wall 411; d1~d8 are the coordinate points on the hole wall 411 corresponding to the laser rangefinder 11.

[0046] According to the relationship between the laser range finder 11 and the coordinate system {C} of the laser measurement unit 10, the coordinates of C1 to C8 are as follows:

[0047]

[0048] The coordinates of the points d1 to d8 on the hole wall corresponding to the laser range finder 11 can be obtained from the vector operation relationship as follows:

[0049]

[0050] In the above embodiment, various distance values ​​are obtained according to the coordinates of C1~C8 and d1~d8, and the central axis of the laser measurement unit 10 and the central axis of the through hole 41 are adjusted to be on the same relative central axis according to the above data, including: the control system calculates the minimum mean square error of multiple distance values ​​to obtain the relative central axis; the control system guides the six-degree-of-freedom platform 20 to drive the laser measurement unit 10 to move at a constant speed, adjusts the relative posture of the central axis of the laser measurement unit 10 and the central axis of the through hole 41 in real time, and adjusts the relative central axis.

[0051] In the above embodiment, the six-degree-of-freedom platform 20 rotates the laser measurement unit 10 along the relative central axis to obtain circumferential data, including: the six-degree-of-freedom platform 20 rotates the same angle left and right along the relative central axis to drive two groups of laser rangefinders 11 to emit laser beams 111 to scan the hole wall 411, the scanning range of each laser rangefinder 11 is an arc, and the sum of the scanning ranges of all laser rangefinders 11 in the same circumferential direction is a circumference of the hole wall 411. Specifically, Fig.11 As shown, after the central axis of the laser measuring unit 10 and the central axis of the through hole 41 are on the same relative central axis, the six-degree-of-freedom platform 20 starts to rotate the laser measuring unit 10 along the relative central axis. Since the six-degree-of-freedom motion platform 20 has high precision but limited range of motion, the rotation angle is set according to the number and installation position of the laser rangefinder 11. In this embodiment, 16 pairs of laser rangefinders are set, that is, the rotation angle can be set to 11.25 degrees on the left and right, and the scanning angle of each laser rangefinder is 22.5 degrees. There are 16 rangefinders evenly distributed around each circle, so two circles can be measured without gaps, and the circumference data can be stored in the control system.

[0052] After the robot drives the laser measuring unit 10 into the through hole 41, the first circumference data is acquired. Then, the robot moves the laser measuring unit 10 forward along the relative central axis by a distance (this distance can be set according to the accuracy requirement), and records the data of the 32 laser rangefinders 11 in real time during the movement. When the two groups of laser rangefinders 11 reach the next predetermined position, the robot rotates the laser measuring unit 10 again, and the two groups of laser rangefinders 11 start to measure a new circumference. Fig.12 As shown, by analogy, the hole wall 411 of the entire through hole 41 is measured to obtain grid data of an arbitrary size. Fig.13 As shown, the entire through-hole surface is fitted according to this grid, and a through-hole digital twin model is established to accurately restore the spatial position and other data of any point on the through-hole. Based on this data, the CNC machine tool is guided to perform precise processing on the sleeve, thereby reducing the fitting clearance between the two and improving the quality of the printed product.

[0053] When using the automatic matching and grinding inspection robot of the present application, the robot uses a laser measurement unit to perform a grid path scan of the hole wall of the through hole with arbitrary precision, collects the spatial positions of the points on the scanning path, and then uses the collected data to establish a digital twin model of the through hole, accurately restores the actual diameter, quasi-circularity, deformation amount and other data of the through hole surface, and accurately processes the sleeve based on this data to reduce the matching clearance between the two, improve assembly accuracy, reduce the radial runout of the printing roller and the axial movement of the printing roller, improve parameters such as the roller shoulder iron pressure and the side clearance of the printing roller gear, reduce its impact on the line / screen overprint accuracy and the single / color dot restoration, and improve the quality of printed products.

[0054] In the description of the present invention, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0056] The above is only a preferred implementation of the present invention and is not intended to limit the present invention. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the invention shall be included in the protection scope of the present invention.

Claims

1. An automatic grinding and inspection robot for printing press bearing sleeves, characterized in that: include: Laser measuring unit, with multiple groups of laser distance meters evenly arranged around the circumference, to carry out grinding inspection in conjunction with the through holes of the printed wallboard; A six-degree-of-freedom parallel platform, the end of which fixes the laser measurement unit and drives the laser measurement unit to move in multiple directions relative to the through hole; A posture measurement unit, wherein cameras are respectively provided on one side horizontally and on the upper side vertically of the six-degree-of-freedom parallel platform to detect the relative posture of the laser measurement unit with respect to the through hole; A control system receives detection data from the camera and the laser rangefinder, and controls the movement of the six-degree-of-freedom parallel platform.

2. The automatic grinding detection robot according to claim 1 is characterized in that: The laser measurement unit includes a measurement component, a first adapter plate, a shaft sleeve, a shaft sleeve adapter plate, an auxiliary laser distance measuring plate, a second adapter plate and a total adapter plate, which are assembled in sequence. The inner wall of the measuring assembly is provided with a plurality of groups of the laser range finders, and the plurality of groups of the laser range finders are evenly distributed in the same plane in the circumferential direction and are parallel to the cross section of the laser measuring unit; Each group of the laser rangefinders includes two laser rangefinders, which are installed parallel to the axis and adjacent to each other at a preset distance.

3. The automatic grinding detection robot according to claim 2 is characterized in that: The measuring component is also provided with a laser port, and each group of the laser range finders corresponds to a laser port, so that the laser beam is emitted along the radial direction of the laser measuring unit and is projected through the laser port to the hole wall of the through hole.

4. The automatic grinding detection robot according to claim 1 is characterized in that: A diameter of the laser measuring unit is smaller than a diameter of the through hole.

5. The automatic grinding detection robot according to claim 1 is characterized in that: The six-degree-of-freedom parallel platform communicates with the control system to drive the laser measurement unit to perform multi-directional movements such as forward, backward, left, right, up, and down.

6. The automatic grinding detection robot according to claim 1 is characterized in that: The posture measurement unit is also provided with a mounting frame, and the upper frame and the side frame of the mounting frame extend outwardly with fixing handles, which are connected and fixed to the printed wallboard, wherein: The camera is installed at one end of the fixing handle close to the printed wallboard, and the shooting lens faces the laser measuring unit directly.

7. The automatic grinding detection robot according to claim 1 is characterized in that: The laser measurement unit is detachably mounted on the end of the six-degree-of-freedom parallel platform via a mounting plate.

8. A detection method of an automatic grinding detection robot for a printing press bearing sleeve, characterized in that: The automatic grinding detection robot according to any one of claims 1 to 7 is used for detection, and the detection method includes: The posture measurement unit obtains the relative posture of the laser measurement unit and the through hole in real time and uploads it to the control system; The control system guides the six-degree-of-freedom platform in real time to drive the laser measurement unit to probe into the through hole at a uniform speed, obtains the distance value between each emission point and the hole wall, and adjusts the central axis of the laser measurement unit and the central axis of the through hole to be on the same relative central axis according to the distance value; The six-degree-of-freedom platform rotates the laser measurement unit along the relative central axis to obtain circumferential data; After the six-degree-of-freedom platform moves forward a preset distance along the relative central axis, the distance value and the circumference data of this position are collected again; Move forward in sequence until the distance value of the entire hole wall and the circumference data of this position are measured, perform surface fitting on the entire through hole according to the distance value and the circumference data, establish a through hole digital twin model, and guide the data machine tool to grind the sleeve according to the digital twin model.

9. The detection method according to claim 8, characterized in that: The step of adjusting the central axis of the laser measurement unit and the central axis of the through hole to be on the same relative central axis according to the distance value comprises: The control system calculates the minimum mean square error of multiple distance values ​​to obtain the relative central axis; The control system guides the six-degree-of-freedom platform to drive the laser measurement unit to move at a constant speed, adjusts the relative posture of the central axis of the laser measurement unit and the central axis of the through hole in real time, and makes adjustments relative to the central axis.

10. The detection method according to claim 8, characterized in that: The six-degree-of-freedom platform rotates the laser measurement unit along the relative central axis to obtain circumferential data, including: The six-degree-of-freedom platform rotates left and right at the same angle relative to the central axis, driving two groups of laser rangefinders to emit lasers to scan the hole wall. The scanning range of each laser rangefinder is an arc, and the sum of the scanning ranges of all laser rangefinders in the same circumference is a circumference of the hole wall.

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